Fact-checked by Grok 2 weeks ago

Submarine simulator

A submarine simulator is a specialized training system, ranging from mechanical devices to advanced computer-based platforms, designed to replicate the operational environment, controls, sensors, and tactical scenarios of a submarine for crew instruction and proficiency development. These simulators enable naval personnel to practice navigation, combat management, weapon systems, and emergency procedures in a safe, controlled setting, minimizing risks associated with real-world submersible operations.^[1]^[2] The origins of submarine simulators trace back to the early 20th century, with the development of the Submarine Attack Teacher in 1913 by Commander George Bridges Lewis of the Royal Navy. This initial mechanical device used scale models and periscopes to simulate torpedo attacks and periscope observations, addressing the limitations of at-sea training during World War I; by 1915, refined versions were deployed across flotillas, training over 1,200 commanding officers in tactical maneuvers.^[1] Evolution accelerated post-World War II, transitioning from analog periscope and escape trainers—such as those introduced in the 1930s for submarine survival drills—to computer-driven systems in the late 20th century. By the 1980s, navies adopted basic digital simulators for radar, sonar, and navigation tasks, driven by the need for cost-effective alternatives to live exercises.^[3]^[4] In the modern era, submarine simulators have become integral to naval training programs worldwide, exemplified by systems like Kongsberg Defence & Aerospace's PROTEUS Submarine Command Team Trainer (SCTT), developed during the Cold War for the Royal Norwegian Navy's Ula-class submarines and now configurable for various vessel types. These advanced platforms incorporate high-fidelity software for anti-submarine warfare, sensor integration, and team coordination, often using commercial off-the-shelf hardware and standards like IEEE 1516.2010^[2] for interoperability with other simulators. Key benefits include enhanced safety, reduced operational costs, and the ability to simulate complex scenarios such as multi-target engagements across vast underwater environments, supporting forces like the U.S. Navy and Royal Navy in building expertise across individual, team, and fleet levels.^[2]^[5]

Overview

Definition and Scope

A submarine simulator is a computer-based system, incorporating hardware and software components, that replicates the operational environment, control interfaces, and dynamic behaviors of submarines to support activities such as training, research, and system design.^[6]^[7] According to Department of Defense standards, a simulation implements a mathematical or logical model over time to represent real-world systems, entities, or processes, enabling analysis and interaction in a controlled setting.^[6] The core objectives of these simulators center on providing immersive replication of critical submarine functions, including underwater navigation, combat tactics, engineering controls, and sensor data interpretation, thereby allowing personnel to develop skills and test scenarios without the hazards and costs associated with actual submersible operations.^[8]^[6] This risk-free environment facilitates repeated practice of complex tasks, such as periscope-based observations or maneuvering under constraints, enhancing operator proficiency and decision-making.^[8] In terms of scope, submarine simulators address both manned platforms, like nuclear-powered or diesel-electric submarines, and unmanned systems such as autonomous underwater vehicles (AUVs), with the latter emphasizing independent operation in remote environments without real-time human input.^[6] Fidelity varies accordingly: high-fidelity models incorporate detailed real-time physics for manned training to mimic precise human-submarine interactions, while abstracted models suffice for AUV design exploration or entertainment applications.^[6] Central to their design are concepts like adjustable fidelity levels—ranging from low-fidelity abstractions for conceptual overviews to high-fidelity representations for operational realism—and the integration of multi-domain elements, including hydrodynamics for motion, acoustics for detection, and electromagnetics for communication, to create cohesive simulations of underwater conditions.^[6]^[7]

Historical Development

The development of submarine simulators began in the early 20th century with mechanical devices designed to train submariners in navigation and attack tactics, driven by the lessons from World War I submarine operations. Early examples include the British Submarine Attack Teacher developed in 1913.^[1] In the 1920s, the U.S. Navy established dedicated training facilities, such as the submarine school initiated in New London, Connecticut, in 1919.^[9] By the 1930s and into World War II, training evolved in response to undersea warfare challenges, including high German U-boat losses of approximately 66% of the fleet by war's end, which highlighted the importance of tactical preparation.^[10] Following World War II, submarine simulator technology shifted toward electromechanical systems in the 1950s and 1960s to address the complexities of nuclear-powered submarines entering service, such as the USS Nautilus in 1954. The U.S. Naval Training Device Center advanced human factors engineering for these simulators, enabling realistic replication of control rooms and instrumentation for crew qualification.^[11] Early computer integration occurred during this period at the Naval Training Device Center, paving the way for more accurate hydrodynamic and tactical scenarios during the Cold War era of nuclear deterrence. By the 1970s, electromechanical fire control trainers, such as precursors to the MK 117 digital system, were deployed for training on fast-attack and ballistic missile submarines, emphasizing stealth and precision amid escalating undersea rivalries with the Soviet Union.^[12] The 1980s marked the advent of digital, PC-based submarine simulators accessible to civilians, exemplified by Submarine Commander, released in 1982 for Atari computers, which simulated World War II U-boat operations using basic graphics and real-time decision-making.^[13] In military contexts, this period saw the transition to computer-assisted training at facilities like the U.S. Navy's Submarine School, incorporating early digital models for sonar and navigation. The 1990s introduced virtual reality precursors through programs like SIMNET, a DARPA-sponsored networked simulation adopted by the military in 1990, which enabled distributed training for various warfare tactics, including submarine scenarios.^[14] Entering the 21st century, submarine simulators integrated artificial intelligence and high-fidelity physics modeling, particularly for unmanned systems; DARPA's Anti-Submarine Warfare Continuous Trail Unmanned Vessel (ACTUV) program, launched in 2010, developed autonomous tracking simulations to test drone behaviors against simulated submarines.^[15] The 2010s saw further advancements in AI-driven predictive tools for threat detection, enhancing training for nuclear submarine crews.^[16] In the 2020s, focus shifted to cloud-based platforms and immersive VR/AR enhancements, supporting autonomous underwater vehicle (AUV) operations and remote training to meet rising demand for undersea autonomy amid geopolitical tensions.^[17]

