A portable vehicle or machinery control training aid

Abstract

A portable machinery or vehicle control training aid, comprising a simulator that gives haptic feedback including angular movement, vibration, and responsiveness to use of controls; the haptic frame (54) provides structural frames for electrical components, mechanical components, and various sensors to be fixed onto. The haptic frame (54) movably joined to a plurality of linking mechanisms (55). In an embodiment as shown in Figs. (12) and (13), a pair of linkages (55) are connected preferably to the center of one side 61 of the haptic frame (54). Two linkages (55) are likewise connected to the diagonal bars (62) of the haptic frame (54). This configuration provides a balance of stable support for the live floor and safety to the trainee while also being mobile enough to produce realistic motions pertaining to yaw, roll, pitch, heave, sway, and surge. The pair of linkages (55) which are connected to the center side (61) of the haptic frame are each connected to drive motors (21). The drive motors (21) use the hydraulics needed to move the live floor (11) correspondingly to the virtual terrain affecting the heavy machinery and the controls inputted by the user or trainee.

Description

Field of the Invention

[001] The present invention relates to a portable heavy duty machinery control training aid and in particular to a portable heavy duty machinery control training aid.

[002] The invention has been developed primarily for use with reference to heavy duty machinery used in construction and civil engineering and is described hereinafter with reference to this application. However, it is appreciated that the invention is not limited to this particular field of use. Background of the Invention

[003] A portable heavy duty machinery control training aid is needed to train new and prospective users without running risk of damages to the expensive heavy-duty machinery and without possible injury or death to the users.

[004] Machinery control training aids are known in certain forms, such as flight simulators for training to fly a large airplane. Generally, flight simulators performing this function are at a fixed location so they can be solidly supported on a fixed ground support and have movement structures relative to that fixed ground support.

[005] It is also known to have a tank training system which is portable as it drives as a tank. However, this type of simulator is a modified vehicle and therefore retains the risk of damages to the expensive heavy-duty machinery and the risk of injury or death to the users.

[006] A problem with simulators is that they try to solve all issues at the same time and this complexity makes a difficult and expensive construction of simulator.

[007] Another approach to training aids is to use simulators that are like gaming machine setups. These systems have a fixed mounted seat that is moved in various directions by actuators. Therefore, the feeling is always a secure and a positive movement. There might be a shaking effect, but it does not simulate true action / reaction and particularly cannot simulate heavy duty machinery or heavy-duty machinery controls. These types of simulators often have virtual crashes without any effect on the user.

[008] Virtual reality in vehicle training or gaming systems are more of a driving into or along a path. It is devoid of a real heavy duty machinery action / reaction of the platform. Also such simulators are generally at fixed locations and hard wired to rigid power sources and internet and cloud connection.

[009] It can be seen that known prior art portable heavy duty machinery control training aids have the problems of: a) Lack of feel of real heavy duty machinery; b) Limited range of movements; c) Complexity due to solving all matters at once; d) Safe secure positive movement rather than realistic consequential unexpected movement; e) Lack of connection with environment so as to learn result that a control has in a particular incurred problem in that environment; f) Need to be at fixed location for fixed support of simulator and fixed connection to power or internet.

[0010] The present invention seeks to provide a portable heavy duty machinery control training aid, which will overcome or substantially ameliorate at least one or more of the deficiencies of the prior art, or to at least provide an alternative. [0011 ] It is to be understood that, if any prior art information is referred to herein, such reference does not constitute an admission that the information forms part of the common general knowledge in the art, in Australia or any other country. Summary of the Invention

[0012] According to a first aspect of the present invention, there is provided a portable machinery or vehicle control training aid, comprising a simulator that gives haptic feedback including angular movement, vibration, and responsiveness to use of controls; at least one input device for allowing a user particular input; and at least one display device for allowing display to the user of a visual image relating to the machinery or vehicle in a virtual environment. The plurality of user particular inputs defines the control of the machinery or vehicle in the virtual environment and the reaction effect of that control of the machinery or vehicle in the virtual environment.

[0013] The portability can be provided by being structured in two shipping containers. A first shipping container can be for an emulator module and a second shipping container can be for a controller module.

[0014] The emulator module can preferably break apart different elements of operation wherein one group of skills is trained at a time. In one form the emulator module includes three live floors undertaking three separate training actions for a plurality of group of skills to be trained separately.

[0015] The training aid can include the use of virtual reality in combination with simulation of the use of heavy machinery over heavy terrain to provide a realistic cause and effect on the platform.

[0016] The plurality of categories of heavy-duty machinery is selected from: a) Heavy construction vehicles; b) machinery used in construction or civil engineering c) Automotive; d) Armoured vehicles; e) Military vehicles; and f) Construction cranes

[0017] Preferably the haptic feedback includes a general body feedback, a tool feedback or a combination thereof.

[0018] A portable machinery or vehicle control training aid wherein the haptic feedback includes an Al interpreter for interpreting visual images viewable to the user to determine a haptic feedback matching the visual image.

[0019] The haptic feedback can include a macro-movement feedback. The macro movement feedback can include a platform upon which the user is located, the macro movement feedback includes springs connected to the platform to form a floating platform. The macro movement feedback of the floating platform includes Pitch, Roll, Yaw, Heave, Sway and Surge.

[0020] Also, the haptic feedback can include a micro movement feedback. The micro movement feedback can include vibration feedback. Preferably the micro movement feedback includes feedback due to texture of the virtual environment. Also, the micro movement feedback can includes feedback due to operation of the machinery or vehicle.

[0021] A portable machinery or vehicle control training aid can have the haptic feedback including one or more of: a) A machinery or vehicle drive control result b) A machinery or vehicle tool control result c) A combination thereof

[0022] The haptic feedback can include one or more of: a) A drive interaction with viewable predetermined virtual landscape b) A tool interaction with viewable predetermined virtual landscape c) A combination thereof

[0023] The tool of the portable machinery or vehicle control training aid can include one of: a) earthmoving scoop or grader b) ground engaging tool c) excavator tool d) lifting tool

[0024] Preferably the training aid simulates heavy machinery on rough terrain where there is a lot of weight displacement, and the use of springs uses the weight of the platform to help the motors lift the platform and to provide more of a realistic action and reaction with any sudden and macro weight drops and displacements. Due to the weight of the platform more realistic freefall actions occur and simulated for the user to train. Use of positive drives does not provide this fall effect.

[0025] The controller preferably includes a 150kVA generator that with fuel reserve can run for 8 hours giving remote location usage of the portable training aid.

[0026] A portable machinery or vehicle control training aid further comprising a motor control module to optimise performance for high-speed and low-speed applications and provide precise torque delivery and operational stability.

[0027] The motor control module configured to: • operate at a reference frequency by using an encoder feedback mechanism integrated with Voltage / Frequency (V / F) control • to regulate motor speed and torque; • maintain speed regulation by dynamically adjusting motor current; and • operate across all four torque quadrants, including forward torque generation, reverse torque generation, forward regeneration, and reverse regeneration.

[0028] The motor control module enables substantial torque production at low motor speeds for applications requiring load holding without movement, including elevators, cranes, and hoists. Further, the motor control module may enable motors to produce up to 200% of their rated torque at low frequencies, supporting high initial torque applications. Furthermore, the motor control module dynamically increases or decreases output voltage based on torque demands to ensure real-time operational adjustments.

[0029] It can be seen that the invention of a portable heavy duty machinery control training aid providing the benefit of the invention providing a realistic training simulator / emulator with multiple uses in industry and defence for training personnel in the use of complex equipment and machinery in a safe environment where multiple scenarios can be presented to the trainee by the trainer and the trainees ability to cope with the changes can be observed, Graded and recorded in order to achieve better training outcomes and the best subjects for the intended task in the field of operation.

