UAV (Unmanned Aerial Vehicle) performs various kinds of missions such as mobile tactical reconnaissance, surveillance, law enforcement, search and rescue, land management, environmental monitoring, disaster management. UAV is a complex and challenging system to develop. It operates autonomously in unknown and dynamically changing environment. This requires different types of subsystems to cooperate. In order to realize all functionalities of the UAV, the software part becomes very complex real-time system expected to execute real-time tasks concurrently. This paper describes proposed software architecture for GCS (Ground Control Station) for lightweight UAV purpose-built for medium-scale reconnaissance and surveillance missions in civil area. The overall system architecture and implementation are described.
{"title":"Software Architecture for Ground Control Station for Unmanned Aerial Vehicle","authors":"M. Jovanovic, D. Starcevic","doi":"10.1109/UKSIM.2008.12","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.12","url":null,"abstract":"UAV (Unmanned Aerial Vehicle) performs various kinds of missions such as mobile tactical reconnaissance, surveillance, law enforcement, search and rescue, land management, environmental monitoring, disaster management. UAV is a complex and challenging system to develop. It operates autonomously in unknown and dynamically changing environment. This requires different types of subsystems to cooperate. In order to realize all functionalities of the UAV, the software part becomes very complex real-time system expected to execute real-time tasks concurrently. This paper describes proposed software architecture for GCS (Ground Control Station) for lightweight UAV purpose-built for medium-scale reconnaissance and surveillance missions in civil area. The overall system architecture and implementation are described.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"320 1","pages":"284-288"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80222030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Simulation technology offers within the digital factory concept an important approach to enhance the product and production engineering processes. Simulation models on different levels of detail can be applied in virtual models on various planning levels and stages in order to improve the planning process. However today’s simulation methodology and practice suffers some problems which lead in many industrial projects to a dead end. Therefore a paradigm shift in simulation methodology and practice is proposed. The clear separation of modelling the physical system behaviour and modelling controls will lead to a better integrated of simulation into the planning and implementation processes. Compatible interfaces between simulation modules and the control systems shall enable to switch between simulation modules and real system components. This concept can be applied in the digital factory environment even to enhance the operative production process.
{"title":"Paradigm Shift in Simulation Methodology and Practice - Separation of Modelling the Physical System Behaviour and Control Modelling","authors":"W. Kuehn","doi":"10.1109/UKSIM.2008.71","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.71","url":null,"abstract":"Simulation technology offers within the digital factory concept an important approach to enhance the product and production engineering processes. Simulation models on different levels of detail can be applied in virtual models on various planning levels and stages in order to improve the planning process. However today’s simulation methodology and practice suffers some problems which lead in many industrial projects to a dead end. Therefore a paradigm shift in simulation methodology and practice is proposed. The clear separation of modelling the physical system behaviour and modelling controls will lead to a better integrated of simulation into the planning and implementation processes. Compatible interfaces between simulation modules and the control systems shall enable to switch between simulation modules and real system components. This concept can be applied in the digital factory environment even to enhance the operative production process.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"20 1","pages":"380-385"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81762406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A very interesting and promising numerical method of solving systems of ordinary differential equations based on Taylor series has appeared. The potential of the Taylor series has been exposed by many practical experiments and a way of detection and solution of large systems of ordinary differential equations has been found. Generally speaking, a stiff system contains several components, some of them are heavily suppressed while the rest remain almost unchanged. This feature forces the used method to choose an extremely small integration step and the progress of the computation may become very slow. There are many (implicit) methods for solving stiff systems of ODE’s, from the most simple such as implicit Euler method to more sophisticated (implicit Runge-Kutta methods) and finally the general linear methods. Usually a quite complicated auxiliary system of equations has to be solved in each step. These facts lead to immense amount of work to be done in each step of the computation. These are the reasons why one has to think twice before using the stiff solver and to decide between the stiff and non-stiff solver.
