Advanced Real-Time Simulation Laboratory

Prof. Gabriel A. Wainer

Dept. of Systems and Computer Engineering

http://www.sce.carleton.ca/faculty/wainer

Engineering @ Carleton University Centre on Visualization and Simulation (V-Sim)

• Interdisciplinary research• Defence and Emergency

• Biology

• Environmental Sciences

• Mechanical Engineering

• Aerospace Engineering

• Cognitive Science

• Systems and Computer Engineering

• Architecture and City Planning

• Traffic

• Gaming

Research areas

• Defining advanced modelling and Simulation methodologies

• Integrating techniques for development of simulations with hardware-in-the-loop

• M&S as basis for development of embedded Real-Time systems

• Improved performance and collaboration through parallel and distributed techniques

• Open-Source model

Middleware/OS (Corba/HLA/P2P/MPI/WS…; Windows/Linux/RTOS…)

Execution Engines (Simulators) (single/multi Proc/RT)

Models

Applications

Hardware (Workstations/Clusters/SBC…)

Layered View on M&S

Visualization

Simulation Techniques

Model-Based Development of Real-Time Systems Integrate M&S in every step of the development

of embedded RT systems.

M&S-based architecture: models used in simulation are the target for end products.

Rapid prototyping Encourages reuse Cost-effective

Prototype tools readily available

Button Controller

Elevator Controller Unit

Display Controller

- RT-CD++

M icrocontroller

Elevator Box

Engine

Sensor Controller

b utton_ 1 b utton_ 2 b utton_ 3 b utton_ 4

display

Button Controller

Elevator Controller Unit

Display Controller

- RT-CD++

M icrocontroller

Engine

Sensor Controller

a ctivate direction

result

components: eng@Enginein : activate_in direction_inout : resultlink : activate_in activate@englink : direction_in direction@eng

Time Port Value00:06:120 direction 100:06:130 activate 100:15:930 activate 000:56:800 direction 200:56:810 activate 101:01:130 activate 001:22:710 direction 2

Time Out-port Value00:06:130 result 100:15:930 result 000:56:810 result 201:01:130 result 0(…)

Model-Based Development of Real-Time Systems

- Users develop simulated models- Move components to target platform (no changes in model’s coding)

Model-Based Development of Real-Time Systems

- Robot prototype- 6 man-hours to develop the whole controller, test, modify, retest- Simulation-based solution (model controls the robot)

- Motor controller

- Multi-motor controller

Model-Based Development of Real-Time Systems

- Fully developed controller with sensor feedback- Remote control application

- Model-based applications- Enhanced facilities for testing - Model execution: guaranteed to be correct (formal specification)

Model-Based Distributed Simulation

Parallel Simulation

Stand-alone Simulation

`

Web service client

Rendering/Visualization(CIMS

BPEL engine(Webspher)

Data capture(Camera)

WSRF-Engine(Globus)

CA*net 4/Internet

UCLP Services

* see Notes

Modelling and Simulation Methodologies and Tools

Middleware/OS (Corba/HLA/P2P/MPI/WS…; Windows/Linux/RTOS…)

Execution Engines (Simulators) (single/multi Proc/RT)

Models

Applications

Hardware (Workstations/Clusters/SBC…)

Layered View on M&S

Visualization

Main Goals

• Reuse of simulation software in a different context?

• Reuse of experiments carried out?

• Changes/Updates in the model?

• Engineering approach?

• How do we validate the results?

Varied methods for modelling

Atomic

initFunction()internalFunction()outputFunction()externalFunction()

(from Models)

CPU

distributionpid

initFunction()outputFunction()internalFunction()ExternalFunction()

- High level specifications translated into executable code

* see Notes

Varied methods for modelling

High Level Specificationsmodel circuit Modelica.Electrical.Analog.Sources.PulseVoltage

