2. Mechatronics systems design based in V-Model

#### 2.1 Philosophy

The philosophy of designing mechatronic systems has evolved over the years along with its definition, applications, and boundaries. Since its origins, mechatronics has tried to analyze systems holistically, with a synergic point of view integrating heterogeneous components (mechanics, electronics, and informatics) and subsystems to create more complex systems. This method requires a development that delivers products independently of their domains.

The V-Model allows the design and development of complex mechatronic systems with an interdisciplinary approach, where the VDI guideline 2206 can be applied to obtain systems that are more flexible and adaptable to the needs of

#### A New Real-Time Flight Simulator for Military Training Using Mechatronics and Cyber… DOI: http://dx.doi.org/10.5772/intechopen.86586

users [1]. This model considers different factors, components, and the synergistic behavior of the different parts of a mechatronic product and its integration.

The implementation of mechatronic systems has a great reception in the military area. The development of vehicles is one of the most obvious examples due to the high variety of functions that must be fulfilled, according to [2] the idea of using mechatronic systems in the design of combat vehicles arrived with the twenty-first century when the basic architecture of electric and electronic components was developed, a clear example of these systems can be observed in [3, 4].

The framework given for that methodology has as main objective to generate a product based on the client requirements. In order to accomplish their requirements, the characteristic method to design and develop mechatronic systems is composed of four phases: (1) requirements phase—requirements and specifications analysis is customer oriented and defines the start and end of the project; (2) functional characteristics phase—the functions that are directly or indirectly visible by the user are defined; (3) design phase—the hardware and software components are defined, as well as the architecture of the system; (4) implementation phase—all the unit elements or system programming modules are developed [5]. Then, in the present study, this methodology contributed in the design and implementation of hardware for a simulator.

#### 2.2 Cyber-physical system (CPS)

illusion of references, illusion of the effect of black holes, among others, that would be dangerous and even catastrophic in a real flight; so, they must be well analyzed,

Real flight simulators with full movement generate movements and images where pilots feel an almost 100% level of realism of what would happen in a real plane. These simulators combine a series of technological aspects such as the Stewart platforms that reproduce real-time movements of the simulator software at hardware level and allow stimulating the visual and vestibular system of the pilots, reaching a maximum level of knowledge of various types of favorable and adverse

The main objective of this research was to design and build a flight simulator as a cyber-physical system, both at the software level and at the hardware level; based on mathematical models and programming algorithms that allow us to recreate a Cessna 172 type airplane in a virtual world and to prove its correct functioning. For that purpose, the Unity 3D gaming engine has been used as a developmental tool, together with the LabVIEW graphical programming environment to access the hardware and data information of the built-in Stewart platform with three degrees

The flight simulator as a cyber-physical system composed of software and hardware was evaluated in terms of its functionality with a group of Ecuadorian aviation pilots who met basic training flight hours with the Cessna 172 and the ENAER T-35 Pillan, and also met virtual flight hours using a personalized license

The main contributions of this study were: (a) design of a mathematical model of front velocity, vertical velocity and lateral velocity of an airplane, as well as the application of the physical forces involved in an airplane such as lift, weight, thrust, and drag; (b) implementation of a dynamic Cyber-physical system, where the Mechatronic system was part of it and consisted of a software flight simulator programmed with the UNITY 3D framework. It allowed to include 3D objects such as terrains, buildings, airplanes, cities, sea, etc.; as well as, to model the cockpit in 3D as it looks in the reality and a Stewart platform (hardware) to scale with three degrees of freedom that reproduces the movements of the simulator plane in rela-

This research has been organized as follows: Section 2 talks about the mechatronics systems design based in V-Model. Then, Section 3 explains about mathematical foundations of Stewart-Gough Platform with 3-DOF. Later, the flight simulator construction has been clarified in Section 4. Next, Section 5 presents the experimental results. Finally, Section 6 gives the conclusions and future work.

The philosophy of designing mechatronic systems has evolved over the years

mechatronics has tried to analyze systems holistically, with a synergic point of view integrating heterogeneous components (mechanics, electronics, and informatics) and subsystems to create more complex systems. This method requires a develop-

The V-Model allows the design and development of complex mechatronic systems with an interdisciplinary approach, where the VDI guideline 2206 can be applied to obtain systems that are more flexible and adaptable to the needs of

along with its definition, applications, and boundaries. Since its origins,

controlled, and learned.