[0030] The skills and knowledge that is produced are a real-life training capability with real life feedback from the vehicle being replicated by the platform in a safe environment without risk to personnel or equipment. The platform provides usage to include control of equipment or vehicles at remote locations in Industry, Emergency Services, as well as Military or Mining vehicles or vehicles used in other dangerous environments without placing the operator or user in danger. The system adapts to different environments with ease.

[0031] In addition, the system provides the capability to monitor and report the reaction of the trainee to different scenarios and reporting the results to the employer or interested relevant party so as to determine suitability for the intended task. The knowledge gained from such a project will allow for new developments in Virtual / Augmented reality-based User Machine interfaces. Current virtual reality technology is still in its infancy, potential lies for more advanced interfaces with camerabased body tracking and responsive forced motion feedback.

[0032] Further, a system for monitoring and reporting trainee performance is provided. The system comprising a simulator equipped with sensors to track user inputs, physical reactions, and task performance in real-time, a data analytics module configured to compile trainee responses, including reaction times, control accuracy, and situational awareness, and an automated reporting module that delivers performance insights to stakeholders, aiding in the determination of task suitability.

[0033] Furthermore, a method for evaluating trainee suitability in machinery operation is provided. The method comprising the steps of simulating diverse operational scenarios and capturing trainee responses using a combination of VR / AR interfaces and haptic feedback systems, recording physiological and behavioural metrics, such as stress levels, eye-tracking patterns, and decision-making efficiency and generating a detailed performance report that includes areas of proficiency, skill gaps, and recommendations for further training.

[0034] Also, a method for monitoring and providing feedback pertaining to training environments is provided. The method comprising the steps of capturing full-body movements and gestures by using body camera, analysing a trainee’s interaction with controls, environment, and scenarios to assess operational skill and dynamically generating key performance indicators such as task completion rates, error frequency, and stress adaptability.

[0035] The simulator / emulator also has the ability to be used as a remote operation / command module for actual equipment in the field which will have applications that can be utilised by emergency services, defence organisations, mining industry and Industry in general.

[0036] The experience provided by this type of training aid gives the trainee a full real-life experience. In addition, there is the ability to extract and record the reaction of the user to a wide-ranging set of scenarios and provide more in-depth training. There is the capability to monitor and report the reaction of the trainee to different scenarios and reporting the results to the employer or interested relevant party so as to determine suitability for the intended task. The knowledge gained allows for developments in Virtual / Augmented reality-based user machine interfaces to assist a more preferred response.

[0037] This invention provides an apparatus of quality and standard produced in Australia, with advancements in fully immersive Virtual / Augmented reality which allow for greater situational awareness within training simulations. Thereby an operator can anticipate certain actions based on environmental stimuli.

[0038] Other aspects of the invention are also disclosed. Brief Description of the Drawings

[0039] Notwithstanding any other forms which may fall within the scope of the present invention, preferred embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings in which: Figs. 1 and 2 shows a platform of an emulator module of a portable machinery or vehicle control training aid used for emulating a heavy-duty machinery training aid used in construction and civil engineering in accordance with a preferred embodiment of the present invention; Fig. 3 and 4 are diagrammatic views of portable emulators modules in the form of a first 40 ft shipping containers with rotating floor haptics to emulate movement of control driving of heavy-duty machinery used in construction and civil engineering in accordance with preferred embodiments of the present invention; Fig 5 is a diagrammatic view of a second connectable and transportable 40 ft shipping containers as the portable control room for powering and controlling the Al, haptic and micro and macro inputs to the emulator of the portable emulators of the first shipping container; Fig 6 is a diagrammatic view of a 40-foot-long shipping containers that can be used to form the first or second shipping containers of the portable emulator or the portable control room; Fig 7 is a diagrammatic view of the logical design example of the emulation; Figs 8, 9, 10 and 11 show details of the driver emulator Figs 12, 13 and 14 show the construction and mounting of the platform and the angled drives to form the movement of the platform of Fig 1; Figs 15, 16 and 17 show the relative mounting of the drives and countering springs substantially within the footprint of the platform to allow full motion and spring enabled falling to form the range of movement of the platform of Fig 1; and Fig 18 is a flowchart for a method for training to control heavy duty machinery used in construction and civil engineering. Description of Preferred Embodiments

[0040] It should be noted in the following description that like or the same reference numerals in different embodiments denote the same or similar features.

[0041] Referring to the drawings, there is shown a heavy-duty machinery training emulator / simulator used in construction and civil engineering. The training emulator / simulator brings a real-life learning experience to the trainee through developing the following outcomes: 1. The Trainee is placed in a real-life operator control environment to operate a console which is identical to the equipment which they are training for or being assessed on; 2. Various scenarios are simulated depending on the Trainees commands, actions or operational inputs; 3. External environment is portrayed through a VR Headset which can include a work environment in which the trainee is expected to operate a piece of machinery / equipment or other specific Item and the result of their commands and actions are portrayed through the Headset.

[0042] Motion

[0043] The haptic floor component model has a determined ideal size for operator seating, proportions for placing joysticks & controls, set up the initial VR Headset for Augmentation and controls for effective real-life action / reaction motion.

[0044] The six planes of motion assessed and provided in haptic feedback are: a) Pitch, which describes the up and down motion of the vehicle or machinery. This is characterized by the rising and falling of the front and back. b) Roll, which is the tilting motion of the vehicle or machinery from side to side as it encounters step or incline environment and cause it to rock back and forth. c) Yaw, which spins the vehicle or machinery on an invisible middle line due to slipperiness or inconsistency of ground and provides motion similar to swiveling on a chair. d) Heave, which defines the up and down motion of the vehicle or machinery as rough terrain is met and ground gives way. e) Sway, which is this sliding motion when the vehicle or machinery is pushed by the wind or river or flood water. f) Surge, which occurs when the vehicle or machinery is being followed by subsidence or surge swells from behind, which can push the vehicle or machinery forward and impact its forward motion.

[0045] Drive System

[0046] The motor drive system preferably combines in one device: a) A motor drive optimised for driving asynchronous 3-phase induction motors with positional ‘servo’ control. b) A motor drive that can be remotely configured and customised over a network using a node graph interface. c) A motor drive which is a part of an ecosystem that uses distributed computing for, as an example: multi-variable kinematics processing, software defined control loops, user defined equations, etc... which can be run locally on each device without the need for an external device (such as a PLC). d) A motor drive ecosystem that can be fully integrated and (easily) expanded with the motion platform in a manner that is cost-effective per unit. e) A motor drive with ‘plug and play’ network communications that uses a high-speed differential (2-Wire) bus. f) A motor drive system that does not come pre-attached or locked to a specific motor or brand of motor. The combination provides a synergistic system that provides substantial benefits over prior art controls and provides an unexpected, improved effectiveness and efficiency obtained from the unexpected and novel combination.

[0047] Example Drive System

[0048] In an example system it can be called a DH3006P which is derived from: D = Drive, H3 = High Voltage Output (300+ Vpp), 006 = 6 Amp output, P = Premium Line (Fully Featured Device).

[0049] Drive Hardware - Power management, of the DH3006P in its present arrangement contains multiple systems to improve the safety and efficiency of the motor drive including current and voltage monitoring on all three phases, four onboard temperature sensors, active PFC and line filtering. Current and voltage monitoring permits for both overload and earth leakage protection backed by two redundant safety control systems (with monitoring on both the main and sub board). Temperature sensors which monitor the PFC, IGBT bank, LV-Power supplies and CPU ensure stable operation & detection of anomalous conditions. The active PFC module helps to increase DC bus stability while reducing total harmonic distortion and apparent power. Input line filtering mutually safeguards against conducted electrical noise produced from the drive hardware into the supply, or from the supply to the drive hardware.

