Night vision goggles (NVGs) are optical devices used to enhance human vision at low light conditions such as nighttime. The image seen through the goggles is brightened but with the consequence of introduced visual limitations and illusions. Because of this, fighter pilots need to undergo proper training with such equipment before operating with them in real-life. An NVG simulation within a Mixed Reality (MR) flight simulator can in theory be used to build the skills needed and directly translate them into real life. In this thesis, an NVG effect was added to a video see-through camera feed(VST) such that a whole NVG simulation could be experienced in an MR flight simulator. Furthermore, a method to seamlessly integrate the VST into the nocturnal virtual world was proposed. By conducting a semi structured interview with an NVG expert, the experienced realism, presence, and training value of the implemented effects were measured. A thematic analysis of the gathered interview data provided insight into the most important themes regarding NVG simulations within an MR flight simulator. / <p>Examensarbetet är utfört vid Institutionen för teknik och naturvetenskap (ITN) vid Tekniska fakulteten, Linköpings universitet</p>

The Swedish Air Force Combat Simulation Centre (FLSC) is investigating how immersive technologies can be used with flight simulators. Cybersickness is sickness-like effects experienced when immersed in virtual environments using head-mounted displays. Research suggests that cybersickness is less severe in Mixed Reality (MR), where the environment is mixed with virtual and real objects, when using an optical see-through head-mounted display. The primary objective of this thesis was to determine differences in cybersickness in a Virtual Reality (VR) and MR flight simulator when using a video see-through head-mounted display. Twenty-nine volunteers participated in a cross-over experiment with repeated measure design, at FLSC in Kista. Cybersickness was assessed using the Simulator Sickness Questionnaire (SSQ) and Fast Motion Sickness scale (FMS). Results showed that the mean total score of SSQ was higher in VR (M = 15.6) than MR (M = 12.6) although not statistically significant (p = .44). The mean FMS was also higher in VR (M = 1.34) than MR (M = 0.83) at a significant level (p = .035). Subscale scores of the SSQ showed that disorientation symptoms had a higher mean in both VR and MR, compared to nausea and oculomotor discomfort symptoms. Only in MR was disorientation symptoms significantly higher than nausea (p = .011). The thesis concluded that cybersickness seems less severe in MR and that disorientation symptoms seems predominant in MR and VR. / Flygvapnets Luftstridssimuleringscentrum (FLSC) undersöker hur immersiva teknologier kan användas vid flygsimulering. Cybersjuka är sjukdomsliknande effekter som upplevs i virtuella miljöer med huvudmonterade bildskärmar. Forskning tyder på att cybersjuka är mildare i en "blandad verklighet" (MR), där miljön är blandad med virtuella och verkliga objekt, när man använder huvudmonterade bildskärmar med optik-genomseende. Det primära syftet med detta examensarbete var att fastställa skillnader i cybersjuka mellan en helt virtuell verklighet (VR) och MR-flygsimulator när man använder en huvudmonterad bildskärm med kamera-genomseende. Tjugonio frivilliga deltog i en ö verkorsningsprövning med upprepad mätning, vid FLSC i Kista. Cybersjuka utvärderades med Simulator Sickness Questionnaire (SSQ) och Fast Motion Sickness scale (FMS). Resultaten visade att medelvärdet för totalpoängen för SSQ var högre i VR (M = 15.6) än MR (M = 12.6) men inte statistiskt signifikant (p = .44). Medelvärdet för FMS var också högre i VR (M = 1.34) än MR (M = 0.83) och statistiskt signifikant (p = .035). Subskalepoäng för SSQ visade att desorienteringssymptom hade högre medelvärden i både VR och MR, jämfört med illamående och ögonbesvär. Endast i MR var desorienteringssymptom signifikant högre än illamående (p = .011). Uppsatsen drog slutsatsen att cybersjuka verkar lindrigare i MR och att desorienteringssymptom verkar dominerande i MR och VR.