Technology and Components

Simulation Methods and Models

Submarine simulators employ physics-based computational models to replicate the complex dynamics of underwater vehicles, integrating fluid dynamics, acoustics, and environmental interactions to achieve realistic behavior predictions. These methods prioritize approximations of governing physical laws to balance accuracy and computational efficiency, often using numerical solvers for multi-degree-of-freedom (DOF) motion and wave propagation. Core approaches draw from computational fluid dynamics (CFD) and ray-theoretic acoustics, tailored to the nonlinear challenges of submerged environments such as variable density fluids and pressure gradients.^[18] Hydrodynamic modeling forms the foundation for simulating submarine motion, capturing forces from buoyancy, drag, and propulsion through approximations of the Navier-Stokes equations adapted for six degrees of freedom (6-DOF). The Reynolds-Averaged Navier-Stokes (RANS) equations are commonly applied, simplifying the full incompressible Navier-Stokes form \partial \mathbf{u}/\partial t + (\mathbf{u} \cdot \nabla) \mathbf{u} = -\nabla p / \rho + \nu \nabla^2 \mathbf{u} + \mathbf{f} by averaging turbulent fluctuations, yielding the continuity equation \partial \bar{u}_i / \partial x_i = 0 and momentum equation \partial \bar{u}_i / \partial t + \bar{u}_j \partial \bar{u}_i / \partial x_j = - (1/\rho) \partial \bar{p} / \partial x_i + \nu \partial^2 \bar{u}_i / \partial x_j \partial x_j - \partial \overline{u_i' u_j'} / \partial x_j + f_i, where overbars denote means, primes are fluctuations, \rho is density, \nu is kinematic viscosity, and \mathbf{f} includes body forces like gravity.^[18] These are solved numerically with turbulence models (e.g., k-ε) and overset meshes to handle 6-DOF coupling of translational (surge, sway, heave) and rotational (roll, pitch, yaw) motions, enabling simulations of maneuvers like turning or surfacing while accounting for appendage effects and free-surface interactions.^[18] Buoyancy is integrated via Archimedes' principle, with hydrostatic pressure varying linearly with depth, and propulsion modeled through body-force approximations to avoid explicit propeller geometry for computational efficiency.^[18] Acoustic and sensor simulations replicate sonar systems critical for detection and navigation, using propagation models that account for underwater sound speed variability due to environmental layers. Ray-tracing techniques dominate for active and passive sonar, solving the eikonal equation \nabla \tau \cdot \nabla \tau = 1/c^2 (where \tau is travel time and c is sound speed) to trace ray paths, combined with the transport equation \nabla \cdot (A^2 \nabla \tau) = 0 (where A is amplitude) for intensity loss.^[19] These models incorporate thermoclines—temperature-induced sound speed gradients that refract rays and create shadow zones—reducing detection ranges from up to 50 km in isothermal conditions to as low as 5.45 km in layered profiles, with transmission loss computed as TL = -20 \log_{10} (\sum |p_i| / p_{\text{ref}}), where p_i are pressures along rays.^[19] Reverberation from seabed scattering and volume inhomogeneities is simulated via multipath summation in the sonar equation SL - TL + TS - NL + DI > DT (source level minus transmission loss plus target strength minus noise and directivity index exceeding detection threshold), enabling realistic passive listening or active pinging scenarios.^[19] Environmental factors are integrated into trajectory models to simulate realistic navigation perturbations, using oceanographic data assimilation for currents, salinity, and depth effects. Ocean currents are modeled via velocity fields from Regional Ocean Modeling System (ROMS) outputs, with drift computed as \Delta x = u \cdot \Delta t, \Delta y = v \cdot \Delta t, \Delta z = w \cdot \Delta t (u, v, w as components), influencing 6-DOF paths during missions like yo-yo profiling between specified depths.^[20] Salinity variations, affecting buoyancy and sound speed, are interpolated from ROMS salinity profiles along trajectories and sensed via conductivity-temperature-depth (CTD) models with added Gaussian noise for realism (e.g., standard deviation 0.002).^[20] Depth modulates hydrostatic pressure and vertical currents, while the Coriolis force—parameterized in ROMS as f = 2 \Omega \sin \phi (\Omega Earth's rotation rate, \phi latitude, e.g., 42.8°N)—deflects horizontal motion rightward in the Northern Hemisphere, integrated into inertial navigation equations to correct dead-reckoning errors over long transits.^[20] Combat and damage modeling addresses weapon interactions, simulating torpedo trajectories through multi-stage differential equations for launch, homing, and impact. Torpedo paths are divided into seven phases (e.g., tube exit, wire-guided run, acoustic homing), solved via Runge-Kutta integration of 6-DOF dynamics including drag, lift, and guidance laws like proportional navigation, with wake-homing variants using geometrical models of submarine wakes for target acquisition up to several kilometers.^[21] Hull integrity under impact employs finite element analysis (FEA) with nonlinear shell elements to predict deformation and failure, modeling torpedo contact as distributed loads (versus concentrated for simplification) in explicit dynamics codes like ANSYS/LS-DYNA.^[22] These simulations incorporate plasticity and large deflections, validated against drop tests showing peak deformations of millimeters to centimeters on stiffened steel panels, to assess pressure hull breach risks without full-scale trials.^[22] Fidelity trade-offs in submarine simulations balance real-time performance for training against offline high-resolution analysis, often incorporating stochastic elements to model uncertainties. Real-time variants use simplified 6-DOF equations with low-order environmental approximations (e.g., constant currents) in distributed frameworks like HLA for tactical scenarios, achieving 1:1 time scaling on standard hardware but sacrificing details like turbulent wakes.^[23] Offline simulations leverage full RANS or FEA for precise maneuvers, trading latency for accuracy in design validation, with run times scaling to hours.^[18] Sensor noise is introduced stochastically, such as via Monte Carlo sampling of Gaussian distributions (e.g., 100 runs for bearing errors in acoustic models), to propagate uncertainties in sonar or navigation data, enhancing robustness assessments without deterministic overconfidence.^[24]