{"title":"Multiple Arithmetic in Dynamic System Simulation","authors":"Václav Šátek, J. Kunovsky, J. Petrek","doi":"10.1109/UKSIM.2008.46","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.46","url":null,"abstract":"A very interesting and promising numerical method of solving systems of ordinary differential equations based on Taylor series has appeared. The potential of the Taylor series has been exposed by many practical experiments and a way of detection and solution of large systems of ordinary differential equations has been found. Generally speaking, a stiff system contains several components, some of them are heavily suppressed while the rest remain almost unchanged. This feature forces the used method to choose an extremely small integration step and the progress of the computation may become very slow. There are many (implicit) methods for solving stiff systems of ODE’s, from the most simple such as implicit Euler method to more sophisticated (implicit Runge-Kutta methods) and finally the general linear methods. Usually a quite complicated auxiliary system of equations has to be solved in each step. These facts lead to immense amount of work to be done in each step of the computation. These are the reasons why one has to think twice before using the stiff solver and to decide between the stiff and non-stiff solver.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"1 1","pages":"597-598"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90265314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The virtual model of the humanoid running robot is built by using the software ADAMS. With this model, one can research the problem how to realize the running of a humanoid robot without the physical model of the robot. In addition, a method of realizing running for the robot based on virtual leg is proposed. The robot can run stably by planning the trajectory of the center of mass (COM) and the trajectory of two feet of the robot. The trajectory of the COM of the robot is mainly planned by the dynamic equation of the virtual leg of the robot. After this method is used in the virtual model of the robot, the robot can run at a speed of 2.9m/s. The simulation results show the validity of this method.
{"title":"Simulation of the Humanoid Running Robot Based on ADAMS","authors":"H. Wei, Wei Wu, Mingzhi Liu","doi":"10.1109/UKSIM.2008.24","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.24","url":null,"abstract":"The virtual model of the humanoid running robot is built by using the software ADAMS. With this model, one can research the problem how to realize the running of a humanoid robot without the physical model of the robot. In addition, a method of realizing running for the robot based on virtual leg is proposed. The robot can run stably by planning the trajectory of the center of mass (COM) and the trajectory of two feet of the robot. The trajectory of the COM of the robot is mainly planned by the dynamic equation of the virtual leg of the robot. After this method is used in the virtual model of the robot, the robot can run at a speed of 2.9m/s. The simulation results show the validity of this method.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"21 1","pages":"726-731"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80813107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The reference model SimPan describes an agent-based modelling approach for human panic behaviour based upon established psychological theories and findings. The reference model perceives the human being as a psychosomatic, autonomous acting creature with cognitive capabilities that is embedded in a dynamic social environment. The occurrence of different patterns of human behaviour in panic situations is explained by a human's internal state being composed of physical, emotional, cognitive and social aspects. SimPan defines modelling solutions for common environmental, socio-psychological and behavioural phenomena in the context of panic situations, defines their interrelation and impact on an individual's internal state and integrates them into a comprehensive modelling approach. The set of considered phenomena contains physical pressure, crowding, social influence on emergence of emotion, attitude and action, but also the concept of emotional intelligence and the ability of consciously controlling emotion. The presented approach is interdisciplinary and touches on research areas in computer science and psychology.
{"title":"The Reference Model SimPan – Agent-Based Modelling of Human Behaviour in Panic Situations","authors":"B. Schneider","doi":"10.1109/UKSIM.2008.107","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.107","url":null,"abstract":"The reference model SimPan describes an agent-based modelling approach for human panic behaviour based upon established psychological theories and findings. The reference model perceives the human being as a psychosomatic, autonomous acting creature with cognitive capabilities that is embedded in a dynamic social environment. The occurrence of different patterns of human behaviour in panic situations is explained by a human's internal state being composed of physical, emotional, cognitive and social aspects. SimPan defines modelling solutions for common environmental, socio-psychological and behavioural phenomena in the context of panic situations, defines their interrelation and impact on an individual's internal state and integrates them into a comprehensive modelling approach. The set of considered phenomena contains physical pressure, crowding, social influence on emergence of emotion, attitude and action, but also the concept of emotional intelligence and the ability of consciously controlling emotion. The presented approach is interdisciplinary and touches on research areas in computer science and psychology.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"45 1","pages":"599-604"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78299828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this article we present the new numerical algorithm GEOMS for the numerical integration of the most general form of the equations of motion of multibody systems, including nonholonomic constraints and possible redundancies in the constraints, as they may appear in industrial applications. Besides the numerical integration, the algorithm offers some additional features like stabilization of the model quations, use of different decomposition strategies, or checking and correction of the initial values with respect to their consistency. Furthermore, {tt GEOMS} preserves hidden constraints and (possibly) existing solution invariants.
