臺灣博碩士論文加值系統

　　本論文旨在實作出飛機與戰車之「分散式即時動態視覺模擬操控訓練系統」。本文中，將先完成飛機、戰車之虛擬實境場景以及戰車動態模擬模組，並接著透過分散式軟體架構和網路傳輸，將虛擬實境場景、即時動態模擬模組、六軸運動平台 、力操控搖桿 整合成為一完整之模擬操控訓練系統。我們將虛擬實境場景、動態模擬、系統整合分述如下：
在虛擬實境場景的開發上，我們採用Coryphaeus開發軟體套件來降低整個開發過程所需要的虛擬實境場景理論基礎及實作，以便進一步發展戰車動態模擬模組及場景底層之分散式系統架構。為此，我們在本文的一開始將針對Coryphaeus開發工具及觀念作一些簡短的介紹。並在「飛機操控模擬訓練系統」與「戰車操控模擬訓練系統」兩章的前半部，分別介紹虛擬實境場景當中場景地形、物件編修及畫面效果之實作。
動態模擬方面，本文在「飛機操控模擬訓練系統」與「戰車操控模擬訓練系統」的後半部，首先提出操控訓練系統之架構，透過虛擬實境場景與動態模擬模組之間的整合，完成一個完整的操控模擬訓練系統雛形。在「戰車操控模擬訓練系統」的最後，本文提出一套可用來模擬戰車以及多輪車輛的動態模擬方法。此方法除了要從操控者端得到操控命令之外，也必須從虛擬實境場景取得地形的資料，藉以用來計算各車輪壓縮量及透過懸吊系統傳遞至車身的力，進而求得戰車或汽車之加速度、角加速度、速度、加速度、位置及姿態這些物理量。並根據此動態模擬方法發展出戰車動態模擬模組，用以展示此物理動態模擬方法的效果及可行性。
在系統整合部份，本文提出虛擬實境場景底層的分散式軟體架構，使用IRIX作業系統所提供的Share Memory、IPC、Socket、File Processing等系統功能發展出不同用途及功能的通訊介面模組，我們可以增添/刪減任何的通訊介面模組來滿足對場景功能的要求，也可以降低場景主體程式所需要的修改。而藉由通訊介面模組觀念的引入，不但能增加虛擬實境場景的擴充性，也使其能夠動態調整整個系統組態。
另外本文先前所發展的飛機與戰車操控模擬訓練系統，也將在被拿來與其它硬體模組整合在一起。用以展示此完整架構的實際效果及其應用於分散式即時動態視覺模擬操控訓練系統上的可行性。

The aim of this thesis is to implement a distributed visual simulation pilot training system with real-time dynamic model for aircraft and tank. we will construct virtual-reality scene(VR scene) for aircraft and tank, and develop real-time tank dynamic model. Then we integrate the VR scene, real-time dynamic module, stewart platform, and force-feedback joystick into a integrated pilot training system by distributed softeware framework and network communication. Following, we will describe VR Scene, real-time dynamic, and system integration separately.
In construction of the VR scene, this thesis adopted the Coryphaeus Software, Inc. (CSI) Visual Simulation Product Suite as real-time visual simulation application development tools. Thus, we can decrease the requirement of theoretical VR background, and focus our concentration on the development of tank dynamic model and the distributed softeware framework under VR scene.
In development of dynamic model, this paper first proposes a software framework of a pilot training system. Then we implement a prototype of the pilot training system by using this software framework. This thesis also proposes a dynamic simulation module for tank and multi-wheel vehicle. In order to take the effect from the suspension system of the tank into consideration, the dynamic module not only get driving commands from pilot but also acquire terrain information from the VR scene.
In system integration, we use Share Memory, IPC, Socket, File Processing functionality from IRIX Operating System to develop previous proposed software framework and other communication modules in the framework. Because of the concept of communication modules, we can not only increase the expansibility of the pilot training system but also change the configuration dynamically.
1.1 研究動機
1.2 文獻回顧
1.3 虛擬實境場景簡介
1.4 實驗設備系統介紹
1.5 論文架構
第二章 Coryphaeus及場景發展介紹
2.1 OpenGL及IRIS Performer簡介
2.1.1 OpenGL簡介
2.1.2 IRIS Performer簡介
2.2 Coryphaeus簡介
2.3 DWB - 物件編修
2.4 EzT - 地形、地物編修
2.5 EzS - 場景參數設定
2.6 發展流程
第三章 飛機操控模擬訓練系統
3.1 飛機操控模擬訓練系統之架構
3.2 飛機場景製作
3.2.1 地形及地物
3.2.2 飛機物件
3.2.3 儀表顯示
3.2.4 飛機場景畫面之成果展示
3.3 飛機動態模型
第四章 戰車操控模擬訓練系統
4.1 戰車操控模擬訓練系統之架構
4.2 戰車場景之製作
4.2.1 地形、地物之編修
4.2.2 戰車車輪之編修
4.2.3 車輪、履帶之動態連結效果
4.2.4 其它特效
4.2.5 戰車場景之畫面成果展示
4.3 戰車動態模擬
4.3.1 戰車動態模擬理論推導與方法
4.3.2 戰車動態模擬模組
第五章 系統整合
5.1 虛擬實境場景底層軟體架構
5.2 場景的連線
5.3 系統流程
5.4 序列搖桿通訊介面模組
5.5 六軸運動平台「位置控制器」、「Washout控制器」通訊介面模組
5.6 力操控搖桿通訊介面模組
5.7 分散式飛機操控模擬訓練系統之整合
5.8 分散式戰車操控模擬訓練系統之整合
第六章 結論與展望
參考文獻
附錄一 飛機動態模擬方程式
附錄二 戰車動態模擬結果

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