Hardware and Software Elements

Submarine simulators rely on specialized hardware components to replicate the physical and operational environment of underwater vessels, enabling realistic user interaction. Control consoles often mimic periscope interfaces through ocular boxes with motor-driven hydraulics and hoistable mast panels for simulating mast elevation and stabilization, as seen in systems developed for naval training. Joysticks and throttle controls provide intuitive input for maneuvering, integrated into custom panels that replicate submarine command stations. Motion platforms, such as 6-degree-of-freedom (6-DOF) Stewart platforms, deliver tilt, surge, sway, heave, yaw, and pitch sensations to enhance spatial awareness during simulated dives and evasions; these hexapod-based systems, akin to those in flight simulators, are adapted for submarine applications to provide up to ±30 degrees of rotation and speeds of up to 500 mm/s.^[25]^[26]^[27] Virtual reality (VR) headsets have been integrated since the release of the Oculus Rift in 2016, with examples including modern simulations like UBOAT: The Silent Wolf VR (released in 2023). As of 2025, systems use headsets such as the Meta Quest 3 for hydrodynamics training, immersing users in 360-degree underwater views to allow operators to experience first-person navigation without physical mockups, supporting competencies in hydrodynamics and threat detection through physics-based rendering.^[28]^[29]^[30] Software frameworks form the computational backbone, utilizing physics engines like Unity and Unreal Engine for real-time rendering of fluid dynamics, buoyancy, and collision detection in virtual ocean environments. Unity has been employed in 2D and 3D submarine prototypes to simulate Archimedes' principle-based motion without native physics components, while Unreal Engine 5 facilitates advanced nozzle, rudder, and propeller setups for buoyancy-driven underwater travel. Specialized naval software, such as MATLAB/Simulink, supports prototyping by modeling autonomous underwater vehicle (AUV) dynamics, sensor fusion, and control algorithms in a block-based environment.^[31]^[32]^[33] Integration aspects enable collaborative training through multi-user networking protocols like Distributed Interactive Simulation (DIS) and High Level Architecture (HLA), which synchronize entity states across distributed systems for team-based scenarios such as submarine diving operations. DIS, an IEEE standard, exchanges protocol data units (PDUs) for real-time wargaming, while HLA supports federation of multiple simulators for complex naval exercises. Data logging captures trainee actions, system states, and scenario outcomes for post-session debriefing, using tools that record video, audio, and telemetry to analyze crew coordination and decision-making in tools like Performaar or CIAT systems.^[34]^[35]^[36] Scalability spans from desktop applications running on standard PCs for individual skill-building to full-mission trainers housed in domed enclosures with 360-degree projection systems, which have been in use since the 1990s to provide panoramic visual cues for bridge and combat information center teams. These dome setups, upgraded in modern iterations like HAVELSAN's rear-projected displays, deliver eye-limiting resolution for immersive tactical planning.^[37] Emerging technologies incorporate AI-driven adaptive scenarios, where machine learning algorithms post-2020 generate dynamic enemy behaviors and environmental challenges based on trainee performance, adjusting complexity in real-time for personalized training. As of 2025, advancements include AI for anti-submarine warfare demonstrated by Ultra Maritime and weapon simulation systems under the AUKUS agreement developed by General Dynamics. Such integrations, as in AI-enhanced maritime simulators, use predictive models for maintenance, detection, and decision support to simulate emergent threats in underwater warfare.^[16]^[38]^[39]^[40]^[41]

Types of Simulators

Military Training Simulators

Military training simulators are specialized high-fidelity systems developed to certify submarine crews for operational readiness, targeting platforms such as the U.S. Virginia-class and Germany's Type 212A submarines. These simulators focus on comprehensive training in tactics, emergency procedures, and weapon systems, enabling personnel to practice complex scenarios in a controlled environment that mirrors real-world conditions without endangering lives or assets. For instance, the U.S. Navy's Submarine Learning Facility employs a full-scale motion simulator for Virginia-class submarines, facilitating crew certification through immersive rehearsals of combat maneuvers and crisis response.^[42] Similarly, Germany's Submarine Training Centre (STC) equips trainees with replicated systems for Type 212A submarines, covering everything from individual operator skills to full-team coordination for mission execution.^[43] Key features of these simulators include full-mission environments that replicate anti-submarine warfare (ASW) engagements and stealth operations, emphasizing silent running, evasion tactics, and sensor fusion to maintain acoustic superiority. Integration with live/virtual/constructive (LVC) training architectures allows seamless blending of simulated elements with actual assets, enhancing interoperability and scalability for joint exercises. The U.S. Navy's Submarine Multi-Mission Team Trainer (SMMTT), for example, consolidates control room, sonar, and fire control simulations to support team-based ASW drills in dynamic battlespaces.^[44] In Europe, the STC's advanced full-mission setups provide realistic team training for stealthy underwater operations aboard Type 212A vessels.^[43] Notable developments include the U.S. Navy's Acoustic Rapid Commercial Off-the-Shelf Insertion (A-RCI) systems from the 2000s, which upgraded sonar processing for Virginia-class simulations to enhance ASW detection and tracking in training contexts.^[45] In the UK, the Astute Class Training Service (ACTS) from the 2010s incorporates high-fidelity part-task and full-mission simulators at a dedicated facility in Barrow-in-Furness, enabling operator and maintainer training with scenario replay for debriefing and tactical refinement.^[46] Certification standards for these simulators mandate compliance with MIL-STD-2525 for consistent symbology in tactical displays, ensuring accurate representation of threats and assets during ASW and navigation exercises.^[47] High behavioral fidelity is prioritized to elicit real-world responses from crews, as demonstrated in command room simulators where operational tasks closely mimic submarine environments. A primary challenge in developing these simulators lies in replicating classified systems—such as advanced sonar and weapon controls—without compromising national security, as integrating sensitive data into training models risks exposure to adversaries through potential breaches.^[16]

Entertainment Simulators

Entertainment simulators, primarily in the form of video games, provide civilian players with an engaging introduction to submarine command through simplified yet immersive mechanics, often set in historical conflicts like World War II. These games emphasize strategic decision-making, such as navigating patrols and engaging enemy vessels, while balancing realism with entertainment value to appeal to a broad audience. Unlike professional training tools, they prioritize narrative-driven missions and visual feedback to simulate the tension of underwater warfare without requiring specialized knowledge.^[48] The genre evolved from early arcade experiences to sophisticated PC titles, beginning with electro-mechanical games like Sega's Periscope in 1966, which used lights and sounds to mimic torpedo launches against surface ships. By 1976, Midway's Sea Wolf transitioned to video arcade format, featuring a periscope view for targeting convoys in timed sessions, marking an early consumer hit. The 1980s saw the rise of home computer simulations, such as Electronic Arts' 688 Attack Sub in 1989, which introduced Cold War-era tactics for Los Angeles-class submarines, including stealthy approaches and weapon management. The 1990s and 2000s brought deeper immersion with the Silent Hunter series (1996–2010), developed by Ubisoft and focusing on German U-boat operations in the Atlantic, evolving from basic 2D interfaces to 3D environments with dynamic campaigns. Modern entries like Deep Water Studio's UBOAT, which reached full release on PC in 2024 after early access and expanded to consoles in 2025, incorporate crew management and survival elements, allowing players to oversee daily submarine life amid WWII patrols.^[49]^[50]^[51]^[52]^[53] Core gameplay revolves around mission-based structures, such as ambushing Allied convoys in WWII scenarios, where players plot courses, allocate resources, and execute attacks using torpedoes or deck guns. Multiple views enhance tactical options, including periscope for surface targeting, sonar for detecting submerged threats via acoustic pings, and free-look cameras for situational awareness. Damage systems add consequence, with hull breaches or engine failures reducing speed and maneuverability, forcing repairs or evasive actions to avoid depth charges. These elements create a cycle of reconnaissance, engagement, and evasion, often culminating in high-stakes escapes.^[48] Prominent franchises like the Silent Hunter series simulate U-boat wolfpack tactics across five main installments, emphasizing historical authenticity in patrol logs and enemy AI behaviors. Similarly, 688 Attack Sub highlights American nuclear submarine operations, teaching players about silent running and countermeasures against Soviet foes. These series have influenced the genre by blending education with excitement, drawing from declassified naval doctrines.^[52]^[51] To broaden appeal, entertainment simulators include accessibility features like adjustable time compression, ranging from 1:1 real-time for intense combat to 64x speeds for transit phases, preventing tedium during long voyages. Vibrant modding communities further enhance replayability, with tools and add-ons from sites like SUBSIM improving historical accuracy through custom campaigns, ship models, and realism tweaks.^[54]^[55] Over 70 submarine simulator titles have emerged since 1966, with the genre peaking in the 2000s amid PC gaming's dominance, as advanced hardware enabled complex simulations inaccessible on consoles. This era saw a surge in detailed WWII-focused games, fostering a dedicated fanbase and cultural interest in submarine lore through accessible digital experiences.^[56]^[48]

