A bot spooler architecture to integrate virtual worlds with e-learning management systems for corporate training

Joining efforts of academic and corporate teams, we developed an integration architecture - MULTIS - that enables corporate e-learning managers to use a Learning Management System (LMS) for management of educational activities in virtual worlds. This architecture was then implemented for the Formare LMS. In this paper we present this architecture and concretizations of its implementation for the Second Life Grid/OpenSimulator virtual world platforms. Current systems are focused on activities managed by individual trainers, rather than groups of trainers and large numbers of trainees: they focus on providing the LMS with information about educational activities taking place in a virtual world and/or being able to access within the virtual world some of the information stored in the LMS, and disregard the streamlining of activity setup and data collection in multi-trainer contexts, among other administrative issues. This architecture aims to overcome the limitations of existing systems for organizational management of corporate e-learning activities.Portugal Telecom Inovação (atualmente, Altice Labs

Representation and control of coordinated-motion tasks for human-robot systems

It is challenging for robots to perform various tasks in a human environment. This is because many human-centered tasks require coordination in both hands and may often involve cooperation with another human. Although human-centered tasks require different types of coordinated movements, most of the existing methodologies have focused only on specific types of coordination. This thesis aims at the description and control of coordinated-motion tasks for human-robot systems; i.e., humanoid robots as well as multi-robot and human-robot systems. First, for bimanually coordinated-motion tasks in dual-manipulator systems, we propose the Extended-Cooperative-Task-Space (ECTS) representation, which extends the existing Cooperative-Task-Space (CTS) representation based on the kinematic models for human bimanual movements in Biomechanics. The proposed ECTS representation can represent the whole spectrum of dual-arm motion/force coordination using two sets of ECTS motion/force variables in a unified manner. The type of coordination can be easily chosen by two meaningful coefficients, and during coordinated-motion tasks, each set of variables directly describes two different aspects of coordinated motion and force behaviors. Thus, the operator can specify coordinated-motion/force tasks more intuitively in high-level descriptions, and the specified tasks can be easily reused in other situations with greater flexibility. Moreover, we present consistent procedures of using the ECTS representation for task specifications in the upper-body and lower-body subsystems of humanoid robots in order to perform manipulation and locomotion tasks, respectively. Besides, we propose and discuss performance indices derived based on the ECTS representation, which can be used to evaluate and optimize the performance of any type of dual-arm manipulation tasks. We show that using the ECTS representation for specifying both dual-arm manipulation and biped locomotion tasks can greatly simplify the motion planning process, allowing the operator to focus on high-level descriptions of those tasks. Both upper-body and lower-body task specifications are demonstrated by specifying whole-body task examples on a Hubo II+ robot carrying out dual-arm manipulation as well as biped locomotion tasks in a simulation environment. We also present the results from experiments on a dual-arm robot (Baxter) for teleoperating various types of coordinated-motion tasks using a single 6D mouse interface. The specified upper- and lower-body tasks can be considered as coordinated motions with constraints. In order to express various constraints imposed across the whole-body, we discuss the modeling of whole-body structure and the computations for robotic systems having multiple kinematic chains. Then we present a whole-body controller formulated as a quadratic programming, which can take different types of constraints into account in a prioritized manner. We validate the whole-body controller based on the simulation results on a Hubo II+ robot performing specified whole-body task examples with a number of motion and force constraints as well as actuation limits. Lastly, we discuss an extension of the ECTS representation, called Hierarchical Extended-Cooperative-Task Space (H-ECTS) framework, which uses tree-structured graphical representations for coordinated-motion tasks of multi-robot and human-robot systems. The H-ECTS framework is validated by experimental results on two Baxter robots cooperating with each other as well as with an additional human partner