[0050] The DH3006P Drive Hardware - IO in the current version of the drive, there are four input only digital differential connections, four digital input I output connections , one RS485 connection and one high speed CAN-BUS interface (exclusive to drive communications). Four differential inputs may be used to interface with either a highspeed quadrature encoder (using A, B, Index and one End-Stop input) or a 4-Bit absolute Gray-code or binary encoder. The RS485 interface permits the connection of remote 10 or a supported smart encoder.

[0051] The DH3006P Drive Firmware incorporates four key elements of operation: Motor control (Speed regulation, current regulation, PWM Duty-Cycle Generation, Vector Control and Monitoring), Communications handling (Inbound data handling, time synchronisation, error and status reporting), Node graph interpretation I execution (Execution of a compiled user program) and Variable Virtual Processor handling. The DH3006P incorporates motor control schemes for V / F (Scalar Voltage I Frequency), adaptive l / F (combines frequency control with load regulation), Sensor-less Vector Control (Uses motor parameters to estimate rotor position and generates a rotating polyphasic voltage vector accordingly) and Sensor-Based Vector control (Uses motor parameters and an encoder or speed sensor to generate a rotating polyphasic voltage vector accordingly). The node graph interpreter I emulator executes sandboxed arbitrary code using a custom instruction set from a program generated by the configuration interface. The drive allows for a number of Dedicated Variable Calculations (PID, PI, Low- Pass, High-Pass, Acceleration Handling and Arbitrary function calculations) which can be assigned to regulate and control user variables or system variables such as output current, torque or speed separate from the node graph interpreter I emulator.

[0052] The Communications for the drive coordination is achieved through the use of a differential communications bus which allows for individual or group (virtual data channel) control. Using the configuration application, a kinematic model or other multivariable model may be constructed to use one or more virtual data channels. An example of this is the construction of a 6-axis parallel robotic platform, each axis requires its own set of computations to take place based on 3-Dimensional cartesian and rotational parameters. To improve system performance, the coordinates may be sent directly using the virtual data channel system where the individual kinematics equations may be processed on each drive to distribute computational load and to reduce the processing requirements of the motion coordinator. System time synchronisation and time synchronised registers ensure deterministic operation.

[0053] Automatic configuration of the communications network is achieved through the use of a Mutable Unique Identifier and network arbitration. On system initialization, the motion coordinator broadcasts a scan command, all drives on the network will simultaneously begin transmission, due to the way arbitration is handled, only the packet with the lowest identifier will win transmission priority and all other packets are dropped. The payload of the scan response packet contains the full serial number (Non-Mutable Unique Identifier). Upon the motion coordinator receiving the packet with the numerically lowest Mutable Unique Identifier, both the Mutable and Non-Mutable Unique Identifiers are added to an internal database and an acknowledgement packet is sent. The acknowledgement packet places the network device in a state which prevents it from responding to future scan commands and blocking the transmission of devices with a numerically higher Mutable Unique Identifier, this state is reset when the device is power cycled, or a reset command is broadcast.

[0054] As the primary method of generating Mutable Unique Identifiers is through means of a hash function applied to the Non-Mutable Unique Identifier, it is possible that two devices on the network may be assigned the same Mutable Unique Identifier resulting in a collision which bypasses the arbitration phase of the scan response packet. In the event that there are two or more devices present on the network with the same mutable unique identifier, a collision event will be identified in the data phase by all devices transmitting including the motion coordinator as there is no possibility of duplication with the non-mutable unique identifier. All devices previously involved in the collision will generate a new Mutable Unique Identifier through means of true-random or pseudo random number generation. And the network will continue with the automatic configuration process.

[0055] Vector Control

[0056] Where an application may need more precise speed regulation than usual, along with the ability to run at a broad range of frequencies, an encoder can be paired with Voltage / Frequency control. The encoder feedback tightens speed regulation down to a minimal percentage of the setpoint frequency. Output voltage is still determined by the selected Voltage / Frequency pattern programmed into the controller.. This control method is not common.

[0057] Open-loop vector (OLV) control is used for greater and more dynamic motor control as it independently regulates motor speed and torque. Torque limits are broken down into four quadrants depending on motor direction (forward or reverse) and whether the motor is producing torque or regenerating. For example, a bottle capper would require torque limits set up for the first Quadrant. Alternatively, an unwinding application would need forward motor rotation to feed the line but a negative torque limit due to regeneration caused by the line being pulled to create tension. The torque limit would then be set in the fourth Quadrant. Furthermore, this method allows motors to produce moderate torque at low frequencies, facilitating applications such as bottle capping or unwinding that need high initial torque.

[0058] The higher starting torque at lower speeds supports a range of applications, including elevators, cranes, and hoists. This control method also allows for four-quadrant torque limits.

[0059] Torque limits primarily restrict motor torque to prevent damage to equipment, machinery, or products. They are broken into four different quadrants depending on motor direction (forward or reverse) and whether the motor is, producing torque, or regenerating. The limits can be set independently for each quadrant. This capability supports applications where precise load control is critical.

[0060] Vector control helps to maximize torque-per-amp by regulating torqueproducing current (Iq) and magnetizing current (Id), allowing the motor to consistently produce maximum torque..

[0061] The current feedback loop in these VFDs lets users set torque limits and run in all four quadrants, ensuring precise torque delivery and operational stability. As motor current increases, so does motor torque. Output voltage going to the motor can be increased if the application needs more torque or decreased when reaching a torque limit. This makes open-loop control dynamic, unlike Voltage / Frequency control.

[0062] Overall, OLV control results in in tight regulation without the need for an encoder.

[0063] Closed-loop vector (CLV) control generates a voltage vector based on an encoder reading. Encoder feedback-enabled vector control allows for significant motor torque to be produced at low speeds. This is needed for applications a vector algorithm to determine output voltage, much like open-loop control. The key difference is that closed-loop vector uses an encoder. Encoder feedback, paired with vector control, can allow for up to 200% of the motor’s rated torque to be available from a standstill, supporting applications requiring load holding without movement, including elevators, cranes, and hoists.

[0064] Encoder feedback allows for speed regulation over a broad range, including greater than the synchronous frequency of the motor. When set to regulate for torque, torque control lets the controller adapt motor torque rather than motor speed. This is needed in any application where torque is more important than speed. Encoder feedback mechanisms integrated with Voltage / Frequency control enable operation at a predetermined reference frequency, improving high-speed and lowspeed applications.

[0065] VR Headsets

[0066] VR Headsets are provided for 5 Users with each user wearing a Virtual Reality Headset, that is augmented with additional sensor technology to monitor the User’s a) Vital signs; and b) Eye-tracking sensors. The data from these sensors is captured and wirelessly streamed back to the analytics node.

[0067] The VR headsets have: • External cameras to enable hand-gestures to be used as input. • Embedded haptics that will emulate shaking and pressure on the user face. The same haptic signals that are fed to the headsets will also drive the “live floor”. • High-resolution simulations for the user that is visually almost indistinguishable from reality • Integrated controllers that we can use to augment the equipment being used by the User to get extremely accurate pointing and aiming. • Integrated eye-tracking

[0068] The VR headsets are rechargeable and will operate independently for up to 48 hours between recharges depending on the duty-cycle of usage. Additional headsets are provided so that operations can be sustained 24 hours x 7 days, if necessary, depending on the scenarios to be simulated.

[0069] Each of the VR units is tracked using Bluetooth technologies in the wireless access points, and we will configure a grid “virtual Bluetooth beacons” over the “live floor” area so that we get accurate geo-fencing inputs and coordination of visual orientation in the scenarios.

[0070] • What the best combination of hand-gestures are determined which can be read by the cameras in the VR headsets, and from sensors on the replica equipment and translated into logical inputs from the users.