Este trabalho apresenta o desenvolvimento e as análises de técnicas de controle aplicadas a uma base de movimento de um simulador de vôo. Nos primeiros capítulos são abordados aspectos relacionados com a simulação de movimentos. Uma breve descrição da dinâmica da aeronave e o desenvolvimento do algoritmo de movimento (washout filter) são apresentados. O modelo dinâmico da base de movimento é desenvolvido baseado num manipulador paralelo de seis graus de liberdade chamado de plataforma de Stewart acionado eletricamente. As equações de movimento do atuador eletromecânico são incluídas no modelo dinâmico da plataforma. O controle baseado na dinâmica inversa é uma alternativa para abordar o controle de sistema mecânicos não lineares como a plataforma de Stewart. Porém, essa técnica considera o conhecimento exato do modelo dinâmico do sistema, portanto, a dinâmica não modelada, as incertezas paramétricas e as perturbações externas podem degradar o desempenho do controlador. Além disso, o custo computacional pago pelo cálculo do modelo dinâmico realizado online é muito alto. Nesse contexto, duas estratégias de controle foram aplicadas na malha externa da estrutura de controle baseada na dinâmica inversa para o controle de aceleração na presença de incertezas paramétricas e da dinâmica não modelada, os quais foram introduzidas intencionalmente no processo de aproximar o modelo dinâmico com o objetivo de simplificar a implementação do controle baseado na dinâmica inversa. Na primeira estratégia, o termo robusto de controle foi projetado, provando a estabilidade do sistema linearizado por meio da teoria de estabilidade de Lyapunov. Este controle apresenta o fenômeno conhecido como chattering e então foi adotada uma função de saturação para substituir a lei de controle. Na segunda estratégia, o termo robusto de controle foi projetado considerando um problema de rejeição de distúrbio via controle H \'INFINITO\', onde o controlador considera as incertezas como distúrbios afetando o sistema linearizado resultante da aplicação do controle baseado na dinâmica inversa. Finalmente, três tipos de testes foram realizados para avaliar o sistema de controle: função descritiva, limiar dinâmico e algumas manobras da aeronave calculadas a partir do modelo dinâmico e transformadas através do algoritmo de movimento. As duas estratégias de controle foram comparadas. / This work presents the development and analysis of control techniques applied to a flight simulator motion base. The first chapters deal with subjects related to motion simulation. A brief description of the aircraft dynamic model and the development of the motion algorithm (washout filter) are presented. The motion base dynamics is derived based on a six degree of freedom parallel manipulator driven by electromechanical actuators. The six degree of freedom parallel manipulator is called Stewart platform. The motion equations of the electromechanical actuators are included in the motion base dynamics. Inverse dynamics control is an approach to nonlinear control design, nonetheless, this technique is based on the assumption of exact cancellation of nonlinear terms, therefore, parametric uncertainty, unmodeled dynamics and external disturbances may deteriorate the controller performance. In addition, a high computational burden is paid by computing on-line the complete dynamic model of the motion-base. Robustness can be regained by applying robust control tecniques in the outer loop control structure. In this context, two control strategies were applied in the outer loop of the inverse dynamics control structure linearized system for robust acceleration tracking in the presence of parametric uncertainty and unmodeled dynamic, which are intentionally introduced in the process of approximating the dynamic model in order to simplify the implementation of this approach, the inverse dynamic control. Both control strategies consist of introducing an additional term to the inverse dynamics controller which provides robustness to the control system. In the first strategy, the robust control term was designed proving the stability of the linearized system in the presence of uncertainties, using the Lyapunov stability theory. This control term presents a phenomenon known as chattering. Therefore, a saturation function was adopted to replace the control law. In the second strategy, the robust term was designed for a disturbance rejection problem via H \'INFINITE\' control, where the controller considers the uncertaities as disturbances affecting the linearized system resulting from the application of the inverse dynamic control. Finally, describing function, dynamic threshold and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers. Both approaches were compared.

