ИСТИНА

The Mathematical simulation dynamic systems support laboratory (MOIDS) team has developed a virtual reality (VR) stand imitating lunar rover remote control. The stand is designed for the application in isolation experiments and programs for the preparation of cosmonauts to prospective lunar missions. Currently, the stand is used in the international isolation mission SIRIUS is being held at the Institute of Medical and Biological Problems. Modelling real time movement of a wheeled robot requires application of a simplified wheeled transport model. Full range of available approach to wheeled vehicle movement simulation can be classified according to the models into three categories: 1) kinematic models, 2) full dynamic models, 3) simplified dynamic models. Within the project for the modelling of a lunar rover movement on the surface, the model of third category was used. This is due to the fact that the models of this type, on the one hand, can be realized relatively easily and effectively. The errors that are inherent in such models because of their incompleteness are small enough to allow qualitative (and sometimes also quantitative) modelling of all-important vehicle behavior properties. The visual imitation assumes the use of a VR-headset consisting of the screen, lenses, case and the system for fixing the headset on the head. VR-headset parameters necessary for the tasks cosmonauts-operators preparation were determined. Besides, image rendering method with a minimal delay, alias effects compensation method and image breaks when the virtual camera is moving have been found and also an algorithm for the image distortion coefficients (image distortion) determination to compensate the headset lenses distortion has been developed. We also developed the dynamic simulation method of the influences affecting the cosmonaut's body during the movement on the lunar surface has been developed for a three-degree-of-freedom platform (changes of the list and pitch angles and the height are taken into account). To improve the quality of coordination between dynamic and visual simulation we considered the modified dynamic simulation algorithm considering the predicted movement of the vehicle driven by the astronaut. Experimental verification of the theoretical researches was conducted using a supporting type platform. Also, it is planned to create the training system on the basis of the CF-18 centrifuge used in the Cosmonaut Preparation Center. The final stand includes the following components: 1) Detailed lunar rover simulation model capable of real time operation; 2) Algorithm of dynamic simulation of accelerations and its realization on a three-degree-of-freedom platform; 3) Full-function software including a lunar surface part and operated lunar rover; 4) Model of controlling the arm manipulator installed on the lunar rover.