Application of Web Services to a Simulation Framework

The Joint Semi-Automated Forces (JSAF) simulator is an excellent tool for military training and a great testbed for new SAF behaviors. However, it has the drawback that behaviors must be ported into its own Finite State Machine (FSM) language. Web Services is a growing technology that seamlessly connects service providers to service consumers. This work attempts to merge these two technologies by modeling SAF behaviors as web services. The JSAF simulator is then modeled as a web service consumer. This approach allows new Semi-Automated Forces (SAF) behaviors to be developed independently of the simulator, which provides the developer with greater flexibility when choosing a programming language, development environment, and development platform. In addition to new SAF behaviors, this approach also supports any external component that can be modeled as a web service. Furthermore, these services are often run over a network, which distributes the computational load across several computers. Finally, hosting copies of a single service on several machines, a concept similar to file-sharing mirrors, offers an environment for load-balancing. This means if several entities are running the same behavior, a single server does not perform the computation for every entity. Instead, each entity is assigned to a specific server, increasing the quality of service seen by the system. A Web Services framework linking JSAF with several services is designed and implemented. Suppression of Enemy Air Defense (SEAD) behaviors written in MATLAB and a behavior recognition system are integrated with JSAF. These behaviors and the recognition tool were developed by other researchers, independent of this work. Results show that offloading computation to other machines is beneficial, especially when the simulation system is under heavy load. Preliminary results also indicate that load-balancing performs much better than using a single server

MODELLING VIRTUAL ENVIRONMENT FOR ADVANCED NAVAL SIMULATION

This thesis proposes a new virtual simulation environment designed as element of an interoperable federation of simulator to support the investigation of complex scenarios over the Extended Maritime Framework (EMF). Extended Maritime Framework is six spaces environment (Underwater, Water surface, Ground, Air, Space, and Cyberspace) where parties involved in Joint Naval Operations act. The amount of unmanned vehicles involved in the simulation arise the importance of the Communication modelling, thus the relevance of Cyberspace. The research is applied to complex cases (one applied to deep waters and one to coast and littoral protection) as examples to validate this approach; these cases involve different kind of traditional assets (e.g. satellites, helicopters, ships, submarines, underwater sensor infrastructure, etc.) interact dynamically and collaborate with new autonomous systems (i.e. AUV, Gliders, USV and UAV). The use of virtual simulation is devoted to support validation of new concepts and investigation of collaborative engineering solutions by providing a virtual representation of the current situation; this approach support the creation of dynamic interoperable immersive framework that could support training for Man in the Loop, education and tactical decision introducing the Man on the Loop concepts. The research and development of the Autonomous Underwater Vehicles requires continuous testing so a time effective approach can result a very useful tool. In this context the simulation can be useful to better understand the behaviour of Unmanned Vehicles and to avoid useless experimentations and their costs finding problems before doing them. This research project proposes the creation of a virtual environment with the aim to see and understand a Joint Naval Scenario. The study will be focusing especially on the integration of Autonomous Systems with traditional assets; the