<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "http://www.web3d.org/specifications/x3d-3.0.dtd">
<X3D profile='Immersive' version='3.0 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' http://www.web3d.org/specifications/x3d-3.0.xsd '>
<head>
<component level='1name='DIS'/>
<meta name='titlecontent='RemusEspdu.x3d'/>
<meta name='descriptioncontent="Remote Environmental Monitoring UnitS (REMUS) is a low-cost autonomous underwater vehicle (AUV) for coastal monitoring and multiple vehicle survey operations. REMUS is developed and operated by the Woods Hole Oceanographic Institute (WHOI) Oceanographic Systems Laboratory. Red fin is topside. p.s. Jeff Weekley's first model!"/>
<meta name='creatorcontent='Jeffrey Weekley, DIS and terrain content added by Duane Davis'/>
<meta name='createdcontent='16 March 2001'/>
<meta name='modifiedcontent='14 January 2014'/>
<meta name='referencecontent=' http://adcp.whoi.edu '/>
<meta name='referencecontent=' http://www.whoi.edu/home/marine/remus_main.html '/>
<meta name='referencecontent='remus_main_May2001.pdf'/>
<meta name='referencecontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d '/>
<meta name='photocontent='marine_remus_top.jpg'/>
<meta name='referencecontent='SAHRV-SemiAutonomousHydrographicReconnaissainceVehicle.pdf'/>
<meta name='referencecontent=' http://www.onr.navy.mil/sci_tech/ocean/info/yerpts/oeye00/oe5vona1.pdf '/>
<meta name='referencecontent='oe5vona1-NavalSpecialWarfareSupportWithREMUS.pdf'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusEspdu.x3d '/>
<meta name='generatorcontent='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!-- -->
<Scene>
<!-- Produce wireframe or transparent beam cones. -->
<ExternProtoDeclare name='BeamConeappinfo='Produce wireframe or transparent beam cones. Typical uses include propeller/thruster water flow or line-of-sight sonar/radar/light beams. Negative range values invert base and apex at same relative location. Default: beam with apex at (0 0 0) and base of radius 1 in x-z plane at (1 0 0).'
  url=' "../../CommunicationsAndSensors/Beam/BeamConePrototype.x3d#BeamCone" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Beam/BeamConePrototype.x3d#BeamCone" "../../CommunicationsAndSensors/Beam/BeamConePrototype.wrl#BeamCone" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Beam/BeamConePrototype.wrl#BeamCone" '>
<field name='contacttype='SFBoolaccessType='inputOnly'
 appinfo='(communications) is transmitted signal in contact with receiver or (sensor) is a target return detected?'/>

<field name='rangetype='SFFloataccessType='inputOnly'
 appinfo='distance in meters along x axis'/>

<field name='defaultRangetype='SFFloataccessType='initializeOnly'
 appinfo='distance in meters used until eventIn range sent'/>

<field name='wireframetype='SFBoolaccessType='initializeOnly'
 appinfo='whether wireframe beam is drawn'/>

<field name='solidtype='SFBoolaccessType='initializeOnly'
 appinfo='whether solid beam is drawn'/>

<field name='beamHeightDegreestype='SFFloataccessType='initializeOnly'
 appinfo='degrees across vertical y axis'/>

<field name='beamWidthDegreestype='SFFloataccessType='initializeOnly'
 appinfo='degrees across horizontal z axis'/>

<field name='contactColortype='SFColoraccessType='initializeOnly'
 appinfo='rendering color when contact=true'/>

<field name='noContactColortype='SFColoraccessType='initializeOnly'
 appinfo='rendering color when contact=false'/>

<field name='transparencytype='SFFloataccessType='inputOutput'
 appinfo='1 = fully transparent wireframe only'/>

<field name='nametype='SFStringaccessType='initializeOnly'
 appinfo='BeamCone name aids in node identification and tracing'/>

