Abstract:
This invention is a compact motion simulator incorporating a potential energy assisted drive mechanism and a direct memory motion method. The mechanism provides movement of heavy loads with reduced power compared to simulators of its type employing direct drive mechanisms. Potential energy devices are connected to rigid leverage members extending from the rotational axes. When moved about said axes, by means of powered actuators, displacement of the load away from center causes the potential energy devices to expand and store energy. This energy acts on opposition to the forces that created it producing a state at or near static equillibrium and thus greatly reduces power required to move the load back to center. The direct memory motion method uses a software component memory reader that gains access to the running process of a simulation program and derives motion data from memory addresses used by the programs graphical and physics engines.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims priority to U.S. Provisional Patent Application No. 61/295,365 “potential energy assisted motion simulator drive mechanism and method” by Sebelia filed Jan. 15, 2010, of which its disclosure is incorporated herein by reference in its entirety and for all purposes. 
     
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
       [0002]    Not Applicable 
       REFERENCE TO SEQUENCE LISTING, TABLE, OR COMPUTER PROGRAM LISTING 
       [0003]    Not Applicable 
       BACKGROUND OF THE INVENTION 
       [0004]    The present invention relates to a motion simulator which connects to a computer for the purpose of emulating the real world orientation and G-forces of software simulated vehicles. More specifically, this invention relates to a low powered and compact motion simulator controlled by a computer or gaming console that is intended for personal or home use. 
         [0005]    Motion simulators for amusement and training are known in the prior art to employ complicated systems with large electric, hydraulic, or pneumatic actuators to generate motion. Generally, these systems are designed to move heavy payloads consisting of multiple passengers and instrumentation. Primarily designed for commercial or military flight training and as large amusement park rides, they are expensive to purchase, operate, and maintain, and their power and space requirements render them impractical for home use. 
         [0006]    Continuing advancement of home computers and entertainment has given rise to a new classification of motion simulator intended for personal or “home” use. Generally intended to move a single occupant with limited controls, they are lighter and more compact than their commercial cousins, and require less space and power to operate. Innovative design and simplified control systems are continually reducing the manufacturing costs and thus the average price tag of these new home simulators, but inherent disadvantages have prevented them from acceptance by the mainstream consumer market. Despite their obvious intentions for home use, their design principals are reminiscent of the larger commercial type that employ direct drive systems, where the actuators used to move the load weight at a desired speed are rated as such. In essence, the motors “needed” to move a given load at a given speed must be motors “capable” of moving that load at that speed. This method works well in commercial applications where size, weight, and power needs are less of a concern, but for the home market, its employment presents a trade off. 
         [0007]    Despite the compact nature and lighter intended loads of present personal simulators, as known to those skilled in the art, the motors or actuators needed to move the weight of a single occupant with relative quickness can be quite large and subsequently quite heavy. A compact unit designed to accommodate a 250 lb rider in two degrees of freedom and with a motion range above 30 degrees can weigh in excess of 300 lbs and require a dedicated 15 amp circuit to operate. They are still expensive to manufacture, requiring industrial strength components, and with an average price tag of about $10,000, which is just too expensive. Resulting from these disadvantages such home simulators have failed to gain popularity and general acceptance. Efforts to decrease the weight of these machines have done so by reducing the overall range of motion. They too have proven unsuccessful, and thus the challenge still remains to produce a high performance home motion simulator that is compact, light weight, and affordable. 
         [0008]    There have been several attempts to create a motion simulator feasible for home use. The “electric motion platform and a control system for controlling the same”, patented in U.S. Pat. No. 6,445,960 by Borta dated Sep. 3, 2002 offers a simplified system suited for home use and a large range of motion, yet the motorized actuators required to move the full load of the rider, seat, and accessories operates unassisted Inherently these motors are heavy and may require a dedicated circuit to meet its power needs. 
         [0009]    Another known prior-art system, the “personal simulator”, patented in U.S. Pat. No. 6,733,293 by Baker et al. dated May 11, 2004 adds a third degree of freedom along with another heavy motor adding more weight and increasing the power requirements. 
         [0010]    In two other known prior-art systems, “motion simulator and method” U.S. Pub. No. US2004/02229192 by Roy et al. dated Nov. 18, 2004 and the “portable and compact motion simulator” U.S. Pat. No. 5,954,508 by Lo et al. dated Sep. 21, 1999, the overall weight of the simulators and their power requirements have been reduced, but they sacrifice range of motion. 
