Simulation modelling and visualisation: toolkits for building artificial worlds

Simulations users at all levels make heavy use of compute resources to drive computational simulations for greatly varying applications areas of research using different simulation paradigms. Simulations are implemented in many software forms, ranging from highly standardised and general models that run in proprietary software packages to ad hoc hand-crafted simulations codes for very specific applications. Visualisation of the workings or results of a simulation is another highly valuable capability for simulation developers and practitioners. There are many different software libraries and methods available for creating a visualisation layer for simulations, and it is often a difficult and time-consuming process to assemble a toolkit of these libraries and other resources that best suits a particular simulation model. We present here a break-down of the main simulation paradigms, and discuss differing toolkits and approaches that different researchers have taken to tackle coupled simulation and visualisation in each paradigm

DIVERSE: a Software Toolkit to Integrate Distributed Simulations with Heterogeneous Virtual Environments

We present DIVERSE (Device Independent Virtual Environments- Reconfigurable, Scalable, Extensible), which is a modular collection of complimentary software packages that we have developed to facilitate the creation of distributed operator-in-the-loop simulations. In DIVERSE we introduce a novel implementation of remote shared memory (distributed shared memory) that uses Internet Protocol (IP) networks. We also introduce a new method that automatically extends hardware drivers (not in the operating system kernel driver sense) into inter-process and Internet hardware services. Using DIVERSE, a program can display in a CAVE™, ImmersaDesk™, head mounted display (HMD), desktop or laptop without modification. We have developed a method of configuring user programs at run-time by loading dynamic shared objects (DSOs), in contrast to the more common practice of creating interpreted configuration languages. We find that by loading DSOs the development time, complexity and size of DIVERSE and DIVERSE user applications is significantly reduced. Configurations to support different I/O devices, device emulators, visual displays, and any component of a user application including interaction techniques, can be changed at run-time by loading different sets of DIVERSE DSOs. In addition, interpreted run-time configuration parsers have been implemented using DIVERSE DSOs; new ones can be created as needed. DIVERSE is free software, licensed under the terms of the GNU General Public License (GPL) and the GNU Lesser General Public License (LGPL) licenses. We describe the DIVERSE architecture and demonstrate how DIVERSE was used in the development of a specific application, an operator-in-the-loop Navy ship-board crane simulator, which runs unmodified on a desktop computer and/or in a CAVE with motion base motion queuing

A Programming Environment Evaluation Methodology for Object-Oriented Systems

The object-oriented design strategy as both a problem decomposition and system development paradigm has made impressive inroads into the various areas of the computing sciences. Substantial development productivity improvements have been demonstrated in areas ranging from artificial intelligence to user interface design. However, there has been very little progress in the formal characterization of these productivity improvements and in the identification of the underlying cognitive mechanisms. The development and validation of models and metrics of this sort require large amounts of systematically-gathered structural and productivity data. There has, however, been a notable lack of systematically-gathered information on these development environments. A large part of this problem is attributable to the lack of a systematic programming environment evaluation methodology that is appropriate to the evaluation of object-oriented systems

Experiments in cooperative manipulation: A system perspective

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force

Towards a generic platform for developing CSCL applications using Grid infrastructure

The goal of this paper is to explore the possibility of using CSCL component-based software under a Grid infrastructure. The merge of these technologies represents an attractive, but probably quite laborious enterprise if we consider not only the benefits but also the barriers that we have to overcome. This work presents an attempt toward this direction by developing a generic platform of CSCL components and discussing the advantages that we could obtain if we adapted it to the Grid. We then propose a means that could make this adjustment possible due to the high degree of genericity that our library component is endowed with by being based on the generic programming paradigm. Finally, an application of our library is proposed both for validating the adequacy of the platform which it is based on and for indicating the possibilities gained by using it under the Grid.Peer ReviewedPostprint (published version

Principles and Concepts of Agent-Based Modelling for Developing Geospatial Simulations