{"title":"GEOMS: A New Software Package for the Numerical Simulation of Multibody Systems","authors":"A. Steinbrecher","doi":"10.1109/UKSIM.2008.120","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.120","url":null,"abstract":"In this article we present the new numerical algorithm GEOMS for the numerical integration of the most general form of the equations of motion of multibody systems, including nonholonomic constraints and possible redundancies in the constraints, as they may appear in industrial applications. Besides the numerical integration, the algorithm offers some additional features like stabilization of the model quations, use of different decomposition strategies, or checking and correction of the initial values with respect to their consistency. Furthermore, {tt GEOMS} preserves hidden constraints and (possibly) existing solution invariants.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"192 1","pages":"643-648"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79668037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper covers the effects of parallel resonance in the Electrical Network due to Power Factor correction (PFC)/VAR compensation. Parallel Resonance can make entire electrical network unstable as THD (voltage) may rise upto 26% of fundamental (which is nearly seven to eight times of THD produced by the harmonic source) resulting in highly distorted Electrical wave. This will result in misfiring in UPS, Variable Frequency Drives, and Battery Charges. The Protection system may mal-operate due to resonance. The losses in various electrical equipments will increase, which will result in heating and ultimately premature failure of equipments. A typical Electrical network was modeled in EDSA (Electrical design software) and parallel resonance condition was simulated to analyze the effect of resonance on following:• THD on various busses in the electrical network • Impedance response with/without the PFC • Distortion of waveform at various buses • Corrective measures to avoid resonance due to PFC
{"title":"Simulation of Parallel Resonance Condition in Electrical Network Using EDSA","authors":"K. Wadhwani","doi":"10.1109/UKSIM.2008.134","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.134","url":null,"abstract":"This paper covers the effects of parallel resonance in the Electrical Network due to Power Factor correction (PFC)/VAR compensation. Parallel Resonance can make entire electrical network unstable as THD (voltage) may rise upto 26% of fundamental (which is nearly seven to eight times of THD produced by the harmonic source) resulting in highly distorted Electrical wave. This will result in misfiring in UPS, Variable Frequency Drives, and Battery Charges. The Protection system may mal-operate due to resonance. The losses in various electrical equipments will increase, which will result in heating and ultimately premature failure of equipments. A typical Electrical network was modeled in EDSA (Electrical design software) and parallel resonance condition was simulated to analyze the effect of resonance on following:• THD on various busses in the electrical network • Impedance response with/without the PFC • Distortion of waveform at various buses • Corrective measures to avoid resonance due to PFC","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"18 1","pages":"708-713"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75064300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As the world evolves, there is always a need for managing the different business and education problems with a well defined policy. However, the field of education is still lacking well defined models that are based on mathematical formulae. Therefore, it was the aim of this research to develop a mathematical model that can help planning and managing the education system. Statistical tools are certainly of value, yet with diversity of data and parameters, the option was to use a model based on system dynamics. The preliminary results points to the validity of that model.
{"title":"Assessment of Private Education Based on Mathematical Modeling Techniques","authors":"S. Hussein, E. O. Khidir","doi":"10.1109/UKSIM.2008.15","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.15","url":null,"abstract":"As the world evolves, there is always a need for managing the different business and education problems with a well defined policy. However, the field of education is still lacking well defined models that are based on mathematical formulae. Therefore, it was the aim of this research to develop a mathematical model that can help planning and managing the education system. Statistical tools are certainly of value, yet with diversity of data and parameters, the option was to use a model based on system dynamics. The preliminary results points to the validity of that model.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"18 1","pages":"247-252"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90417985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
F. S. Adán, E. Macías, Eugenio Martínez-Cámara, M. P. Parte
Digital terrain models constitute the base of terrain visualization applications, used to visualize in an easy and powerful way a great quantity of information obtained from the terrain, such as occurs in virtual terrain visualization systems, used to know and enjoy land, training simulations, determination of visual impacts, etc. But these models can also be used as the base for other applications that simulate events concerning the terrain, in other to estimate their effects, such us development of roads, mines, dams, and general building works, establishment of water behaviour in rivers or dams, real military strategy simulation, simulation of natural phenomena such as floods, volcanic eruptions, landslides and avalanches, etc.This work shows the steps and methodology followed to develop a virtual terrain visualization application, based on Web3D viewers and graphic engines, as well as the simulation applications developed in both cases in order to simulate effects and optimise actuations.