[0071] • Operational-factors around ruggedness and field-serviceability to provide optimal uptime, and balance that with economic-value and field-utility

[0072] • sensors on the equipment being used, can be flexible so to model the dynamic inputs from the users into the VR headsets to drive the actions in the scenarios.

[0073] Virtual Environments

[0074] Various virtual environments can be portrayed through the VR Headset wherein the trainee is expected to operate a piece of machinery / equipment or other specific tools. Subsequently, different haptic feedbacks are provided to further immerse the trainee or user within the virtual environment for near-perfect training. For instance, a system for monitoring and reporting trainee performance can be implemented within these virtual environments, where sensors track user inputs, physical reactions, and task performance in real time. A data analytics module compiles responses such as reaction times, control accuracy, and situational awareness, delivering performance insights to stakeholders. This helps evaluate task suitability effectively.

[0075] Examples of the virtual environments are provided below.

[0076] The flat cityscape provides a virtual environment similar to a large building construction site in the city and surrounded by public roads and neighboring buildings. The flat cityscape comprises small to medium dirt mounds as terrain and various engineering and construction materials scattered around the site. The driver emulator as shown in Figures 1 and 2 is configured to provide haptics feedback such that the user can virtually see and feel that the vehicle being virtually controlled travels on small to medium dirt mounds. Should the trainee collide with any obstacles or obstructions such as construction materials in the virtual environment, the portable training emulator is likewise configured to provide haptics feedback such that the user will feel a colliding sensation such as surge. Additionally, a method for evaluating trainee suitability in machinery operation can be applied in this scenario by simulating diverse operational conditions, capturing user responses, and generating detailed performance reports on areas like proficiency, skill gaps, and recommendations.

[0077] The hilly cityscape provides a virtual environment to the user wherein the entire construction site has been enclosed by walls and the site is now foundation level below ground. The hilly cityscape is provided with various ramps with multiple levels and large mounds of dirt. The virtual environment provides a scenery of the neighboring buildings; however, the public roads are unseen as the construction site is below ground level. The driver emulator is configured to provide haptics feedback when the virtual driving vehicle passes through various ramps with different levels. The driver emulator can provide an uphill sensation and downhill sensation to the trainee with the use of various springs 22 installed thereon to provide tilting in the pitch axis. Moreover, this setup supports a method for monitoring and providing feedback pertaining to training environments, wherein the trainee's interaction with controls and scenarios is analyzed to dynamically generate KPIs such as error frequency, task completion rates, and stress adaptability.

[0078] The mountainous landscape provides a virtual environment wherein the play site is surrounded by a scenery of forest and diggable terrain. The driver emulator may be provided with a tool such as a digging mechanism similar to a digging tractor virtually controllable by the trainee. The driver emulator is configured to provide haptics feedback to the trainee by driving and using the digging tool mechanism. When the user uses the digging controls to virtually dig the diggable terrain in the virtual environment, the haptics feedback provides a vibration to the portable emulator and a reacting force or pushing sensation like how a driver feels when they use a digging tractor. This immersive experience is enhanced with a method for evaluating trainee suitability in machinery operation, which records physiological and behavioral metrics like stress levels and decision-making efficiency. Detailed performance reports outline proficiency and skill gaps, ensuring targeted improvement in operational abilities.

[0079] The mining pit scape provides a virtual environment of mining sites and mining pits wherein the terrain is made of large ramps and slopes and a large clearance at the bottom of the site. Similar to the foregoing examples, the driver emulator may be provided with virtual tool controls such as digging mechanism or excavating mechanism. This environment benefits from a system for monitoring trainee performance, which tracks inputs and reactions to assess situational awareness and operational skill under challenging conditions. The analytics module provides actionable insights to stakeholders for further training customization.

[0080] By providing multiple virtual environments with different terrains and point of interests, the trainee or user will be immersed deeply into the environment prior to performing the actual driving and controlling with the actual equipment. As such, different kinds of vehicles may likewise be used to train different trainees respective of their adaptability on multiple environments. Using a system for monitoring and reporting trainee performance, stakeholders can gauge the readiness of trainees by analyzing data from scenarios such as reaction times and situational responses.

[0081] Providing multiple virtual environments also improves the inherent knowledge and instinct of the trainee regarding various situations which will reduce costly repercussions such as damage to equipment and physical injuries. The method for monitoring and providing feedback further enhances this process by capturing body movements and analyzing skillful interaction with controls and environments. Real-time feedback dynamically identifies gaps to guide targeted skill enhancement.

[0082] The trainee can also opt to use a scenic view or a third person view when using the invention. The trainee can still feel the haptics feedback and the sensation of being in the actual machinery, but the environment and the machinery in the virtual display is viewed in the third person perspective. This configuration will help the trainee by improving their spatial recognition within the virtual environment, and subsequently translate this knowledge to actual machinery application. Additionally, using a system for monitoring trainee performance, key indicators like stress adaptability and situational awareness are assessed, ensuring well-rounded training experiences.

[0083] Portability

[0084] The method for training to control heavy duty machinery used in construction and civil engineering allows for portability by providing the steps of: • Providing a portable emulator module to act as a heavy-duty machinery control training aid; • Providing at least one haptic drive control in the portable emulator module; • Providing at least one mobile platform in the portable emulator module providing at least part of the at least one haptic drive control; • Mounting the at least one mobile platform on a plurality of drives and coextending springs to emulate macro movement feedback of the floating platform; • Relating the action of the mobile platform with a display of virtual external environment of a heavy-duty machinery; • Relating the at least one haptic drive control with the control of the heavy-duty machinery or attached tool in an Al perceived reaction to the virtual external environment of a heavy duty machinery.

[0085] In this way the method for training particularly includes the step of providing the portable emulator module in a transport container; and providing power and a controller of the portable emulator module in a transport container such that the portable emulator module, the power and the controller of the portable emulator module can be readily transported by boat, road or rail train.

[0086] Emulator Module - Shipping Container 1 a) Emulator Module - Live Floors - Example 1

[0087] The solution includes the mechanical engineering works to install isolated live floors that emulate the environment that is being simulated in the VR. This enhances the immersive VR experience to emulate dynamic movements. In the emulated positions where users are seated, Seating is provided to replicate the exact seating arrangements within the heavy-duty machinery and is mounted onto the live floors.

[0088] As shown in Fig. 3, three elevated “live floors” 11 is constructed that is augmented to emulate the vibration and shaking using commercial-off-the-shelf actuators managed by a programmable-logic-controller (PLC).

[0089] In order to produce a Modular Capability and ease of relocation this Example is designed within Standard ISO 40ft Shipping Containers 12 fitted with Hydraulic Stabilizers 13 and automatic levelling control, but the design can be easily adapted to Purpose Built Containers or within Buildings

[0090] These Live floors 11 and adapted Shipping Containers 12 is fabricated in Melbourne, Victoria, tested for Mechanical viability integration with Software, User PC’s, File Servers and calibration between augmented and emulated equipment.

[0091] On satisfactory completion of testing the Live Floors together with Communications Equipment and MCC / Control cabinet is shipped to site in their respective Containers

[0092] Each live floor 11 is Sized to fit within a 40ft Shipping Container 12 so as to make them easy to relocate to various sites if required and controlled from a Control room which is also designed within a 40Ft Shipping Container 12 which allows it also to be easily located if required- refer to Fig. 1, Shipping Container Example Rev C, Fig. 17, and Fig. 6, Shipping Container Control Room Example Rev C.

[0093] As shown in Fig. 6, the shipping container 12 for the emulator module 14 comprises an opening 33 either on the top or side, or both, of the shipping container for easy relocation of the module.

[0094] This provides mobility and portability of the invention in comparison with current devices in the market.

