Development of a motion simulator for testing a mobile surveillance robot

김성수,Oskar Wallrapp,권정주,김도현,Diana Wachter 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.4

A 6-axis motion simulator has been developed, in order to regenerate UGV (unmanned ground vehicle) motion and to test the stabilization system of the mobile surveillance robot that is mounted on the UGV. For developing the 6-axis motion simulator, a simulation-based design procedure was introduced. The 3D geometric model of the motion simulator was created by using 3D CAD modeler ProE. The multibody dynamics model of the motion simulator has also been created by using the general purpose dynamic analysis program ADAMS to validate the design of the motion simulator. Dynamics and control co-simulation model for the motion simulator has been also established for control performance analyses. Actual hardware of the motion simulator has been fabricated based on the proposed simulation based design. Hardware test of the motion simulator has been tried to validate the design.

Fast design of the QP-based optimal trajectory for a motion simulator

Young Man Cho,Hwa Soo Kim,Ik Kyu Kim,Jong Jin Woo,Jongwon Kim 대한기계학회 2007 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.21 No.12

The main difficulty in realizing a motion simulator comes from the constraints on its workspace. The so-called washout filter prevents a simulator from being driven to go off its pre-determined boundaries and generate excessive torques. By noting that the existing washout filters are conservative and more aggressive motions may be accommodated, this paper presents a novel approach that fully exploits the simulator workspace and thereby reproduces the real-world sensations with high fidelity. The washout filter converts the real-world input trajectory as a realizable one that satisfies the spatial and dynamic constraints while minimizing the sensation error and fidelity between the motions experienced in the real world and on the motion simulator. The control objective is to reduce the computational burdens by using the QP algorithm. The proposed approach formulates the task of designing a washout filter as a quadratic programming (QP). The direct approach to the solution of the QP often results in a computational burden that amounts to O(N³) flops and O(N²) storage space (N =10⁴ ~ 10?, typically). By judiciously exploiting the Toeplitz structures of the underlying matrices, an orders-of-magnitude faster algorithm is obtained to reduce the computational bur-dens to O(Nlog₂N) flops and O(N) storage space. The extensive simulation studies on the Eclipse-Ⅱ motion simulator at Seoul National University assure that the QP-based fast algorithm outperforms the existing ones in reproducing the real-world sensations.

Motion Effects of the Ship on Crew Performance

Hongtae Kim,Wook Hyun Ha,Jun-Hyuk Jang,Tae Hyun Fang,Seungbin Oh 대한인간공학회 2013 大韓人間工學會誌 Vol.32 No.4

Objective: The aim of this study is to provide a current knowledge of the multiple issues regarding motion effects on crew performance. Background: The motions of the ship may create motion sickness, nausea and vomit. Also, these motions also disturb the balance of crew members, increase the energy expenditure of crew for shipboard work, and result in increased levels of injury and fatigue. However, the motion effects of the ship on crew performance has not been thoroughly investigated. Method: Participants(N=10) were engaged in an experiment in 2 experimental environments(training ship and ship handling simulator) and 2 navigational conditions(day and night). The COP(Center of Pressure) data were recorded as an objective measure of postural balance control and the SSQ(Simulator Sickness Questionnaire) was used as a subjective measure of sickness. Results: The results showed that COP has a no significant difference based on experimental environments, but significant effect on SSQ. Conclusion: During the virtual simulator navigation, subjects showed significant SSQ level changes, which included decreased SSQ data. But, there is no significant difference of COP between training ship and ship handling simulator. Application: The results of this study could be applied to the next generation of ship design to decrease effect of motion at sea and to increase performance of ship crew.

