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European Simulation and Modelling Conference (ESM 2012)

作者： Thoendel, E. Czech Tech Univ Dept Elect Drives & Tract Prague 16627 Czech Republic

ISBN: (纸本)9789077381731

This paper describes the design and optimisation of a motion cueing algorithm for a truck simulator. However, the optimisation process described here can be applied for other simulators, in particular ground vehicle simulators. With the washout filter being the most common solution in simulation technology applications, the main idea of the optimisation procedure presented in this paper is the use of numerical tools to determine suitable washout algorithm parameters while respecting all kinematic and dynamical limitations of the motion platform including the perceptual thresholds of the vestibular system. These limitations are covered by a detailed mathematical model of the whole motion cuing system also described here. Washout algorithm consists of many different parameters the impact of which on the quality of motion cueing has not been clearly identified yet or is difficult to deduce. Therefore, the setup is often based on the programmer's experience. This article describes a method of optimising these parameters by means of a genetic algorithm. The optimisation criterion, expressed in the form of a fitness function, is the highest fidelity of motion cueing.

关键词： motion cueing algorithm washout algorithm optimisation genetic algorithm simulator truck simulator motion platform

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Towards a simulation-based tuning of motion cueing algorithms

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SIMULATION MODELLING PRACTICE AND THEORY 2016年第0期67卷 137-154页

作者： Casas, Sergio Coma, Inmaculada Portales, Cristina Fernandez, Marcos Univ Valencia Inst Robot & Informat & Commun Technol IRTIC Valencia Spain

This paper deals with the problem of finding the best values for the parameters of motion cueing algorithms (MCA). MCA are responsible for controlling the movements of robotic motion platforms used to generate the gravito-inertial cues of vehicle simulators. The values of their multiple parameters, or coefficients, are hard to establish and they dramatically change the behaviour of MCA. The problem has been traditionally addressed in a subjective, partially non-systematic, iterative, time-consuming way, by seeking pilot/driver feedback on the generated motion cues. The aim of this paper is to introduce a different approach to solve the problem of MCA tuning, by making use of a simulated motion platform;a series of (human-based) objective metrics relating to the performance of MCA are measured using this simulated device. This simulation-based approach allows for automatic tuning of the MCA, by using a genetic algorithm that is proposed to analyse the results obtained from multiple simulations of the MCA with different parameters. This algorithm is designed to efficiently optimize the simulated MCA parameter space. The proposed solution is assessed with the classical washout MCA, performing a series of tests to validate the correctness of this approach and the suitability of the proposed method to the solution of the MCA tuning problem. Results show that this approach can be an alternative to the traditional subjective tuning method in certain situations, mainly because it provides suitable values for the MCA parameters in a shorter time period, albeit subjective tuning is preferred when time to perform the MCA tuning is not an issue. (C) 2016 Elsevier B.V. All rights reserved.

关键词： motion cueing algorithm Simulation Tuning Heuristics Virtual reality

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A Particle Swarm Optimization-based Washout Filter for Improving Simulator motion Fidelity

A Particle Swarm Optimization-based Washout Filter for Impro...

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Asadi, Houshyar Mohammadi, Arash Mohamed, Shady Lim, Chee Peng Khatami, Amin Khosravi, Abbas Nahavandi, Saeid Deakin Univ Inst Intelligent Syst Res & Innovat Geelong Vic Australia

ISBN: (纸本)9781509018970

The washout filter for a driving simulator is able to regenerate high fidelity vehicle translational and rotational motions within the simulator's physical limitations and return the simulator platform back to its initial position. The classical washout filter provides a popular solution that has been broadly utilized in different commercial simulators due to its simplicity, short processing time, and reasonable performance. One limitation of the classical washout filter is its sub-optimal parameter tuning process, which is based on the trial-and-error method. This leads to an inefficient workspace usage and, consequently, generation of false motion cues that lead to simulator sickness. Ignorance of a human sensation model in its design is another drawback of classical washout filters. The purpose of this study is to use Particle Swarm Optimization (PSO) to design and tune the washout filter parameters, in order to increase motion fidelity, decrease the human sensation error, and improve efficiency of the workspace usage. The proposed PSO-based washout filter is designed and implemented using the MATLAB/Simulink software package. The results indicate the effectiveness of the PSO-based washout filter in reducing the human sensation error, increasing the capability of reference shape tracking, and improving efficiency of the workspace usage.

关键词： particle swarm optimizsation washout filter motion cueing algorithm human sensation

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The importance of yaw motion feedback in driving simulators 24th

The importance of yaw motion feedback in driving simulators

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24th Symposium of the International-Association-for-Vehicle-System-Dynamics (IAVSD)

作者： Kusachov, A. Bruzelius, F. Xie, X. Swedish Natl Rd & Transport Res Inst Vehicle Engn & Simulat Linkoping Sweden Chalmers Univ Technol Vehicle Engn & Simulat Gothenburg Sweden

ISBN: (纸本)9781498777025;9781138028852

In hexapod based driving simulator, utilizing one degree of freedom limits the potential in others. Taking into account that improper representation of the yaw motion in the driving simulator can be more harmful then beneficial in terms of the simulator's fidelity, the influence of the yaw component on the driver's motion perception in the driving simulator was studied. An experiment was conducted that included regular driving on the rural road and the light car crash on the T-junction. All 17 test subjects were divided into 2 groups - one group had yaw feedback in the motion cueing, the second did not. The difference in the vehicle states and driver's subjective opinion between the group with and without yaw component in the motion feedback was analyzed. It was concluded that the absence of the way component brings the difference, sometimes significant, to the driver's behavior and accordingly - to the motion perception.

