An Environment for DEVS-Based Multi-Formalism Simulation in CommonLISP/CLOS

The paper presents the realization of an object-oriented kernel of a new modelling and simulation environment. The kernel system stands out as it is based on systems theoretical concepts and facilitates combined discrete-continuous, modular, hierarchical modelling. Its implementation language is the AI language Common Lisp and its object-oriented superset CLOS. The kernel system serves as the basis for a knowledge-based modelling and simulation environment supporting interactive modelling and simulation and automatic model construction

Minimum-time control of a crane with simultaneous traverse and hoisting motions

10.1023/B:JOTA.0000015690.02820.eaJournal of Optimization Theory and Applications1202395-41