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Travailler à G-Scop
Laboratoire des Sciences pour la Conception, l'Optimisation et la Production de Grenoble
Travailler à G-Scop
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Redundantly Restrained Positioning Mechanisms optimisation. Integration in Virtual Reality environment for Vehicle motion and Pilot Training Simulation

Phd thesis Title : Redundantly Restrained Positioning Mechanisms optimisation. Integration in Virtual Reality environment for Vehicle motion and Pilot Training Simulation

Supervisor name
: Peter Mitrouchev

Laboratory supervisor : G-SCOP

Co-Supervisor name : prof. LIN Qi , School of Aeronautics , XIAMEN University

Doctoral School : IMEP2

Start Date : September-October 2014

Financing – Context – Partnerships :

Description of the subject:
Current VR simulation platforms do not offer all the necessary information and versatility required for complete fly process simulation, including human/operator data management based on physiologic data.
In order to improve the quality of a real-time fly simulation environment, the present research subject is focused on two elements: a better Redundantly Restrained Positioning devices integration and vehicle simulation system (VSS) for mobility module evaluation. The later should be able to generate the mobility of the vehicle with respect to its surrounding environment. As a result, more realistic virtual-reality-based dynamics simulation in the simulation environment will be obtained.
An immersive platform that integrates haptic device, model data, cognitive constraints and mobility information (virtual camera mounted to the simulated vehicle), should offer a more realistic simulation process through kinematic guided movements and human head motions control assessment (tracking system).
Nowadays, VR environments have significantly evolved towards vehicle motion and fly simulation, highlighting new requirements for the preparation stages and their integration. Many of these platforms use cable-driven parallel mechanisms and are facing difficulties while simulating the dynamics of the vehicle.

In this context, the main objective of this research is to improve the vehicle fly process simulation through better haptic device integration including the dynamically changing environment data. To this end, a series of tests with 6 degrees of freedom (DOF) haptic device and Head Mounted Display (HMD) data are necessary.
The aim is:
i). to provide a robust vehicle simulation system (concept) for pilot training and vehicle motion simulation based on a cable-driven parallel robot (Redundantly Restrained Positioning Mechanisms).

 ii). to propose a mobility module based on the use of virtual camera mounted to the simulated vehicle (plane cockpit) in order to improve the time delay of detection for the separation and the classification of the environment and to determine the mobility of the end-effector (cockpit).

A mathematical model, including the robot dynamics, allowing analyzing the robot workspace and the influence of the end-effector orientation angle ranges on the available workspace will be proposed as well. It will be validated via its integration in a constrained virtual environment allowing vehicle motion and flight simulations within the framework of the existing data-processing environment.

The main issues addressed in this proposal are:

i). to perform vehicle motion and fly simulation tests with a 6 DOF haptic device;

ii). to introduce supplementary camera data in vehicle motion and fly simulation in order to increase realism during virtual-reality-based dynamics simulation (view should change to match not only the vehicle motion, but also the primary user’s head motions)

iii). to evaluate the possibility of implementing a mobility module in a real-time fly simulation environment; iv). to interact naturally with the augmented world via human motion modelling and simulation.

The work to be carried out breaks up in the following way:

Phase 1: State of the art (October 2014 - February 2015)

-       bibliographical study,

-       awareness of the work undertaken in other studies in the same field of research,

-       synthesis and critical analysis of the research’s results. 


Phase 2: Proposal for a new model for kinematic system, (February 2015 – Febr. 2016) 

-    to propose a Redundantly Restrained Positioning Mechanisms able to model the kinematic and dynamic behaviour module and to determine the mobilities of Virtual Reality Robot,

-      to propose a new vehicle simulation platform (system concept) based on a Redundantly Restrained Positioning Mechanisms with a 6 DOF device.

Phase 3: Evaluation (February 2016 - February 2017)

- to evaluate the possibility of implementing a mobility module in a real-time simulation environment,

- to provide realistic simulations of vehicle motion using a motion platform for pilot training simulation in virtual reality environment.

 Phase 4: Finalization (Mars 2017 - September 2017)

- total synthesis of work, report/ratio of thesis and conclusions,

- prospects for evolution and complementary future research orientations,

- analysis and summary of the results obtained and return to the models suggested for possible chocks and refinement,

- drafting of the thesis manuscript.



-       the applicant must have obtained a research-oriented Master’s Degree, majoring one of the following fields of study : Mechanical engineering, Aeronautic engineering, Mathematics, Applied Mathematics, Computer sciences, Graphics, Robotics,

-       the applicant must have excellent communication skills in English language (French communication skills will be an advantage).

Expected competencies:

- knowledge in information modelling and computer programming,

- teamwork,

- autonomy.


Contact(s) :



mise à jour le 15 avril 2014

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Univ. Grenoble Alpes