The aim of this paper is to outline fundamental concepts and principles of the Agent-Based Modelling (ABM) paradigm, with particular reference to the development of geospatial simulations. The paper begins with a brief definition of modelling, followed by a classification of model types, and a comment regarding a shift (in certain circumstances) towards modelling systems at the individual-level. In particular, automata approaches (e.g. Cellular Automata, CA, and ABM) have been particularly popular, with ABM moving to the fore. A definition of agents and agent-based models is given; identifying their advantages and disadvantages, especially in relation to geospatial modelling. The potential use of agent-based models is discussed, and how-to instructions for developing an agent-based model are provided. Types of simulation / modelling systems available for ABM are defined, supplemented with criteria to consider before choosing a particular system for a modelling endeavour. Information pertaining to a selection of simulation / modelling systems (Swarm, MASON, Repast, StarLogo, NetLogo, OBEUS, AgentSheets and AnyLogic) is provided, categorised by their licensing policy (open source, shareware / freeware and proprietary systems). The evaluation (i.e. verification, calibration, validation and analysis) of agent-based models and their output is examined, and noteworthy applications are discussed.Geographical Information Systems (GIS) are a particularly useful medium for representing model input and output of a geospatial nature. However, GIS are not well suited to dynamic modelling (e.g. ABM). In particular, problems of representing time and change within GIS are highlighted. Consequently, this paper explores the opportunity of linking (through coupling or integration / embedding) a GIS with a simulation / modelling system purposely built, and therefore better suited to supporting the requirements of ABM. This paper concludes with a synthesis of the discussion that has proceeded. The aim of this paper is to outline fundamental concepts and principles of the Agent-Based Modelling (ABM) paradigm, with particular reference to the development of geospatial simulations. The paper begins with a brief definition of modelling, followed by a classification of model types, and a comment regarding a shift (in certain circumstances) towards modelling systems at the individual-level. In particular, automata approaches (e.g. Cellular Automata, CA, and ABM) have been particularly popular, with ABM moving to the fore. A definition of agents and agent-based models is given; identifying their advantages and disadvantages, especially in relation to geospatial modelling. The potential use of agent-based models is discussed, and how-to instructions for developing an agent-based model are provided. Types of simulation / modelling systems available for ABM are defined, supplemented with criteria to consider before choosing a particular system for a modelling endeavour. Information pertaining to a selection of simulation / modelling systems (Swarm, MASON, Repast, StarLogo, NetLogo, OBEUS, AgentSheets and AnyLogic) is provided, categorised by their licensing policy (open source, shareware / freeware and proprietary systems). The evaluation (i.e. verification, calibration, validation and analysis) of agent-based models and their output is examined, and noteworthy applications are discussed.Geographical Information Systems (GIS) are a particularly useful medium for representing model input and output of a geospatial nature. However, GIS are not well suited to dynamic modelling (e.g. ABM). In particular, problems of representing time and change within GIS are highlighted. Consequently, this paper explores the opportunity of linking (through coupling or integration / embedding) a GIS with a simulation / modelling system purposely built, and therefore better suited to supporting the requirements of ABM. This paper concludes with a synthesis of the discussion that has proceeded

CARL: a Complex Applications Interoperability Language based on semantic technologies for platform-as-a-service integration and cloud computing

Cloud Computing technologies have recently gained momentum and moved from a hyped trend to a mature set of technological innovations providing an infraestructure for the Software-as-a-Service (SaaS) paradigm. However, a number of questions abaut Cloud-deployed applications inter-operability and cross-integration, stemming from multilple areas of Computer Science domains, have also been raised from a Platform-as-a-Service angle. In this paper, we present CARL, a novel, cutting-edge. interoperative and integration-oriented language based on Semantics Technologies. We provide a formal model and semantics to enable Complex Application management and integration in PaaS environments, together with a thorough demonstration of the breaktrhoughs being provided by CARL.Publicad

Developing a distributed electronic health-record store for India

The DIGHT project is addressing the problem of building a scalable and highly available information store for the Electronic Health Records (EHRs) of the over one billion citizens of India