Applications of inverse simulation to a nonlinear model of an underwater vehicle

Inverse simulation provides an important alternative to conventional simulation and to more formal mathematical techniques of model inversion. The application of inverse simulation methods to a nonlinear dynamic model of an unmanned underwater vehicle with actuator limits is found to give rise to a number of challenging problems. It is shown that this particular problem requires, in common with other applications that include hard nonlinearities in the model or discontinuities in the required trajectory, can best be approached using a search-based optimization algorithm for inverse simulation in place of the more conventional Newton- Raphson approach. Results show that meaningful inverse simulation results can be obtained but that multi-solution responses exist. Although the inverse solutions are not unique they are shown to generate the required trajectories when tested using conventional forward simulation methods

An Object-Oriented Framework for Designing Reusable and Maintainable DEVS Models using Design Patterns

Design patterns are well practices to share software development experiences. These patterns allow enhancing reusability, readability and maintainability of architecture and code of software applications. As simulation applies computerized models to produce traces in order to obtain results and conclusions, designers of simulation explored design patterns to make the simulation code more reusable, more readable and easy to maintain, in addition to design complex software oriented simulation modeling. In DEVS (Discrete Event System specification), the designers have successfully designed simulations, frameworks, tools, etc. However, some issues remain still open and should be explored like how a piece of code that implements a set of states, events and transitions may be reused to design a new DEVS model? How may a DEVS model be extended to a new formalism? Etc. In this paper, we address these issues and we propose a set of patterns that may serve as guidelines to designers of DEVS models and its extensions and may contribute to the design of an operational simulation framework. These patterns are inspired partly by the available designs of DEVS community and software engineering developers

Migrating to a real-time distributed parallel simulator architecture

The South African National Defence Force (SANDF) currently requires a system of systems simulation capability for supporting the different phases of a Ground Based Air Defence System (GBADS) acquisition program. A non-distributed, fast-as-possible simulator and its architectural predecessors developed by the Council for Scientific and Industrial Research (CSIR) was able to provide the required capability during the concept and definition phases of the acquisition life cycle. The non-distributed simulator implements a 100Hz logical time Discrete Time System Specification (DTSS) in support of the existing models. However, real-time simulation execution has become a prioritised requirement to support the development phase of the acquisition life cycle. This dissertation is about the ongoing migration of the non-distributed simulator to a practical simulation architecture that supports the real-time requirement. The simulator simulates a synthetic environment inhabited by interacting GBAD systems and hostile airborne targets. The non-distributed simulator was parallelised across multiple Commod- ity Off the Shelf (COTS) PC nodes connected by a commercial Gigabit Eth- ernet infrastructure. Since model reuse was important for cost effectiveness, it was decided to reuse all the existing models, by retaining their 100Hz logical time DTSSs. The large scale and event-based High Level Architecture (HLA), an IEEE standard for large-scale distributed simulation interoperability, had been identified as the most suitable distribution and parallelisation technology. However, two categories of risks in directly migrating to the HLA were iden- tified. The choice was made, with motivations, to mitigate the identified risks by developing a specialised custom distributed architecture. In this dissertation, the custom discrete time, distributed, peer-to-peer, message-passing architecture that has been built by the author in support of the parallelised simulator requirements, is described and analysed. It reports on empirical studies in regard to performance and flexibility. The architecture is shown to be a suitable and cost effective distributed simulator architecture for supporting a speed-up of three to four times through parallelisation of the 100 Hz logical time DTSS. This distributed architecture is currently in use and working as expected, but results in a parallelisation speed-up ceiling irrespective of the number of distributed processors. In addition, a hybrid discrete-time/discrete-event modelling approach and simulator is proposed that lowers the distributed communication and time synchronisation overhead—to improve on the scalability of the discrete time simulator—while still economically reusing the existing models. The pro- posed hybrid architecture was implemented and its real-time performance analysed. The hybrid architecture is found to support a parallelisation speed- up that is not bounded, but linearly related to the number of distributed pro- cessors up to at least the 11 processing nodes available for experimentation.Dissertation (MSc)--University of Pretoria, 2009.Computer Scienceunrestricte