Military Engineering

situations and spatial illusions.

from Microsoft Flight Simulator.

tion to the roll, pitch, and yaw, operated by a joystick.

2. Mechatronics systems design based in V-Model

ment that delivers products independently of their domains.

of freedom.

2.1 Philosophy

74

Cyber-physical system (CPS) is a new concept around the revolution of Information and Communications Technology (ICT) and Embedded Systems, and it refers to the integration of computing, data networks and physical processes to become intelligent objects that can cooperate with each other, forming distributed and autonomous systems. A CPS can include several disciplines related to software (Systems Engineering, Computation, Communication, and Control) and hardware (Industrial Engineering, Mechanical, Electrical, and Electronic) [4].

Nowadays, thanks to the internet of things, there is a greater development of products that have computing and communication. These products need an intimate coupling between the cyber and physical components and will be presented in the nano at large-scale world. CPS may be considered a confluence of embedded, real-time and distributed sensor systems as well as control [6, 7].

As it can be seen in the military [8] the modeling of present physical systems has several challenges, such is the case of fuel tanks in airplanes. Maintaining a correct monitoring of the level of fuel is a complex job since it requires the use of several sensors and the consideration of several external factors, but when generating a solution with CPS has advantages in the monitoring of it that helps to prevent accidents such as the case of Air Transat Flight on August 23, 2001; where due to a maintenance failure, the aircraft was left without fuel for the landing. This type of systems can be implemented in various systems of military vehicles such as jet aircraft, helicopters, etc.

By having a CPS, it is possible not only to monitor, but to implement an autonomous control; this can be done in any sector such as factories, transportation, aerospace, buildings and environmental control, process control, critical infrastructure, and healthcare. As indicated by [9], CPS projections will have a great impact in a wide variety of areas, and [10] states that Networked autonomous vehicles could dramatically enhance the effectiveness of the military and could offer substantially more effective disaster recovery techniques.

The biggest opportunity for implementing CPS is given by the opportunity to decrease costs and simultaneously increase capacity of sensors and actuators; in addition to the access to high capacity, smaller formed computing devices, wireless communication, increased bandwidth and continuous improvements in energy. The advantages and opportunities offered by the cyber-physical systems (CPS) have allowed innovation and improvement of the principles of engineering as Rajkumar mentioned in his research [9]. One of the main challenges that arises in the design and development of cyber-physical systems is the development of new methods of science and system design engineering to obtain a CPS that is compatible, reliable, integrated and synergistic in all the five-layers of functionality architecture with other cyber-physical systems. This research contributes to the design, development and implementation of a CPS following engineering principles.

In this research, it has been designed as a complex system applying the approach of cyber-physical systems, where all the hardware components designed complied with Mechatronic processes and the software components designed complied with software engineering processes. Traditionally, practitioners of the mechatronic design philosophy had focused in the creation of a specialized architecture depending on the proposed solutions, while CPS are per se more distributed systems. Subsequently, in this study we provide the integration of hardware simulator

A New Real-Time Flight Simulator for Military Training Using Mechatronics and Cyber…

with software application in order to obtain a complex dynamic system.

foundation

DOI: http://dx.doi.org/10.5772/intechopen.86586

3. Stewart-Gough platform with 3-DOF, architecture and mathematical

Based on the fact that for the construction of real flight simulators with full movement contemplated as cyber-physical systems which include hardware and software, the classic platforms of Stewart Gough of 6-DOF have been used. In the current project, a platform of Stewart Gough has been designed modified to be conducted with a 3-DOF in a limited and low cost manner that restricts the superior ability to perform linear movements on the β (x, y, z) plane. Nonetheless, it will maintain its ability to lead any controlled orientation during an airplane flight in order to receive various effects of spatial disorientation to which the pilots are exposed in real life. Among them are the following that have been simulated in this project: (a) illusion of track; (b) approximation illusions; and (c) illusions due to land degradation or fusion. Through these robotic hardware and software platforms, both military and private pilots may be trained allowing them to develop spatial orientation skills in order to avoid potential catastrophic accidents.

In this research, the architecture proposed by Hunt [13] has been applied, which is known as the 3-RPS parallel robot. Such architecture consists of three identical RPS legs, whose lengths are changed with prismatic joints, while the platform

The basic equations used of the Stewart platform with 3-DOF according to

moves with 3-DOF, as illustrated in Figure 1.

[14–18], have been the following:

Schematic illustration of the design of the platform.

Figure 1.

77
