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Reseach Article

Vertex Array Object (VAO) based Visualization - A Better Method for ROV Stance Visualization for Real-time Application

Published on April 2016 by Annapurna Agrawal, Bani Hazra, Alok Mukherjee
National Conference on Electronics and Computer Engineering
Foundation of Computer Science USA
NCECE2016 - Number 1
April 2016
Authors: Annapurna Agrawal, Bani Hazra, Alok Mukherjee
5e6f18cf-56ec-44ae-938d-eea25f6faeb5

Annapurna Agrawal, Bani Hazra, Alok Mukherjee . Vertex Array Object (VAO) based Visualization - A Better Method for ROV Stance Visualization for Real-time Application. National Conference on Electronics and Computer Engineering. NCECE2016, 1 (April 2016), 1-4.

@article{
author = { Annapurna Agrawal, Bani Hazra, Alok Mukherjee },
title = { Vertex Array Object (VAO) based Visualization - A Better Method for ROV Stance Visualization for Real-time Application },
journal = { National Conference on Electronics and Computer Engineering },
issue_date = { April 2016 },
volume = { NCECE2016 },
number = { 1 },
month = { April },
year = { 2016 },
issn = 0975-8887,
pages = { 1-4 },
numpages = 4,
url = { /proceedings/ncece2016/number1/24658-9510/ },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Proceeding Article
%1 National Conference on Electronics and Computer Engineering
%A Annapurna Agrawal
%A Bani Hazra
%A Alok Mukherjee
%T Vertex Array Object (VAO) based Visualization - A Better Method for ROV Stance Visualization for Real-time Application
%J National Conference on Electronics and Computer Engineering
%@ 0975-8887
%V NCECE2016
%N 1
%P 1-4
%D 2016
%I International Journal of Computer Applications
Abstract

Remotely Operated Vehicle (ROV) is an unmanned mobile platform which is operated remotely through the Control Station. ROVs generally have Manipulator Arm with multiple degrees of freedom for handling objects and application specific payloads such as sensors for navigation, surveillance, target tracking and destruction. The ROV Operator needs to be confident about the ROV's stability and safe remote and Non-Line of Sight (Non-LOS) Operations. This paper presents the ROV stance visualization system which is developed to show the vehicle pose and manipulator pose to the operator remotely. Stereo Lithography (STL) model file of the ROV is used for this visualization. In this paper two approaches conventional method and Vertex Array Object (VAO) based method for STL Model visualization are presented, compared and concluded that, the Vertex Array Object (VAO) based method gives high rendering speed and is therefore suitable for real-time application. This work is generic for any ROV/ static platform mounted with Manipulator Arm with multiple Degrees of freedom (DOF). Remotely Operated Vehicle (ROV) is an unmanned mobile platform which is operated remotely through the Control Station. ROVs generally have Manipulator Arm with multiple degrees of freedom for handling objects and application specific payloads such as sensors for navigation, surveillance, target tracking and destruction. The ROV Operator needs to be confident about the ROV's stability and safe remote and Non-Line of Sight (Non-LOS) Operations. This paper presents the ROV stance visualization system which is developed to show the vehicle pose and manipulator pose to the operator remotely. Stereo Lithography (STL) model file of the ROV is used for this visualization. In this paper two approaches conventional method and Vertex Array Object (VAO) based method for STL Model visualization are presented, compared and concluded that, the Vertex Array Object (VAO) based method gives high rendering speed and is therefore suitable for real-time application. This work is generic for any ROV/ static platform mounted with Manipulator Arm with multiple Degrees of freedom (DOF).

References
  1. Direct Kinematics, Fundamental of Robotics, "Chapter 2",Robert J. Schilling.
  2. STL, URL. http://www. wikipidiea. com/STL/
  3. Annapurna Agrawal, "STL model Visualization and motion simulation for Manipulator Arm using OpenGL", ICCSIT – 2012, Pune, India, April 2012
  4. IEEE745-1985, URL, Http://en. wikipedia. org/wiki/IEEE 745-1985. .
  5. SharpGL, URL, Http://sharpgl. codeplex. com
  6. R. S. Wright, L. Benjamin and H. Nicholas (2007)OpenGL(R) SuperBible: Comprehensive Tutorial and Reference, 4th Edition, Addison-Wesley.
  7. OpenGL Reference Manual. pdf
  8. Tom Mcreynolds and David Blythe (2010), "Advanced Graphics Programming using OpenGL"
Index Terms

Computer Science
Information Sciences

Keywords

Manipulator Arm Stl Model 3d Visualization Vertex Array Object (vao).