{"title":"Simulation Applications Based on Digital Terrain Models Integrated in Web3D Viewers and Graphic Engines","authors":"F. S. Adán, E. Macías, Eugenio Martínez-Cámara, M. P. Parte","doi":"10.1109/UKSIM.2008.87","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.87","url":null,"abstract":"Digital terrain models constitute the base of terrain visualization applications, used to visualize in an easy and powerful way a great quantity of information obtained from the terrain, such as occurs in virtual terrain visualization systems, used to know and enjoy land, training simulations, determination of visual impacts, etc. But these models can also be used as the base for other applications that simulate events concerning the terrain, in other to estimate their effects, such us development of roads, mines, dams, and general building works, establishment of water behaviour in rivers or dams, real military strategy simulation, simulation of natural phenomena such as floods, volcanic eruptions, landslides and avalanches, etc.This work shows the steps and methodology followed to develop a virtual terrain visualization application, based on Web3D viewers and graphic engines, as well as the simulation applications developed in both cases in order to simulate effects and optimise actuations.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"22 1","pages":"590-596"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72841806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Demands for more storage in the industry has increased beyond that the traditional storage mechanisms can supply and thus, the concept of Storage Area Networks (SANs) has evolved. This has resulted in the design of iSCSI (Internet SCSI) protocols that have SCSI commands and allow data transfer to take place over the network. Fiber channel protocol was the first such protocol that used Gigabit per second links to carry commands over long distances. The iSCSI Protocol maps the SCSI block oriented storage data over TCP/IP and enables storage devices to be accessed over standard Ethernet based TCP/IP networks, With the development of Gigabit Ethernet and the iSCSI protocol, reduction in costs and a uniform network infrastructure can be achieved.Simulation offers a flexible way to study the iSCSI – based storage systems. We wish to study a storage area network, which uses iSCSI Protocol to exchange data between its various nodes. This study will help us in understanding how iSCSI works in a storage area network. We have used ns2 for our simulation work. We have simulated an iSCSI initiator and an iSCSI target, which communicate through iSCSI. iSCSI lies upon TCP Protocol. R/W requests are made by the iSCSI initiator and data exchange takes place depending on these requests. The throughput is calculated and graph is plotted.
{"title":"iSCSI Simulation Study of Storage System","authors":"Smita Vishwakarma, Sankalp Bagaria","doi":"10.1109/UKSIM.2008.18","DOIUrl":"https://doi.org/10.1109/UKSIM.2008.18","url":null,"abstract":"Demands for more storage in the industry has increased beyond that the traditional storage mechanisms can supply and thus, the concept of Storage Area Networks (SANs) has evolved. This has resulted in the design of iSCSI (Internet SCSI) protocols that have SCSI commands and allow data transfer to take place over the network. Fiber channel protocol was the first such protocol that used Gigabit per second links to carry commands over long distances. The iSCSI Protocol maps the SCSI block oriented storage data over TCP/IP and enables storage devices to be accessed over standard Ethernet based TCP/IP networks, With the development of Gigabit Ethernet and the iSCSI protocol, reduction in costs and a uniform network infrastructure can be achieved.Simulation offers a flexible way to study the iSCSI – based storage systems. We wish to study a storage area network, which uses iSCSI Protocol to exchange data between its various nodes. This study will help us in understanding how iSCSI works in a storage area network. We have used ns2 for our simulation work. We have simulated an iSCSI initiator and an iSCSI target, which communicate through iSCSI. iSCSI lies upon TCP Protocol. R/W requests are made by the iSCSI initiator and data exchange takes place depending on these requests. The throughput is calculated and graph is plotted.","PeriodicalId":22356,"journal":{"name":"Tenth International Conference on Computer Modeling and Simulation (uksim 2008)","volume":"1 1","pages":"703-707"},"PeriodicalIF":0.0,"publicationDate":"2008-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86874964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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