Slide 1

Warunika Ranaweera, Shazan Jabbar, Ruwan Wickramarachchi, Maheshya Weerasinghe, Naduni Gunathilake, Chamath Keppitiyagama, Damitha Sandaruwan, Prabath Samarasinghe University of Colombo School of Computing

Slide 2

Virtual maritime simulation systems to train mariners Conventional Vs. Virtual maritime training o Cost effective o Safe o Effective for the trainee? Onboard and virtual maritime training

Slide 3

Maritime navigational simulator to train naval officers Vidusayura : a maritime ship simulator

Slide 4

Radar ECDIS Chart plotters AIS Telescopes Etc. Marine onboard equipments

Slide 5

Standalone radar simulations o Less effective Radar simulation for virtual environments o Signal processing o Ray casting (ABC et al.) o 3D models o Complex calculations Radar simulation

Slide 6

The need for a light-weight marine radar which operates on the real time data feed from the virtual environment Motivation

Slide 7

A tool for navigation o Determines the distance for surrounding objects o Graphical representation How it works? 1.Emitting electromagnetic waves & catching the reflection 2.Displaying height variations up to the maximum height Radar sweep Marine radar

Slide 8

Mimicking the wave propagation method in a virtual environment o Requires better machine performance Our approach: o Light-weight o Compatible with commodity, low performance, computers Radar simulation for virtual environments

Slide 9

A different method to detect surrounding objects Gathering geographical information (heights) using a Heightmap o 2D interpretation of a 3D terrain o Grayscale image, with black representing the minimum height and white representing the maximum height Gathering object positions from the virtual world o Own ship position o Surrounding ships & obstacle positions Open access to the source adaptable to the changes in the virtual model Radar simulation: a lightweight approach

Slide 10

Design of the virtual radar Geographical information Geographical information Object positions Pixel Matrix Marine radar Maximum height 000 Finding max heights along the radius

Slide 11

Implementation 1. Pre-processing the height map image o Extract the pixel values and insert into the Pixel Matrix 2. Retrieval of the real time object position updates o Retrieve from the Vidusayura server application o Scale the positions to the Pixel Matrix 3. Maximum height detection of the Pixel Matrix o Detecting the maximum height along straight line in a specific moment

Slide 12

Maximum Height Detection Pixel Matrix Bresenhams Line Drawing Algorithm Performing a circular search on the Pixel Matrix 202550 40 30 Max Height Detection Algorithm 202550 0 0

Slide 13

Implementation 4. Representing the dynamically moving ship o Tying the origin of the radar view to the own ships position o Always map all coordinates to the mid point 5. Displaying the output o Generate images from the Pixel Matrix and view as an image stream

Slide 14

Discussion and Results Virtual radar coverage nearing the Galle harbor

Slide 15

Discussion and Results Virtual radar coverage is well synchronized with, o The own ship position in the virtual environment o The own ship positions in the ECDIS o Real world radar in a similar situation

Slide 16

Discussion and Results Virtual radar coverage is well synchronized with, o The own ship position in the virtual environment o The own ship positions in the ECDIS o Real world radar in a similar situation

Slide 17

Discussion and Results Virtual radar coverage is well synchronized with, o The own ship position in the virtual environment o The own ship positions in the ECDIS o Real world radar in a similar situation

Slide 18

Discussion and Results Virtual Radar Coverage ECDIS Chart Plotter Vidusayura virtual maritime environment Real Radar Coverage

Slide 19

Future Work Adjusting the range of the radar coverage according to the user perception Considering the atmosphere, different weather conditions and material of the reflecting object Integrating a sonar for undersea obstacle detection

Slide 20

Thank you!