proposed simulation deals especially with collaborative operation involving different types of Autonomous Underwater Vehicles (AUV), Unmanned Surface Vehicles (USV) and UAV (Unmanned Aerial Vehicle). The author develops an interoperable virtual simulation devoted to present the overall situation for supervision considering also the sensor capabilities, communications and mission effectiveness that results dependent of the different asset interaction over a complex heterogeneous network. The aim of this research is to develop a flexible virtual simulation solution as crucial element of an HLA federation able to address the complexity of Extended Maritime Framework (EMF). Indeed this new generation of marine interoperable simulation is a strategic advantage for investigating the problems related to the operational use of autonomous systems and to finding new ways to use them respect to different scenarios. The research deal with the creation of two scenarios, one related to military operations and another one on coastal and littoral protection where the virtual simulation propose the overall situation and allows to navigate into the virtual world considering the complex physics affecting movement, perception, interaction and communication. By this approach, it becomes evident the capability to identify, by experimental analysis within the virtual world, the new solutions in terms of engineering and technological configuration of the different systems and vehicles as well as new operational models and tactics to address the specific mission environment. The case of study is a maritime scenario with a representation of heterogeneous network frameworks that involves multiple vehicles both naval and aerial including AUVs, USVs, gliders, helicopter, ships, submarines, satellite, buoys and sensors. For the sake of clarity aerial communications will be represented divided from underwater ones. A connection point for the latter will be set on the keel line of surface vessels representing communication happening via acoustic modem. To represent limits in underwater communications, underwater signals have been considerably slowed down in order to have a more realistic comparison with aerial ones. A maximum communication distance is set, beyond which no communication can take place. To ensure interoperability the HLA Standard (IEEE 1516 evolved) is adopted to federate other simulators so to allow its extensibility for other case studies. Two different scenarios are modelled in 3D visualization: Open Water and Port Protection. The first one aims to simulate interactions between traditional assets in Extended Maritime Framework (EMF) such as satellite, navy ships, submarines, NATO Research Vessels (NRVs), helicopters, with new generation unmanned assets as AUV, Gliders, UAV, USV and the mutual advantage the subjects involved in the scenario can have; in other word, the increase in persistence, interoperability and efficacy. The second scenario models the behaviour of unmanned assets, an AUV and an USV, patrolling a harbour to find possible threats. This aims to develop an algorithm to lead patrolling path toward an optimum, guaranteeing a high probability of success in the safest way reducing human involvement in the scenario. End users of the simulation face a graphical 3D representation of the scenario where assets would be represented. He can moves in the scenario through a Free Camera in Graphic User Interface (GUI) configured to entitle users to move around the scene and observe the 3D sea scenario. In this way, players are able to move freely in the synthetic environment in order to choose the best perspective of the scene. The work is intended to provide a valid tool to evaluate the defencelessness of on-shore and offshore critical infrastructures that could includes the use of new technologies to take care of security best and preserve themselves against disasters both on economical and environmental ones