A Design and Implementation of a Kayak Simulator with Motion-Haptic Feedback

서재용,박원형,윤인호,최종민,정구철 한국지식정보기술학회 2015 한국지식정보기술학회 논문지 Vol.10 No.5

The one of the most important factors in virtual simulating systems is to convey an appropriate motion-haptic signal to users according to the virtual environment’s condition. However, most of conventional virtual simulating systems can hardly provide immersive sensation to users because they do not create motion-haptic signal. Therefore, in this paper, we design and implement a kayak simulator system which allows a user to naturally manipulate and to immersively control a virtual kayak through motion haptic feedback. In order to provide the same sensation to users as if they drive a real kayak, the implemented kayak simulator consists of three parts (a motion input part, a motion re-creating platform, and a virtual environment). The motion input part uses an inertia measurement unit (an IMU) for measuring a user’s motion which is used for control input to the kayak simulator. A virtual environment module visualized the motion of the virtual objects and an avatar onto the screen based on the measured user’s motion. To convey the motion-haptic feedback to users, the motion re-creating platform generates motion feedback information in response to the user’s interaction with virtual objects. The proposed kayak simulator is capable of dynamically expressing kayak’s motion according to the amount of user’s interaction and virtual waves. If the developed motion re-creating platform is used for constructing other virtual applications, users not only can naturally manipulate with virtual objects but also can sense realistic and immersive sensation.

6자유도 시뮬레이터의 설계인자 추정에 관한 연구

윤준석(Jun Seok Yoon),송우진(Woo Jin Song),변영섭(Young Seop Byun),구태완(Tae Wan Ku),김정(Jeong Kim),강범수(Beom Soo Kang) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.4

신뢰도 있는 운동모사 시뮬레이터의 적용은 소형 무인항공기의 초기 개발단계에서 비행 플랫폼 성능을 효율적으로 예측 가능하게 한다. 따라서, 운동모사 시뮬레이터에 대한 연구는 소형 무인항공기 개발의 가속화 및 관련 제반경비를 저감에 기여하게 된다. 본 연구에서는 6자유도 시뮬레이터 설계를 위한 기초단계로서, 무인기 플랫폼 성능예측을 위한 주요 설계인자를 정의하고 그에 따른 시뮬레이터의 운동영역을 도출하였다. 주요 설계인자를 바탕으로 액추에이터의 길이, 가속도 및 필요추력을 예측하였다. 또한, 시뮬레이터의 실제 제작과정에서 적절한 액추에어터의 제작 및 선정과 선정된 액추에이터의 전체 운동영역 증대를 위하여, 이러한 연구결과가 적용 가능함을 확인하였다. 아울러, 제안된 설계인자를 고려하여 설계된 소형 시뮬레이터는 무인항공기 설계단계에서 보다 실제적인 운용환경을 제공하리라 판단된다. The application of a reliable motion simulator can contribute effectively in the evaluation of the performance of a vehicle platform in the development stage of a small unmanned aerial vehicle (UAV). Therefore, the research on a reliable motion simulator can accelerate the development of UAV and decrease the relevant cost. In this paper, the design factors considered in the preliminary design stage of a 6 degree-of freedom motion simulator are defined and the motion range of the simulator is described on the basis of these design factors. The length, acceleration, and the required thrust of actuators with respect to the motion simulator under development are also predicted. The motion range can be increased and a suitable actuator can be selected and produced by applying these results in the manufacturing process of the motion simulator. Thus, the reliability of the motion simulators can be achieved during the actual design operation of the UAV.

Design and Analysis of an Interactive Motion Simulator in Space Entertainment System

( Kuei-shu Hsu ),( Wei-ting Cho ),( Chin-feng Lai ),( Xiaofei Wang ),( Yueh-min Huang ) 한국인터넷정보학회 2012 KSII Transactions on Internet and Information Syst Vol.6 No.1

In this paper, the analysis and design of a motion simulator (based on the approach taken by interactive virtual reality (VR) entertainment systems) is conducted. The main components of the system include a bilateral control interface, simulation and a motion simulator control scheme. The space entertainment system uses a virtual environment that enables operators to feel the actual feedback sensing and distorted motion from the virtual environment, just as they would in the real environment. The space entertainment system integrates the dynamics of the motion simulator and the virtual environment and the operator maneuvers a steering wheel to interact with the system. The multiple bilateral control schemes employ a dynamical controller, which is designed by considering the velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator. In addition, we develop a calculated method to evaluate the Ratio of the simulation results. It is shown that the proposed control scheme can improve the performance of the visual entertainment system. Experiments are conducted on the virtual reality entertainment system to validate the theoretical developments.

