Virtual Human And Its Application In Virtual Maintenance Training Of Weapon System

With more complex structure and high technology, weapons maintenance require new maintenance training mode. Conventional maintenance training mode such as real equipment, videos and wall map, can not attain anticipate effect. At present, virtual maintenance technology which applies Virtual Reality technology to maintenance field is used broadly and becomes one method of improving products' maintainability and increasing maintenance training quality. Virtual maintenance technology not only can accomplish special maintenance training tasks which are difficult to implement in actual environment but also can decrease maintenance training costs.Now, virtual maintenance systems applications in domestic and overseas bear tremendous computation, poor continuity and fidelity. For these problems, this thesis studies virtual human model establishment and motion control technologies in virtual maintenance systems, analyses virtual maintenance human modelling methods. Virtual maintenance motion parameterization algorithms, motion description and synthesis in virtual maintenance systems are also discussed. This thesis puts forward blending virtual maintenance motion driven algorithms base on kinematics, dynamics and motion capture data and virtual maintenance motion interactivity modelling. Variety of maintenance motion simulation using virtual reality and CAD technologies is realized. At last, the conceptions and algorithms are verified in the project "some kind of aviation missile virtual maintenance training system". The works and innovation are as following:(1) Researching on virtual maintenance human modelling technology. Virtual human model is the basis of virtual maintenance simulation systems which is significant in increasing system integrity and improving simulation quality. Dynamic and flexible virtual human is required for the sake of complexity of virtual maintenance human model and its motion in virtual maintenance system. This thesis mainly studies maintenance characteristics of virtual maintenance human in complex weapon virtual maintenance system. A Virtual Maintenance Humanoid conception is presented, which combines H-Anim with MPEG ISO standards. VMH model establishment methods are discussed and the corresponding model is provided.(2) Researching on VMH joint chains model motion parameterization methods. Based on several parameterization methods, a novel robust quaternion-weighted joint parameterization is presented, which generates VMH motions with non-singularities, continuous simulation effect. This method realizes the aim to choose optimized weighted parameters base on motion complexity. By automatic appreciation and decision-making, realistic maintenance motion and VMH hand skin deformation can be automatic generation in complex virtual maintenance environment.(3) Researching on VMH maintenance motion-driving algorithms. In order to overcome convergence problem of JT-IK algorithm and realizes maintenance motions with high fidelity, a mixed immersive virtual maintenance solution is introduced which firstly takes virtual human motion control into account come from maintenance motion velocity, orientation, track and secondly, establishes maintenance motion staged model, which divides maintenance process into TA and TO stage. Data Glove is applied to drive complex hand model of VMH in generating maintenance motion with high intricacy.(4) Researching on interactivity relationships among VMH, virtual objects and virtual maintenance tools. With virtual maintenance human interactivity characteristics and virtual object interactivity characteristics, an interactivity model based on maintenance motion classification is presented. This method adopts parallel conception and makes classification of maintenance motion to maintenance therbligs. Firstly, interactivity decision-making and colliding detection are accomplished with the interactivity characteristics of maintenance therbligs and maintenance object. Secondly, complex and sensitive maintenance motion interactivity can be realized which contains full entities information.(5) Researching on motion capture technologies for maintenance motion generation with whole body joint system. A motion capture data matching method based on maintenance motion complexity degree and maintenance motion characteristics is presented. This method which bears fidelity and robustness is designed for complex maintenance motion with whole body joint system.Research on virtual human in large weapon system virtual maintenance training system is a new promising research domain. The research in this thesis offers scientific reference and bears extensive application prospect.