Este trabalho apresenta o desenvolvimento e as análises de técnicas de controle aplicadas a uma base de movimento de um simulador de vôo. Nos primeiros capítulos são abordados aspectos relacionados com a simulação de movimentos. Uma breve descrição da dinâmica da aeronave e o desenvolvimento do algoritmo de movimento (washout filter) são apresentados. O modelo dinâmico da base de movimento é desenvolvido baseado num manipulador paralelo de seis graus de liberdade chamado de plataforma de Stewart acionado eletricamente. As equações de movimento do atuador eletromecânico são incluídas no modelo dinâmico da plataforma. O controle baseado na dinâmica inversa é uma alternativa para abordar o controle de sistema mecânicos não lineares como a plataforma de Stewart. Porém, essa técnica considera o conhecimento exato do modelo dinâmico do sistema, portanto, a dinâmica não modelada, as incertezas paramétricas e as perturbações externas podem degradar o desempenho do controlador. Além disso, o custo computacional pago pelo cálculo do modelo dinâmico realizado online é muito alto. Nesse contexto, duas estratégias de controle foram aplicadas na malha externa da estrutura de controle baseada na dinâmica inversa para o controle de aceleração na presença de incertezas paramétricas e da dinâmica não modelada, os quais foram introduzidas intencionalmente no processo de aproximar o modelo dinâmico com o objetivo de simplificar a implementação do controle baseado na dinâmica inversa. Na primeira estratégia, o termo robusto de controle foi projetado, provando a estabilidade do sistema linearizado por meio da teoria de estabilidade de Lyapunov. Este controle apresenta o fenômeno conhecido como chattering e então foi adotada uma função de saturação para substituir a lei de controle. Na segunda estratégia, o termo robusto de controle foi projetado considerando um problema de rejeição de distúrbio via controle H \'INFINITO\', onde o controlador considera as incertezas como distúrbios afetando o sistema linearizado resultante da aplicação do controle baseado na dinâmica inversa. Finalmente, três tipos de testes foram realizados para avaliar o sistema de controle: função descritiva, limiar dinâmico e algumas manobras da aeronave calculadas a partir do modelo dinâmico e transformadas através do algoritmo de movimento. As duas estratégias de controle foram comparadas. / This work presents the development and analysis of control techniques applied to a flight simulator motion base. The first chapters deal with subjects related to motion simulation. A brief description of the aircraft dynamic model and the development of the motion algorithm (washout filter) are presented. The motion base dynamics is derived based on a six degree of freedom parallel manipulator driven by electromechanical actuators. The six degree of freedom parallel manipulator is called Stewart platform. The motion equations of the electromechanical actuators are included in the motion base dynamics. Inverse dynamics control is an approach to nonlinear control design, nonetheless, this technique is based on the assumption of exact cancellation of nonlinear terms, therefore, parametric uncertainty, unmodeled dynamics and external disturbances may deteriorate the controller performance. In addition, a high computational burden is paid by computing on-line the complete dynamic model of the motion-base. Robustness can be regained by applying robust control tecniques in the outer loop control structure. In this context, two control strategies were applied in the outer loop of the inverse dynamics control structure linearized system for robust acceleration tracking in the presence of parametric uncertainty and unmodeled dynamic, which are intentionally introduced in the process of approximating the dynamic model in order to simplify the implementation of this approach, the inverse dynamic control. Both control strategies consist of introducing an additional term to the inverse dynamics controller which provides robustness to the control system. In the first strategy, the robust control term was designed proving the stability of the linearized system in the presence of uncertainties, using the Lyapunov stability theory. This control term presents a phenomenon known as chattering. Therefore, a saturation function was adopted to replace the control law. In the second strategy, the robust term was designed for a disturbance rejection problem via H \'INFINITE\' control, where the controller considers the uncertaities as disturbances affecting the linearized system resulting from the application of the inverse dynamic control. Finally, describing function, dynamic threshold and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers. Both approaches were compared.

At the present time, characterised by increasing complexity of not just socio-economics systems, decision-making in positions of executive management is becoming increasingly difficult. Although more and more attention is dedicated to use of information and communication technologies in corporate sector and organizations collect unprecedented amount of very detailed data from all areas, their real nature is often not considered. Data, information and knowledge, through which we can achieve real understanding of causes of the observed systems behaviour, are necessary basis for ability for prediction of tomorrow's effects of today's decisions. This thesis aims to highlight the essence of data, information and knowledge in organization and the necessity of systemic perception for creating efficient and effective decisions. The second part of this thesis presents design of system-dynamic model (including user interface), which explains the mechanisms of health care volume accounting in medical facilities with more departments. The model should facilitate understanding of functioning of hospitals by the public, and respect of general nature of medical facilities functioning to create a base for robust model-oriented decision support system for the management.

This thesis deals with human – pilot behaviour modelling during a flight in terms of automatic control systems. For these purposes, the introduction to the issue of description and modelling of individual components of the whole pilot – aircraft interaction is presented. Based on that, the simulation models obtained from real measured data are designed. However, the acquisition of the real flight data is quite difficult. Therefore, the flight simulator at Brno University of Defence is used for the purposes of this work. Several experimental measurements were taken using this simulator. These were focused on measuring pilot’s reactions (responses) to visual stimulus with emphasis on obtaining judgements about their current state of training (in terms of dynamic behaviour) as well as attitude to aircraft control. In this phase, two sets of measurements with eight pilots were taken. On average, the pilots had 60 flight hours before the first set of measurements and about 80 flight hours before the second set. The obtained results are analysed using mainly the theory of automatic control approaches in order to evaluate the actual state of pilots’ abilities considering the effects of flight training.

Thesis aims at fighter combat and maneuvring - so called Dogfighting. The purpose of this work is to create intelligent autopilot based on Agent system, eligible of executing in-air maneuvers and tactics in real-time simulation. In the first part, theoretical basis of air combat will be introduced, such as weapon systems, maneuvring and tactics in mutual combat 1 on 1, odds fight 2 on 1, and last but not least mass fights. Also agent programming will be introduced, as well as recognizing of agent rules and processes and its transformation to agent language. The second part describes building of a simple graphical simulation environment based on JMonkey game engine. Agent system maintaining every single aircraft within the simulation will be created and own network socket protocol for communication between intelligent behavior and simulation environment will be discussed and documented.