       BRIEF SUMMARY OF THE INVENTION 
       [0011]    It is an object of this invention to provide a light weight and low powered two degree-of-freedom motion simulator. 
         [0012]    It is another object of this invention to provide a light weight and low powered motion simulator that employs potential energy devices, in a mechanism, to assist its motorized actuators in moving the load of its occupant, controllers, and additional accessories. 
         [0013]    It is another object of this invention to provide a motion simulator base that provides a means of connecting the potential energy devices between points levered to the frames of its rotatable axes and anchor points which would be considered static in relation thereto. 
         [0014]    It is another object of this invention to provide a motion simulator base whereby the weight of the rider and their platform is countered with forces released by potential energy devices, thus creating a state at or near static equilibrium. 
         [0015]    It is another object of this invention to provide a motion simulator with reduced power requirements and overall weight compared to other such personal simulators of like speed of movement and range of motion. 
         [0016]    It is another object of this invention to provide a motion simulator with a notably increased range of motion as compared to other such personal motion simulators of comparable size, weight, and power requirements. 
         [0017]    It is yet another object of this invention to provide a simplified control system for motion simulators of said type consisting of inexpensive components and that may be may be manufactured at relatively low cost. 
         [0018]    It is yet another object of this invention to provide a unique method of extracting and rendering motion data from off the shelf simulation and game software titles and delivering it to a motion simulator as part of a simplified control system for a motion simulator. 
         [0019]    The preferred embodiment of the disclosed invention, intended to achieve any or all of the above objects set forth, consists of a three part motion base which comprises a y-axis pivot base, supported by an x-axis pivot base, which is supported by a support base. Each pivot base supports connection points which are levered opposite the load weight to be moved along its given axis. These levered connection points have attached to them extension springs, or potential energy devices, which are connected at the opposite ends to points on their supporting bases. Inherent to this configuration, as the simulator is moved in either direction along its given axis away from center, the distance between the levered connection points and their static counterparts will increase exponentially, thus expanding their installed potential energy devices which release their stored energy in a like manner. The resulting forces work in opposition to the direction of the motion that produced them, thus bringing about a state of or near static equilibrium along each axis, thereby greatly reducing the amount of energy required to produce motion. 
         [0020]    The preferred embodiment contains a pair of electric actuators, with position feedback, that are connected at one end to points located along a plane extending from the fulcrums of each of the two axes pivot bases and are connected at the other end to points located on their supporting bases. Given commands to expand and contract, each actuator will move its given axis pivot base along its given motion planes. 
         [0021]    This motion base further includes a microcontroller that receives target x and y position coordinates from a computer, checks the current position of the simulator, calculates the error between the two, and determines the speed and direction for each actuator necessary to reduce said error. A motor controller receives this information from the microcontroller and moves the actuators accordingly. 
     
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING 
         [0022]      FIG. 1A  illustrates one embodiment of the present invention in accordance with a type 1 lever configuration with extension type devices while at rest. 
           [0023]      FIG. 1B  illustrates one embodiment of the present invention in accordance with a type 1 lever configuration with extension type devices while in motion. 
           [0024]      FIG. 2A  illustrates one embodiment of the present invention in accordance with a type 1 lever configuration with extension/retraction type devices while at rest. 
           [0025]      FIG. 2B  illustrates one embodiment of the present invention in accordance with a type 1 lever configuration with extension/retraction type devices while in motion. 
           [0026]      FIG. 3A  illustrates one embodiment of the present invention in accordance with a type 2 lever configuration with actuator mounted extension/retraction type devices while at rest. 
           [0027]      FIG. 3B  illustrates one embodiment of the present invention in accordance with a type 2 lever configuration with actuator mounted extension/retraction type devices while in motion. 
           [0028]      FIG. 4A  illustrates one embodiment of the present invention in accordance with a type 2 lever configuration with an extension/retraction type device while at rest. 
           [0029]      FIG. 4B  illustrates one embodiment of the present invention in accordance with a type 2 lever configuration with an extension/retraction type device while in motion. 
           [0030]      FIG. 5  illustrates one embodiment of a compact 2 degree-of-freedom motion simulator in accordance with the disclosed invention. 
           [0031]      FIG. 6  illustrates one embodiment of the framework and how its components connect in accordance with the disclosed invention. 
           [0032]      FIG. 7  illustrates the application of the disclosed invention on the y-axis of one embodiment of a compact 2 degrees-of-freedom (DOF) motion simulator at rest. 