[0095] The Active Floors 11 is equipped with two Oli 3 Phase MVE1530 / 6N HF drive motors 21 which can be varied to produce a selected Vibration output and a Bucking Bull type Mechanism 20 as depicted in Fig. 1, Fig. 2, and Fig. 15, or Electrical Cylinders to produce a destabilizing effect.

[0096] The Driver Emulator 15 will have the additional feature of being able to rotate as the user turns and maneuvers the vehicle and the Turret Emulators 16 will physically move up and down as he maneuvers the vehicle.

[0097] All Motors are driven by Variable Speed Drives to give a wider range of scenarios.

[0098] A Bucking Bull mechanism 20, when used, is driven by a standard 4 Pole 3 Phase motor and gearbox and fitted with a Braking Mechanism so if in operation at the time of an Emergency Stop event it stops it will immediately come to a full stop.

[0099] When Electric Cylinders are used there are four units used and placed 90° apart as measured from the Centre (i.e. North, South, East & West) and will operate equally well in an Emergency Stop System

[00100] The Active floors 11 are fitted with Equipment to mimic the actual equipment that the Trainee would be expected to use in real life with operation of the emulated equipment coordinated with the VR headsets that any of the trainees is wearing during the training simulation. So as to preserve the authenticity of Emulated Panels, all Mimic Panels, Knobs, levers, switches and other equipment are sourced to correctly emulate the heavy-duty machinery. The Active floors 11 will each also be fitted with a 600W Subwoofer which function is described under Audio and Live floor Haptics.

[00101] Emulator Module - Live Floors - Example 2

[00102] In Example Two, the Driver Emulator 15 is similar to the embodiment of Example One as shown in Fig. 3, but the Shipping Container is designed with a removable top and sides to facilitate the rotation to the two Turret Emulators 16 - one emulating the space for the Assistant Gunner and the Loader and the other Emulating the space for the Gunner and the Commander

[00103] In this Example the Turret Emulators 16 will turn as well as move up and down as the Driver 15 Maneuvers the Vehicle (an embodiment of Fig. 3, Shipping Container Example Rev A)

[00104] This example can emulate full turning as well as partial loading and firing.

[00105] Emulator Module - Live Floors - Example 3

[00106] In Example 3, the Driver Emulator 15 which has been separated from the Turret Emulators 16 (refer to Fig. 4, Driver Emulator Example 3 Rev F) has the additional ability to move up & down through a travel distance of 1.5 Meters and rotate to any location within almost a 10 Meter Radius to which the driver might turn to during an evasive maneuver

[00107] After the Maneuver is completed the Emulator 16 will move slowly back to its default position in a manner that is virtually unnoticeable to the Driver and will not be reported in their VR Headset in order to give the driver the full range of maneuverability for his next maneuver but will remain functional while returning to the default position

[00108] The Turret Emulator 16 in Example 3 (Refer to Fig. 4. Turret Emulators Example 3 Rev B) is full size to each user with interaction between the Gunner / Commander and the Assistant Gunner / Loader to be by VR Headsets

[00109] This example can Emulate full turning as well as loading and firing.

[00110] If modular design is not required these two Turret Emulators 16 can be combined into one life sized Turret Emulator with a reduced use of VR Headsets.

[00111] Adjustable Positioning of the Live Floors

[00112] As shown in Fig 9, the driver emulator cubicle 15 containing the live floor 11 can be configured in a stowed position within the confines of the shipping container 12. In this configuration, the shipping container comprises a first arm 31 wherein one end of the first arm is adjustably fixed to a point within the confines of the shipping container, preferably on the center of the shipping container, and the other end is adjustably joined to one end of a second arm 32. The other end of the second arm 32 is adjustably fixed to the driver emulator cubicle 15.

[00113] The first arm 31 is adjustably fixed to the shipping container 12 in such a way that the first arm can move in any of the three axes of the three-dimensional cartesian plane. The second arm 32 is likewise adjustable joined to the first arm 31 in such a way that the second arm 32 can move in any of the three axes of the three-dimensional cartesian plane.

[00114] As shown in Fig 10, the driver emulator cubicle 15 is extended outside the confines of the shipping container 12 using the first and second arms, 31 & 32. By providing the first arm and second arm degrees of motion within the three-dimensional plane, the Driver emulator cubicle 15 can be extended in multiple positions outside the shipping container.

[00115] Fig. 11 shows various examples of positions the driver emulator cubicle 15 can have when extended outside the shipping container 12. This provides additional immersion to the user or trainee as they will feel not only the micro movement feedback, but also the macro movement feedback provided by the moving positions.

[00116] The extended position can also induce further sensations on pitch, roll, yaw, heave, sway, and surge motions.

[00117] Mechanical Assembly of the Live Floors

[00118] In an embodiment as shown in Figs. 13, 15, 16, and 17, the live floor 11 comprises a haptic frame 54 where the platform of the live floor 11 is mounted onto.

[00119] As can be seen in Figure 12, the haptic frame 54 provides structural frames for electrical components, mechanical components, and various sensors to be fixed onto.

[00120] The haptic frame 54 movably joined to a plurality of linking mechanisms 55. In an embodiment as shown in Figs. 12 and 13, a pair of linkages 55 are connected preferably to the center of one side 61 of the haptic frame 54. Two linkages 55 are likewise connected to the diagonal bars 62 of the haptic frame 54.

[00121] This configuration provides a balance of stable support for the live floor and safety to the trainee while also being mobile enough to produce realistic motions pertaining to yaw, roll, pitch, heave, sway, and surge.

[00122] The pair of linkages 55 which are connected to the center side 61 of the haptic frame are each connected to drive motors 21. The drive motors 21 use the hydraulics needed to move the live floor 11 correspondingly to the virtual terrain affecting the heavy machinery and the controls inputted by the user or trainee.

[00123] In an embodiment as shown in Fig. 15, springs 22 are provided to further dampen and counteract the weight of the live floor 11 platform and the user to provide stability to the system. The springs provides a low-cost solution in assisting the drive motors 21 and linkages 55 to control the actual motion of the live floor, ultimately resulting to a better immersion for the user or trainee.

[00124] In an embodiment of the invention, the linkages 55 may be bucking bull type mechanism or electrical cylinders.

[00125] The base 56 of the whole assembly of the live floor 11 are then fixed to a shipping container 12 to, as stated in the foregoing, to provide mobility should there be a need to relocate a plurality of live floors 11.

[00126] Safety Features of the Live floors: -

[00127] Each of the live floors is fitted with Emergency Stops arranged close to the Users to facilitate ease of Emergency Shut Down. An Emergency Shutdown can also be instigated from the Control Room or by a preprogrammed Criteria if required. The Emergency Stop design will comply with a Category 3 system as defined by AS / NZS 4024.1-2019 Series of Standards for the Safety of Machinery as well as the Electrical installation complying with AS / NZS 3000:2018

[00128] The connectivity to the VR environment is using a multi-function master controller that will have a Digital-to-Analog I / O interface to drive into a programmable-logic-controller to ensure we get low-latency activation of the floor movements.

[00129] In order to monitor health and safety, the master controller of the live floor will also contain independent camera surveillance that will run 24 x 7 to monitor all activity on the live-floor for a rolling 90-day window.

[00130] Additionally, guard rails are provided around the perimeter of the live floor as shown in Fig. 2 to add further security for the trainee.

[00131] Audio & Live-Floor Haptics

[00132] There is a low-frequency audio subwoofer that is located close to the users that will transmit the necessary low-frequency pressure waves to simulate the percussive effects of the interactive scenarios.

[00133] The audio-equipment is physically mounted on the live-floor. This will allow the low-frequency sonic vibrations to resonate into the live-floor 11 so that the sound is both audible and kinesthetically felt by the user through the feet, or any part of the body of the user that is in direct contact with the live-floor. Optionally, it is possible to augment the subwoofers to transmit subsonic frequencies through the floor that can be felt by the user, rather than heard, to emulate subsonic vibrations from moving objects in the scenarios.