<field name='traceEnabledtype='SFBoolaccessType='initializeOnly'
 appinfo='flag to turn on Script tracing'/>
</ExternProtoDeclare>
<WorldInfo info='"Only unclassified open resources were used to create this model."title='Remus AUV'/>
<Background skyColor='0.2 0.8 0.8'/>
<!-- This file builds the REMUS Autonomous Underwater Vehicle (AUV). The dimensions were originally provided in English units and is converted to metric using a scale that 39.3 inches equal one meter. -->
<!-- ROUTE information for AUVTRANSFORM node:  [from articulationParameterArray to ArticulationParameterControl.set_articulationParameters ] -->
<EspduTransform DEF='AUVTRANSFORMaddress='224.2.181.145marking='Remus AUVnetworkMode='networkReaderport='62040'>
<Group>
<Transform rotation='0 1 0 -1.57translation='-3 1 0'>
<Viewpoint description='Remus over-the-shoulder 3morientation='1 0 0 -0.25position='0 0 0'/>
</Transform>
<Transform rotation='0.0 0.0 1.0 1.57079scale='0.2145 0.2145 0.2145translation='1 0 0'>
<Transform DEF='torpedoband1translation='0.0 2.475 0.0'>
<Shape>
<Cylinder bottom='falseheight='0.45radius='.267top='false'/>
<Appearance>
<Material diffuseColor='0 0.5 0.5'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='torpedoband2translation='0.0 2.735 0.0'>
<Shape>
<Cylinder bottom='falseheight='.07radius='.267top='false'/>
<Appearance>
<Material diffuseColor='0 0.5 0.5'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='torpedobody2translation='0.0 3.37 0.0'>
<Shape>
<Cylinder bottom='falseheight='1.2radius='0.267top='false'/>
<Appearance>
<Material diffuseColor='1.0 1.0 0.0'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='torpedoband3translation='0.0 4.005 0.0'>
<Shape>
<Cylinder bottom='falseheight='.07radius='.267top='false'/>
<Appearance>
<Material diffuseColor='1.0 1.0 0.0'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='torpedobody3translation='0.0 4.638 0.0'>
<Shape>
<Cylinder bottom='falseheight='1.2radius='0.267top='false'/>
<Appearance>
<Material diffuseColor='1.0 1.0 0.0'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='torpedoband4translation='0.0 3.8075 0.0'>
<Transform translation='0.0 1.465 0.0'>
<Shape>
<Cylinder bottom='falseheight='.07radius='.267top='false'/>
<Appearance>
<Material diffuseColor='1.0 1.0 0.0'/>
</Appearance>
</Shape>
</Transform>
</Transform>
<Transform DEF='torpedobody4translation='0.0 3.8075 0.0'>
<Transform translation='0.0 2.1 0.0'>
<Shape>
<Cylinder bottom='falseheight='1.2radius='.267top='false'/>
<Appearance>
<Material diffuseColor='1.0 1.0 0.0'/>
</Appearance>
</Shape>
</Transform>
</Transform>
<Transform DEF='torpedonoserotation='1.0 0.0 0.0 3.1416translation='0 2.2525 0'>
<Shape>
<Appearance>
<Material shininess='0.5'/>
</Appearance>
<Extrusion creaseAngle='1.785crossSection='0.267 0.000 0.231 -0.134 0.134 -0.231 0.0 -0.267 -0.134 -0.231 -0.231 -0.134 -0.267 0.000 -0.231 0.134 -0.134 0.231 0.0 0.267 0.134 0.231 0.231 0.134 0.267 0.0scale='1.00 1.00 0.95 0.95 0.88 0.88 0.76 0.76 0.48 0.48spine='0.00 0.00 0.00 0.00 0.10 0.00 0.00 0.20 0.00 0.00 0.30 0.00 0.00 0.40 0.00'/>
</Shape>
</Transform>
<Group DEF='controlfins'>
<Transform translation='0.0 -0.25 0.0'>
<Transform DEF='ControlFin1'>
<Transform translation='0.19 7.81 0.0'>
<!-- ROUTE information for Deflector1 node:  [from ArticulationParameterControl.topRudder to set_rotation ] -->
<Transform DEF='Deflector1'>
<Shape>
<Box size='0.4 .2 0.02'/>
<Appearance>
<Material diffuseColor='1.0 0.0 0.0shininess='0.5'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Transform>
<Transform DEF='ControlFin2rotation='0 1 0 3.17'>
<Transform translation='0.19 7.81 0.0'>
