AI 中文总结
研究针对水下遥操作受限于二维视图和通信延迟的问题，提出基于 ROS - Unity 框架的多模态架构，用 3DGS 驱动的 DAVS 及振动触觉套装辅助，经实验验证该方式能提升操作员性能与认知耐力。
AI 中文摘要
在水淹、杂乱的基础设施中远程操作遥控潜水器（ROV），从根本上受到狭窄的二维自我中心视图和水下通信延迟的限制。我们提出了一种基于 ROS - Unity 框架构建的多模态遥操作架构，该架构将主动空间规划与反应式边界避免解耦。系统用动态自适应视点系统（DAVS）取代静态摄像头馈送，DAVS 使用连续优化和实时 3D 高斯溅射（3DGS）从机载状态估计中合成无遮挡的外中心视点。为进一步减少感官工作量，一个躯干安装的振动触觉套装将局部障碍物间隙映射为直观的触觉接近提示。该架构在一项有 30 名受试者参与的受控人体研究中进行评估，使用 BlueROV2 在复杂的模拟水下设施中导航。采用 3×4 重复测量设计，比较了四种通信延迟（0.0 - 1.0 秒）下的三种交互模式（自我中心、触觉、外中心）。使用行为测量和功能近红外光谱（fNIRS）来评估任务诱发的前额叶激活以量化性能。结果表明，反应式触觉反馈在最小延迟下可改善路径依从性，而 3DGS 驱动的外中心可视化在严重延迟（0.5 - 1.0 秒）下具有更好的弹性，明显优于其他模式。fNIRS 进一步揭示了一种认知脱离效应：传统自我中心遥操作中延迟增加会使工作记忆过载并降低前额叶激活，而 DAVS 提供的主动空间背景维持了执行控制。这些发现表明，基于空间的多模态辅助可以显著提高延迟退化的水下遥操作期间的操作员性能和认知耐力。
英文摘要
Teleoperating remotely operated vehicles (ROVs) in flooded, cluttered infrastructure is fundamentally limited by narrow 2D egocentric views and subsea communication latency. We present a multimodal teleoperation architecture built on a ROS-Unity framework that decouples proactive spatial planning from reactive boundary avoidance. The system replaces static camera feeds with a Dynamic Adaptive Viewpoint System (DAVS), which uses continuous optimization and real-time 3D Gaussian Splatting (3DGS) to synthesize an occlusion-free exocentric viewpoint from onboard state estimation. To further reduce sensory workload, a torso-mounted vibrotactile suit maps local obstacle clearance to intuitive haptic proximity cues. The architecture was evaluated in a controlled human-subject study (N = 30) using a BlueROV2 navigating a complex simulated underwater facility. A 3 x 4 repeated-measures design compared three interaction modalities (Egocentric, Haptic, Exocentric) under four communication delays (0.0-1.0 s). Performance was quantified using behavioral measures and functional near-infrared spectroscopy (fNIRS) to assess task-evoked prefrontal activation. Results show that reactive haptic feedback improves path adherence under minimal delay, whereas the 3DGS-driven exocentric visualization provides superior resilience under severe latency (0.5-1.0 s), significantly outperforming the other modalities. fNIRS further revealed a cognitive disengagement effect: increasing latency during conventional egocentric teleoperation overloaded working memory and reduced prefrontal activation, whereas the proactive spatial context provided by DAVS sustained executive control. These findings demonstrate that spatially grounded, multimodal assistance can substantially improve operator performance and cognitive endurance during latency-degraded underwater teleoperation.
Comments9 pages, 6 figures