데이터기반 운동감 생성법 및 차량 시뮬레이터 통합

차무현(Moohyun Cha),한순흥(Soonhung Han) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6

To improve the reality of motion simulator, a data-driven motion generation method has been introduced that simply records and replays the motion of real vehicles. We can achieve high quality of reality from real samples, but it has no interactions between users and simulations. However, in character animation, user controllable motions are generated by the motion capture database and appropriate control algorithms. In this study, as a tool for the interactive data-driven driving simulator, we proposed a new motion generation method. We sampled the motion data from a real vehicle, transformed the data into the appropriate data structure(motion block), and saved the series of it into a database. During simulation, our system searched and synthesized optimal motion blocks and provided a motion stream reflecting current simulation conditions and parameterized user demands. We demonstrate the value of the proposed method through experiments with the integrated motion base system.

차량 운전 시뮬레이터에서 모션과 영상의 동기화를 위한 알고리즘 및 구현 방안

김헌세,김대섭,김동환† 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.2

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

Computerized Human Body Modeling and Work Motion-capturing in a 3-D Virtual Clothing Simulation System for Painting Work Clothes Development

( Gin Ah Park ) 한국패션비즈니스학회 2015 패션 비즈니스 Vol.19 No.3

By studying 3-D virtual human modeling, motion-capturing and clothing simulation for easier and safer work clothes development, this research aimed (1) to categorize heavy manufacturing work motions; (2) to generate a 3-D virtual male model and establish painting work motions within a 3-D virtual clothing simulation system through computerized body scanning and motion-capturing; and finally (3) to suggest simulated clothing images of painting work clothes developed based on virtual male avatar body measurements by implementing the work motions defined in the 3-D virtual clothing simulation system. For this, a male subject``s body was 3-D scanned and also directly measured. The procedures to edit a 3-D virtual model required the total body shape to be 3-D scanned into a digital format, which was revised using 3-D Studio MAX and Maya rendering tools. In addition, heavy industry workers`` work motions were observed and recorded by video camera at manufacturing sites and analyzed to categorize the painting work motions. This analysis resulted in 4 categories of motions: standing, bending, kneeling and walking. Besides, each work motion category was divided into more detailed motions according to sub-work posture factors: arm angle, arm direction, elbow bending angle, waist bending angle, waist bending direction and knee bending angle. Finally, the implementation of the painting work motions within the 3-D clothing simulation system presented the virtual painting work clothes images simulated in a dynamic mode.

모션 기반 헬리콥터 시뮬레이터 개발 연구

나유찬,조영진 국제문화기술진흥원 2022 The Journal of the Convergence on Culture Technolo Vol.8 No.3

비행 시뮬레이터는 조종사들이 다양한 상황에 능숙하게 대처하고 비행감을 느낄 수 있도록 해주는 장치로 현 대 항공 분야에서 과학화 훈련에 관한 관심이 증가함에 따라 항공 훈련기관에서는 시뮬레이터를 개발 및 운용하는 사례가 증가하고 있다. 이에 본 연구에서는 상용 비행 시뮬레이터 프로그램과 모션 프로그램을 활용하여 모션 기반 헬리콥터 시뮬레이터를 개발하는 과정에 관하여 기술하였다. 연구 과정에서 선행연구를 통하여 헬리콥터 비행교육의 특수성과 모션 시뮬레이터의 긍정적인 효과를 확인하였으며, 모의비행훈련장치에 대한 구성과 현행 규정을 파악하고 헬리콥터 모션 시뮬레이터를 개발하는 과정에서 모션 시스템의 설계와 프로그램에 관하여 연구하였다. 시뮬레이터의 시스템 설계와 구조설계를 바탕으로 모션 프로그램을 설정하고 비행 시뮬레이터로부터 수신되는 데이터를 식별하여 예상 작동 형상을 확인하였다. 우리는 본 연구를 통해 모션 기반 헬리콥터 시뮬레이터를 완성하여 조종사 훈련에 긍 정적인 기대효과를 마련하고자 한다. A flight simulator is a device that allows pilots attain proficiency of various situations and a sense of flight, and as interest in scientific training increases in modern aviation, aviation training organization develop and operate simulators. Therefore, in this study, the process of developing a motion-based helicopter simulation Training Device using a commercial program. Citing previous studies, the specificity of helicopter flight education and the positive effect of motion simulators were confirmed. In addition, the design and program of the motion device were studied in the process of checking the configuration and current regulations of flight simulation training devices and developing a helicopter motion simulator. A motion program was set based on the system design and structural design of the flight simulator, and data received from the flight simulator was identified to confirm the expected operating shape. Through this study, we intend to create a positive expected effect on pilot training by completing a motion-based helicopter simulator.