3,006 research outputs found
The Internet of Simulation: Enabling Agile Model Based Systems Engineering for Cyber-Physical Systems
The expansion of the Internet of Things (IoT) has resulted in a complex cyber-physical system of systems that is continually evolving. With ever more complex systems being developed and changed there has been an increasing reliance on simulation as a vital part of the design process. There is also a growing need for simulation integration and co-simulation in order to analyse the complex interactions between system components. To this end we propose that the Internet of Simulation (IoS) as an extension of IoT can be used to meet these needs. The IoS allows for multiple heterogeneous simulations to be integrated together for co-simulation. It's effect on the engineer process is to facilitate agile practices without sacrificing rigour. An Industry 4.0 example case study is provided showing how IoS could be utilized
A Reliable and Low Latency Synchronizing Middleware for Co-simulation of a Heterogeneous Multi-Robot Systems
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment
are mission-critical services for recent IoT networks. Communication
synchronization, dependability, and minimal communication jitter are major
simulation and system issues for the time-based physics-based ROS simulator,
event-based network-based wireless simulator, and complex dynamics of mobile
and heterogeneous IoT devices deployed in actual environments. Simulating a
heterogeneous multi-robot system before deployment is difficult due to
synchronizing physics (robotics) and network simulators. Due to its
master-based architecture, most TCP/IP-based synchronization middlewares use
ROS1. A real-time ROS2 architecture with masterless packet discovery
synchronizes robotics and wireless network simulations. A velocity-aware
Transmission Control Protocol (TCP) technique for ground and aerial robots
using Data Distribution Service (DDS) publish-subscribe transport minimizes
packet loss, synchronization, transmission, and communication jitters. Gazebo
and NS-3 simulate and test. Simulator-agnostic middleware. LOS/NLOS and TCP/UDP
protocols tested our ROS2-based synchronization middleware for packet loss
probability and average latency. A thorough ablation research replaced NS-3
with EMANE, a real-time wireless network simulator, and masterless ROS2 with
master-based ROS1. Finally, we tested network synchronization and jitter using
one aerial drone (Duckiedrone) and two ground vehicles (TurtleBot3 Burger) on
different terrains in masterless (ROS2) and master-enabled (ROS1) clusters. Our
middleware shows that a large-scale IoT infrastructure with a diverse set of
stationary and robotic devices can achieve low-latency communications (12% and
11% reduction in simulation and real) while meeting mission-critical
application reliability (10% and 15% packet loss reduction) and high-fidelity
requirements
HLA high performance and real-time simulation studies with CERTI
Our work takes place in the context of the HLA standard and its application in real-time systems context. Indeed, current HLA standard is inadequate for taking into consideration the different constraints involved in real-time computer systems. Many works have been invested in order to provide real-time capabilities to Run Time Infrastructures (RTI). This paper describes our approach focusing on achieving hard real-time properties for HLA federations through a complete state of the art on the related domain. Our paper also proposes a global bottom up approach from basic hardware and software basic requirements to experimental tests for validation of
distributed real-time simulation with CERTI
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