Coalition Battle Management Language (C-BML) Study Group Final Report

Interoperability across Modeling and Simulation (M&S) and Command and Control (C2) systems continues to be a significant problem for today\u27s warfighters. M&S is well-established in military training, but it can be a valuable asset for planning and mission rehearsal if M&S and C2 systems were able to exchange information, plans, and orders more effectively. To better support the warfighter with M&S based capabilities, an open standards-based framework is needed that establishes operational and technical coherence between C2 and M&S systems

Distributed Simulation in Industry

Csaba Attila Boer was born in Satu Mare, Romania, on 29 October, 1975. He completed his secondary education at Kölcsey Ferenc High School, in Satu Mare, in 1994. In the same year he started his higher education at Babeş-Bolyai University, Faculty of Mathematics and Computer Science, Cluj-Napoca, Romania, where he received his B.Sc. degree in Computer Science, in 1998, and his M.Sc. degree with major in Information Systems, specialization Designing and Implementing Complex Systems, in 1999. During these years, he obtained fellowships at the Eötvös Lóránd University, and at the Computer and Automation Research Institute of the Hungarian Academy of Sciences, Budapest, Hungary within the Central European Exchange Program for University Studies (CEEPUS). Since 1999, he has been affiliated with the Computer Science Department, Faculty of Economics at Erasmus University Rotterdam, The Netherlands. There, he worked as a researcher for one year, studying the storage and retrieval of discrete event simulation models, research that resulted in three scientific articles. Between 2000 and 2004, he was associated with the same department as a Ph.D. candidate aiming to research the area of distributed simulation and its application in industry. His topic being close to the research carried out at the Faculty of Technology, Policy and Management, Delft University of Technology, and the BETADE research program, he started to collaborate with researchers from these groups, getting involved in two joint practical case study projects. This collaboration resulted in seven joint scientific articles, presented at various international conferences. Furthermore, Csaba has maintained international contacts with researchers from the distributed simulation area. He has been invited twice to Brunel University, London to give a presentation concerning the application of distributed simulation in industry. Currently, he is working as a simulation consultant atGedistribueerde simulatie wordt binnen de defensie in brede kring geaccepteerd en toegepast, maar het heeft in de industrie geen voet aan de grond gekregen. In dit proefschrift onderzoeken we de redenen voor dit fenomeen door te bestuderen wat de industrie verwacht op het terrein van de gedistribueerde simulatie. In het algemeen worden in de industrie simulatiemodellen ontworpen en ontwikkeld met COTS (“commercial-off-the-shelf”) simulatiepakketten. Echter, de bestaande architecturen voor gedistribueerde simulatie binnen defensie zijn niet gericht op het koppelen van modellen gebouwd met COTS simulatiepakketten. Om de industrie te motiveren gedistribueerde simulatie te accepteren en te gebruiken moet men derhalve ernaar streven het mogelijk te maken om modellen, die gebouwd zijn met deze pakketten, aan elkaar te koppelen zonder dat dat al te veel inspanning vereist van de modelbouwers. Uitgaande van een onderzoek onder experts in dit domein, stellen we in dit proefschrift een pakket van eisen voor voor het ontwerp en ontwikkelen van gedistribueerde simulatiearchitecturen dat de industriegemeenschap zal motiveren om gedistribueerde simulatie te accepteren en toe te passen. Daarnaast presenteren we een lichtgewicht architectuur voor gedistribueerde simulatie die met succes toegepast is in twee industriële projecten, en die in grote mate voldoet aan het voorgestelde pakket van eisen.While distributed simulation is widely accepted and applied in defence, it has not gathered ground yet in industry. In this thesis we investigate the reasons behind this phenomenon by surveying the expectation of industry with respect to distributed simulation solutions. Simulation models in industry are mainly designed and developed in commercial-off-the-shelf (COTS) simulation packages. The existing distributed simulation architectures in defence, however, do not focus on coupling models created in COTS simulation packages. Therefore, in order to motivate the industrial community to easily accept and use distributed simulation, one should strive to couple models built in these packages. Further, coupling these models should be possible without needing too much extra effort from modellers. In this thesis, based on a survey with experts in domain, we propose a list of requirements for designing and developing distributed simulation architectures that would encourage the industrial community to accept and apply distributed simulation. Furthermore, we present a lightweight distributed simulation architecture which has been successfully applied in two industrial projects, and satisfies to a large extent the proposed requirements

INTEROPERABILITY FOR MODELING AND SIMULATION IN MARITIME EXTENDED FRAMEWORK

This thesis reports on the most relevant researches performed during the years of the Ph.D. at the Genova University and within the Simulation Team. The researches have been performed according to M&S well known recognized standards. The studies performed on interoperable simulation cover all the environments of the Extended Maritime Framework, namely Sea Surface, Underwater, Air, Coast & Land, Space and Cyber Space. The applications cover both the civil and defence domain. The aim is to demonstrate the potential of M&S applications for the Extended Maritime Framework, applied to innovative unmanned vehicles as well as to traditional assets, human personnel included. A variety of techniques and methodology have been fruitfully applied in the researches, ranging from interoperable simulation, discrete event simulation, stochastic simulation, artificial intelligence, decision support system and even human behaviour modelling

From the Ground to the Cloud: Towards an Integrated Transportation Simulation Platform

