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Survey of Motion Platforms and MCA > 10 September 2007 > 1Institute of Transportation Systems > Aerospace technology for road and railway

A Survey of State-of-the-art Motion Platform Technology and Motion Cueing Algorithms Dipl.-Ing. Martin Fischer2nd Motion Simulator Conference, 20.09.07

Survey of Motion Platforms and MCA > 10 September 2007 > 2Institute of Transportation Systems > Aerospace technology for road and railway

Introduction

„Motion cueing“ describes the presentation of visual, acoustic, vestibular and haptic information (cues) with the aim to resemble real movements in virtual environments

Motion Cueing Algorithm (MCA)

Motion Drive Algorithm (MDA)

Washout Algorithm (WA)

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Motion Platform Technology

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Motion Platform HistoryEarly Flight Simulators

1900 1950 2000

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Motion Platform History

C. Kappel ’60s First Patent ’67Gough Platform ’54 Stewart Platform ’66

1900 1950 2000

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Motion Platform History

VTI I ’84 Daimler Benz ’85IFAS (IKK) ’84

1900 1950 2000

VW 70’s

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Motion Platform History

Mazda ’90 Trygg Hansa ’91 VTI II ‘02

Daimler Benz ’93

Ford VIRTTEX ’94

JARI ’96

1900 1950 2000

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Motion Platform History

Renault ’99 Nissan ’99 IZVW ’99BMW ~’98/99

1900 1950 2000

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Motion Platform History

BMW ’03NADS-1 ’02Ford VIRRTEX new ’01

IFAS MARS ’01

1900 1950 2000

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Motion Platform History

VTI III ’04 TU München ’04 ULTIMATE ’04IFAS MARS ’04 Katech KAAS ’05

1900 1950 2000

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Motion Platform History

TNO DESDEMONA ’07MPI RoboCoaster ’07DLR SimCar ’05 LADS ’06

1900 1950 2000

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Motion Platform HistoryOverview

1980 1990 2000 2010

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Motion Cueing Algorithms

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MCA structure

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Tilt Coordination

g

aquer

g*

ω

ϕ

Initial accelerations via translational movementsSustained accelerations via body tilt (tilt coordination)

rate limit

point of tilting

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MCA hexapod

Classical washout

Optimal control

Coordinated adaptive

Lane based

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MCA Add-on‘s

Extensions to the classical MCAAdaptive highpass filter (UTTIAS)Nonlinear filter (Renault)Adaptive gain & filter (Nihon University)

Scenario dependent switchingIntelligent Adaptive MDA (NADS)Time Variant MCA (DLR)

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Simulator specific approaches

ULTIMATE – Model predictive control

NADS – MDA for redundant DoF

DESDEMONA – Spherical washout filter

RoboCoaster – Robot arm MCA

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Tuning

Offline TuningHuman control models

Human perception models

Empirical methods(Sinacori/Schroeder)

Online TuningHuman-in-the-loop

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Motion Cueing Issues

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Important Motion Cueing Factors

Motion Cueing

Motion Platform Type

VisualizationCharacteristics

Driving Dynamics

Subjective Ratings

Tuning Method

Application

Motion Perception

Motion Cueing Algorithm

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objective

subjective

Realism

Opposing Aspects I

adaptive

homogenous

variable

simple

Tuning Options

Motion Response

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Opposing Aspects II

manoeuvre

subject

Tuning Criteria

tilt rate

delay

Sustained Accelerations False Cues

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Thank you for yourAttention!