A method for calculating an optimized trajectory with a simulation program and an optimization routine includes making available a trajectory and adjusting it to boundary conditions, implementing a loop having the steps of a provision of one first trajectory, a modification of a (further) trajectory and adjustment of the (further) trajectory on the basis of boundary conditions, using as the optimized trajectory a trajectory which has been made available on the basis of an extremal or predetermined parameter, and, after being calculated, making available the optimized trajectory to a control device in order to move a holder for a component part.

The present invention relates to a filter for controlling a simulator for the representation of movements of a simulated vehicle, the rotational and translational control commands required to control the simulator being calculated from a difference between the angle of rotation and the apparent vertical angle, taking into account a physiological rotation rate limitation.

The present invention relates to a cutting process simulation method and a system thereof which can efficiently optimize the decommissioning process of a nuclear facility, thereby saving costs and time and ensuring safety in the decommissioning process. The cutting process simulation system, according to one embodiment of the present invention, may comprise: a display unit: and a control unit which cuts a cutting target in a nuclear facility by using a design program, displays the cut shape on the display unit, and predicts the amount of secondary waste generated in the process of cutting the cutting target.