Actualmente, as universidades e as empresas de todo o mundo têm uma enorme necessidade de metodologias que permitam simular e modelar. No que diz respeito ao tráfego e transportes, fazer mudanças físicas nas redes reais de trânsito poderia ser altamente dispendioso, estando dependente de decisões políticas e podendo ser altamente prejudicial ao meio ambiente. Por isso, a simulação é muito usada em tais cenários.No entanto, o uso de simulação para estudar ou analisar um domínio ou problema específico pode não ser trivial e podem ser necessárias diversas ferramentas, com diferentes resoluções e perspectivas de domínio, causando o aumento de problemas relacionados com interoperabilidade. Com as recentes evoluções no âmbito do cloud computing e do Software-as-a-Service (SaaS), existe um novo paradigma onde o software de simulação é usado sob a forma de serviços. Assim, o Simulation Software-as-a-Service (SimSaaS) é muito benéfico para melhor explorar o grande número de plataformas e armazenamento que a simulação precisa, e que o Cloud Computing pode fornecer.Para ultrapassar os problemas supra mencionados, o principal objetivo desta dissertação foi apresentar o atual estado da arte na área e propor uma plataforma de simulação de transporte direcionada a agentes, através da cloud, por meio de serviços. Utilizou-se o standard HLA (High Level Architecture) da IEEE para interoperabilidade de simuladores e agentes para controlo e coordenação.Para que tal seja possível, foi imperativo construir, através de uma revisão sistemática da literatura, o conhecimento necessário para desenvolver a plataforma. Os estudos revistos foram comparados e sumarisados na forma de uma taxonomia do trabalho de pesquisa que representa as oportunidades de pesquisa mais importantes para os próximos anos. A arquitectura e os principais cenários de utilização da plataforma foram detalhados. A partir daí, o subconjunto de características mais importantes foi seleccionado na forma de uma prova de conceito. A sua implementação foi explicada indicando o software utilizado (OpenStack, Pitch pRTI, SUMO e EBPS) e o cenário de simulação escolhido. Por fim, foram conduzidas algumas experiências para se perceber a melhor abordagem no controlo e lançamento de máquinas virtuais. Esta análise é importante para se obter uma melhor performance em simulações utilizando a infraestrutura desenvolvida.Nowadays, universities and companies all around the world have a huge need for simulation and modelling methodologies. In the particular case of traffic and transportation, making physical modifications in the real traffic networks could be highly expensive, dependent on political decisions and could be highly disruptive to the environment. Therefore, simulation is broadly used in such scenarios.However, while studying a specific domain or problem, analysis through simulation may not be trivial and very often requires several simulation tools, with different resolutions and domain perspectives, hence raising interoperability issues. With the recent evolutions in cloud computing and Software-as-a-Service (SaaS), there is a new paradigm where simulation software is used in the form of services. So, Simulation Software-as-a-Service (SimSaaS) is very beneficial to better exploit the huge amount of platforms and storage that simulation needs per se - and Cloud Computing is able to provide such resources.To address issues arising in this novel perspective the main goal of this dissertation was to present the current state of the art in the field and to propose an agent-directed transportation simulation platform, through the cloud, by means of services. It was used the IEEE standard HLA (High Level Architecture) for simulator interoperability and agents for controlling and coordination.To do so, it was necessary to build, through a systematic literature review, the body of knowledge needed to develop such platform. The reviewed studies were compared and summarised leading to the creation of a taxonomy of the research work, which represent the front research opportunities for the next years. The main scenarios and architecture of the platform were detailed. The proof of concept's implementation was further explained including the used software (OpenStack, Pitch pRTI, SUMO and EBPS) and the chosen simulation scenario. Finally, some experiments were made about the best approach to manage and launch VMs (Virtual Machines). Such analysis is very important to have better performance in simulations under the developed infrastructure

Building Distributed Systems for the Pragmatic Object Web

We review the growing power and capability of commodity computing and communication technologies largely driven by commercial distributed information systems. These systems are built from CORBA, Microsoft\u27s COM, JavaBeans, and rapidly advancing Web approaches. One can abstract these to a three-tier model with largely independent clients connected to a distributed network of servers. The latter host various services including object and relational databases and of course parallel and sequential computing. High performance can be obtained by combining concurrency at the middle server tier with optimized parallel back end services. The resultant system combines the needed performance for large-scale HPCC applications with the rich functionality of commodity systems. Further the architecture with distinct interface, server and specialized service implementation layers, naturally allows advances in each area to be easily incorporated. We illustrate how performance can be obtained within a commodity architecture and we propose a middleware integration approach based on JWORB (Java Web Object Broker) multi-protocol server technology. We illustrate our approach on a set of prototype applications in areas such as collaborative systems, support of multidisciplinary interactions, WebFlow based visual metacomputing, WebFlow over Globus, Quantum Monte Carlo and distributed interactive simulations