V(V=10, width=50, period=2.5); Modelica.Electrical.Analog.Basic.Resistor R1(R=0.001); Modelica.Electrical.Analog.Basic.Inductor I1(L=500); Modelica.Electrical.Analog.Basic.Inductor I2(L=2000); Modelica.Electrical.Analog.Basic.Capacitor C(C=10); Modelica.Electrical.Analog.Basic.Resistor R2(R=1000); Modelica.Electrical.Analog.Basic.Ground Gnd;equation connect(V.p, R1.p); connect(R1.n, I1.p); connect(R1.n, I2.p); connect(I2.n, C.p); connect(I2.n, R2.p); connect(C.n, I1.n); connect(R2.n, C.n); connect(I1.n, V.n); connect(V.n, Gnd.p);end circuit;

model circuit Modelica.Electrical.Analog.Sources.PulseVoltage

V(V=10, width=50, period=2.5); Modelica.Electrical.Analog.Basic.Resistor R1(R=0.001); Modelica.Electrical.Analog.Basic.Inductor I1(L=500); Modelica.Electrical.Analog.Basic.Inductor I2(L=2000); Modelica.Electrical.Analog.Basic.Capacitor C(C=10); Modelica.Electrical.Analog.Basic.Resistor R2(R=1000); Modelica.Electrical.Analog.Basic.Ground Gnd;equation connect(V.p, R1.p); connect(R1.n, I1.p); connect(R1.n, I2.p); connect(I2.n, C.p); connect(I2.n, R2.p); connect(C.n, I1.n); connect(R2.n, C.n); connect(I1.n, V.n); connect(V.n, Gnd.p);end circuit;

Integrated Development Environment

Applications

Middleware/OS (Corba/HLA/P2P/MPI/WS…; Windows/Linux/RTOS…)

Execution Engines (Simulators) (single/multi Proc/RT)

Models

Applications

Hardware (Workstations/Clusters/SBC…)

Layered View on M&S

Visualization

Current developments

Applications

Traffic Modelling

- High-level specification language for traffic M&S

-Automated simulation generation

- Integration with GIS and Immersive Environment

applications

- Advanced 3D visualization (work-in-progress)

3D visualization (being updated)

Applications

Biology and Medicine

Molecular Biology

Metabolic Pathways in human cells

Enzyme kinetics

Ion channels

Synapsin/Vesicle interactions

0 0.5 1 1.5 2 2.5

x 104

-100

-80

-60

-40

-20

0

20

40

données expémentales et approximation polynomiale

Heart tissue

Liver cells

Encapsulated Cancer

- Ottawa Heart Institute

- UC Berkeley/UCSF

- Dept. of Biology, Carleton

Biology

Physics and Chemistry

Heat Spread Surface Tension

Binary solidification

Flow Injection Analysis Model

No Quantum, 120ms

Q-DEVS 0.1, 120ms

Quantum Standard 0.7 Dynamic 1 - 0.05, 120ms

Applications

Environmental Systems Analysis

Landslides

Pollution Forest Fires

Flooding

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

05101520253035404550556065707580859095100105110

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

05101520253035404550556065707580859095100105110

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Fire Spread Modeling

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

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Applications

Networking

Network Performance Analysis

Receiver

Network transmitter

Network Layer

Source IP

Des

tinat

ion

IP

Data

Output to Transport

Layer

Output to Data link

layer

Tras

npor

t Lay

er

Datagram (TCP Packet)

Creator

Checksum Creator

Transmitter

Datagram (TCP Packet)

Stripper

Checksum Verifier

Receiver

Output to Network LayerInput From Applicaion

Layer

Input from Network Layer

Signal if TCP Packet has been received or lost

Output to Applicaion Layer

Incoming From Data Link Layer

Data link layer

HTT

PFT

PTe

lnet

SN

MP

SM

TPData from user (EV)

Data from user (EV)

Output to user (Console/ out file)

Physical Layer

Type Signal

Output to next Device

SignalSensing Data

Real time simulation on

embedded

microcontrollers

Rapid design and

testing potential

network

devices

Network Prototyping

Applications

Defence and Emergency Planning

SAT Building Evacuation: crowds + interoperability

Collaboration with School of Architecture (CIMS)

SAT Evacuation Visualization

Maya (and other 3D visualization tools) integrated with simulation engine

Summary

• Well-established team

• Expertise in M&S

• Record of collaboration locally, Nationally and Internationally

• Collaboration with Government, Industry and Academia

• Truly interdisciplinary

• The intersection of RCTI with V-SIM for a blend of:• real-time systems, virtual and live simulation

• simulation interoperability

• engineering methodology

• military applications of M&S