关键词： driving simulator motion feedback yaw motion motion cueing algorithm car crash experiment

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Methods to Determine Optimal Washout Position for Single and Multi-Occupant motion Simulator

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CYBERNETICS AND INFORMATION TECHNOLOGIES 2016年第1期16卷 173-187页

作者： Kong Xiang-Tong Zhu Yuan-Chang Di Yan-Qiang Cui Hao-Hao Mech Engn Coll Dept Elect & Opt Engn Shijiazhuang 050003 Peoples R China

The washout position has great effects on the perception fidelity and the movement of the motion simulator. In this paper, the main square error of sensation between simulator and vehicle is determined, and the fidelity of the occupant and the platform motion performance as a basis to build a model for a single occupant optimal washout position measurement. Then, considering the features of the multi-occupant motion simulator, a concept of the task's master-crew is proposed, the multi-occupant optimal washout position measurement model is built. Then an anti-aircraft simulator for three occupants is taken as an example of a multi-occupant simulator and the optimal washout position measurement model is studied. Considering that the basic PSO algorithm has shortcomings such as easy aging and falling into local extreme value, a modified algorithm is designed called Adaptive Chaos PSO algorithm and applied to the resolution of the models. The results showed that the optimal position can make the simulator trainer have a more realistic sensation and maintain the safety of the platform, and that the Adaptive chaos PSO algorithm can effectively solve the shortcomings of PSO and is very useful in the resolution of the model.

关键词： motion cueing algorithm multi-occupant washout position ACPSO simulator

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Incorporating Human Perception With the motion Washout Filter Using Fuzzy Logic Control

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2015年第6期20卷 3276-3284页

作者： Asadi, Houshyar Mohamed, Shady Nahavandi, Saeid Deakin Univ Ctr Intelligent Syst Res Waurn Ponds Vic 3216 Australia

Nowadays, classical washout filters are extensively used in commercial motion simulators. Even though there are several advantages for classical washout filters, such as short processing time, simplicity and ease of adjustment, they have several shortcomings. The main disadvantage is the fixed scheme and parameters of the classical washout filter cause inflexibility of the structure and thus the resulting simulator fails to suit all circumstances. Moreover, it is a conservative approach and the platform cannot be fully exploited. The aim of this research is to present a fuzzy logic approach and take the human perception error into account in the classical motion cueing algorithm, in order to improve both the physical limits of restitution and realistic human sensations. The fuzzy compensator signal is applied to adjust the filtered signals on the longitudinal and rotational channels online, as well as the tilt coordination to minimize the vestibular sensation error below the human perception threshold. The results indicate that the proposed fuzzy logic controllers significantly minimize the drawbacks of having fixed parameters and conservativeness in the classical washout filter. In addition, the performance of motion cueing algorithm and human perception for most occasions is improved.

关键词： Classical fuzzy logic human sensation motion cueing algorithm vestibular system washout filter

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Human in the Loop: Optimal Control of Driving Simulators and New motion Quality Criterion

Human in the Loop: Optimal Control of Driving Simulators and...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Imad Al Qaisi Ansgar Tracchtler Control Engineering and Mechatronics Heinz Nixdorf Institute University of Paderborn

ISBN: (纸本)9781467317139

In this paper, a new model based optimal motion controller for driving simulators is presented. Models of human perception systems in combination with a simulator dynamic model are used in the design of the optimal controller. The basic idea of the new approach is based on minimizing the difference between the perceived signals in the vehicle and the perceived signals in the simulator. In addition, a new approach based on the human vestibular system is used to represent the sustained acceleration for the tilt coordination. Compared to conventional motion cueing algorithms, the proposed approach provides a more realistic impression, the workspace of the simulator is better exploited and all the constraints of the driving simulator are always respected. Furthermore, a new objective quality criterion is suggested to evaluate the new approach. A comparison between the classical washout, the adaptive washout and the new optimal control strategy is carried out.

关键词： Driving Simulators motion cueing algorithm Optimal Controller Perception System motion Quality Criterion Driving simulator simulator Human motion controller Optimal control Washout vehicle

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An Optimal Washout Filter Design for a motion Platform with Senseless and Angular Scaling Maneuvers

An Optimal Washout Filter Design for a Motion Platform with ...

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American Control Conference

作者： Sung-Hua Chen Li-Chen Fu Department of Electrical Engineering National Taiwan University Taipei Taiwan Department of Electrical Engineering & Computer Science and Information Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781424474264

The motion cueing algorithms are often applied in the motion simulators. In this paper, an optimal washout filter, taking into account the limitation of the simulator's workspace, is designed for the motion platform aiming to minimize human' s perception error in order to provide realistic behavior. The filtering algorithm compares the human's perception of driving simulated vehicles realized by the motion platform with that obtained based on the human vestibular model. Then, a cost function accounting for the pilot's sensation error and the range of platform motion is being minimized in the sense that more realistic motion and more efficient usage of the limited workspace can be successfully achieved. Finally, the simulation results verify the claimed efficient utilization of platform workspace for task running and less sensation error compared to that obtained by the classical washout filter.

关键词： motion cueing algorithm Human perception Washout filter Sensation error Senseless maneuver motion simulators Washout Platform task run Workplace Simulation results filter design simulator

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