Levels of Simulation and Simulation in Early Design
Andrea Buda Mikko Seppala
Model of the System
WORLD OF IDEAS abstract
detailed
Abstraction
REAL WORLD
MODEL OF THE SYSTEM
SYSTEM
From the Concept Till the Detail Design
Already Existing / Will Exist
Manufacturing Process Realization
PROGRESSIVE LEVEL OF ABSTACTION
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Suitable “LANGUAGES” for different level of abstraction EuRobot Example
SysML
Modelica Visual Physics Marilou
Simulink
Multi Body MSC.Adams
CAD general purpose
domain specific 3 of 8
EuRobot_Rules.pdf
Activity Diagram of the EuRobot Development System Analysis and High level architecture SYSMOD
SysML Model
Element for …
System Dynamics Analysis
Allocation of Key Variables To Subsystems …
Design (early phases)
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Design (early phases)
High level mechanics model
sensors/actuators model
Control Virtual environment
AUTOMATIC CODE GENERATION
Basic Mechanics Dynamics
Logic
Allocation of subsystem to Geometrical primitives
Detailed Mechanics Dynamics
Logic Main Flow Use Case Activity Diagram
Detailed CAD Design > Manufacturing 5 of 8
Simulation in Conceptual Design 他 Traditionally: Simulation for verification Simulation were used after detail design to verify certain propeties 他 NEW TREND: Try to push simulation in early phases Simulation (with different goal and level of abstraction) can be developed already in the conceptual design. NOT only to verify properties BUT to drive the development
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Simulation in Conceptual Design Furthermore ¾ Enables testing and evaluating multiple virtual solutions when it’s mostly needed (and possible) ¾ Shortens design cycle ¾ Drastically reduce expensive physical test ¾ Reduction of uncertaties: when don’t need to wait for the final integration and hope that thing will work as planned
IDEAL > Verification only of high fidelity VIRTUAL PROTOTYPES
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Case Study: Eurobot Competition
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Modern Robot Simulators • Several dyanmic robot simulation environments have emerged during the last decade • Webots, USARSim, SimRobot, AnyKode Marilou… • Common features: – – – – – –
real-time dynamic multi-body simulation kinematics simulation realistic 3D-graphics simulated actuators and sensors programming or scripting library interfaces for external control software
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Modern Robot Simulators • Enable testing different design alternatives for SW and HW quickly • SW can be developed without access to HW and can be dubugged efficiently • Evaluate robot’s behavior in realistic environment
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Code Generation
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Toolchain Schematic model •Requirements •Architecture diagram •Represented in SysML Verification & validation
Behavior model •Robot logic •Represented as a FSM in Simulink or UML
Dynamic physics simulation Code generation
•Robot kinematics •Dynamic environment •Simulated actuators and sensors •Implemented with e.g. AnyKode Marilou Derive
Code generation
Physical model •Functional prototype
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Concept Evaluation with Taguchi Method LEGO Robot for Eurobot competition Movement method
Differential
Ackerman
Target identification
Camera
LEGO color sensor
Obstacle detection
Camera
Sonar
Navigation algorithm
Dead reckoning
SLAM
Object manipulation
Push
Grabber
Behavior based
Storage strategy Carry on
Push in front
Push under
Target srategy
Orange
Tomato
Corn
Transport one at a time
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Thank you!
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