[00134] Equipment

[00135] Equipment is used that are realistic replicas of the equipment that is used in the field. Each component of equipment is augmented with wireless sensors & rechargeable batteries where necessary: • To drive actuators to enable realistic haptics. • To aid in accurate monitoring of positioning, motion, aiming and triggering of the equipment; and, • To monitor the vital signs of the User using the equipment.

[00136] Some of the sensors are active, and some are passive Bluetooth sensors. The data captured from the sensors is wirelessly streamed back to the monitoring solution.

[00137] Sufficient USB and GPO power outlets is provided in the Equipment rack Located in the Control Room Equipment Rack to allow the equipment sensor augmentation to be re-charged.

[00138] During final-design the duty-cycle is confirmed, and if necessary, the design is updated to include additional power capacity if necessary.

[00139] Monthly inspection and annual servicing will ensure the safety, durability and serviceability of the equipment. [00141 ] The Control Room Module 40 as depicted in Fig. 5, Shipping Container Control Room Example Rev C, is shown with the option of a Generator 41 but can be also run off Mains Power. The control rooms 42 is fitted-out so that the lab-operator are secured and isolated in their own area with screens that allow them to view the lab operations.

[00142] The controller walls are designed and installed by a manufacturer with experience in acoustic technologies and fitted with split system air conditioning . The control module doors 43 are augmented with a locking mechanism that allows the doors to the lab to be remotely secured. These locks are cabled using Ethernet and will use Power-over-Ethernet to operate.

[00143] As shown in Fig. 6 and similar to the emulator module 14, the shipping container 12 for the control module 40 comprises an opening either on the top or side, or both, of the shipping container for easy relocation of the control module 40.

[00144] In order for the lab and controller modules to be installed in geographically remote areas of Australia, the simulation system is installed and secured locally in a separate rack, and remotely managed.

[00145] Furniture

[00146] Ergonomic sit-stand desks and lab-chairs is determined in final-design to comply with health and safety expectations. Moreover, as shown in Figs. 1,2, and 8, the driver’s seat 51 installed on the live floor 11 is an actual driver’s seat of a driven heavy machinery. Pedals 52 are likewise installed as an input for a driver to control the virtual machinery within the virtual environment and actuate the haptics feedback of the live floor. Seatbelts are likewise installed to secure the trainee within the driver’s seat while haptics feedback act on the live floor.

[00147] In an embodiment as shown in Fig 2, guard rails 53 are provided around the perimeter of the live floor 11 to add further security for the trainee.

[00148] Networking

[00149] The emulator module / s 14 is installed with commercial-grade mesh wirelessnetworking equipment for both Wi-Fi and Bluetooth to enable accurate positioning, aiming and geo-fencing.

[00150] The wireless access points are powered by power-over-ethernet (POE) and interconnected via Ethernet to the controller module network switch. [00151 ] The network switch & firewall will have sufficient 1G and 10G Ethernet ports to allow all the equipment to be interconnected with a minimum of network latency to stream video and data.

[00152] The switch is commercial-grade and have sufficient POE ports to supply power to the network access points and the door-locking mechanisms.

[00153] Remote Controlling of an Actual Vehicle

[00154] In an embodiment of the invention, the live platform and controllers therein can control and drive remotely an actual vehicle. The haptics feedback simulates the terrain and action done by the actual vehicle when being controlled by a remote trainee or user.

[00155] Operator Consoles

[00156] There are two operator consoles but if more are required the Control Room Container 40 can be cascaded with additional Containers, Cubicles 42 or Transportable Buildings as required. Each PC will have a combination of monitors that allow four screens to be displayed. Final design will determine if this is one large monitor with 4 split screens and / or some other combination. In order to enable the necessary low-latency I / O to the haptics and live floors - it is necessary to locate some computer equipment under the floor in the emulator module 14, and this is remotely monitored by the operators in the controller module 40.

[00157] The PCs effectively monitor video streams from a number of Users and combine this with the User monitoring dashboards which are required to be displayed from the analytics node.

[00158] Next to the operator consoles, is the controller module IT rack that contains the: • The controller node; • The analytics node; • Networking equipment; and, • UPS power supply equipment for the operator equipment.

[00159] The controller node operates the solution and contains storage that will allow video stream capture and replay from all the cameras and the VR headsets.

[00160] An initial estimate is made on the amount of video storage required. Regular purging of aged data is required during the normal course of operations to ensure that capacity and performance can be maintained. Data retention policies may require an increase of the amount of storage provisioned to accommodate data retention.

[00161] Logical Design

[00162] Figure 7 shows an embodiment of the logical design of the invention. The blue tab represents the system of the VR program, device, and sensors. The VR units are provided with video and audio streaming data pertaining to a virtual environment. The headset is also installed with haptics that can emulate physical reaction based on what has happened in the virtual environment and the controls inputted by the user. The trainee or the user will operate proprietary controls which will offer realistic familiarity to the equipment being trained or tested on. The VR device and sensors. The VR device and sensors are connected to other parts of the invention either through a wireless connection such as Bluetooth or WiFi, or through a physical cable.

[00163] The additional sensors which pertain to the tools that can be equipped on the virtual machinery. These sensors are munitions sensors, battery sensors, trigger sensors, aiming sensors, actuators, and additional human sensors. This may also include oil and fuel indicators, and alarm systems related to critical shutdowns. The additional human sensors detect reactions from the user and these reactions can then be used to create responses from the haptic actuators that have not been instigated from the user or trainee. Eye monitors are provided to detect user reaction to various circumstances or unexpected events within the virtual environment and can subsequently be interpreted by a supervisor or tester. These additional sensors are connected to the other parts of the invention either through a wireless connection such as Bluetooth or Wifi, or through a physical cable.

[00164] Whilst emergency stops are already incorporated into the invention, additions to this could be heart rate and stress level monitoring causing automatic shutdown in the event of a health endangering situation. Moreover, low frequency audio output such as speakers are provided therein to create confusing ambient and environmental sound to the user. Rotation can also be introduced into the live floor to varying levels as well as Lateral movement to improve immersion for the user.

[00165] Analytics Node

[00166] Large volumes of structured (SQL) and unstructured (loT) data is streamed from the sensors on the Users, and time-synchronized metadata from the video-streams that will need to be rapidly ingested. Analysis queries will require joining of the structured and unstructured datasets, and an appropriate database technology enables the design outcomes to be fulfilled.

[00167] There can be two options for the analytics node: • Traditional Analytics: In which there is a server with a large capacity of storage, that is configured with database software that allows both structured (SQL) and unstructured (loT) datasets. • Specialized Analytics: In which uses a highly specialized parallel-processing unit from SQream that allows large volumes of data to be ingested and rapidly analyzed.

[00168] Traditional analytics will require development effort to design and build the data staging and construct the analytics - and then produce the results produced after the scenarios are executed.

[00169] Specialized analytics can deliver near-real-time analytics on the data being streamed from the users and use event-streaming to feed the results back into the simulation, as well as produce the time-series data analytics after the scenarios have been simulated.

[00170] The benefits of the specialized analytics will enable research and development activities on near-real-time augmented reality prompts and cues to be a) Fed back to the Users to b) Draw their attention to threats that they may not have noticed. c) Reduce the distractions and overwhelm from trying to process too-much information; and d) Prioritize targets. e) Event-streamed back to the simulation systems to enable scenario activities to be changed depending on the physiological feedback from the Users that are a proxy for their psychological resilience to battlefield stress.

[00171] Artificial Intelligence Node

[00172] The biggest challenge with the acceptance of augmented displays on the battlefield is that they distract the user with visual input which distracts them from taking evasive action from incoming threats and battlefield countermeasures.