           [0033]      FIG. 8  illustrates the application of the disclosed invention on the y-axis of one embodiment of a compact 2 DOF motion simulator in motion. 
           [0034]      FIG. 9  illustrates the application of the disclosed invention on the x-axis of one embodiment of a compact 2 DOF motion simulator at rest. 
           [0035]      FIG. 10  illustrates the application of the disclosed invention on the x-axis of one embodiment of a compact 2 DOF motion simulator in motion. 
           [0036]      FIG. 11  illustrates a block diagram of the control system for one embodiment of a 2 DOF motion simulator in accordance with the present invention. 
           [0037]      FIG. 12  illustrates a block diagram of the motion software of the control system for one embodiment of a 2 DOF motion simulator in accordance with the present invention. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0038]    The present invention and its operation will be described in detail hereafter with reference to the attached drawings. The principles of this invention may be embodied in many different forms and should not be considered limited to the embodiment set forth therein. 
         [0039]    In reference to the drawings  FIG. 1A through 4B  illustrating the basic parts comprising the framework of a preferred embodiment of a motion simulator suitable for the application of the disclosed invention. There will generally be seen a load  85  comprising a structure intended to support a least one user and any accessories such as controllers or displays that would comprise an interactive game or ride. The load  85  is connected to a motion platform  62  which is designed to support and maintain the weight and center of gravity  86  of said load  85  generally above and along a 90-degree plane in relation to its rotatable connection point  7  with a motion base  4 . The rotatable connection  7  consists of a connection of rotatable means, such as a universal or ball joint, allows for the angular displacement of the motion platform  62  in relation to the motion base  4  along at least one axis, although two is more preferable. 
         [0040]    Further, in reference to  FIG. 1A  thru  4 B, it is generally seen that a powered actuator  6  is installed between a pivoting connection point  8  on the motion platform and a pivoting connection  9  on the motion base. The powered actuator  6  when expanded or contracted provides a mechanical and powered means to move the motion platform  62  in two directions along its rotational axis  87  and where center  88  exists in a plane generally parallel to level ground  89 . The powered actuator  6  depicted in all of the drawings and for the purpose of the preferred embodiment is of the electric screw type, but may take on other forms such as a hydraulic or pneumatic type without departing from the spirit or scope of this invention. 
         [0041]    The potential energy assistance mechanism detailed in  FIG. 1A  thru  4 B presents a means of using potential or stored energy to assist the powered actuators  6  in moving the motion platform  62  and thus the load  1  along at least one axis in relation to its motion base  4 . Furthermore, it presents a means of providing a motion simulator capable of moving heavy loads at reduced power without sacrificing its speed and range of motion capabilities. Said potential energy assistance mechanism contains at least one leverage member  63  of rigid construction that extends in a direction generally away from rotatable connection  7  and in a manner recognized by those skilled in the art consistent with a class 1 or class 2 lever, said rotatable connection  7  acting as the fulcrum and being one and the same. A force point  13  is provided along said leverage member  63  and at the end furthest away from the fulcrum as to give it a mechanical advantage over the load  85 . Any directional forces applied to the force point  13  will cause motion platform  62  to rotate along its given rotational axis. 
         [0042]    Further comprising the said potential energy assistance mechanism and still referring to  FIG. 1A  thru  4 B, at least one potential energy device  5  is generally seen positioned between a force point  13  on the motion platform  62  and a static point  12  located on the motion base  4 . These devices are constructed of an elastic material and store potential energy as a result of their stretching or compressing relative to contact surfaces at opposing ends of its body. Examples include, but are not limited to, extension springs, compression springs, rubber bands, or solid rubber stand-offs. The potential energy device  5  for the purpose of this invention may be constructed from a variety of materials and may take many forms without departing from the general characteristics required of such a device in the disclosed invention. To increase the effectiveness of said potential energy devices, their connection points may be fitted with depth adjustable connectors or stand-offs capable of applying tension and causing the storage of potential energy while the mechanism is considered at rest. 
         [0043]    In a preferred embodiment of the present invention, as illustrated in  FIG. 1A , the leverage member  63  extends downward and in the same plane as the center of gravity  86  creating a class 1 lever. This is characterized by the fulcrum  7  being located between the force  13  and the load  85 . A potential energy device  5  is positioned and connected between force point  13  and static point  12 , located directly beneath when the motion platform is positioned at center  88 . As shown in  FIG. 1B , when the powered actuator  5  is extended the motion platform  62  is displaced along its rotational axis  87 . By means of the leverage member  63  the potential energy device  5  is stretched causing the storage of potential energy which produces a pulling effect in opposition to the directional force that created it. When the potential energy devices are sized or rated to adequately resist the applied stretching force due to the weight of the user, a state at or near static equilibrium is achieved. This drastically reduces the size and power requirements necessary to move the same weight in an alternative direct drive simulator of the same type. 