The Swedish Armed Forces’ Flying School has been training future pilots for a long time. For almost 60 years, the SK 60 aircraft (SAAB 105) has been used to train fixed-wing pilots. The Flying School has a flight simulator of type BITD (Basic Instrument Training Device), named FlightBook, as a tool to help students practise their flying and to learn through experience. Experiential learning is used in various kinds of education, one of which is flying training. David A. Kolb has developed a learning cycle that explains the process of experiential learning. The learning cycle starts with concrete experience followed by reflective observation, abstract conceptualization and active experimentation. This study analyses FlightBook using Kolb’s learning cycle to see if it is appropriate for use in flying training. The results of this study show that FlightBook is an effective tool for practising some elements of flying training. FlightBook is necessary for emergency training because of the high risk and it being impossible to conduct some of the training during actual flying. For landing an aircraft, FlightBook is not as suitable as it is for emergency training but is still an effective tool for the initial steps, prior to the final stage. For the final stage, when the aircraft is getting close to the runway, FlightBook does not have the credibility that flying instructors and students wish it had. In real flying, pilots use feel and balance to get things right before landing, which is not possible with FlightBook. Experience gained when practising with FlightBook is essential for future pilots so that the training can continue to be as effective as possible. Otherwise the training may be even more delayed and that will cause problems for the Swedish Armed Forces. / Försvarsmaktens flygskola har under en lång tid utbildat blivande piloter. I nästan 60 år har skolflygplanet SK 60 (SAAB 105) använts för utbildning av transport- och stridspiloter. Flygskolan har en flygsimulator av typen BITD (Basic Instrument Training Device - Grundläggande instrumentträningsstation), vid namn FlightBook, som hjälpmedel i flygutbildningen. I FlightBook lär sig flygeleverna genom erfarenhetsbaserat lärande. Erfarenhetsbaserat lärande används i flera utbildningar. Flygutbildningen är en av dem. David A. Kolb har skapat en modell som förklarar processen som sker under erfarenhetsbaserat lärande med hjälp av en lärcykel. Lärcykeln inleds med att konkreta erfarenheter samlas in och följs därefter av reflekterande observationer, abstrakta konceptualiseringar och aktivt experimenterande. Arbetet analyserar FlightBook med Kolbs lärcykel och resultatet visar att FlightBook är ett bra hjälpmedel för att öva vissa moment i flygträning. Vid övning av nödträning är FlightBook väsentlig, framförallt för flygsäkerheten, eftersom de flesta momenten inte är lämpliga att öva i verkligheten. Vid övning av landning är FlightBook inte lika lämplig som vid nödträning eftersom de sista momenten under landning skiljer sig från verkligheten. Trovärdigheten som lärare och elever önskar under de sista momenten saknas. I verkligheten använder sig piloterna av känsla och balans för att komma rätt inför landning vilket inte är möjligt i övning med FlightBook. Momenten inför landning är dock lämpliga att öva. Erfarenheterna som erhålls när eleverna övar i FlightBook är nödvändiga för att flygutbildningen ska fortsätta vara så effektiv som möjligt. Förseningar i flygutbildningen kan genom fortsatt effektivisering förhindras och därmed undvika problem för Försvarsmakten.

Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. These UAVs can be given the capability to navigate in uncertain environments if obstacles are identified. This research presents an obstacle avoidance system for small UAVs. First, a mission waypoint path is created that avoids all known obstacles using a genetic algorithm. Then, while the UAV is in flight, obstacles are detected using a forward looking, onboard camera. Image features are found using the Harris Corner Detector and tracked through multiple video frames which provides three dimensional localization of the features. A sparse three dimensional map of features provides a rough estimate of obstacle locations. The features are grouped into potentially hazardous areas. The small UAV then employs a sliding mode control law on the autopilot to avoid obstacles. This research compares rapidly-exploring random trees to genetic algorithms for UAV pre-mission path planning. It also presents two methods for using image feature movement and UAV telemetry to calculate depth and detect obstacles. The first method uses pixel ray intersection and the second calculates depth from image feature movement. Obstacles are avoided with a success rate of 96%.

This work describes the visualization design of the flight related quantities in a cockpit of a modern light sport aircraft. It focuses on the utilization of the state of the art trends in flight data displays and introduces the innovative implementation of the aircraft's energy state smart clues that reduce pilots' workload. The initial part of the work presents a research into the flight, engine and navigation data presentation on analog instruments, followed by their illustrative depiction in glass cockpits. Within the framework of this thesis, Microsoft Flight Simulator has been used as a source of the flight related data. Final advances in the display design were introduced through the implementation of the synthetic vision system and a visualization of the virtual tunnel in the sky.