Distributed simulation of power systems using real time digital simulator

The simulation of power system behavior, especially transient behavior, helps us in the analysis and planning of various power systems. However, power systems are usually highly complex and geographically distributed. Therefore system partitioning can be used to allow for sharing resources in simulation. In this work, distributed simulations of power system models have been developed using an electromagnetic transient simulator, namely Real Time Digital Simulator (RTDS). The goal is to demonstrate and assess the feasibility of both non-real-time and real-time simulations using the RTDS in a geographically distributed scenario. Different protocols and options used in the communication between power systems have been studied and analyzed. In this work, a test bed has been developed for data transfer between a power system simulated in RTDS at Mississippi State University and the power system simulated in RTDS at Texas A&M University. Different protocols, available for the interface and communication in the RTDS, have been studied and applied in this work. Finally, a locally distributed wide area control test bed was developed and simulated

Methods of system identification, parameter estimation and optimisation applied to problems of modelling and control in engineering and physiology

Mathematical and computer-based models provide the foundation of most methods of engineering design. They are recognised as being especially important in the development of integrated dynamic systems, such as “control-configured” aircraft or in complex robotics applications. These models usually involve combinations of linear or nonlinear ordinary differential equations or difference equations, partial differential equations and algebraic equations. In some cases models may be based on differential algebraic equations. Dynamic models are also important in many other fields of research, including physiology where the highly integrated nature of biological control systems is starting to be more fully understood. Although many models may be developed using physical, chemical, or biological principles in the initial stages, the use of experimentation is important for checking the significance of underlying assumptions or simplifications and also for estimating appropriate sets of parameters. This experimental approach to modelling is also of central importance in establishing the suitability, or otherwise, of a given model for an intended application – the so-called “model validation” problem. System identification, which is the broad term used to describe the processes of experimental modelling, is generally considered to be a mature field and classical methods of identification involve linear discrete-time models within a stochastic framework. The aspects of the research described in this thesis that relate to applications of identification, parameter estimation and optimisation techniques for model development and model validation mainly involve nonlinear continuous time models Experimentally-based models of this kind have been used very successfully in the course of the research described in this thesis very in two areas of physiological research and in a number of different engineering applications. In terms of optimisation problems, the design, experimental tuning and performance evaluation of nonlinear control systems has much in common with the use of optimisation techniques within the model development process and it is therefore helpful to consider these two areas together. The work described in the thesis is strongly applications oriented. Many similarities have been found in applying modelling and control techniques to problems arising in fields that appear very different. For example, the areas of neurophysiology, respiratory gas exchange processes, electro-optic sensor systems, helicopter flight-control, hydro-electric power generation and surface ship or underwater vehicles appear to have little in common. However, closer examination shows that they have many similarities in terms of the types of problem that are presented, both in modelling and in system design. In addition to nonlinear behaviour; most models of these systems involve significant uncertainties or require important simplifications if the model is to be used in a real-time application such as automatic control. One recurring theme, that is important both in the modelling work described and for control applications, is the additional insight that can be gained through the dual use of time-domain and frequency-domain information. One example of this is the importance of coherence information in establishing the existence of linear or nonlinear relationships between variables and this has proved to be valuable in the experimental investigation of neuromuscular systems and in the identification of helicopter models from flight test data. Frequency-domain techniques have also proved useful for the reduction of high-order multi-input multi-output models. Another important theme that has appeared both within the modelling applications and in research on nonlinear control system design methods, relates to the problems of optimisation in cases where the associated response surface has many local optima. Finding the global optimum in practical applications presents major difficulties and much emphasis has been placed on evolutionary methods of optimisation (both genetic algorithms and genetic programming) in providing usable methods for optimisation in design and in complex nonlinear modelling applications that do not involve real-time problems. Another topic, considered both in the context of system modelling and control, is parameter sensitivity analysis and it has been found that insight gained from sensitivity information can be of value not only in the development of system models (e.g. through investigation of model robustness and the design of appropriate test inputs), but also in feedback system design and in controller tuning. A technique has been developed based on sensitivity analysis for the semi-automatic tuning of cascade and feedback controllers for multi-input multi-output feedback control systems. This tuning technique has been applied successfully to several problems. Inverse systems also receive significant attention in the thesis. These systems have provided a basis for theoretical research in the control systems field over the past two decades and some significant applications have been reported, despite the inherent difficulties in the mathematical methods needed for the nonlinear case. Inverse simulation methods, developed initially by others for use in handling-qualities studies for fixed-wing aircraft and helicopters, are shown in the thesis to provide some important potential benefits in control applications compared with classical methods of inversion. New developments in terms of methodology are presented in terms of a novel sensitivity based approach to inverse simulation that has advantages in terms of numerical accuracy and a new search-based optimisation technique based on the Nelder-Mead algorithm that can handle inverse simulation problems involving hard nonlinearities. Engineering applications of inverse simulation are presented, some of which involve helicopter flight control applications while others are concerned with feed-forward controllers for ship steering systems. The methods of search-based optimisation show some important advantages over conventional gradient-based methods, especially in cases where saturation and other nonlinearities are significant. The final discussion section takes the form of a critical evaluation of results obtained using the chosen methods of system identification, parameter estimation and optimisation for the modelling and control applications considered. Areas of success are highlighted and situations are identified where currently available techniques have important limitations. The benefits of an inter-disciplinary and applications-oriented approach to problems of modelling and control are also discussed and the value in terms of cross-fertilisation of ideas resulting from involvement in a wide range of applications is emphasised. Areas for further research are discussed