<!-- ROUTE information for Deflector2 node:  [from ArticulationParameterControl.bottomRudder to set_rotation ] -->
<Transform DEF='Deflector2'>
<Shape>
<Box size='0.4 .2 0.02'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='0.5'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Transform>
<Transform DEF='ControlFin3rotation='0 1 0 1.57'>
<Transform translation='0.19 7.81 0.0'>
<!-- ROUTE information for Deflector3 node:  [from ArticulationParameterControl.portPlane to set_rotation ] -->
<Transform DEF='Deflector3'>
<Shape>
<Box size='0.4 .2 0.02'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='0.5'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Transform>
<Transform DEF='ControlFin4rotation='0.0 1.0 0.0 4.74'>
<Transform translation='0.19 7.81 0.0'>
<!-- ROUTE information for Deflector4 node:  [from ArticulationParameterControl.stbdPlane to set_rotation ] -->
<Transform DEF='Deflector4'>
<Shape>
<Box size='0.4 .2 0.02'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='0.5'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Transform>
</Transform>
</Group>
<Group DEF='TailSection'>
<Transform DEF='torpedotailrotation='1.0 0.0 0.0 3.1416translation='0.0 7.9375 0.0'>
<Shape>
<Appearance>
<Material shininess='1.0'/>
</Appearance>
<Extrusion creaseAngle='2.0crossSection='0.267 0.000 0.231 -0.134 0.134 -0.231 0.0 -0.267 -0.134 -0.231 -0.231 -0.134 -0.267 0.000 -0.231 0.134 -0.134 0.231 0.0 0.267 0.134 0.231 0.231 0.134 0.267 0.0endCap='falsescale='0.342 0.342 0.500 0.500 0.643 0.643 0.766 0.766 0.866 0.866 0.940 0.940 0.985 0.985 1.0 1.0spine='0.0 0.0 0.000 0.0 0.114 0.000 0.0 0.266 0.000 0.0 0.453 0.000 0.0 0.670 0.000 0.0 0.910 0.000 0.0 1.166 0.000 0.0 1.431 0.0'/>
</Shape>
<LOD range='20'>
<Group DEF='torpedostator'>
<!-- ROUTE information for propeller node:  [from PropSpin.value_changed to rotation ] -->
<Transform DEF='propellertranslation='0.0 -0.15 0.0'>
<Group DEF='statorblade1'>
<Transform DEF='torpedostatorblade1'>
<Transform rotation='-1.0 0.0 0.0 1.0472translation='0.075 0.0 0.0'>
<Shape>
<Box size='0.125 0.09 0.015'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='0.75'/>
</Appearance>
</Shape>
</Transform>
</Transform>
<Transform DEF='torpedostatorblade2rotation='0.0 1.0 0.0 1.0472'>
<Transform rotation='1 0 0 1.0472translation='-0.075 0.0 0.0'>
<Shape>
<Box size='0.125 0.09 0.015'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='0.5'/>
</Appearance>
</Shape>
</Transform>
</Transform>
<Transform DEF='torpedostatorblade3rotation='0.0 1.0 0.0 -1.0472'>
<Transform rotation='1 0 0 1.0472translation='-0.075 0.0 0.0'>
<Shape>
<Box size='0.125 0.09 0.015'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Group>
<Transform DEF='statorcrankshaftrotation='1.0 0.0 0.0 3.1416translation='0.0 0.05 0.0'>
<Shape>
<Cone bottomRadius='0.09height='0.2'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1'/>
</Appearance>
</Shape>
</Transform>
</Transform>
<!-- Spins the propellor and stator once every 4 seconds -->
<!-- ROUTE information for Clock node:  [from fraction_changed to PropSpin.set_fraction ] -->
<TimeSensor DEF='ClockcycleInterval='0.5loop='true'/>
<!-- ROUTE information for PropSpin node:  [from Clock.fraction_changed to set_fraction ] [from value_changed to propeller.rotation ] -->
<OrientationInterpolator DEF='PropSpinkey='0.0 0.5 1.0keyValue='0.0 1.0 0.0 0.00 0.0 1.0 0.0 3.14 0.0 1.0 0.0 6.28'/>
<ROUTE fromNode='ClockfromField='fraction_changedtoNode='PropSpintoField='set_fraction'/>
<ROUTE fromNode='PropSpinfromField='value_changedtoNode='propellertoField='rotation'/>
</Group>
<WorldInfo info='"null node"'/>
</LOD>
</Transform>
</Group>
<Transform DEF='SideScanningSonarArray1translation='0.0 4.5 0.27'>