Research and AUV Simulators

Research and AUV simulators serve as critical platforms for validating algorithms in autonomous underwater vehicles (AUVs), enabling the testing of navigation, obstacle avoidance, and mission planning capabilities without the need for costly physical prototypes. These simulators replicate complex underwater environments to assess algorithmic performance in scenarios such as AUV swarm coordination, where multiple vehicles must collaborate on tasks like search and mapping while avoiding dynamic obstacles. By providing repeatable, controlled conditions, they reduce risks associated with real-world deployments and accelerate development cycles in academic and industrial settings.^[57]^[58]^[59] Prominent tools in this domain include UWSim, developed in 2011 as part of the European Union's TRIDENT project, which focuses on robotics simulation for intervention missions by integrating visualization, sensor emulation, and dynamic modeling. UWSim supports hardware-in-the-loop testing and has been widely adopted for benchmarking perception and control algorithms in underwater robotics. Complementing this, integrations of Gazebo with the Robot Operating System (ROS) provide robust frameworks for simulating underwater dynamics, including buoyancy, propulsion, and environmental disturbances, facilitating AUV autonomy development through modular plugins.^[60]^[61]^[62] In modeling unmanned AUV operations, these simulators emphasize autonomy, particularly through techniques like simultaneous localization and mapping (SLAM) for real-time environmental mapping. A foundational approach involves particle filters in Rao-Blackwellized particle filter SLAM, which efficiently handles nonlinear uncertainties in AUV pose estimation and feature-based mapping using sonar or visual data. This method, seminal in underwater applications since the mid-2000s, partitions the SLAM problem to improve computational efficiency and accuracy in feature-sparse oceanic environments.^[63] Notable projects include the RAUVI initiative in the late 2000s, which advanced visual servoing for AUV intervention tasks by simulating image-based control for target tracking and manipulation in turbid waters. Efforts funded through NOAA have utilized simulators for path planning in ocean exploration, demonstrating collision-free trajectories for AUVs in rapidly varying currents to support seafloor mapping missions.^[64]^[65]^[66] Unlike simulators for manned submarines, which prioritize human operator interfaces and manual control fidelity, AUV-focused tools stress sensor fusion for fully autonomous operation, such as integrating inertial measurement units (IMUs) with Doppler velocity logs (DVLs) to achieve dead-reckoning accuracy without pilot intervention. This fusion compensates for IMU drift using DVL velocity measurements, enabling precise navigation in GPS-denied depths where human oversight is absent.^[67]^[68]

Applications and Examples

Training and Operational Uses

Submarine simulators provide substantial training benefits by enabling crews to develop proficiency in high-risk scenarios without the hazards and expenses of real-world operations. For instance, they facilitate skill-building in rare events such as flooding emergencies or torpedo evasion maneuvers, allowing personnel to practice damage control and tactical responses in controlled environments. In the Italian Navy's diving simulator, trainees simulate flooding conditions to master buoyancy control and emergency procedures, enhancing their ability to maintain operational integrity under duress.^[69] Similarly, simulators replicate torpedo evasion tactics, including the use of countermeasures and rapid depth changes, which are difficult to train at sea due to safety constraints. These capabilities reduce costs significantly; the U.S. Navy's Common Submarine Radio Room Multi-Role Training System (CSRR MRTS) achieves 68% savings compared to legacy systems by providing realistic radio room simulations without deploying actual submarines.^[70] In operational integration, submarine simulators support pre-deployment rehearsals that mirror complex mission profiles, particularly in contested regions like the Indo-Pacific. The U.S. Navy employs live-virtual-constructive (LVC) training environments to conduct integrated exercises, combining simulated scenarios with real assets for scenario-based preparation ahead of deployments.^[71] These rehearsals, such as those tested in Large Scale Exercise 2021 across global theaters including the Indo-Pacific, allow crews to practice coordinated operations against peer adversaries. Post-exercise debriefing leverages data analytics from simulator logs to review performance metrics, identify errors in decision-making, and refine tactics, thereby improving overall mission readiness.^[71] Studies demonstrate the effectiveness of these simulators in accelerating proficiency gains. A RAND Corporation analysis of Navy surface force training found that simulation-based approaches enable faster skill acquisition compared to live training alone, with integrated sim-live balances yielding measurable improvements in unit readiness and reducing the time needed for crews to achieve operational competence.^[72] For submarine-specific applications, evaluations like the Virtual Environment for Submarine (VESUB) technology show high transfer of training to real shiphandling tasks, with trainees demonstrating enhanced performance in simulated surfaced operations.^[73] Civilian applications extend submarine simulators to commercial operations, particularly for submersible vehicles supporting offshore industries like oil rig maintenance. Training systems simulate dives for pipeline inspections and wellhead interventions, preparing operators for deep-water tasks without risking actual equipment.^[74] Looking ahead, hybrid simulators integrating real submarines via data links promise further advancements, enabling seamless transitions between virtual rehearsals and live operations to enhance real-time adaptability in dynamic environments.^[71]