Re-engineering jake2 to work on a grid using the GridGain Middleware

With the advent of Massively Multiplayer Online Games (MMOGs), engineers and designers of games came across with many questions that needed to be answered such as, for example, "how to allow a large amount of clients to play simultaneously on the same server?", "how to guarantee a good quality of service (QoS) to a great number of clients?", "how many resources will be necessary?", "how to optimize these resources to the maximum?". A possible answer to these questions relies on the usage of grid computing. Taking into account the parallel and distributed nature of grid computing, we can say that grid computing allows for more scalability in terms of a growing number of players, guarantees shorter communication time between clients and servers, and allows for a better resource management and usage (e.g., memory, CPU, core balancing usage, etc.) than the traditional serial computing model. However, the main focus of this thesis is not about grid computing. Instead, this thesis describes the re-engineering process of an existing multiplayer computer game, called Jake2, by transforming it into a MMOG, which is then put to run on a grid

Realistic simulation and animation of clouds using SkewT-LogP diagrams

Nuvens e clima são tópicos importantes em computação gráfica, nomeadamente na simulação e animação de fenómenos naturais. Tal deve-se ao facto de a simulação de fenómenos naturais−onde as nuvens estão incluídas−encontrar aplicações em filmes, jogos e simuladores de voo. Contudo, as técnicas existentes em computação gráfica apenas permitem representações de nuvens simplificadas, tornadas possíveis através de dinâmicas fictícias que imitam a realidade. O problema que este trabalho pretende abordar prende-se com a simulação de nuvens adequadas para utilização em ambientes virtuais, isto é, nuvens com dinâmica baseada em física que variam ao longo do tempo. Em meteorologia é comum usar técnicas de simulação de nuvens baseadas em leis da física, contudoossistemasatmosféricosdeprediçãonuméricasãocomputacionalmente pesados e normalmente possuem maior precisão numérica do que o necessário em computação gráfica. Neste campo, torna-se necessário direcionar e ajustar as características físicas ou contornar a realidade de modo a atingir os objetivos artísticos, sendo um fator fundamental que faz com que a computação gráfica se distinga das ciências físicas. Contudo, simulações puramente baseadas em física geram soluções de acordo com regras predefinidas e tornam-se notoriamente difíceis de controlar. De modo a enfrentar esses desafios desenvolvemos um novo método de simulação de nuvens baseado em física que possui a característica de ser computacionalmente leve e simula as propriedades dinâmicas relacionadas com a formação de nuvens. Este novo modelo evita resolver as equações físicas, ao apresentar uma solução explícita para essas equações através de diagramas termodinâmicos SkewT/LogP. O sistema incorpora dados reais de forma a simular os parâmetros necessários para a formação de nuvens. É especialmente adequado para a simulação de nuvens cumulus que se formam devido ao um processo convectivo. Esta abordagem permite não só reduzir os custos computacionais de métodos baseados em física, mas também fornece a possibilidade de controlar a forma e dinâmica de nuvens através do controlo dos níveis atmosféricos existentes no diagrama SkewT/LogP. Nestatese,abordámostambémumoutrodesafio,queestárelacionadocomasimulação de nuvens orográficas. Do nosso conhecimento, esta é a primeira tentativa de simular a formação deste tipo de nuvens. A novidade deste método reside no fato de este tipo de nuvens serem não convectivas, oque se traduz nocálculodeoutrosníveis atmosféricos. Além disso, atendendo a que este tipo de nuvens se forma sobre montanhas, é também apresentadoumalgoritmoparadeterminarainfluênciadamontanhasobreomovimento da nuvem. Em resumo, esta dissertação apresenta um conjunto de algoritmos para a modelação e simulação de nuvens cumulus e