<Shape>
<Box size='0.04 2.0 0.025'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='0.5'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='SideScanningSonarArray2translation='0.0 0.0 -.54'>
<Transform USE='SideScanningSonarArray1'/>
</Transform>
<Transform DEF='TopHooktranslation='0.27 4.25 0.0'>
<Shape>
<Box size='0.04 0.1 0.04'/>
<Appearance>
<Material diffuseColor='0.1 0.1 0.1shininess='.75'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='SCREW_BEAMCONErotation='0 0 1 1.571translation='0 8.2 0'>
<!-- ROUTE information for ScrewBeamCone node:  [from ArticulationParameterControl.rpm to range ] -->
<ProtoInstance name='BeamConeDEF='ScrewBeamCone'>
<!-- range values -1..0..1 m <==> -700..0..700 RPM -->
<fieldValue name='defaultRangevalue='1'/>
<fieldValue name='beamHeightDegreesvalue='8'/>
<fieldValue name='beamWidthDegreesvalue='8'/>
<fieldValue name='solidvalue='false'/>
<fieldValue name='wireframevalue='true'/>
<!-- Greenish blue for sea water flow -->
<fieldValue name='noContactColorvalue='0 .8 .4'/>
<fieldValue name='transparencyvalue='0'/>
</ProtoInstance>
</Transform>
</Transform>
<Group DEF='GPSTransiever'>
<Transform rotation='0 1 0 1.57scale='0.0125 0.0125 0.0125translation='-0.3 0.06 0'>
<Transform DEF='Top'>
<Shape>
<Extrusion creaseAngle='3.14crossSection='0 1.1 0.65 0.4 0.7 0.2 0.7 -0.2 0 -1.6 -0.7 -0.2 -0.7 0.2 -0.65 0.4 0 1.1scale='0.9 0.9 1 1 1 1 0.9 0.9spine='0 5 0 0 5.1 0 0 5.9 0 0 6 0'/>
<Appearance>
<Material diffuseColor='0.8 0.63 0.7transparency='0.2'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='Fin'>
<Shape>
<Extrusion creaseAngle='3.14crossSection='0 2.2 0.2 1.8 0 -2.2 -0.2 1.8 0 2.2scale='1 1 0.4 0.4spine='0 0 0 0 5.9 0'/>
<Appearance DEF='Orange'>
<Material diffuseColor='0.8 0.43 0.3'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='Base'>
<Shape>
<Extrusion creaseAngle='2crossSection='0 2.3 0.2 2.2 0.4 2 0.5 1.6 0.5 -1.6 0.3 -2 0 -2.3 -0.3 -2 -0.5 -1.6 -0.5 1.6 -0.4 2 -0.2 2.2 0 2.3scale='1 1 1 1 0.9 0.9spine='0 -0.5 0 0 0.1 0 0 0.11 0'/>
<Appearance USE='Orange'/>
</Shape>
</Transform>
<Transform translation='0 5.825 0'>
<Shape>
<Box size='0.8 0.3 1'/>
<Appearance>
<Material diffuseColor='0.15 0.15 0.25'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Group>
<Group>
<Viewpoint description='Remus from above 15morientation='-0.58 -0.58 -0.58 2.09position='0 15 0'/>
<Viewpoint description='Remus starboard side 10m'/>
<Viewpoint description='Remus starboard side 3mposition='0 0 3'/>
<Viewpoint description='Remus astern 10morientation='0 1 0 -1.57position='-10 0 0'/>
<Viewpoint description='Remus astern 2morientation='0 1 0 -1.57position='-2 0 0'/>
<Viewpoint description='Remus port side 10morientation='0 1 0 3.14position='0 0 -10'/>
<Viewpoint description='Remus port side 3morientation='0 1 0 3.14position='0 0 -3'/>
</Group>
<Group>
<!-- ROUTE information for ArticulationParameterControl node:  [from AUVTRANSFORM.articulationParameterArray to set_articulationParameters ] [from rpm to ScrewBeamCone.range ] [from topRudder to Deflector1.set_rotation ] [from bottomRudder to Deflector2.set_rotation ] [from portPlane to Deflector3.set_rotation ] [from stbdPlane to Deflector4.set_rotation ] -->
<Script DEF='ArticulationParameterControl'>
<field name='set_articulationParameterstype='MFFloataccessType='inputOnly'/>
<field name='rpmtype='SFFloataccessType='outputOnly'/>
<field name='topRuddertype='SFRotationaccessType='outputOnly'/>
<field name='bottomRuddertype='SFRotationaccessType='outputOnly'/>
<field name='stbdPlanetype='SFRotationaccessType='outputOnly'/>
<field name='portPlanetype='SFRotationaccessType='outputOnly'/>
<![CDATA[
            
