Integrating heterogeneous distributed COTS discrete-event simulation packages: An emerging standards-based approach

This paper reports on the progress made toward the emergence of standards to support the integration of heterogeneous discrete-event simulations (DESs) created in specialist support tools called commercial-off-the-shelf (COTS) discrete-event simulation packages (CSPs). The general standard for heterogeneous integration in this area has been developed from research in distributed simulation and is the IEEE 1516 standard The High Level Architecture (HLA). However, the specific needs of heterogeneous CSP integration require that the HLA is augmented by additional complementary standards. These are the suite of CSP interoperability (CSPI) standards being developed under the Simulation Interoperability Standards Organization (SISO-http://www.sisostds.org) by the CSPI Product Development Group (CSPI-PDG). The suite consists of several interoperability reference models (IRMs) that outline different integration needs of CSPI, interoperability frameworks (IFs) that define the HLA-based solution to each IRM, appropriate data exchange representations to specify the data exchanged in an IF, and benchmarks termed CSP emulators (CSPEs). This paper contributes to the development of the Type I IF that is intended to represent the HLA-based solution to the problem outlined by the Type I IRM (asynchronous entity passing) by developing the entity transfer specification (ETS) data exchange representation. The use of the ETS in an illustrative case study implemented using a prototype CSPE is shown. This case study also allows us to highlight the importance of event granularity and lookahead in the performance and development of the Type I IF, and to discuss possible methods to automate the capture of appropriate values of lookahead

An order (n) algorithm for the dynamics simulation of robotic systems

The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding

Control and structural optimization for maneuvering large spacecraft

Presented here are the results of an advanced control design as well as a discussion of the requirements for automating both the structures and control design efforts for maneuvering a large spacecraft. The advanced control application addresses a general three dimensional slewing problem, and is applied to a large geostationary platform. The platform consists of two flexible antennas attached to the ends of a flexible truss. The control strategy involves an open-loop rigid body control profile which is derived from a nonlinear optimal control problem and provides the main control effort. A perturbation feedback control reduces the response due to the flexibility of the structure. Results are shown which demonstrate the usefulness of the approach. Software issues are considered for developing an integrated structures and control design environment

Dependence of Inflationary Reconstruction upon Cosmological Parameters

The inflationary potential and its derivatives determine the spectrum of scalar and tensor metric perturbations that arise from quantum fluctuations during inflation. The CBR anisotropy offers a promising means of determining the spectra of metric perturbations and thereby a means of constraining the inflationary potential. The relation between the metric perturbations and CBR anisotropy depends upon cosmological parameters -- most notably the possibility of a cosmological constant. Motivated by some observational evidence for a cosmological constant (large-scale structure, cluster-baryon fraction, measurements of the Hubble constant and age of the Universe) we derive the reconstruction equations and consistency relation to second order in the presence of a cosmological constant. We also clarify previous notation and discuss alternative schemes for reconstruction.Comment: 15 pages, LaTeX, 3 postscript figures (included with epsf), submitted to Phys. Rev.

Perceptions of the intergroup structure and anti-Asian prejudice amongst white Australians

Proof oSubjective intergroup beliefs and authoritarianism were assessed in a field study (N= 255) of White Australians’ anti-Asian stereotyping and prejudice. A social identity analysis of intergroup prejudice was adopted, such that perceptions of the intergroup structure (instability, permeability, legitimacy and higher ingroup status) were proposed as predictors of higher prejudice (blatant and covert) and less favorable stereotyping. Consistent with the social identity approach, both independent and interacting roles for sociostructural predictors of Anti-Asian bias were observed, even after demographic and personality variables were controlled. For example, perceived legitimacy was associated with higher prejudice when White Australians’ status position relative to Asian Australians was valued. Moreover, when participants evaluated Whites’ position as unstable and high status or legitimate, perceptions of permeable intergroup boundaries were associated with anti-Asian bias. The present findings demonstrate status protection responses in advantaged group members in a field setting, lending weight to the contention that perceptions of sociostructural threat interact to predict outgroup derogation. Implications for theories of intergroup relations are discussed