Advanced Real-Time Simulation Laboratory Prof. Gabriel A. Wainer Dept. of Systems and Computer...
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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
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
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2
3
4
5
6
7
8
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10
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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
1
2
3
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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