         [0044]    In another embodiment of the present invention, as illustrated in  FIG. 2A , the leverage member  63  extends downward and in the same plane as the center of gravity  86  creating a class 1 lever. This is characterized by the fulcrum  7  being located between the force  13  and the load  85 . A pair of potential energy devices  5  are positioned and connected between force point  13  and static points  12 , located to either side and along a plane perpendicular to the center of gravity  86  when the motion platform is positioned at center  88 . As shown in  FIG. 2B , when the powered actuator  6  is extended the motion platform  62  is displaced along its rotational axis  87 . By means of the leverage member  63  the potential energy devices  5  are alternately stretched and compressed causing the storage of potential energy which produces pulling and pushing effects in opposition to the directional force that created them. When the potential energy devices are sized or rated to adequately resist the applied stretching force due to the weight of the user, a state at or near static equilibrium is achieved. This drastically reduces the size and power requirements necessary to move the same weight in an alternative direct drive simulator of the same type. 
         [0045]    In another embodiment of the present invention, as illustrated in  FIG. 3A , the leverage member  63  extends outward and in along a plane generally perpendicular to the center of gravity  86  creating a class 2 lever. This is characterized by the force point  13  being located between the fulcrum  7  and the load  85 . A potential energy device  5  is positioned and connected between force point  13  and static points  12 , located to either side and along a plane parallel to the center of gravity  86  when the motion platform is positioned at center  88 . In this example the connection points for the potential energy device  5  are attached to and ultimately share their connection points with the powered actuator  6 . As shown in  FIG. 3B , when said powered actuator  6  is extended the motion platform  62  is displaced along its rotational axis  87 . By means of the leverage member  63  the potential energy device  5  is stretched causing the storage of potential energy which produces pulling effect in opposition to the directional force that created them. When the potential energy devices are sized or rated to adequately resist the applied stretching force due to the weight of the user, a state at or near static equilibrium is achieved. This drastically reduces the size and power requirements necessary to move the same weight in an alternative direct drive simulator of the same type. 
         [0046]    Yet in another embodiment of the present invention, as illustrated in  FIG. 4A , a pair of leverage members  63  extend outward and in opposite directions along a plane generally perpendicular to the center of gravity  86  creating a class 2 lever. This is characterized by the force points  13  being located between the fulcrum  7  and the load  85 . A potential energy device  5  is positioned and connected between force points  13  and static points  12 , located to either side and along a plane parallel to the center of gravity  86  when the motion platform is positioned at center  88 . In this example said potential energy device is cylindrical in shape and fits tightly in place between the motion platform  2  and motion base  4  and is connected at either side. As shown in  FIG. 4B , when the powered actuator  6  is extended the motion platform  62  is displaced along its rotational axis  87 . By means of the leverage member  63  the potential energy devices  5  are alternately stretched and compressed causing the storage of potential energy which produces pulling and pushing effects in opposition to the directional force that created them. When the potential energy devices are sized or rated to adequately resist the applied stretching force due to the weight of the user, a state at or near static equilibrium is achieved. This drastically reduces the size and power requirements necessary to move the same weight in an alternative direct drive simulator of the same type. 
         [0047]    With reference to  FIG. 5 , the preferred embodiment of the present invention consists of a seat  1  which is mounted to the motion platform  62  via a universal mounting plate (not pictured) allowing the user to easily adapt and install a seat of their own choice. The bolts for this mounting plate pass through holes in the top of the protective boot  55  which is made from a stretchable material such as neoprene or rubber bellows. Equipped with snaps or other practical fastener  60 , the protective boot is stretched and attached to the motion base  4  at the points illustrated providing a protective barrier between the user and potentially dangerous moving parts. Cover panels  61  are attached within the trapezoidal spaces of the motion base  4  at each of the four sides. Adjustable feet pads  58  provide stability on uneven surfaces. The power switch  56  controls the AC power entering the simulator via a 3 prong computer style power cord with disconnect housing mounted on the rear cover panel (not pictured). 
