Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis Collection 1993-06 Modeling and simulation of a Deep Submergence Rescue Vehicle (DSRV) and its networked application Zehner, Stanley Nelson. Monterey, California. Naval Postgraduate School http://hdl.handle.net/10945/39861 NAVAL POSTGRADUATE SCHOOL Monterey, California AD-A271 742 So' STATESi Ile.lll~l~il~ii,DTIC ,•ELECTE i 0l •,IBU"NOV aI 2..1993. THESIS MODELING AND SIMULATION OF A DEEP SUBMERGENCE RESCUE VEHICLE (DSRV) AND ITS NETWORKED APPLICATION by Stanley N. Zehner June 1993 Thesis Advisor: Dr. Robert B. McGhee Co - Advisor: Dr. David R. Pratt Approved for public release; distribution is unlimited. 93-26291 1•810 20q 023 UNCLASSIFIED SE-Pý'y C..ASSIFICA'1ON C)F Tý' PAGE REPORT DOCUMENTATION PAGE 1a. REPORT SECURITY CLASSIFICATION UNCLASSIFIED lb RESTRICTIVE MARKINGS 2a SECURITY CLASSIFICATION AUTHORITY 3 DISTRIBUTION/AVAILABILITY OF REPORT 2b DECLASSIFICATION/DOWNGRADING SCHEDULE Approved for public release: distribution is unlimited 4 PERFORMING ORGANIZATION REPORT NUMBER(S) 5. MONITORING ORGANIZATION REPORT NUMBER(S) NAME OF gE"FORMjGORGANIZAT ION 6b OFFICE SYMBOL 7a NAME OF MONITORING ORGANIZATION Navalalmputer Postgraduate acdae SchoolSept. (itapphcable) CS Naval Postgraduate School 6c ADDRESS (Ciry State, and ZIP Code) 7b. ADDRESS (City, State, andZIP Code) Monterey. CA 93943-5000 Monterey, CA 93943-5000 8a. NAME OF FUNDINGSPONSORING 8b. OFFICE SYMBOL 9. PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER ORGANIZATION (if applicable) 8c ADDRESS (City. State. andZIP Code) 10 SOURCE OF FUNDING NUMBERS PROGRAM PROJECT TASK WORK UNIT ELEMENT NO NO. NO. ACCESSION NO UdfIT(X",MIt°&IION OF A DEEP SUBMERGENCE RESCUE VEHICLE (DSRV) AND ITS NETWORKED APPLICATION R(S) Yle4ner, pERSOg•AL btan IIUTHN ey r• •aaTYPýSRE'iP.FIT 13b. TIME COVERED 14. DATE OF REPORT (Year, Month, Day) 15 PAGE COUNT ster sIs FROM ' TO June 1993 16 SUPPLEMENTARY NOTATIOuThe views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of Defense or the United States Government. 17 COSATI CODES 18. SUBJECT TERMS (Continue on reverse if necessary and identify by block number) FIELD GROUP SUB-GROUP Deep Submergence Rescue Vehicle, Simulation, Physically based model, Real-time, Graphical model, Mathematical Model 19 ABSTRACT (Continue on reverse if necessary and identfy by block number) Computer real-time graphical simulations are in great demand. They save time, money and effort in the devel- opment of new hardware and training resources. Only recently have advances in computer hardware and software achieved a level which allow realistic simulations to run in real-time. The phenomena we wish to simulate is increasingly complex. This in turn means that the software is becoming increasingly difficult to develop and maintain. The object oriented paradigm is one method of analysis and implemen- tation which addresses the problems of increasing complexity. This thesis examines the object oriented method by applying it to the problem domain of simulating the performance and handling characteristics of a U. S. Navy Deep Submergence Rescue Vehicle (DSRV). It performs an analysis of the key abstractions and implements the resulting design using the object oriented facilities of the C++ computer lan- guage. 20. DISTRI BUTION/AVAILABLIY OF ABSTRACT 21. ABSTRACT SECURITY CLASSIFICATION [3 UNCLASSIFIED/UNLIMITED E] SAME AS RPT. [] DTIC USERS UNCLASSIFIED ro~ert 1. c ee, Dr. David R. Pratt (40 8 ) 6 5 6 -217lJ4 DD FORM 1473, 84 MAR 83 APR edibon may be used until exhausted SECURITY CLASSIFICATION OF THIS PAGE All other editions are obsolete UNCLASSIFIED Approved for public release; distribution is unlimited MODELING AND SIMULATION OF A DEEP SUBMERGENCE RESCUE VEHICLE (DSRV) AND ITS NETWORKED APPLICATION by Stanley Nelson Zehner Lieutenant Commander, USN Bachelor of Science, United States Naval Academy, 1978 Submitted in partial fulfillment of the requirements for the degree of MASTER OF COMPUTER SCIENCE from the NAVAL POSTGRADUATE SCHOOL June 1993 Author: Stanley Nelson Zie Approved By:-_ Dr. Robert B. McGhee , Thesis Advisor Dr. D idR. Pratt,Thesis Co - Advisor Commander = Hu ghý Chairman, Departni Coputer Science ABSTRACT Computer real-time graphical simulations are in great demand. They save time, money and effort in the development of new hardware and training resources. Only recently have advances in computer hardware and software achieved a level which allow realistic simu- lations to run in real-time. The phenomena we wish to simulate is increasingly complex. This in turn means that the software is becomidng increasingly difficult to develop and maintain. The object oriented paradigm is one methkod of analysis and impleinentation which addicsses the problems of increasing complexity. This thesis examines the object oriented method by applying it to the problem domain of simulating the performance and handling characteristics of a U. S. Navy Deep Submer- gence Rescue Vehicle (DSRV). It performs an analysis of the key abstractions and imple- ments the resulting design using the object oriented facilities of the C++ computer lan- guage. Accession ?or !HTIS GRAii DT.1C TAB 0 j Iusti r .a t ienL I) .4-1 TABLE OF CONTENTS 1. INTRO D U CTIO N ..................................................... 