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WSC'00 |
Web Based Robot Simulation Using
VRML
Martin Rohrmeier (IXOS Software AG)
Abstract:
The Virtual Reality Modeling Language (VRML) enables
the integration of interactive 3D graphics into the web. At the German
Aerospace Center we have been using the new language in robotic applications
from its beginning on. The shown project is an example of the possibilities of
using it in web-based simulations. Specialized and expensive hard- or software
is not needed, any web browser with a vrml viewer is able to run the program
which makes the application independent from any underlying hardware platform.
There was put a special attention to building an efficient and usable
interface for the standard pointing device. The functionalities provided by
the 3D GUI are easy to use and internationalized because self-explaining
symbols were used instead of language. Together with Java and VRML's External
Authoring Interface (EAI) the simulation can also be used for visualizing and
telemanipulating real robots which was the original intention behind the
development of this work.
Virtual Machines for Message Based, Real-Time and
Interactive Simulation
Hansoo Kim and Chen Zhou (Georgia Insititute
of Technology) and Hua X. Du (Siemens AEA)
Abstract:
An advanced processing machine interacts with the
material handling system, personnel and cell or shop floor controller in
real-time via messaging and control. However, current simulation models are
normally built with simulation software tools that are not designed to
explicitly model machine interactions. In this research, we develop a modular
design of simulation tools. One of the fundamental building blocks is the
virtual machine module that simulates machine behavior in terms of state
change and its interface. The modular design offers the ability to interact
with the surroundings via messaging, similar to real machines. The virtual
machine can be used to help develop shop floor controllers and machine
controllers, and to test different shop floor control strategies
interactively. Its control console can be used for operator training as well.
Avatar Kinematics Modeling for Telecollaborative
Virtual Environments
Cristian Luciano and Pat Banerjee (University
of Illinois at Chicago)
Abstract:
This paper introduced the application of a more
efficient mathematical representation of the kinematics of avatars, or digital
human beings, in telecollaborative virtual reality environments (VRE). The
human head, torso and arms were modeled as a redundant eight-degree-of-freedom
kinematics structure using an alternative tool to transformation matrices,
called dual quaternions. This approach achieves an extremely fast and accurate
iterative algorithm that converges to one possible solution of this inverse
kinematics problem. The method was implemented and tested in a CAVE Automatic
Virtual Environment to demonstrate its performance in real time.
The IMS Mission Architecture for Distributed
Manufacturing Simulation
Charles McLean and Frank Riddick (National
Institute of Standards and Technology)
Abstract:
This paper presents an overview of a neutral reference
architecture for integrating distributed manufacturing simulation systems with
each other, with other manufacturing software applications, and with
manufacturing data repositories. Other manufacturing software applications
include, but are not limited to systems used to: 1) design products, 2)
specify processes, 3) engineer manufacturing systems, and 4) manage
production. The architecture identifies the software building blocks and
interfaces that will facilitate the integration of distributed simulation
systems and enable the integration of those systems with other manufacturing
software applications. The architecture is being developed as part of the
international Intelligent Manufacturing Systems (IMS) MISSION project.
Neutral Template Libraries for Efficient Distributed
Simulation within a Manufacturing System Engineering Platform
Kai
Mertins, Markus Rabe, and Frank-Walter Jaekel (Fraunhofer-IPK)
Abstract:
The MISSION project develops an environment for
integrated applications of simulation tools which can be offered by different
vendors. The template library supports the generation of models from the view
of the application instead of simulation tool features. The selection of
simulation tools applied is performed with the mostly completed, but still
neutral model. The template library is a reservoir of neutral re-usable
elements incorporating their major attributes, and referencing to
implementations of these models in different simulation tools. Within the
manufacturing system engineering (MSE) process, the template library is mainly
used as a flexible knowledge base. For this purpose, attributes can be defined
depending on the design agents applied. Some attributes are predefined
according to the requirements of the MISSION modelling platform (MMP) or
according to available user requirements. The user has the chance to add
templates and attributes of templates. Furthermore, the user can use objects
of these templates within the MSE process. Concerning the simulation process,
the template library contains for each application template a reference to
simulation models. The simulation model implements the content of the
template. The paper presents the template library approach and a short
introduction to the MISSION platform.
Automatic Generation of Simulation Models from Neutral
Libraries: An Example
Young Jun Son (The University of Arizona),
Albert T. Jones (National Institute of Standards and Technology) and Richard
A. Wysk (The Pennsylvania State University)
Abstract:
Researchers at the National Institute of Standards and
Technology have proposed the development of neutral libraries of simulation
components. The availability of such libraries would simplify the generation
of simulation models, enable component-based modeling, and speed
Internet-based simulation services. The result would be a reduction in the
complexity of simulation modeling and analysis. In this paper, we consider a
discrete-event simulation of the flow of jobs through a job shop. We describe
the information requirements for the components in that simulation and provide
formal models based on those requirements. We then derive a database structure
from these formal models and discuss the population of that database with the
data entries for a sample job shop. Finally, we examine the translators we
developed to go from the neutral representation of the simulation compo-nents
to the representation required by a commercial simulation package.
Simulation in the Future
Jerry Banks
(Brooks Automation, AutoSimulations Division)
Abstract:
Seven panelists, all simulation consultants, give their
view of the future of simulation. There is some consistency in the views with
four areas being mentioned by three of the panelists, and four areas being
mentioned by two of the panelists. However, depending on how the counting is
performed, there are approximately a dozen other areas with just one mention.
Composable Simulations
Stephen Kasputis
(VisiTech) and Henry C. Ng (Naval Research Laboratory)
Abstract:
While there has been much attention paid to the
applications of Modeling and Simulation by the Department Of Defense (DOD)
lately, little has been done to address those broad technology areas that
enable application-oriented simulations to be more easily constructed, run and
analyzed. Model Composabilty is the ability to compose models/modules across a
variety of application domains, levels of resolution and time scales. A
composability framework for simulations offers a quantum leap in capability
and provides the sought after ease of use. However, Composability is still a
frontier subject in modeling and simulation and current capability is limited.
While model reuse is close to the Holy Grail of M&S, the goal is not
within sight. We are discovering that unless models are designed to work
together -- they don't (at least not easily and cost effectively). Without a
robust, theoretically grounded framework for design, we are consigned to
repeat this problem for the foreseeable future. This position paper outlines
the challenges and basic researches that are needed for composable simulation
developments.
Model Composability as a Research Investment:
Responses to the Featured Paper
Paul C. Davis (RAND Graduate School
of Policy Studies), Paul A. Fishwick (University of Florida), C. Michael
Overstreet (Old Dominion University) and C. Dennis Pegden (Rockwell Software,
Inc.)
Abstract:
Responses to the featured paper are provided by four
authors who represent different elements of the simulation research community:
industry, private research laboratory, and university. As is evident from the
reactions given, these perspective provide both shared and distinct
observations on model composability as an opportunity for research investment.