         [0048]    The control panel  53  is attached to either armrest  57  as pictured by means of a hook and loop strap permanently fixed to the back side which includes a D-ring for leveraged tightening. The outer face contains a momentary switch  52  that when pressed, will cycle through the motion simulators operating modes while the light emitting diode (LED) indicator  51  changes states to reflect the current mode. The default state upon system start-up is the “Stop” mode. The next state, achieved by pressing the momentary switch  52  is “Center” mode, which will return the simulator to the center, if not currently there, and will stop the motors. The third state, achieved by pressing the momentary switch  52  again, is the “Ride” mode. Pressing the momentary switch while in this mode will return the simulator state to the “Stop” mode. 
         [0049]    The side controller assembly base  27  is attached to the front of the y-axis pivot base  2  at points  59  as illustrated in  FIG. 5 . Its purpose is to house a variety of controllers such as joysticks, throttles, automobile style stick shifters, track balls, and other human interface devices, preferably mounted at the sides of the user. The controllers are attached to the side controller mounting plates  29  which are supported by adjustable arms  28  that will slide along the vertical risers at point  31  and can be fixed in place by tightening the knobs  39 . The controllers are connected directly to a computer or gaming console for interface with a software simulation or game. 
         [0050]    A removable center controller assembly base  47  slides in to the square tube connector  26  extending off the front of the motion platform  62  and is fixed in place by tightening knob  46 . The center post  37  is connected via the swivel joint  40  allowing it to be rotated forward and back, in relation to the user, by sliding connector  42  up and down on the post. Stabilized by the sway bar  44  connected at pivot joints  45  and  43 , the center post  37  can be fixed in place by the user by turning knob  42  when in the desired location. The universal foot pedal mounting plate  48 , intended to house automobile or aircraft style foot pedal controllers, is coupled to a sliding bracket  49  allowing the user to adjust the position and fix in to place by turning knob  50 . A center controller mounting plate  32 , intended for housing a steering wheel controller, keyboard, video display, or other desired human interface devices and instrumentation, is mounted on T-bar  54  and connects to the center post  37  at swivel joint  39  to a telescoping mechanism at swivel joint  33  consisting of tube  34  that slides within a larger diameter housing tube  36 , connected at swivel joint  38 , back to the center post  37 . This allows the user to tilt the mounted device to a preferred position and fix in place by turning knob  35  to increase tension and prevent unwanted movement. 
         [0051]    A two part motion platform  62  in a preferred embodiment of the present invention and its configuration is illustrated in  FIG. 6 . It consists of the y-axis pivot base  2  rotatably connected at points  18  to the universal joint  7  along axis  19  of which said universal joint is structurally connected to and considered part of the x-axis pivot base  3 . This allows for the angular displacement of the y-axis pivot base in relation to x-axis pivot base forward and back along the y-axis while providing connection points for movement along its x-axis. 
         [0052]    Further, the above motion platform  62  is rotatably connected along axis  20  to points  22  on the motion base  4 , which allow for side to side rotation of said motion platform along the x-axis as shown in  FIG. 6 . Wheel  21 , fixed at the bottom of component  3  rests in a track assembly consisting of a front plate  24  attached to a rear plate  23  via bolts with stand-offs  25  longer than the outside diameter of wheel  21  allowing for the contact of said wheel to either plate preventing undesired movement along the y-axis due to torque forces created by load displacement. 
         [0053]    A feedback actuator  6  positioned at center and allowing for extension and retraction motion is connected between dynamic point  8  on the y-axis pivot base  2  and static point  9  on the x-axis pivot base  3 . It provides a powered and controllable means of angularly displacing said y-axis pivot base  2  in relation to said x-axis pivot base  3  and the motion base  4  that ultimately supports it. A position sensor  77  (only indicated in  FIG. 11 ), whether connected to or structurally integrated, is provided by said feedback actuator  6  as a means of sending current position data to the microcontroller  73 , as illustrated in  FIG. 11 . 
         [0054]    A second feedback actuator  16  positioned at center and allowing for extension and retraction motion is connected between dynamic point  10  on the x-axis pivot base  3  and static point  11  on the motion base  4 . It provides a powered and controllable means of angularly displacing said x-axis pivot base  3  in relation to said motion base  4  and the motion base  4  that ultimately supports it. A position sensor  78  (only indicated in  FIG. 11 ), whether connected to or structurally integrated, is provided by said feedback actuator  6  as a means of sending current position data to the microcontroller  73 , illustrated in  FIG. 11 . 