Research and Development Impacts

Submarine simulators have played a pivotal role in research and development by enabling virtual prototyping of hull designs, particularly through computational fluid dynamics (CFD) simulations that minimize the reliance on expensive physical model tests. Since the 2010s, advancements in CFD have allowed engineers to predict hydrodynamic performance, resistance, and maneuverability with high fidelity, as computational accuracy improves and experimental validation becomes more targeted.^[75] For instance, simulations of the DARPA SUBOFF submarine hull using tools like ANSYS-FLUENT have validated resistance characteristics and geometric variants, facilitating iterative design without full-scale tank testing.^[76] These virtual prototypes accelerate innovation by allowing rapid assessment of factors such as drag reduction and stability under varied conditions, cutting development timelines and costs in submarine engineering.^[77] In advancing autonomy for autonomous underwater vehicles (AUVs), simulators have driven key innovations by providing environments to test persistent operations and navigation algorithms. DARPA's efforts in the 2010s, including high-fidelity modeling for undersea positioning systems like POSYDON, utilized simulations to develop signal propagation models that enhance AUV autonomy without surfacing for GPS, reducing detection risks and enabling longer missions.^[78] Broader DARPA programs emphasize simulation-based transfer learning for resilient autonomy, allowing AUVs to adapt across diverse underwater scenarios through shared semantic models, which has expedited the prototyping of self-governing systems for complex environments.^[79] Such simulation-driven approaches have shortened the path from concept to deployment, fostering advancements in AUV control and decision-making. A notable case study is the European Union's SWARMs project (2015–2019), which employed simulators to optimize multi-AUV coordination for cooperative missions, demonstrating improvements in energy efficiency and sensor integration. By simulating swarm behaviors in heterogeneous networks of AUVs, ROVs, and USVs, the project enhanced battery runtime through optimized path planning and reduced sensor overload via virtual testing of data fusion algorithms, leading to more robust persistent operations in real-world trials. These simulations informed advancements in multi-vehicle autonomy, such as improved communication meshes that extended mission endurance by balancing power consumption across the swarm.^[80] Simulators also create feedback loops that refine real hardware, particularly in stealth technologies like acoustic quieting. Multi-physics simulations have validated propeller and hull designs for noise reduction, as seen in DARPA's initiatives using integrated hydrodynamics and acoustics modeling to predict and mitigate radiated noise, directly informing quieter propulsion systems that enhance submarine survivability.^[81] For example, real-time hybrid simulations have tested vibration-damping components under operational loads, confirming reductions in flow-induced noise before sea deployment.^[82] Despite these benefits, challenges persist in validating simulator outputs against real-world data, particularly correlating virtual results with sea trial measurements. Uncertainties in environmental factors like currents and stratification often lead to discrepancies, with studies highlighting the need for iterative calibration to achieve reliable hydrodynamic predictions, as full-scale trials remain essential but costly for confirmation.^[83] Efforts to bridge this gap include hybrid approaches combining CFD with trial data, yet achieving high-fidelity correlations for complex maneuvers continues to demand advanced uncertainty quantification.^[84]

Notable Commercial and Open-Source Examples

One prominent commercial example is CAE's Naval Combat Systems Simulator (NCSS), a flexible training platform developed since the 1990s for tactical proficiency in naval operations, including sonar and electronic warfare simulations relevant to submarines, and adopted by over 10 navies worldwide for crew training in combat scenarios.^[85]^[86] In the open-source domain, OpenSSN serves as an academic-oriented submarine simulator from the 2010s, enabling users to model modern submarine behaviors, navigation, and combat tactics in an open ocean environment for educational and research purposes.^[87] MOOS-IvP, developed by MIT's Laboratory for Autonomous Marine Sensing Systems since the early 2000s, provides a modular C++ framework for AUV autonomy simulation, supporting behavior-based decision-making, multi-vehicle coordination, and real-time environmental modeling in marine robotics applications.^[88]^[89] Hybrid examples blend entertainment with realistic simulation elements, such as Dangerous Waters, a 2005 naval warfare game by Sonalysts Combat Simulations that emphasizes tactical submarine operations, sensor management, and multi-platform coordination in modern anti-submarine scenarios.^[90]^[91] Barotrauma, released in full version in 2023 by FakeFish and Undertow Games, is an open-source multiplayer submarine simulator set on Europa's ocean, incorporating survival mechanics, system repairs, and crew collaboration with underlying physics-based submarine dynamics.^[92]^[93] These examples were selected for their industry influence, such as the Silent Hunter series by Ubisoft, which from its 1996 debut popularized the submarine simulation genre through immersive WWII-era campaigns and dynamic naval warfare, inspiring subsequent titles in both commercial and hobbyist spaces.^[94] Ocean Infinity's integration of remote command tools for autonomous underwater vehicles enables scalable mission planning and data visualization in offshore operations.^[95]