[00173] By specifically including an Al node as an optional future feature, will allow machine learning to REDUCE visual cues so that the users are not overwhelmed with input. Machine-learning (ML) can also identify and learn what are best-practice user behaviors and use this to train up other users.

[00174] In battlefield terms, the behaviors required when defending a position are different to that of when attacking a position to gain territorial advantage. This is where it can recognize these kinds of distinctions and change the Al augmentation in line with this. One of the key value propositions is that it has the capability to recognize and react to changing scenarios. Typically, most ML Al systems are trained to deal with only one kind of problem.

[00175] The Al node has the capability to recognize when the input data is outside the parameters for the current problem space and choose a different class of Al problem -space. In delivery, as it minimizes the amount of coding required, and typically increases productivity by a factor of 10:1 over the existing ML development tools.

[00176] Operation of the Virtual Environment with the Physical Environment

[00177] An embodiment of the invention provides a virtual environment which employs VR technology with specific intent to interface with an in-house developed system management control module (otherwise known as a master controller). This connection is achieved using a standardised data layout over ethernet via UDP allowing the hardware to interface with other data sources. Furthermore, capability for a control key has been realized to prevent external interference from unauthorised data sources.

[00178] While in operation, a connected computer running the virtual environment software is responsible for providing photorealistic VR rendering, handling user inputs, physics simulation and motion output. In the event intervention is required, the software allows an authorized person to override user inputs through the use of a connected gamepad.

[00179] The master controller processes incoming data through a series of kinematic models. The first stage of kinematics generates the linear positions required of each actuator arranged in a “hexapod” configuration based on the input of rotational and cartesian coordinates (Pitch, Roll, Yaw and Heave). The second stage of kinematics takes into consideration the armature lengths attached to each motor and calculates the rotary position of an actuator when given a linear position. Once all necessary kinematic processing has ceased, the resulting position of each actuator is sent through a data bus followed by a synchronisation command which allows each actuator to begin travel at the same time preventing unwanted motion deviation on the end effector.

[00180] A set of six in house developed system target modules (otherwise known as axis controllers) receive positional information via the data bus connection, under normal operation this connection predominantly includes position setpoints but may also include commands for controlling various features on the modules such as motion tuning and status indication. Positional information is then processed by a series of control loops to maintain positional control when assisted or resisted by a spring on the motor output, various data sources aid in this process such as an encoder and a set of limit switches which can low-level hardware override the target controller’s outputs in the event of a system failure.

[00181] Each target controller is assigned an industrial grade variable speed drive which it governs through the use of a Pulse Width Modulation (PWM) signal and binary direction outputs (running at 24v for signal robustness). Failure of the variable speed drives can be detected and rectified by the target modules monitoring current position and target position over time, triggering a reset command on the variable speed drive if the Delta (difference between) positions grows too large or if the motor shaft remains at an undesired position for an extended length of time.

[00182] Additionally, a multitude of safety systems are present throughout all layers of the system stack. Safety oriented countermeasures have been implemented to prevent erroneous motion commands as a result of physics, engine glitches within the virtual environment software by monitoring acceleration and position of a virtual motion probe (which in principle is an emulated gyroscope, accelerometer and absolute position sensor) that will, under abnormal circumstances trigger a software reset localised to the computer running the software.

[00183] The master controller, like the software, has safeguards in place preventing physical harm to the user or platform hardware. These safety measures include checks which determine the length of a transmitted data packet, its source and whether it contains a valid control key. Furthermore, incoming motion data is constrained to the capabilities of the platform’s hardware preventing possible damage caused by motion commands beyond the effective motion range of the platform.

[00184] Within the firmware of a given system target module (otherwise known as an axis controller) are a series of checks to prevent damage. When in normal positional operation, present motor position is compared with a setpoint to calculate a delta value. If the delta value for a given drive exceeds an arbitrary threshold for an extended period of time, a reset command is sent to its corresponding variable speed drive and an internal error counter is incremented. Furthermore, in place are a set of end-stop switches that act as a low-level hardware override by physically disconnecting the module’s output (through the use of an internal optical-isolator) which prevents the module from overrunning an end-stop.

[00185] Emergency stop switches connected to a safety relay are located on the platform and its control equipment allowing the system to cease operation through user intervention should a fault occur that is beyond the monitoring capabilities of the hardware. In the event an emergency stop switch has been triggered, power is physically disconnected from all variable speed drives preventing further motion. Interpretation Embodiments:

[00186] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments.

[00187] Similarly, it should be appreciated that in the above description of example embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description of Specific Embodiments are hereby expressly incorporated into this Detailed Description of Specific Embodiments, with each claim standing on its own as a separate embodiment of this invention.

[00188] Furthermore, while some embodiments described herein include some but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention, and form different embodiments, as would be understood by those in the art. For example, in the following claims, any of the claimed embodiments can be used in any combination. Different Instances of Objects

[00189] As used herein, unless otherwise specified the use of the ordinal adjectives “first”, “second”, “third”, etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner. Specific Details

[00190] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In other instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Terminology

[00191] In describing the preferred embodiment of the invention illustrated in the drawings, specific terminology is resorted to for the sake of clarity. However, the invention is not intended to be limited to the specific terms so selected, and it is to be understood that each specific term includes all technical equivalents which operate in a similar manner to accomplish a similar technical purpose. Terms such as "forward", "rearward", "radially", "peripherally", "upwardly", "downwardly", and the like are used as words of convenience to provide reference points and are not to be construed as limiting terms. Comprising and Including

[00192] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” are used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.

[00193] Any one of the terms: including or which includes or that includes as used herein is also an open term that also means including at least the elements / features that follow the term, but not excluding others. Thus, including is synonymous with and means comprising. Scope of Invention

[00194] Thus, while there has been described what are believed to be the preferred embodiments of the invention, those skilled in the art will recognize that other and further modifications may be made thereto without departing from the spirit of the invention, and it is intended to claim all such changes and modifications as fall within the scope of the invention. For example, any formulas given above are merely representative of procedures that may be used. Functionality may be added or deleted from the block diagrams and operations may be interchanged among functional blocks. Steps may be added or deleted to methods described within the scope of the present invention.

[00195] Although the invention has been described with reference to specific examples, it is appreciated by those skilled in the art that the invention may be embodied in many other forms. 5 Industrial Applicability

[00196] It is apparent from the above, that the arrangements described are applicable to the heavy-duty machinery used in construction and civil engineering industries and to Emergency Services, Defence, Mining and Industry. 10

Claims

1. A portable machinery or vehicle control training aid, comprisinga. a simulator that gives haptic feedback including angular movement, vibration, and responsiveness to use of controls;b. At least one input device for allowing a user particular input;c. At least one display device for allowing display to the user of a visual image relating to the machinery or vehicle in a virtual environment;d. wherein the plurality of user particular inputs defines the control of the machinery or vehicle in the virtual environment and the reaction effect of that control of the machinery or vehicle in the virtual environment.

2. A portable machinery or vehicle control training aid according to claim 1 wherein the portability by being structured in two shipping containers.

3. A portable machinery or vehicle control training aid according to claim 1 includes a first shipping container for an emulator module4. A portable machinery or vehicle control training aid according to claim 1 includes a second shipping container for a controller module.

5. A portable machinery or vehicle control training aid according to claim 1 wherein the emulator module break apart different elements of operation wherein one group of skills is trained at a time.

6. A portable machinery or vehicle control training aid according to claim 1 wherein the emulator module includes three live floors undertaking three separate training actions for a plurality of group of skills to be trained separately.

7. A portable machinery or vehicle control training aid according to claim 1 including the use of virtual reality in combination with simulation of the use of heavy machinery over heavy terrain to provide a realistic cause and effect on the platform.