orográficas, recorrendo a diagramas termodinâmicos SkewT/LogP pela primeira vez no campo da computação gráfica.Clouds and weather are important topics in computer graphics, in particular in the simulation and animation of natural phenomena. This is so because simulation of natural phenomena−where clouds are included−find applications in movies, games and flight simulators. However, existing techniques in computer graphics only offer the simplified cloud representations, possibly with fake dynamics that mimic the reality. The problem that this work addresses is how to find realistic simulation of cloud formation and evolution, that are suitable for virtual environments, i.e., clouds with physically-based dynamics over time. It happens that techniques for cloud simulation are available within the area of meteorology, but numerical weather prediction systems based on physics laws are computationally expensive and provide more numerical accuracy than the required accuracy in computer graphics. In computer graphics, we often need to direct and adjust physical features, or even to bend the reality, to meet artistic goals, which is a key factor that makes computer graphics distinct from physical sciences. However, pure physically-based simulations evolve their solutions according to pre-set physics rules that are notoriously difficult to control. In order to face these challenges we have developed a new lightweight physically-based cloudsimulationschemethatsimulatesthedynamicpropertiesofcloudformation. This new model avoids solving the physically-based equations typically used to simulate the formation of clouds by explicitly solving these equations using SkewT/LogP thermodynamic diagrams. The system incorporates a weather model that uses real data to simulate parameters related to cloud formation. This is specially suitable to the simulation of cumulus clouds, which result from a convective process. This approach not only reduces the computational costs of previous physically-based methods, but also provides a technique to control the shape and dynamics of clouds by handling the cloud levels in SkewT/LogP diagrams. In this thesis, we have also tackled a new challenge, which is related to the simulation oforographic clouds. From ourknowledge, this isthefirstattempttosimulatethis type of cloud formation. The novelty in this method relates to the fact that these clouds are non-convective, so that different atmospheric levels have to be determined. Moreover, since orographic clouds form over mountains, we have also to determine the mountain influence in the cloud motion. In summary, this thesis presents a set of algorithms for the modelling and simulation of cumulus and orographic clouds, taking advantage of the SkewT/LogP diagrams for the first time in the field of computer graphics

Toward composing variable structure models and their interfaces: a case of intensional coupling definitions

In this thesis, we investigate a combination of traditional component-based and variable structure modeling. The focus is on a structural consistent specification of couplings in modular, hierarchical models with a variable structure. For this, we exploitintensional definitions, as known from logic, and introduce a novel intensional coupling definition, which allows a concise yet expressive specification of complex communication and interaction patterns in static as well as variable structure models, without the need to worryabout structural consistency.In der Arbeit untersuchen wir ein Zusammenbringen von klassischer komponenten-basierter und variabler Strukturmodellierung. Der Fokus liegt dabei auf der Spezifikation von strukturkonsistenten Kopplungen in modular-hierarchischen Modellen mit einer variablen Struktur. Dafür nutzen wir intensionale Definitionen, wie sie aus der Logik bekannt sind, und führen ein neuartiges Konzept von intensionalen Kopplungen ein, welches kompakte gleichzeitig ausdrucksstarke Spezifikationen von komplexen Kommunikations- und Interaktionsmuster in statischen und variablen Strukturmodellen erlaubt