References

[1]
The History Of The Submarine Attack Teacher - RN Subs
The attack teacher was created by Commander George Bridges Lewis in 1913 to simulate attacks, and was refined in 1915. It was used until 1942 and beyond.
[2]
PROTEUS Submarine command team trainer (SCTT) - KONGSBERG
PROTEUS Submarine command team trainer (SCTT). KONGSBERG has gained considerabe experience in submarine Command Team Trainers (CTTs) through its close ...
[3]
Defense Ship Simulators: Revolutionizing Naval Training
Apr 23, 2025 · The advent of computer-based simulation in the late 20th century marked a turning point. By the 1980s, navies began adopting basic simulators ...
[4]
Psychological considerations in submarine escape training
Sep 27, 2017 · The first escape simulators (“tanks”) to train submariners in the processes and equipment of submarine survival were commissioned in the 1930s ...
[5]
Simulation across the spectrum of submarine training
Simulation provides the U.S. Navy Submarine Force with the opportunity to safely, efficiently, and economically train Sailors at all levels in most aspects ...Abstract · Information & Contributors · Cited ByMissing: definition | Show results with:definition
[6]
[PDF] Modeling and Simulation at APL
These simulators have been developed for U.S. and U.K. submarine classes and provide a means for learning how to operate ship control systems.
[7]
[PDF] A submarine simulator driven by a hierarchical real-time control ...
... defined in the specifications. Implementors must understand the problem and interact with submarine operations experts throughout the implementation process ...<|separator|>
[8]
[PDF] Towards a game-based periscope simulator for submarine officers ...
Jun 16, 2016 · The angle-on-the-bow (AOB) is defined as the relative bearing of the submarine when observed by the target. It can be compared to what the ...
[9]
1919 – Setting a new standard for submarine training
Apr 18, 2022 · In the summer of 1919, a new submarine school was begun in New London aboard the USS Fulton (a submarine tender). This was not the first official officer's ...
[10]
A SHORT HISTORY OF SUBMARINE PERISCOPES Part II
The Type 2 daylight attack periscope was introduced into the submarine fleet in 1942 and found wide use and acceptance during World War II and in the decades ...
[11]
the secret game that countered German U-boat attacks during WW2
Nov 20, 2020 · Simon Parkin reveals how a group of young women neutralised German U-boat attacks during the battle of the Atlantic – by playing a game with chalk, canvas and ...
[12]
U.S. Naval Training Device Center | The Online Books Page
U.S. Naval Training Device Center: Human factors technology in the design of simulators ... (U.S. Naval Training Device Center, 1961), also by Paul C. Berry (page ...<|separator|>
[13]
[PDF] A History of United States Military Simulation
One such early simulation model, realized in the 1950s, was CARMONETTE. This model grew to be a fairly complex model.
[14]
A Brief History of The Push-Pull of Submarine Combat Control ...
The MK 117 which began in the early 70s was the first all digital fire control system and was forward fitted on the later 637 class and the SSN 688 and ...
[15]
Submarine Commander 1982 retro game - Tedious Retro Gamer
Jan 3, 2021 · Early submarine simulator published in 1982 - as captain of an U-Boat you cruise around Mediterranean Sea during World War II and chase the ...
[16]
NPS's MOVES Institute Reflects on 30 Years of Virtual Reality
Apr 12, 2018 · When the military adopted SIMNET in 1990, few people in the U.S. government understood how to effectively use it, and NPSNET provided a low ...Missing: submarine | Show results with:submarine
[17]
Sea Hunter ASW Continuous Trail Unmanned Vessel (ACTUV)
Apr 17, 2016 · The autonomous unmanned vessel (UAV) is intended primarily to track enemy diesel-electric submarines in shallow waters.
[18]
Integrate AI on Submarines to Predict, Detect, and Decide
Artificial intelligence (AI) can enhance mission execution, training effectiveness, and submariners' quality of life. As a community that prides itself on ...Missing: century fidelity DARPA 2010s
[19]
Video - Augmented & Virtual Reality: Saving the Navy Time & Money ...
Jul 5, 2025 · Training U.S. Navy submariners is getting easier thanks to augmented reality (AR) and virtual reality (VR) technologies. ... simulations to teach ...
[20]
Six-DOF CFD Simulations of Underwater Vehicle Operating ... - MDPI
The purpose of this study is to analyze the turning ability of a UV while rising or submerging; the computational fluid dynamics (CFD) method was used to ...
[21]
Acoustic physics-informed intelligent path planning framework for ...
Aug 20, 2025 · Acoustic physics-informed sonar detection modeling based on 3D ray-tracing theory. The sonar detection model is fundamental to path planning ...
[22]
https://www.sciencedirect.com/science/article/abs/pii/S0029801814000523
[23]
Modeling of Submarine Torpedo-Launching Simulation
Through analyzing the seven-stage trajectory process of torpedo-launching, the target detecting model and acoustic homing range model of acoustic homing torpedo ...Missing: combat damage hull integrity finite element
[24]
Finite element simulation of blank torpedo impact on submarine hulls
May 15, 2014 · The paper presents the development, evaluation and validation of a finite element model for the simulation of the impact of a blank torpedo ...
[25]
(PDF) High Fidelity Modeling and Simulation of Submarine in a ...
In this paper, we present modeling and simulation of submarines that appear as secondary tactical elements within a high-fidelity virtual military training ...
[26]
[PDF] UCGE Reports - University of Calgary
The noise added to the acoustic signal is white Gaussian noise and 100 Monte Carlo runs were used to calculate the bearing error ranges. The various mapping ...<|separator|>
[27]
Simulators & Emulators Our Solutions - Cybicom Atlas Defence
The mechanical components consists of the Ocular Box (Periscope) including motor drive and hydraulics, Hoistable Mast Panel (HMP) and Control and Display Unit ( ...Missing: Stewart | Show results with:Stewart
[28]
Motion Platform - Submarine Technology Limited
STL's six degree of freedom (6DOF) Motion Platform is a variant of the Stewart Table or Hexapod and is similar to those found in flight simulators. It's ...Missing: periscopes | Show results with:periscopes
[29]
6DOF Stewart Motion Platform Small Size for Training Simulator
UNI-6DOF stewart motion platform(6 axis) with controller.35 degree of rotation with 500mm/s servo actuator and for traing/education/entertainment simulator.Missing: submarine hardware components periscopes
[30]
https://store.steampowered.com/app/1455390/UBOAT_The_Silent_Wolf_VR/
[31]
Virtual Reality for Hydrodynamics: Evaluating an Original Physics ...
This study evaluates an original Virtual Reality software application, entitled Submarine Simulator, which is developed specifically to support competencies in ...
[32]
2D Submarine physics sim by Weywocketer - itch.io
Simple 2D submarine simulation based on the Archimedes' principle, created in Unity. No Unity Physics Components were used. There's no real gameplay.
[33]
Unreal Engine 5: Submarines Tutorial (Water Series) - YouTube
Nov 20, 2024 · ... submarine actor - Small and large submarine types - Nozzle/Rudder set up - Throttle set up - Propellor set up - Underwater buoyancy - Ride ...
[34]