ecmascript:

function initialize()
{
   rpm     = 0;
   rudder  = new SFRotation (0, 1, 0, 0);
   planes  = new SFRotation (1, 0, 0, 0);
}

function set_articulationParameters( value, timestamp )
{
   rpm          = value[1] * 3.0;
   topRudder    = new SFRotation (1, 0, 0,  value[4]);
   bottomRudder = new SFRotation (1, 0, 0, -value[4]);
   stbdPlane    = new SFRotation (1, 0, 0,  value[6]);
   portPlane    = new SFRotation (1, 0, 0, -value[6]);
}

          
]]>
</Script>
<ROUTE fromNode='AUVTRANSFORMfromField='articulationParameterArraytoNode='ArticulationParameterControltoField='set_articulationParameters'/>
<ROUTE fromNode='ArticulationParameterControlfromField='rpmtoNode='ScrewBeamConetoField='range'/>
<ROUTE fromNode='ArticulationParameterControlfromField='topRuddertoNode='Deflector1toField='set_rotation'/>
<ROUTE fromNode='ArticulationParameterControlfromField='bottomRuddertoNode='Deflector2toField='set_rotation'/>
<ROUTE fromNode='ArticulationParameterControlfromField='portPlanetoNode='Deflector3toField='set_rotation'/>
<ROUTE fromNode='ArticulationParameterControlfromField='stbdPlanetoNode='Deflector4toField='set_rotation'/>
</Group>
</Group>
</EspduTransform>
<Transform DEF='TERRAINTRANSFORMtranslation='-750 0 -750'>
<Shape>
<Appearance>
<Material diffuseColor='0.5 0.5 0emissiveColor='0.1 0.1 0'/>
<ImageTexture
  url=' "../../../Savage/AuvWorkbench/OperatingAreas/dirt4.gif" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/dirt4.gif" '/>
</Appearance>
<ElevationGrid creaseAngle='3.14xDimension='11xSpacing='150zDimension='11zSpacing='150height='-75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50'>
<TextureCoordinate point='1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 11 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 7 11 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 8 10 8 11 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 9 10 9 11 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 10 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11'/>
</ElevationGrid>
</Shape>
</Transform>
</Scene>
</X3D>
<!--

Index for ExternProtoDeclare definition : BeamCone

Index for DEF nodes : ArticulationParameterControl, AUVTRANSFORM, Base, Clock, ControlFin1, ControlFin2, ControlFin3, ControlFin4, controlfins, Deflector1, Deflector2, Deflector3, Deflector4, Fin, GPSTransiever, Orange, propeller, PropSpin, SCREW_BEAMCONE, ScrewBeamCone, SideScanningSonarArray1, SideScanningSonarArray2, statorblade1, statorcrankshaft, TailSection, TERRAINTRANSFORM, Top, TopHook, torpedoband1, torpedoband2, torpedoband3, torpedoband4, torpedobody2, torpedobody3, torpedobody4, torpedonose, torpedostator, torpedostatorblade1, torpedostatorblade2, torpedostatorblade3, torpedotail

Index for Viewpoint images : Viewpoint_1, Viewpoint_2, Viewpoint_3, Viewpoint_4, Viewpoint_5, Viewpoint_6, Viewpoint_7, Viewpoint_8
-->

<!-- Color key: <X3dNode DEF='idName' field='value'/> matches <XmlElement DEF='idName' attribute='value'/>
(Light blue background: behavior node) (Grey background: inserted documentation) (Magenta background: X3D Extensibility)
    <Prototype name='ProtoName'> <field name='fieldName'/> </Prototype> -->

<!-- Additional help information about X3D scenes: X3D Resources, X3D Scene Authoring Hints and X3D Tooltips -->