Real-Time Simulation of Multibody Dynamics on Shared Memory Multiprocessors

This paper presents a recursive variational formulation for real-time simulation of multibody mechanical systems on shared memory parallel computers. Static scheduling algorithms are employed to evenly distribute computation on shared memory multi-processors. Based on the methods developed, a general-purpose dynamic simulation program is shown to simulate multibody systems faster than real-time, enabling operator-in-the-loop simulation of ground vehicles and robots.

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Design and implementation of a virtual ARINC 653 simulation platform

SIMULATION ◽

10.1177/0037549721996018 ◽

2021 ◽

pp. 003754972199601

Author(s):

Jinchao Chen ◽

Keke Chen ◽

Chenglie Du ◽

Yifan Liu

Keyword(s):

Real Time ◽

System Development ◽

General Purpose ◽

Simulation Platform ◽

Communication Management ◽

Management Communication ◽

Real Time Simulation ◽

Testing And Debugging ◽

Time Simulation ◽

Efficiency And Effectiveness

The ARINC 653 operation system is currently widely adopted in the avionics industry, and has become the mainstream architecture in avionics applications because of its strong agility and reliability. Although ARINC 653 can efficiently reduce the weight and energy consumption, it results in a serious development and verification problem for avionics systems. As ARINC 653 is non-open source software and lacks effective support for software testing and debugging, it is of great significance to build a real-time simulation platform for ARINC 653 on general-purpose operating systems, improving the efficiency and effectiveness of system development and implementation. In this paper, a virtual ARINC 653 platform is designed and realized by using real-time simulation technology. The proposed platform is composed of partition management, communication management, and health monitoring management, provides the same operation interfaces as the ARINC 653 system, and allows dynamic debugging of avionics applications without requiring the actual presence of real devices. Experimental results show that the platform not only simulates the functionalities of ARINC 653, but also meets the real-time requirements of avionics applications.

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Real Time Simulation of Complex 3-D Multibody Systems With Realistic Graphics

Real-Time Integration Methods for Mechanical System Simulation ◽

10.1007/978-3-642-76159-1_14 ◽

1990 ◽

pp. 265-292 ◽

Cited By ~ 3

Author(s):

J. García de Jalón ◽

J. M. Jiménez ◽

A. Avello ◽

F. Martín ◽

J. Cuadrado

Keyword(s):

Real Time ◽

Multibody Systems ◽

Real Time Simulation ◽

Time Simulation

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Real-Time Digital Simulation for Power System. 3-4. FlexRS. A Challenge to Reduce Power System Real-time Simulation Costs by Using General Purpose System.

The Journal of the Institute of Electrical Engineers of Japan ◽

10.1541/ieejjournal.122.301 ◽

2002 ◽

Vol 122 (5) ◽

pp. 301-303 ◽

Cited By ~ 1

Author(s):

YASUYUKI TADA

Keyword(s):

Power System ◽

Real Time ◽

Digital Simulation ◽

General Purpose ◽

Real Time Simulation ◽

Time Simulation

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Real-Time Simulation of Elastic Multibody Systems with Application in Vehicle Dynamics

PAMM ◽

10.1002/pamm.201510028 ◽

2015 ◽

Vol 15 (1) ◽

pp. 75-76

Author(s):

Alexander Schmitt ◽

Robert Seifried

Keyword(s):

Real Time ◽

Vehicle Dynamics ◽

Multibody Systems ◽

Real Time Simulation ◽

Time Simulation ◽

Elastic Multibody Systems

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Fractional Horsepower Dynamometer - A General Purpose Hardware-In-The-Loop Real-Time Simulation Platform for Nonlinear Control Research and Education

Proceedings of the 45th IEEE Conference on Decision and Control ◽

10.1109/cdc.2006.377021 ◽

2006 ◽

Cited By ~ 23

Author(s):

Yashodhan Tarte ◽

YangQuan Chen ◽

Wei Ren ◽

Kevin Moore

Keyword(s):

Nonlinear Control ◽

Real Time ◽

General Purpose ◽

Simulation Platform ◽

Hardware In The Loop ◽

Real Time Simulation ◽

Time Simulation ◽

Control Research ◽

Research And Education

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Modeling Issues for the Intelligent Simulation of Multibody Dynamics

Volume 2A: 24th Biennial Mechanisms Conference ◽

10.1115/96-detc/mech-1011 ◽

1996 ◽

Author(s):

Javier Cuadrado ◽

Jesús Cardenal ◽

Eduardo Bayo

Keyword(s):

Real Time ◽

Multibody Dynamics ◽

Multibody Systems ◽

Equations Of Motion ◽

Form Versus ◽

Real Time Simulation ◽

Simulation Tools ◽

Modeling Process ◽

Time Simulation ◽

Intelligent Simulation

Abstract Current simulation tools for multibody dynamics are not problem dependent, they use the same modeling process to all cases regardless of their characteristics. In addition, real-time simulation of small multibody systems is achievable by existing simulation tools, however, real-time simulation of large and complex systems is not possible with existing methods. This is a challenge that needs to be addressed before further advances in mechanical simulation with hardware-in-the-loop and man-in-the-loop, as well as virtual prototyping are made possible. This paper addresses the issue of how the modeling process-dependent versus independent coordinates, and descriptor form versus state-space form of the equations of motion-affects the dynamic simulation of multibody systems and how it may be taken into account and added to the concept of intelligent simulation. With this new concept all the factors involved in the simulation process — modeling, equations, solution, etc. — are chosen and combined depending upon the characteristics of the system to be simulated. It is envisioned that this concept will lead to faster and more robust real-time simulators.

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