Development of the Several Integrated Degree-of-Freedom Demonstrator (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 Systems Safety 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 Sensor Info Ball Screw Info Washout Values Vector Motor Info Safety Software CTS

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?