Development of the Several Integrated Degree-of-Freedom Demonstrator (SIDFreD) CSME 2004 Nicholas Spooner B.Eng on behalf of:

Development of the Several Integrated Degree-of-FreedomDemonstrator (SIDFreD)

CSME 2004

Nicholas Spooner B.Eng

on behalf of:

Introduction to CUSP

• Multi-year project• Inter-disciplinary design

environment– Mechanical Engineering– Aerospace Engineering– Systems and Computer

Engineering– Business– Computer Science– Psychology

• CUSP develops theoretical and practical knowledge

Structures

Dynamics

Actuation

Computer SystemsSafety

Vehicle Model

Human Factors

CUSP Overview

• SIDFreD– Multi-functional vehicle

demonstrator– Three degree-of-freedom

motion platform• On-road vehicle model

– Validates simulation concepts

• Actuation• HLA compliant software• Washout• Human factors• Vehicle models

• NASP– Innovative 6 DOF multi-

functional simulator

– Unlimited roll, pitch, yaw ranges of motion

– Expandable translational range of motion

Overview

• Introduction to CUSP• Business Development• Project Management• Translational Motion – Year 1

– Structure and Actuation– Performance Testing

• Rotational Motion – Year 2– Structure, Actuation, Controls,

Visuals, Cockpit, Safety, and Software

• Future work

Business Development

• Strong Business Development was a key to CUSP’s success• Received financial support

– Internal: CSES, CUESEF, MAE, Dean’s Office– External: IBM Eclipse Fellowship, MMO– In-Kind Products: Featherlite, National Instruments, Tolomatic, Electromate

• Learning opportunities– In-Kind Services: CAE, Mechtronix. 406 Squadron

• Sponsorship goal: $20,000 – Actual: $52,000

Tack Schedule

• SureTrak® Project Manager software with online interface• Integration team responsible for project management and

scheduling

Translational Motion – Year 1

• Structure• Actuation• Cockpit• Controls• Visuals• Safety• Software

Translational Structure

• Centralized guide rail with two pillow block bearings ensure linear translation

• Four fixed wheels at the platform corners• Two precision-aligned and levelled I-beams on the facility's floor.• Ensures consistent operation and performance of the platform.

Translational Actuation

• Requirements– Reversibility

– Variable operation settings

• 2hp Baldor vector motor• Gear-reduced chain drive

motor configuration• PC serial motor control

Performance Testing

• Required suitable DAS• Optical Mouse DAS

– Unique accurate inexpensive solution

• Verify the suitability of additional DOF

• Design requirements of 0.5 g with 500 lbs platform load

• Result indicate a 1.2 g acceleration

Rotational Motion – Year 2

• Structure• Actuation• Cockpit, Controls, Visuals• Software• Washout and Human

Factors• Vehicle Model

Configuration Overview

• Lower translational platform

• Chain guard integration platform

• Support assembly• Upper platform • Cockpit

Support Assembly & Actuation

• Steel support assembly– Centre post– Passive post– Ball screw linear

actuator

• Mechanical joints– Universal joints – Rod ends

• Unique stationary chain guard

Cockpit

• Aluminum Superstructure• Adjustable Automobile Seat

– 5-point safety harness

• Control panel

Controls

• USB Force Feedback System– Steering Wheel

• Emergency kill switch

– Pedals• Accelerator

• Brake

Visuals

• Data projector mounted to motion platform• Stationary screen

Mechanical Safety

• Kill switches– Occupant – Operator

• Limit switches– Translational – Rotational

• 5-point restraint system• Superstructure• Chain guard• Bumpers• Software

Computer Systems Software

• High Level Architecture (HLA) is a standard for simulation interoperability– Separates simulation and

data modelling– Concurrent development

• SIDFreD Federation– Visuals– Physics– Washout– Safety

Software Safety

• Monitors critical data– Sensor information

– Washout values

– Actuator input values

– Clear to Send (CTS)

• Fail-safe design– Central authority

Senso

r Inf

o

Ball S

crew

Info

Was

hout

Valu

es

Vecto

r Mot

or In

fo

Safety Software

CT

S

Washout and Human Factors

• Preserves critical elements of motion• Simulator remains within physical limitations of the motion base• Classical washout algorithm

– Computationally light– Easily tuned

Vehicle model

• Determines accelerations and velocities based on– Past vehicle conditions– Current driver inputs– Time between calculations

• In-house development allows for expandability– Currently on-road vehicle

type– Rotary-wing aircraft to follow

• Bicycle vehicle dynamics model

Current Simulator Model

3 DOF Motion Platform

Future Work

• Rotational DOF performance testing

• Implement additional rotational DOF

• Visual display improvements

Thank you

Questions?