Development of Interactive Modeling, Simulation, Animation, and Real-Time
Control (MoSART) Environments: Tools for Enhancing Research &
Education.
http://www.eas.asu.edu/~aar/research/mosart/Presentations/Barcelona/index.htm
Sponsors: Boeing, CADSI, AFOSR, Honeywell, Integrated Systems, Intel, Knowledge Revolution, Microsoft, National Science Foundation
Unitat d'Enginieria de Sistemes i Automàtica, June 15 1998
Armando A. Rodriguez Richard P. Metzger Jr. Chen-I Lim
Outline
Motivation
System Dynamics
Description of Interactive MoSART Environment
Utility of Environment
Summary and Future Directions
Motivation
Advanced visualization tools are needed for system analysis and design.
Research/education can be enhanced with interactive multimedia environments.
PC platforms now offer substantial computing power for engineering design.
State of the Art
Working Model (Knowledge Revolution)
DADS/Plant (CADSI)
…generic, not optimized for specific systems
(both have contributed to development of MoSART facility at ASU)
Contributions of Work
System-specific interactive MoSART
environments
High performance: Windows/ C++
Advanced visualization tools: Direct-3D
Extensible: integration with MATLAB
User friendly
Key Environment Features
•Real-time simulation•Alter model/controller:
-structure- parameters (on-the-fly)
• Advanced visualization:- real-time graphics- visual indicators/aids- 3D animation models
• Direct user input via joystick• Integration with MATLAB: advanced CAD tools
Interactive MoSART Environments
Robotic Manipulator
High-Performance Aircraft
Missile-Target Engagements
Pendulums: Inverted, Rotary, Multi-link...
Adaptive Algorithms/Learning Systems
Submarine Environment
Longitudinal Dynamics Near Hover
State Space Representation:
- Cyclic control
Unstable: backflapping mode
Open loop poles:
…need AFCS to minimize pilot workload
θ 0 1 0 θ 0
θ = 0 Mq Mu θ + MBlc Blc
x -g 0 Xu x xBlc
.
.. .
...
Horizontal damping mode
Longitudinal Dynamics Near Hover
Unstable: backflapping mode
Open loop poles & zeros:
Horizontal damping mode
Lightly damped zero
Pitching Dynamics:
Longitudinal Dynamics Near Hover
Unstable: backflapping mode
Open loop poles & zeros:
Horizontal damping mode
Horizontal Speed Dynamics:
Pentium PC
Windows ’95/NT
About the Program
System Requirements: Pentium 166 / Windows 95/NT. 32 MB RAM. Direct-3D 3.0.
Recommended: Pentium II 266 w/ MMX running Windows NT 4.0. 64 MB RAM. Direct-3D 3.0.
Visual C++/ MFC
Direct-3D v3.0MATLAB Engine
v5.0
Environment Structure
Program User Interface
Simulation Module
Graphical Animation Module
Help-Instruct Module
(PUI)
(SIM)
(GAM)
(HIM)
Program User Interface (PUI)
User Friendly Windows ’95/NT Interface
•Menus•Multiple windows•Control toolbars
Interactive System Diagram
•Block Diagram representation of system•Point-and-Click access
Use of the PUI
•Edit system parameters on-the-fly
• Change reference commands:
- Signal generator
- User joystick input
• Call up real-time graphs of signals & outputs
• Activate or deactivate a block
Through the point-and-click system diagram interface, a user can:
Simulation Module (SIM)
Numerical Simulation
On-the-Fly Parameter Editing
•Fast compiled C++: >3000 Hz / 266MHz PII•Better than real-time simulation
•Plant models•Controller parameters•Reference Commands, Disturbances, Noise, etc.•Integration methods: Euler, Runge-Kutta 4, etc.
Extensibility
Simulation Module: Extensibility
Changing plant parameters on-the-fly
Playback of externally generated simulation: e.g. MATLAB/SIMULINK
Dynamic linking: MATLAB Engine ...
(Edit Mode)
(Playback Mode)
(External-Link Mode)
Graphical Animation Module
(GAM)3D Animation
•Direct-3D•Texture-mapped, light-shaded polygons•Wireframe copters from previous simulations
•Real-Time Variable Display Window•2D Animation Window: pitch indicator•Real-time graph plotting
Visualization Tools & Indicators(SMAC)
Extensibility
Animation Module: Extensibility
Direct-3D standard file format
3D modeling packages: e.g. 3D Studio
Libraries of 3D objects widely available
Help-Instruct Module (HIM)
On-line Help
•Instructions on using the environment•Program reference
HTML Documents
•Model documentation•Interactive tutorials
Utility of Environment
Unstable backflapping mode
Open-loop joystick control
Stability of Closed-loop system under automatic control
Closed-loop user joystick control
Summary
Versatile system-specific interactive MoSART environments
Windows / C++ / Direct3D / MATLAB
User friendly: accessible & intuitive
User can alter system model structure & parameters (on-the-fly)
Highly extensible: can incorporate new simulation/animation models
Future Directions
More visual indicators
Advanced SIM and GAM
Expanded HIM: web support, multimedia
Enhanced integration with MATLAB
Integrated design & analysis environment
http://www.eas.asu.edu/~aar/research/mosart/Presentations/Barcelona/index.htmOnline presentation available at:
… development of MoSART Facility at ASU