Modeling and Simulation of an Autonomous Underwater Vehicle
This example shows how to simulate the dynamics and control of an autonomous submarine using Simulink® and the Aerospace Blockset™.Missing: definition | Show results with:definition
[35]
[PDF] What Distributed Interactive Simulation (DIS) Protocol Data Units ...
This report documents the processes used to provide a minimum, basic set of DIS message packets (Protocol Data Units (PDUs)) that should provide sufficient.
[36]
(PDF) Implementation of the submarine diving simulation in a ...
To verify the function and performance of the HLA interface, it was applied to the submarine dive scenario in a distributed environment, and the distributed ...
[37]
Maritime & Naval Training Debrief Software - Performaar
Capture and analyze ship, submarine, and UUV training data to enhance crew coordination, refine command decisions, and maximize operational readiness.
[38]
HAVELSAN Successfully Completes Upgrade of 360° Rear ...
Jun 11, 2024 · HAVELSAN announced that the upgrade work for 360° Rear Projected Dome Display System has been successfully completed within the framework of ...Missing: submarine degree 1990s
[39]
Fulldome - Wikipedia
Although the current technology emerged in the early-to-mid 1990s, fulldome environments have evolved from numerous influences, including immersive art and ...Missing: mission submarine trainers
[40]
AI is Changing the Marine Industry - SoluteLabs
Jun 17, 2025 · Adaptive Learning Algorithms: AI-driven simulators can adjust scenario complexity based on a trainee's performance, ensuring optimal challenge ...Missing: submarine post-
[41]
AI-driven adaptive analysis for finding emergent behavior in military ...
Oct 26, 2024 · This article introduces and demonstrates a new methodology for searching for emergent behavior in simulation-based analysis as rare, ...3. Emergent Behavior · 3.1. Complex Systems... · 3.2. Modeling And SimulationMissing: post- | Show results with:post-<|control11|><|separator|>
[42]
How the Navy uses simulators to prepare for the worst - WAVY.com
Nov 20, 2024 · Nearby at Naval Station Norfolk, the Submarine Learning Facility includes a full-scale motion simulator of a Virginia class submarine, allowing ...
[43]
German Navy | Submarine Training Centre - Bundeswehr
The STC is equipped with simulators of all systems installed aboard German Type 212A submarines. ... Since the STC is the most advanced training centre of its ...
[44]
Submarine Training Goes Deep into Sims | Halldale Group
May 18, 2021 · The SMMTT is a consolidation of training subsystems, including combat control, navigation, bridge and periscope operations, as well as others.Missing: definition | Show results with:definition
[45]
https://www.dote.osd.mil/Portals/97/pub/reports/FY2012/navy/2012arci.pdf
[46]
Astute Class Training Service - BAE Systems
Feb 13, 2025 · ACTS provides Royal Navy operator and maintainer training for Astute Class submarines using computer-based training, real equipment, and ...
[47]
[PDF] MIL-STD-2525D - Joint Chiefs of Staff
A standard method for symbol construction is provided using common building blocks which shall be used to create current symbol sets as well as ...
[48]
Das Boot, Red Storm Rising, Up Periscope, Silent Service, Gato
Submarine simulations were present before the beginning of the personal computer. The first "electronic subsim" may have been "Seawolf", "Sea Devil", ...
[49]
1966 in video gaming - Codex Gamicus
SEGA introduced an early electro-mechanical arcade game called Periscope. It was an early submarine simulator and light gun shooter, which used lights and ...
[50]
Sea Wolf - Videogame by Midway Manufacturing Co.
Sea Wolf is a Videogame by Midway Manufacturing Co. (circa 1976). Timed submarine game where player looks through a large periscope to aim at ships moving ...Missing: simulator | Show results with:simulator
[51]
Download 688 Attack Sub - My Abandonware
688 Attack Sub is a classic modern submarine simulation which puts you in command of either the American Los Angeles or the Soviet Alfa class nuclear-powered ...
[52]
Silent Hunter series - MobyGames
The Silent Hunter game group is a collection of games related to the (mainly submarine focused) naval warfare simulation series started with the first 'Silent ...
[53]
UBOAT on Steam
Rating 4.5 (10,669) · 14-day returnsUBOAT is a simulator of a submarine from WWII era. It is a survival sandbox with crew management mechanics while its primary theme is life of German sailors.UBOAT Supporter Bundle · UBOAT a Steamen · Supporter Pack
[54]
[PDF] silent hunter ii - Ubisoft
If you're new to this type of simulation game, time compression is a feature which allows you to increase the rate at which time passes in the game. Why would ...<|separator|>
[55]
SUBSIM – Submarine & Naval Site
SUBSIM® Review has been online since 1997 and is the resource for all the news, reviews, tactics, mods, patches, forum discussions, custom missions, playing & ...
[56]
Submarine Simulators 1982-2015 - YouTube
Apr 7, 2016 · ... 1990 Das Boot : Guybrush Threepwood 1990 Silent Service II ... Navy Field 2 : SamuraiZebra.
[57]
AUV path planning and obstacle avoidances in marine environment ...
Sep 25, 2025 · AUV sensor datas are essential as they enable the algorithm to adapt the underwater environment, avoid obstacles, and fulfil mission objectives.
[58]
Path planning and obstacle avoidance for AUV: A review
This paper mainly describes the state-of-the-art methods of path planning and obstacle avoidance for AUV and aims to become a starting point for researchers who ...
[59]
Research on Multiple-AUVs Collaborative Detection and ... - NIH
This research proposes a solution for multi-AUV formations, including long-range ferrying, coordinated detection, and surrounding attack using LSTM and DDPG.
[60]
[PDF] The Underwater Simulator UWSim - SciTePress
The Underwater Simulator UWSIM. (http://www.irs.uji.es/uwsim) has been shown to be a very useful tool for simulation, integration and bench- marking, during the ...
[61]
(PDF) TRIDENT: An European project targeted to increase the ...
TRIDENT: An European project targeted ... This paper presents UWSim: a new software tool for visualization and simulation of underwater robotic missions.
[62]
Integration of Gazebo and ROS for Underwater Vehicle Environment
In this paper, the performance of the underwater vehicle is analyzed by integrating Gazebo and ROS (Robot Operating System).
[63]
[PDF] Towards Particle Filter SLAM with Three Dimensional Evidence ...
Abstract—This paper describes the application of a Rao-. Blackwellized Particle Filter to the problem of simultaneous localization and mapping onboard a ...
[64]
A Reconfigurable autonomous underwater vehicle for intervention
Starting in January 2009, the RAUVI project is a three years coordinated research action funded by the Spanish Ministry of Research and Innovation.
[65]
Visually-guided manipulation techniques for robotic autonomous ...
Following the know-how generated through previous projects (RAUVI ... visual servoing control based on uncalibrated visual servoing has been issued.
[66]
[PDF] Collision Free Path Planning for Underwater Vehicles in Rapidly ...
The results demonstrate the ability of AmaxGPMP to successfully generate smooth, feasible, and safe behaviors for autonomous underwater vehicles. I.Missing: funded | Show results with:funded
[67]
Sensor Fusion for Underwater Vehicle Navigation Compensating ...