8. A portable machinery or vehicle control training aid according to claim 1 wherein the predefined input framework includes a plurality of categories selected from:a. Heavy construction vehicles;b. machinery used in construction and civil engineeringc. Automotive;d. Armoured vehicles;e. Military vehicles; andf. Construction cranes9. A portable machinery or vehicle control training aid according to claim 1 wherein the haptic feedback includesa. a general body feedbackb. a tool feedbackc. A combination thereof10. A portable machinery or vehicle control training aid according to claim 1 wherein the haptic feedback includes an Al interpreter for interpreting visual images viewable to the user to determine a haptic feedback matching the visual image.

11. A portable machinery or vehicle control training aid according to claim 1 wherein the haptic feedback includes a macro movement feedback.

12. A portable machinery or vehicle control training aid according to claim 11 wherein the macro movement feedback includes a platform upon which the user is located.

13. A portable machinery or vehicle control training aid according to claim 1 wherein the haptic feedback includes a micro movement feedback.

14. A portable machinery or vehicle control training aid according to claim 13 wherein the micro movement feedback includes a vibration feedback.

15. A portable machinery or vehicle control training aid according to claim 13 wherein the micro movement feedback includes feedback due to texture of the virtual environment.

16. A portable machinery or vehicle control training aid according to claim 13 wherein the micro movement feedback includes feedback due to operation of the machinery or vehicle.

17. A portable machinery or vehicle control training aid according to claim 11 wherein the macro movement feedback includes springs connected to the platform to form a floating platform.

18. A portable machinery or vehicle control training aid according to claim 11 wherein the macro movement feedback of the floating platform includes:a. Pitchb. Roll5            c. Yawd. Heavee. Swayf. Surge19. A portable machinery or vehicle control training aid according to claim 1 wherein 10 the haptic feedback includes one or more of:a. A machinery or vehicle drive control resultb. A machinery or vehicle tool control resultc. A combination thereof20. A portable machinery or vehicle control training aid according to claim 1 wherein 15         the haptic feedback includes one or more of:a. A drive interaction with viewable predetermined virtual landscapeb. A tool interaction with viewable predetermined virtual landscapec. A combination thereof21 .A portable machinery or vehicle control training aid according to claim 1 wherein 20 the tool can include one of:a. earthmoving scoop or graderb. ground engaging toolc. excavator toold. lifting tool25      22. A portable machinery or vehicle control training aid according to claim 21 whereinto simulate heavy machinery on rough terrain there is a lot of weight displacement the use of springs uses the weight of the platform help the motors lift the platform and provides more of a realistic action / reaction with weight drops and displacements.

23. A portable machinery or vehicle control training aid according to claim 1 including Controller includes 150kVA generator that with fuel reserve can run for 8 hours giving remote location usage.

24. A portable machinery or vehicle control training aid according to claim 1, further comprising a motor control module to optimise performance for high-speed and low-speed applications and provide precise torque delivery and operational stability.

25. A portable machinery or vehicle control training aid according to claim 24, wherein the motor control module configured to:operate at a reference frequency by using an encoder feedback mechanism integrated with Voltage / Frequency (V / F) controlto regulate motor speed and torque;maintain speed regulation by dynamically adjusting motor current; and operate across all four torque quadrants, including forward torque generation, reverse torque generation, forward regeneration, and reverse regeneration.

26. A portable machinery or vehicle control training aid according to claim 24, wherein the motor control module enables substantial torque production at low motor speeds for applications requiring load holding without movement, including elevators, cranes, and hoists.

27. A portable machinery or vehicle control training aid according to claim 24, wherein the motor control module may enable motors to produce up to 200% of their rated torque at low frequencies, supporting high initial torque applications.

28. A portable machinery or vehicle control training aid according to claim 24, wherein the motor control module dynamically increases or decreases output voltage based on torque demands to ensure real-time operational adjustments.

29. A method for training to control heavy duty machinery used in construction and civil engineering including the steps of:a. Providing a portable emulator module to act as a heavy-duty machinery control training aidb. Providing at least one haptic drive control in the portable emulator module;c. Providing at least one mobile platform in the portable emulator module providing at least part of the at least one haptic drive controld. Mounting the at least one mobile platform on a plurality of drives and coextending springs to emulate macro movement feedback of the floating platforme. Relating the action of the mobile platform with an Al visual image display of virtual external environment of a heavy duty machineryf. Relating the at least one haptic drive control with the control of the heavy duty machinery or attached tool in an Al perceived reaction to the virtual external environment of a heavy duty machinery.

30. A method for training according to claim 29 including the step ofa. providing the portable emulator module in a transport container; andb. providing power and a controller of the portable emulator module in a transport containerwherein the portable emulator module, the power and the controller of the portable emulator module can be readily transported by boat, road or rail train.31 .A system for monitoring and reporting trainee performance, comprising:a simulator equipped with sensors to track user inputs, physical reactions, and task performance in real-time;a data analytics module configured to compile trainee responses, including reaction times, control accuracy, and situational awareness; andan automated reporting module that delivers performance insights to stakeholders, aiding in the determination of task suitability.

32. A method for evaluating trainee suitability in machinery operation, comprising:simulating diverse operational scenarios and capturing trainee responses using a combination of VR / AR interfaces and haptic feedback systems;recording physiological and behavioural metrics, such as stress levels, eyetracking patterns, and decision-making efficiency; andgenerating a detailed performance report that includes areas of proficiency, skill gaps, and recommendations for further training.33.A method for monitoring and providing feedback pertaining to training environments, comprising:capturing full-body movements and gestures by using body camera;analysing a trainee’s interaction with controls, environment, and scenarios to assess operational skill; anddynamically generating key performance indicators such as task completion rates, error frequency, and stress adaptability.

34. A portable machinery or vehicle control training aid, comprisinga. a simulator that gives haptic feedback including angular movement, vibration, and responsiveness to use of controls;b. at least one input device for allowing a user particular input;c. At least one display device for allowing display to the user of a visual image relating to the machinery or vehicle in a virtual environment;whereini. the plurality of user particular inputs defines the control of the machinery or vehicle in the virtual environment and the reaction effect of that control of the machinery or vehicle in the virtual environment,ii. the simulator includes an emulator module and a controller module, wherein the emulator module break apart different elements of operation wherein one group of skills is trained at a time and includes three live floors undertaking three separate training actions for a plurality of group of skills to be trained separately,wherein the use of virtual reality in combination with simulation of the use of heavy machinery over heavy terrain to provide a realistic cause and effect on the platform,and the haptic feedback includes an Al interpreter for interpreting visual images viewable to the user to determine a haptic feedback matching the visual image, with the haptic feedback including one or more of a drive interaction with viewable predetermined virtual landscape and / or a tool interaction with viewable predetermined virtual landscape, wherein the emulator module employ springs which uses the weight of a platform to help a plurality of motors lift a platform and provides more of a realistic action / reaction with weight drops and displacements, wherein the simulator further comprising a motor control module to optimise performance for high-speed and low-speed applications and provide precise torque delivery and operational stability, and the motor control module is configured to operate at a reference frequency by using an encoder feedback mechanism integrated with Voltage / Frequency (V / F) control, to regulate motor speed and torque, maintain speed regulation by dynamically adjusting motor current and, operate across all four torque quadrants, including forward torque generation, reverse torque generation, forward regeneration, and reverse regeneration,and the simulator further comprises a data analytics module configured to compile a one or more trainee responses, including reaction times, control accuracy, and situational awareness and an automated reporting module that delivers performance insights to one or more stakeholders, aiding in the determination of task suitability,wherein the emulator module is shipped and used in a first shipping container and the controller module is shipped and used in a second shipping container, thereby enabling portability of the portable machinery or vehicle control training aid and training at the portable site.

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