1 A. MILITARY PROCUREMENT AND TRAINING ......................... I B. THE "SOFTW ARE CRISIS" ...... ................................... 2 C . G O A L S .......................................................... 2 D. CHAPTER ORGANIZATION .................................. II. CONCEPTUAL M ODEL ............................................... 4 A. THE DSRV M ODEL ................................................ 4 1. K inem atics ..................................................... 5 2. Mechanics And Rotational Dynamics ................................ 6 a. Rigid Body Components ....................................... 6 b. Newton's Second Law Of Motion ................................ 7 c. Relevant Forces .............................................. 8 B. THE SUBMARINE MODEL ........................................ 10 C. SU M M A R Y ...................................................... 10 I11. MATHEMATIC M ODEL .............................................. II A. FRAME OF REFERENCE CONVENTIONS ........................... 11 1. Engineering Covention .......................................... 11 a. Global Reference Frame ...................................... 11 b. Body Reference Frame ....................................... 11 2. Graphics Hardware Convention .................................... 12 a. Global Reference Frame ...................................... 12 b. Body Reference Frame ....................................... 12 3. Reconciling The Conventions ..................................... 12 B. THE DSRV M ODEL ............................................... 13 1. K inem atics .................................................... 13 iv a. Linear C oncepts ............................................. 13 b. Rotational Concepts .......................................... 14 c. Rotational Transformations .................................... 15 2. Mechanics And Rotational Dynamics ............................... 16 a. Vertical Forces: Gravity And Buoyancy .......................... 18 b. Hydrodynamic Forces ........................................ 20 c. C ontrol Forces .............................................. 21 d. O cean C urrent .............................................. 23 3. Extended Form Of Vector Equations ................................ 23 4. DSRV Properites And Coeficients ................................. 25 C. THE SUBMARINE MODEL ........................................ 25 D . SU M M A RY ...................................................... 25 IV. OBJECT ORIENTED ANALYSIS AND DESIGN .......................... 27 A. THE OBJECT ORIENTED PARADIGM .............................. 27 B. OBJECT ORIENTED ANALYSIS VS. LANGUAGE .................... 28 C. THINKING IN HIERARCHIES ...................................... 29 D. PROBLEM ANALYSIS AND DESIGN ............................... 31 1. Levels Of Analysis And Granularity ................................ 31 2. Highest Level - The Simulator ..................................... 31 3. Second Level - Internal Structure .................................. 32 4. Third Level - Fine Grain Objects ................................... 33 E. CLASS HIERARCHIES ............................................ 33 1. DSRV And Subm arine ........................................... 34 2. Sim ulation W indow ............................................. 34 F. OBJECT HIERARCHIES ........................................... 35 1. D SR V ........................................................ 35 2. Sim ulation W indow ............................................. 36 3. D SRV Sim ulator ............................................... 37 v G . SU M M A R Y ...................................................... 37 V. C++ OBJECT IMPLEMENTATION ..................................... 38 A. AT THE TOP, THE MAIN() PROGRAM .............................. 38 B. HIGHEST LEVEL CLASS - DSRVSIMULATION ..................... 38 C. THE DSRVOBJ CLASS ........................................... 39 D. THE SIMULATIONWINDOW CLASS ............................... 43 E. MATH MODEL APPLICATION ..................................... 45 F. SU M M A R Y ...................................................... 45 VI. NETW ORK ISSUES .................................................