         [0055]    The feedback actuators and their positioning sensors described above, and for the purpose of this invention, are of the electric screw and quadrature encoder type. Many other forms and configurations may be adapted as a means of providing motion and position data without departing from the spirit and scope of this invention. 
         [0056]    A potential energy assistance mechanism is applied to the rotatable y-axis and consists of a pair of leverage members  63 , as illustrated in  FIG. 6 , extending outwardly from rotatable connection points  18  of the y-axis pivot base in a direction perpendicular to its connection axis  19 . Further illustrated in  FIG. 7 , the leverage members provide force connection points  12  that exist on a plane parallel to the rotational axis of the y-axis pivot base  2 , thus creating a class 1 lever whereby rotatable connector  7  acts as the fulcrum and is positioned between a force applied at force points  12  and the weight or load supported by said y-axis pivot base  2 . A pair of potential energy devices  5  in the form of extension springs are positioned between and attached at opposite ends to force points  12  and static points  13 , located on the x-axis pivot base. When the y-axis pivot base  2  is moved either direction along its rotational axis and away from center, as illustrated in  FIG. 8 , the distance between the load points  12  and static connection points  13  will increase and effectively stretch the potentially energy devices  5 . This directional force causes said potential energy devices  5  to store potential energy effecting an opposing force, and thus creating a state at or near static equilibrium. 
         [0057]    A potential energy assistance mechanism is applied to the rotatable x-axis consists of a leverage member  63 , as illustrated in  FIG. 6 , extending outwardly in a direction perpendicular to its connection axis  19  and the orientation of the x-axis pivot base that supports it. Further illustrated in  FIG. 9 , the leverage members provide force connection points  14  that exist on a plane parallel to the rotational axis of the x-axis pivot base  3 , thus creating a class 1 lever whereby rotatable connector  7  acts as the fulcrum and is positioned between force applied at force points  14  and the weight or load supported by said x-axis pivot base  3 . A pair of potential energy devices  5  in the form of extension springs are positioned between and attached at opposite ends to force points  14  and static points  15 , located on the motion base. When the x-axis pivot base  3  is moved either direction along its rotational axis and away from center, as illustrated in  FIG. 10 , the distance between the load points  14  and static connection points  15  will increase and effectually stretch the potentially energy devices  5 . This directional force causes said potential energy devices  5  to store potential energy effecting an opposing force, and thus creating a state at or near static equilibrium. 
         [0058]    The control system for the disclosed invention is illustrated in  FIG. 11 . A personal computer or gaming console  71  will run a simulation program  70  such as a flight simulator or an auto racing game in conjunction with the motion software  72 , which receives motion and orientation data from said simulation program  70  and sends x and y position coordinates to the motion simulator via a serial port, USB, or other means of communication. This data is read by microcontroller  73  on the simulator  79  running on low voltage DC supplied by the AC to DC converting power supply  76 . After checking for x- and y-axes position from sensors  77  and  78 , the microcontroller calculates the difference between the current and the desired positions, assesses the direction and speed of the axis actuators  6  and  16  needed to diminish the error, and sends the commands to the motor controller  74  as separate pulse width modulated signals. The motor controller  74 , of the common 2 channel H-bridge or comparable type receives the low voltage DC signals from the microcontroller  73  and drives the actuators  6  and  16  at a higher voltage from the power supply  76 . The combination of motor, microcontroller, and position sensor is known by those skilled in the art as a servo. This system employs two such servos. 
         [0059]    Further, the motion software  72  in the above description contains a memory reader  90  that acquires access to the memory image created by the simulation program  70 , reads a plurality of memory addresses  86  either directly or by dereferencing pointers, and collects motion and/or orientation data, which is then stored. Next, the motion data processor  87  processes said stored motion and/or orientation data, which is passed to the communications module  88  for export to the motion simulator  79 . 
         [0060]    Further, the motion data processor  87 , as referenced in the above description, first classifies the data  89  by determining whether or not any motion data needs to be derived from said data; if so this data is derived  90  and passed to the filter  91  along with any other said data. For example acceleration G-forces may be derived from speed data of a vehicle by calculating the rate of change in said speed data. All acquired and derived data is then filtered for anomalous and outlying values, scaled to the appropriate rage, and combined to produce the x- and y-axes data which is then sent to the communications module. 
         [0061]    Next the communications module  88  is responsible for transporting the x- and y-axes data to the motion simulator. This could be achieved using a variety of transport mechanisms including, but not limited to, USB, infrared, and serial. In each case the x- and y-axes data is transformed to the appropriate format and passed to the transport.