This paper proposes a method that estimates and compensates for the misalignment between INS and DVL in underwater vehicles. The proposed method incorporates ...
[68]
Experimental Analysis of Deep-Sea AUV Based on Multi-Sensor ...
Jan 3, 2024 · This study describes navigation and positioning experiments on AUVs in deep-sea scenarios and compares the accuracy of the USBL and LBL/SINS (Strap-Down ...
[69]
Diving Simulator Italian Navy Submarines School
The diving training simulator, installed over the Submarine School, provides training and simulation of the following main plants: ... flooding, control ...
[70]
TORPEDO EVASION: A GAMES APPROACH - NSL Archive
What to do with the submarine, how to employ the counterfire weapon, when and should the unit under attack attempt to re-engage? These are all questions the ...
[71]
Cost-Effective Military Training - Navy.mil
Mar 31, 2025 · The Navy's CSRR MRTS offers a cost-effective, realistic submarine radio room simulation, yielding 68% savings over legacy systems. It provides ...
[72]
Global exercise to test US Navy's live, virtual and constructive ...
Aug 11, 2021 · The Large Scale Exercise 2021 taking place across the globe will be the biggest test yet of a live, virtual and constructive (LVC) training ...
[73]
[PDF] Finding the Right Balance: Simulator and Live Training for Navy Units
One focus of this analysis should be the relationship between simulators and proficiency for the different levels of fidelity. An early and important find-.
[74]
[PDF] Training Effectiveness Evaluation of the VESUB Technology ... - DTIC
A prime candidate for examining the effectiveness of VR systems is the training of ship handling for the surfaced submarine. Although land-based simulator ...
[75]
ROV Simulators for Mission Planning and Training
Aug 27, 2025 · In the offshore energy sector, ROV simulators are used to train pilots in pipeline inspection, wellhead maintenance, and infrastructure surveys.Missing: commercial submarine
[76]
Gdańsk University of Technology uses Siemens Simcenter solutions ...
The percentage of physical tests performed is gradually getting lower in favor of CFD simulations. The use of experiments in the pool are expected to be ...
[77]
(PDF) Computational Resistance Analyses of A Generic Submarine ...
Aug 9, 2025 · This study investigates resistance characteristics of a DARPA-SUBOFF submarine bare hull form and its geometric variants using a commercial code ANSYS-FLUENT.
[78]
CFD Modelling of Submarine - GridPro Blog
Nov 23, 2020 · The domain and gridding needs for submarine CFD simulation change with the type of captive model testing. Learn CFD modeling of submarines.Constant Angular... · Planar Motion Mechanism Test · Determination Of Boundary...
[79]
U.S. Navy developing Acoustic Undersea Navigation and ...
Draper's work on POSYDON begins by developing high-fidelity models of how the positioning signals will travel through the ocean as well as developing the signal ...
[80]
A New Take on Modeling & Simulation for Improved Autonomy
Oct 17, 2023 · DARPA experts theorize that learning and transferring autonomy across diverse, low-fidelity simulations leveraging their shared semantics (eg, rules of ...
[81]
SWARMS
The primary goal of the SWARMs project is to expand the use of underwater and surface vehicles (AUVs, ROVs, USVs) to facilitate the conception, planning and ...Missing: multi- simulation impacts
[82]
DARPA relaunches quest for super-quiet submarine propulsion tech
May 26, 2023 · The program will assemble and validate multi-physics modelling and simulation tools including hydrodynamics, electrochemistry, and magnetics for ...Missing: quieting | Show results with:quieting
[83]
Submarine Engineers Simulate Real-Time Conditions to Test Key ...
Apr 17, 2018 · The RTHS method can test and validate alternatives earlier in the design process, when changes can be made more easily. Currently, system-level ...
[84]
Uncertainty of Sea Trials Results Used for Validation of Ship ...
Oct 21, 2015 · A key issue is the uncertainty of the data used in the validation. Typically, the validation will be against full scale trials results.Missing: challenges | Show results with:challenges
[85]
Sea trials for validation of shiphandling simulation models-a case ...
In general, the validation process for simulation models used by the maritime community has tended to be neglected by simulator operators.
[86]
Naval Combat Systems Simulator (NCSS) - CAE
The Naval Combat System Simulator (NCSS) can be configured to simulate generic, or ship class specific operator stations for sonar, radar and electronic warfare ...
[87]
[PDF] Naval Combat System Simulator (NCSS) - CAE
This state-of-the-art training device can be configured to provide the basic skills of combat tactics and operation of weapon systems, sensors, and voice and ...
[88]
From Sim to Sea: CAE - The RCN's Digital Training Revolution
Oct 6, 2025 · The purpose of these CAE maritime training systems and solutions is to allow the RCN and other navies to train in high fidelity ship-centric ...
[89]
SSBN / SSGN Ohio Class Submarine - Naval Technology
Jul 2, 2020 · The Ohio submarines were upgraded with the Lockheed Martin AN/BQQ-10(V4) sonar processing system under the acoustic-rapid commercial-off-the- ...
[90]
[PDF] AN/BQQ-10 Acoustic Rapid Commercial Off-the-Shelf Insertion (A ...
AN/BQQ-10 A-RCI sonar system is an open architecture system that includes biennial software upgrades (APBs) and quadrennial hardware upgrades (Technology ...Missing: Raytheon 2020s
[91]
OpenSSN download | SourceForge.net
Nov 5, 2023 · Download OpenSSN for free. OpenSSN is a submarine simulation. The player directs their submarine around an open ocean where ships of various ...Missing: OpenSubSim | Show results with:OpenSubSim
[92]
www.moos-ivp.org : Main - Home Page browse
MOOS-IvP is a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles.MOOS Documentation · Software Download · Group: moos-ivp-cc · Virtual Ocean
[93]
www.moos-ivp.org : Main - Home Page browse
### Summary of MOOS-IvP as an Open-Source Tool for AUV Autonomy Simulation
[94]
Dangerous Waters on Steam
Rating 4.5 (330) · 14-day returnsSCS - Dangerous Waters allows you total control over multiple air, surface, and submarine platforms in a modern-day naval environment.
[95]
Dangerous Waters Review - GameSpot
Rating 8.3/10 · Review by Tracy BakerMay 12, 2005 · A modern-day naval survey simulation that has the breadth and depth of the oceans where the combat it simulates takes place.<|separator|>
[96]
FakeFishGames/Barotrauma - GitHub
A 2D online multiplayer game taking place in a submarine travelling through the icy depths of Jupiter's moon Europa. www.barotraumagame.com/.Issues 144 · Pull requests 33 · Discussions · Actions
[97]
Barotrauma on Steam
Rating 5.0 (26,121) · 14-day returnsBarotrauma is a 2D co-op submarine simulator – in space, with survival horror and RPG elements. Steer your submarine, complete missions, fight monsters, ...Barotrauma - Supporter Pack · Barotrauma Supporter Bundle · FakeFish · CryoFall
[98]
Silent Hunter III Review - GameSpot
Rating 8.9/10 · Review by Tracy BakerMar 29, 2005 · Silent Hunter III sets a new standard both for this particular type of sim and for the genre as a whole.
[99]
Technology - Ocean Infinity
Automated data processing. We develop intelligent tools to process and visualise complex data at scale using AI and automation.Missing: based | Show results with:based