Mining a Small Medical Data Set by Integrating the Decision Tree and t-test

[[abstract]]Although several researchers have used statistical methods to prove that aspiration followed by the injection of 95% ethanol left in situ (retention) is an effective treatment for ovarian endometriomas, very few discuss the different conditions that could generate different recovery rates for the patients. Therefore, this study adopts the statistical method and decision tree techniques together to analyze the postoperative status of ovarian endometriosis patients under different conditions. Since our collected data set is small, containing only 212 records, we use all of these data as the training data. Therefore, instead of using a resultant tree to generate rules directly, we use the value of each node as a cut point to generate all possible rules from the tree first. Then, using t-test, we verify the rules to discover some useful description rules after all possible rules from the tree have been generated. Experimental results show that our approach can find some new interesting knowledge about recurrent ovarian endometriomas under different conditions.[[journaltype]]國外[[incitationindex]]EI[[booktype]]紙本[[countrycodes]]FI

Historia, evolución y perspectivas de futuro en la utilización de técnicas de simulación en la gestión portuaria: aplicaciones en el análisis de operaciones, estrategia y planificación portuaria

Programa Oficial de Doutoramento en Análise Económica e Estratexia Empresarial. 5033V0[Resumen] Las técnicas de simulación, tal y como hoy las conocemos, comenzaron a mediados del siglo XX; primero con la aparición del primer computador y el desarrollo del método Monte Carlo, y más tarde con el desarrollo del primer simulador de propósito específico conocido como GPS y desarrollado por Geoffrey Gordon en IBM y la publicación del primer texto completo dedicado a esta materia y llamado the Art of Simulation (K.D. Tocher, 1963). Estás técnicas han evolucionado de una manera extraordinaria y hoy en día están plenamente implementadas en diversos campos de actividad. Las instalaciones portuarias no han escapado de esta tendencia, especialmente las dedicadas al tráfico de contenedores. Efectivamente, las características intrínsecas de este sector económico, le hacen un candidato idóneo para la implementación de modelos de simulación con propósitos y alcances muy diversos. No existe, sin embargo y hasta lo que conocemos, un trabajo científico que compile y analice pormenorizadamente tanto la historia como la evolución de simulación en ambientes portuarios, ayudando a clasificar los mismos y determinar cómo estos pueden ayudar en el análisis económico de estas instalaciones y en la formulación de las oportunas estrategias empresariales. Este es el objetivo último de la presente tesis doctoral.[Resumo] As técnicas de simulación, tal e como hoxe as coñecemos, comezaron a mediados do século XX; primeiro coa aparición do computador e o desenvolvemento do método Monte Carlo e máis tarde co desenvolvemento do primeiro simulador de propósito específico coñecido como GPS e desenvolvido por Geoffrey Gordon en IBM e a publicación do primeiro texto completo dedicado a este tema chamado “A Arte da Simulación” (K.D. Tocher, 1963). Estas técnicas evolucionaron dun xeito extraordinario e hoxe en día están plenamente implementadas en diversos campos de actividade. As instalacións portuarias non escaparon desta tendencia, especialmente as dedicadas ao tráfico de contenedores. Efectivamente, as características intrínsecas deste sector económico, fanlle un candidato idóneo para a implementación de modelos de simulación con propósitos e alcances moi variados. Con todo, e ata o que coñecemos, non existe un traballo científico que compila e analiza de forma detallada tanto a historia como a evolución da simulación en estes ambientes portuarios, clasificando os mesmos e determinando como estes poden axudar na análise económica destas instalacións e na formulación das oportunas estratexias empresariais. Este é o último obxectivo da presente tese doutoral.[Abstract] Simulation, to the extend that we understand it nowadays, began in the middle of the 20th century; first with the appearance of the computer and the development of the Monte Carlo method, and later with the development of the first specific purpose simulator known as GPS developed by Geoffrey Gordon in IBM. This author published the first full text devoted to this subject “The Art of Simulation” in 1963. These techniques have evolved in an extraordinary way and nowadays they are fully implemented in different fields of activity. Port facilities have not escaped this trend, especially those dedicated to container traffic. Indeed, the intrinsic characteristics of this economic sector, make it a suitable candidate for the implementation of simulation with very different purposes and scope. However, to the best of our knowelegde, there is not a scientific work that compiles and analyzes in detail both, the history and the evolution of simulation in port environments, contributing to classify them and determine how they can help in the economic analysis of these facilities and in the formulation of different business strategies. This is the ultimate goal of this doctoral thesis