Using the SIMONA Research Simulator for Human-machine Interaction Research
Olaf Stroosma, Marinus M. van Paassen, Max Mulder · 2003
The Delft University of Technology has developed a 6 degree-of-freedom flight simulator, the SIMONA Research Simulator (SRS). The design incorporates several advanced technologies, such as light-weight construction, high performance motion drive algorithms and a flexible, PC-based computer infrastructure. The simulator serves as a testbed for new technologies and as a tool for Human-Machine Interaction (HMI) research. Key components of the simulator that allow high quality Human-Machine Interaction research to be performed, are described. To ensure a sufficient level of accessibility for students and researchers, the software architecture of the SRS uses the Delft University Environment for Communication and Activation (DUECA), a middleware layer that shields the user from the complexities of the communication between PCs and the real-time scheduling of the different simulation modules. Through the use of DUECA, experiments are also easily portable between development workstations and different simulator environments. The concepts behind DUECA and its use in the research environment of SIMONA are discussed. Several research projects with the Faculty of Aerospace Engineering of the Delft University of Technology have been performed successfully using DUECA, on simulators of different fidelity, from standalone PCs, to a fixed base mockup and the SRS. __________________________________ * Associate Researcher, International Research Institute for Simulation, Motion and Navigation. Member AIAA. † Assistant Professor, Control and Simulation Division, Faculty of Aerospace Engineering. Member AIAA. ‡ Assistant Professor, Control and Simulation Division, Faculty of Aerospace Engineering. Member AIAA. INTRODUCTION Several groups within the Delft University of Technology (TU Delft) in the Netherlands have long been involved in research into flight simulation. For instance, the faculty of Design, Construction and Production has extensive experience with the design and control of hydraulic actuators for motion and control loading systems. The faculty of Aerospace Engineering has always been active in the field of modeling and simulation and has operated a threedegree-of-freedom flight simulator up until the early 1990s. At that time, a new co-operative initiative was set up to develop, build and operate an advanced sixdegree-of-freedom research flight simulator. These two faculties, together with the faculty of Information Technologies and Systems, initiated the International Research Institute for Simulation, Motion and Navigation (SIMONA). The SIMONA institute promotes fundamental and applied research in the fields of simulation technology and human-machine interaction. Available and newly generated knowledge on simulation technologies is applied to the development of the full-motion SIMONA Research Simulator (SRS, see Figure 1). This recently completed simulator stands at the heart of the SIMONA institute and provides an experimental facility for human-machine interaction research. An important aspect in both research fields is a close co-operation with industry and academia around the world. Figure 1 SIMONA Research Simulator AIAA Modeling and Simulation Technologies Conference and Exhibit 11-14 August 2003, Austin, Texas AIAA 2003-5525 Copyright © 2003 by Delft University of Technology. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. American Institute of Aeronautics and Astronautics 2 Several simulation technologies received special attention in the development of the SRS: motion systems, light weight construction and real-time software architectures. How these areas were improved and how they support the human-machine interaction research performed in SIMONA, is covered in the next section. After several years of development, the SRS has been in a flyable configuration since mid 2002. After the construction of the 6 DOF hydraulically driven motion system and the attachment of the cabin, the computer and software infrastructure was finalized, the visual display system fitted and the interior constructed, including a hydraulic control loader for the pilot. A number of pilot projects were performed with the SRS in the course of 2002 and 2003, while further tuning and construction continued. The current structure of the SRS, both in terms of hardware and software, has been designed to provide a premier facility for human-machine interaction research. It combines high performance cueing mechanisms, coupled with a flexible research environment, allowing a wide variety of aircraft models and flight deck displays to be simulated. This paper focuses on the characteristics of various subsystems and the application of a flexible software architecture in support of the research. An example project is described to illustrate the research process within SIMONA. SIMULATOR CHARACTERISTICS In this section, the most important subsystems of the SRS are described in more detail. They are: the motion system, the cabin and flight deck, the visual display system and the computer architecture. Motion At the base of the simulator is a hydraulic 6 degree-offreedom motion system. Designed and built at the university, it is controlled by an advanced control system, providing low latency and high accuracy. It incorporates hydrostatic bearings to minimize friction and associated motion artifacts. The total stroke of the actuators is 1.25 meters, which includes 5 cm of advanced safety buffers at each end, resulting in an operational stroke of 1.15 m. The resulting workspace limits on the six degrees of freedom are summarized in Table 1. Work is currently underway to formally assess the characteristics of the motion base, based on the AGARD-144 document. Table 1 SRS workspace per degree of freedom