motion cueing from sensation to sensibility sunjoo advani idt wats 2009 orlando
TRANSCRIPT
Motion Cueing
From Sensation to Sensibility
Sunjoo Advani
IDT
WATS 2009 Orlando
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Safety Issues
Piloting duties: Fly Navigate Communicate Organize
Handling skills must be maintained despite automation
Concerns of loss of skills retention: Short-haul pilots – 15 hours/year Long-haul pilots – 15 manual take-offs/landings; 30 minutes/year
The only place where skills can be retained is the FSTD
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Motion Feedback in Reality
“Motion”comes from many sources: Eyes Body Vestibular
From childhood, we learn to integrate these and use them to control self-motion
Each sensory path has its own dynamics: Vestibular & Body fast Peripheral visual slower Central visual slowest
Take away one, and other channels have to adapt
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Motion Research
Large body of research on flight simulator motion
Focus of research is on proper generation of cues
Some on transfer of training
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Flight Training Goals
Motion should support the training task
Bad motion must be avoided
Good motion contributes to correct responses
Today’s tests: Robotic test (what the system is capable of doing during operation) Subjective test (what the pilot thinks it’s doing during operation
This can lead to inconsistency
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Current Tests
Robotic Tests Frequency response
Leg balance
Transport delay
Turnaround
Functional Subjective Tests
There is NO objective testing of the total motion gain and phase
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High-pass / low-pass filtering
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High-pass / low-pass filtering
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High-pass / low-pass filtering
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Motion Drive Algorithm
FlightModel
High-Pass Translation
Low-Pass Translation
High-Pass Rotation
a/c linearaccels
a/c angularaccels
MotionSystem
Sim translationcommand
Simrotation
command
+
+
Each block contains many coefficientsthat determine response
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Motion Cueing Algorithms
Transfer Function of aircraft attitude to simulator attitude, Classical Washout
Short Period Nat. Freq. Small Heli
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Objective Motion Cueing Test
• Implemented in ICAO 9625• Enhance current practices. • Supported by analytical and experimental knowledge.• Easy to interpret.• Independent of the technology within the simulator.• Standardized analysis techniques and tools.• Acceptable to all major stakeholders
• Benefits to training:
1. Identify deficiencies (and show why)
2. Equalize motion simulation
3. Quantify motion cueing
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Objective Motion Cueing Test
MotionCueing
Algorithm
In the frequency range that pilots manually control, we need the simulator to respond with:
Relatively high gain
Relatively low phase
OMCT is END-TO-END test of motion cueing performance:
Motion Cueing Algorithm
Motion System Response (6 DOF)
Motion Transport Delay
OMCT bounds the acceptable gain and phase in End-to-End response
O M C T
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Objective Motion Cueing Test
Advani-Hosman Motion Criterion (1 rad/s to 2.5 X A/C)
Gain and Phase Distortion Boundaries
Natural Mode Small Transport
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Objective Motion Cueing Test
Motion Criterion Advani-Hosman (1 rad/s to 2.5 X A/C)
Gain and Phase Distortion Boundaries
Natural Mode, Large Transport
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The road ahead
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Status
Tests introduced in ICAO 9625
Need to define the criteria associated with tests
Define what is required to improve overall quality
Requires additional research – and YOUR support!
Breda, The Netherlands