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研究生:黃建豪
研究生(外文):Jian- Hao Huang
論文名稱:以史都華平台為基礎的車輛模擬器之系統整合
論文名稱(外文):System Integration of a Stewart Platform based Driving Simulator
指導教授:梁志雄梁志雄引用關係
指導教授(外文):Chi-Hsinng Liang
學位類別:碩士
校院名稱:龍華科技大學
系所名稱:電子系碩士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2007
畢業學年度:95
語文別:中文
論文頁數:95
中文關鍵詞:虛擬實境Virtools Dev汽車駕駛模擬器人機互動
外文關鍵詞:Virtual RealityVirtools DevCar Driving SimulatorHuman-machine interaction
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歐、美、日各國於90年代開始紛紛投入大量人力與資金,進行智慧型交通系統(Intelligent Transportation Systems;ITS)相關研究、開發,我國交通部於1998年成立智慧型交通系統規劃小組,可知此議題也受到我國政府之重視。對於從來沒有上路駕駛經驗的新手而言,駕訓班以及路考都是一項需要克服許多心理障礙的問題,由於實際上路在許多情況下仍有可能產生危險,在社會成本以及安全性的考量下,汽車駕駛模擬器就成了預先暖身及事前訓練的良好對策。


本研究是採用史都華平台為基礎,並利用虛擬實境建構工具Virtools Dev整合使用者介面與六軸平台,而快速的建構完成汽車駕駛模擬器。


以往虛擬實境製作都是透過微軟的Direct X以及C++來完成,過程曠工費時,耗費眾多人力,本研究使用Virtools Dev虛擬實境軟體,透過網路程式傳輸即時數據及動作,配合史都華平台,來達到快速建構虛擬環境的解決方案,期望低價之汽車駕駛模擬,使得模擬器能日益普及。是為研究目的。在各方面條件受限的情況下,首先用低廉的仿真替代品對訓練內容類比訓練,再進行實車訓練。替代初始學習時對實車的巨大損耗,熟練對機件的配合操控。
Every country in Europe , U.S.A., and Japan start to invest a great quantity labors and capital , carrying out the relevant research and development of the Intelligent Transportation System ( ITS ).

Ministry of Transportation and Communication R.O.C established the Intelligent Transportation System organizers in 1998. Thus , this issue is taken account of by our government. As for people who have no experience of driving at all , they have many mental problems in conquering driving schools and road tests. In fact , when people drive on the road which may cause crises in ways , taking account of the social cost and security , driving cars becomes a strategy for warming up and training in advance.


This research is based on Stewart Platform , and people take advantage of virtual reality construction Virtools Dev to integrate the user interface (UI) and 6-axes stage. So , they can erect car driving simulator rapidly.

In the past , car driving simulator is manufactured via Microsoft Direct X and C++.The process is time-consuming , and consumes manpower. This research using virtual reality software Virtools Dev , which is through the data transmission and matched up Stewart Platform , gets to the solution to set up the fictitious environment rapidly. Due to restrictions on every side of conditions , we can substitute for cheap machine parts which train analogy action , and then proceed real car driving . Taking place of wastage of real cars , people should be familiar with matching with mechanics.
摘要 i
ABSTRACT ii
致謝 iii
目錄 iv
表目錄 vi
圖目錄 vii

第一章 緒論 1
1.1 研究動機與背景 1
1.2 研究方法 2
1.3 研究範圍與限制 2
1.4 論文架構 3

第二章 文獻探討 4
2.1史都華平台簡介 4
2.1.1 史都華平台發展歷程 6
2.1.2 史都華平台發展趨勢 8
2.1.3 史都華平台發展應用 8
2.2 虛擬實境簡介 11
2.2.1虛擬實境發展歷程 14
2.2.2虛擬實境發展趨勢 15
2.2.3虛擬實境發展應用 16
2.3 虛擬實境軟體結合史都華平台應用 18
2.4 駕駛模擬系統架構 21

第三章 虛擬實境企劃及場景建構 22
3.1 虛擬實境模型建構軟體 22
3.2 虛擬實境腳本企劃 24
3.3 場景跑道建構技巧 27
3.4 場景物件貼圖技巧 27

第四章 模型與虛擬實境引擎之整合 34
4.1虛擬實境軟體Virtools Dev 34
4.2 Virtools Dev的行為模組 42
4.3 虛擬系統架構 46
4.4 虛擬系統作業流程 49

第五章 Virtools Dev與運動平台之系統整合 51
5.1 Virtools Dev整合Visual Studio C++ 2003.net架構 51
5.2 汽車駕駛模擬器之機電系統架構 53

第六章 結論與未來展望 57
6.1 結論 57
6.2 未來發展 58

參考文獻 60

附錄 65
附錄A. Virtools Dev汽車物理系統模組程式碼 66
附錄B. Visual Studio C++ 2003.net程式碼 71
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