本論文之研究目的，建立一套潛航器之虛擬實境操縱系統，並利用已研發成功之現有ROV(海峸貳號)為研究對象。其方法是經由PMM 試驗量測ROV 之操縱性導數，以及侯章祥【20】所建構潛航器之運動電腦模擬程式來進行數值模擬，為了達到即時模擬，本文研發出一套簡易近似公式使其達到可行。藉由直行、上浮、下潛、側移等操控方式，分別探討潛航器在靜水、洋流環境下及受到臍帶電纜力量影響後之運動性能分析。
虛擬實境之操潛航器系統主要以VB 軟體為傳輸介面，由3D Studio Max軟體事先建造模型後匯入EON，及Fortran 軟體計算船體六度運動，以及EON 虛擬互動式軟體來呈現輸出效果。並透過單槍投影機、背投影螢幕、潛航器岸上操控平台等周邊硬體設備來達到擬真效果，將來再以此為基礎進一步可開發出更優良的虛擬實境之操潛航器系統。
臍帶電纜對於繫纜之潛航器是一個極為重要的環節，它為潛航器提供動力和傳輸訊息，因為數值計算複雜會給潛航器的即時模擬訓練應用帶來麻煩，故本文所發展之纜繩張力之簡易近似公式，可即時模擬水下載具之航行，對初步實現操縱人員之訓練應有實質幫助。

The main purpose of the present thesis is to establish the ship steering system by virtual reality technique and research on the ROV of this system.Using PMM testing to finish the Hydrodynamic Derivatives measuring and calculating the strain of cable under each speed by computer imitative program of the ROV made by zhang xiang-hou【20】 to develop a real time virtual reality simulation experienced formula. Control it by advance、float、drop、side to analyze the motion of ROV effected after the power of cable in motionless water and ocean current environment.
The ship steering system by virtual reality transmission interface is using VB software. Prior constructed model by 3D Studio Max software import it into EON. Calculate the six degrees of freedom motion platform and EON virtual reality interaction software to present output effect.
The simulation system for the ROV maneuvering developed here can be extended to meet the IMO requirement and will be helpful to the related navigation training.
Cable is the important section to the ROV that can provide power and transmit data, but the complicated mathematics computation will be trouble of the ROV in the real time training , therefore the present thesis is try to develop a
formula that simple and easy for the cable , it possible to simulation of the ROV’s navigation, preliminary accomplished operator training.

【1】B. Buckham, M. Nahon, and G. Cote “Validation of a Finite Element Model for Slack ROV Tethers,” IEEE J. Ocean Eng., pp. 1129-1136, 2000.
【2】Eda, H. and Crane, C. L., “Steering Characteristics of Ships in Calm Water and Waves,”Trans. SNAME, Vol. 73,1965.
【3】H. H. Thatcher, “RCV-225G,“Design and Production of a First Unit Wellhead Work System,” IEEE J. Ocean Eng., Vol. OE-11, No.3, pp. 349-357, July 1986.
【4】Kawano, K.,Murata, Y. and others, “Some Model Experiments and Ship Correlation in Respect to Manoeuvrability,”Jour. Soc. Nav. Archit. Japan, Vol. 113,1963.
【5】K.R. Goheen, and E.R. Jefferys, “The Application of Alternative Modelling Techniques to ROV Dynamics,” IEEE,1990.
【6】M. Nomoto, and M. Hattori, “A Deep ROV DOPHIN 3K: Designed Performance Analysis,” IEEE Journal of Ocean Eng., Vol. OE-11, No. 3, pp. 373-391, July 1986.
【7】Mikelis, N. E. , “A Procedure for the Prediction of Ship Manoeuvering Response for Initial Design,”International Conference on Computer Applications in the Automation of Shipyard Operation and Ship Design,1985.
【8】P. Nanua and K. J. Waldorm, “Direct kinematics solution of a stewart platform”, Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 1,pp. 431-437, 1989.
【9】R. J. Richards, and D. P. Stoten, “Depth Control of A Submersible Vehicle,” Int. Shipbuilding Progress, Vol. 28, pp. 30-39, Feb. 1981.
【10】Stewart L. L., and Auster P. J., “Low Cost ROV's for Science,”OCEANS'89 Proc., Vol. 3, pp. 816-819, 1989.
【11】THOR I. FOSSEN, “Guidance and Control of Ocean Vehicles”, John Wiley, pp.259 – 262, 1994.
【12】Yasuhisa Hashizume, “Planar Motion Mechanism,” West Japan Fluid Engineering Laboratory Co., Ltd.,2004.
【13】Z. Feng ,R. Allen, “Evaluation of the effects of the communication cable on the dynamics of an underwater flight vehicle”, Ocean Engineering 31 , pp. 1019–1035,2004
【14】朱繼懋,“潛水器設計,”上海交通大學出版社, July 1991
【15】朱克强， ”《中国造船》-1996 年3 期 -96-104 页”
【16】江建輝，船舶於不規則波浪中之虛擬動態模擬之研究，國立成功大學系統暨船舶機電工程研究所碩士論文，民國九十三年六月。
【17】林克衛，虛擬實境於船舶操縱模擬系統之應用，國立成功大學造船暨船舶機械工程研究所碩士論文，民國九十年六月。
【18】金鴻章；王科俊；梁超，具有橫搖補償控制的潛艇航向變結構控制，中國造船，Vol.42, NO.2, Serial No.153, pp.75 - 80, June 2001。
【19】周宗蔚，雙船於不規則波中之虛擬操縱系統，國立成功大
學系統及船舶機電工程學系研究所碩士論文， 民國九十四年六月。
【20】侯章祥，臍帶電纜及洋流對潛航器運動之影響，國立成功大學系統及船舶機電工程學系碩士論文，民國九十四年六月。
【21】許嘉修，波浪中船體運動之虛擬實境操縱模擬，國立成功大學造船暨船舶機械工程研究所碩士論文，民國九十一年六月。
【22】陳冠亨， 應用虛擬實境技術做操船運動與三維波浪之模
擬，國立成功大學系統及船舶機電工程學系研究所碩士論文， 民國九十六年六月。
【23】黃信格，虛擬實境應用於船舶操縱之研究，國立成功大學造船暨船舶機械工程研究所碩士論文，民國八十八年六月。
【24】黃育倫，抗流型水下遙控載具運動之模擬，國立成功大學
系統及船舶機電工程學系研究所碩士論文，民國九十六年六月。
【25】羅志宏，船隻在順波中航向穩定性與運動之分析，國立成
功大學造船暨船舶機械工程研究所碩士論文， 民國九十年。
【26】羅志宏，船舶在波浪中之非線性運動操控模式之探討，國
立成功大學系統及船舶機電工程學系研究所博士論文，民國九十五年七月。