Multi-Domain Flight Simulation with the DLR Robotic Motion Simulator

Seefried, Andreas; Pollok, Alexander; Kuchar, Richard; Hellerer, Matthias; Leitner, Martin; Milz, Daniel; Schallert, Christian; Kier, Thiemo; Looye, Gertjan; Bellmann, Tobias

doi:10.23919/springsim.2019.8732921

Cited by 6 publications

(3 citation statements)

References 12 publications

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“…Fig 6.a presents the rotational motion sensation for the user of the real vehicle and SBMP users using the classical, previous adaptive and proposed adaptive MCAs during 40 to 65 seconds motion scenario. The correlation coefficient can be employed to compare the shape similarity of two signal, which is introduced by Asadi et al [1]. The CC varies between -1 and 1, and the higher value of CC means more similarity between the shapes of the two signals.…”

Section: Resultsmentioning

confidence: 99%

“…The application of simulation-based motion platforms increases due to their tremendous beneficial points in many areas such as transportation system, human psychology, reliability to autonomous, car factory and aerospace industry [1][2][3]. They can be used as a handy device to train pilots or even test newly designed cars even before rapid prototyping them.…”

Section: Introductionmentioning

confidence: 99%

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A New Fuzzy Logic Based Adaptive Motion Cueing Algorithm Using Parallel Simulation-Based Motion Platform

Qazani

Asadi

Bellmann

et al. 2020

2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

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Parallel manipulators are recently used in most motion simulation laboratories as they can easily generate six degrees of freedom motion. Recently, fuzzy logic-based adaptive motion cueing algorithms (MCAs) have been employed to reproduce the motion signals. The usage of fuzzy logicbased adaptive MCA reduces the movement sensation error between the real vehicle and the simulation-based motion platform (SBMP) user considering the end-effector limitations in Cartesian space.. In this paper, a new fuzzy logic-based adaptive MCA is introduced to generate motion signals based on the joints' limitations and the movement sensation error between the real vehicle and the SBMP user. Considering the parallel SBMP, joint limits enhance the ability of the introduced adaptive motion cueing algorithm to generate more accurate movement feelings with high fidelity. The simulation results prove that the proposed adaptive motion cueing algorithm can effectively use the large workspace of the parallel SBMP whilst reducing the motion sensation error.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A New Fuzzy Logic Based Adaptive Motion Cueing Algorithm Using Parallel Simulation-Based Motion Platform

Qazani

Asadi

Bellmann

et al. 2020

2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

Self Cite

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“…Similarly, to allow force feedback from the robot, a hand-held controller can be used by the operator, or if the orientation of the robot must be conveyed (i.e. for a teleoperated aeroplane or a lunar lander [5]), a fully rotating system with the operator inside is required. Field operations, such as underwater robot control from a boat, underground tunnel robot control from nearby safe zones, or space robot operation from a space shuttle, may require easily deployable and reliable interfaces with backup solutions.…”

Section: Introductionmentioning

confidence: 99%

Multimodal Multi-User Mixed Reality Human–Robot Interface for Remote Operations in Hazardous Environments

et al. 2023

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In hazardous environments, where conditions present risks for humans, the maintenance and interventions are often done with teleoperated remote systems or mobile robotic manipulators to avoid human exposure to dangers. The increasing need for safe and efficient teleoperation requires advanced environmental awareness and collision avoidance. The up-to-date screen-based 2D or 3D interfaces do not fully allow the operator to immerse in the controlled scenario. This problem can be addressed with the emerging Mixed Reality (MR) technologies with Head-Mounted Devices (HMDs) that offer stereoscopic immersion and interaction with virtual objects. Such human-robot interfaces have not yet been demonstrated in telerobotic interventions in particle physics accelerators. Moreover, robotic operations often require a few experts to collaborate, which increases the system complexity and requires sharing a multi-user Augmented Reality (AR) workspace. The multi-user telerobotics with shared control in the AR has not yet been approached in the industrial state-of-the-art. In this work, the developed MR human-robot interface using the AR HMD is presented. The interface adapts to the constrained wireless networks in particle accelerator facilities and provides reliable high-precision interaction and specialized visualization. The multimodal operation uses hands, eyes and user motion tracking, and voice recognition for control, as well as offers video, 3D point cloud and audio feedback from the robot. Multiple experts can collaborate in the AR workspace locally or remotely, share the robot's control and monitor robotic teleoperation. Ten (10) operators tested the interface in intervention scenarios in the European Organization for Nuclear Research (CERN) with complete network characterization and measurements to conclude if operational requirements were met and if the network architecture could support single and multi-user communication load.The interface system has proved to be operationally ready at the Technical Readiness Level (TRL) 8 -and was validated through successful tests and demonstration in single and multi-user missions. Some areas of system limitations and further work were identified, such as optimising the network architecture for multi-user scenarios or high-level interface actions applying automatic interaction strategies with the robot depending on network conditions.

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