# Simulation Tools

## Main.SimulationTools History

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- See http://www.cc.gatech.edu/ai/robot-lab/mast/instructions.html for details about MAST-specific installations

**Mission Lab**: Mission simulator from GaTech which has been evolved over many DARPA programs.**Official mission planner in MAST**

**Mission Lab**: Mission simulator from GaTech which has been evolved over many DARPA programs.**Official mission planner in MAST**. To download a virtual machine with MissionLab and Gazebo pre-installed, check out MissionLab VM

**DARTS**: "High-fidelity, flexible, multi-body dynamics simulator" developed by JPL for use in spacecraft mission simulation.

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST, Official MAST simulation environment in Integration Center

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST**Official MAST simulation environment in Integration Center**

**Mission Lab**: Mission simulator from GaTech which has been evolved over many DARPA programs

**Mission Lab**: Mission simulator from GaTech which has been evolved over many DARPA programs.**Official mission planner in MAST**

**Player/Stage/Gazebo**: Originally developed in DARPA Distributed Robotics program. Now open source. Official MAST simulation environment in AM3

**Player/Stage/Gazebo**: Originally developed in DARPA Distributed Robotics program. Now open source.**Official MAST simulation environment in AM3**

**Player/Stage/Gazebo**: Originally developed in DARPA Distributed Robotics program. Now open source.

**Player/Stage/Gazebo**: Originally developed in DARPA Distributed Robotics program. Now open source. Official MAST simulation environment in AM3

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST, Official MAST simulation environment in Integration Center

- MAST can use it for high-level simulations to learn about
- How best to deploy little robots? Shot out of a gun, delivered by marsupials?
- How are they recovered at the end of the mission? Fly into a net, stay in place forever?
- How can they get into place stealthily? What is stealth? (quiet, or not seen or placed within 100 m and they enter building by themselves?)
- How will they breach from outside to inside? (through a window, under a door, blasted through a hole in a wall, down the chimney?)
- Once in a building what can it provide? (map info or people-are-inside info, or ?)

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST

- See the MAST-specific page

- See the MAST-specific page

**A good review paper**- PhysicsEngines.pdf)

**A good review paper**- PhysicsEngines.pdf

---

**Physics Engines:** (review of some of the freely available options - PhysicsEngines.pdf)

## Physics Engines:

**Simulation Tools:**

**A good review paper**- PhysicsEngines.pdf)

## Simulation Tools:

- *Dynamics*

- Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source.

**Dynamics**

**Player/Stage/Gazebo**: Originally developed in DARPA Distributed Robotics program. Now open source.

- USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST

**USARSim:**Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST

- Digital Biomechanics: Rigid body simulator from Boston Dynamics
- SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion then SolidWorks Motion

**Digital Biomechanics:**Rigid body simulator from Boston Dynamics**SolidWorks Motion:**Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion then SolidWorks Motion

- Blender: open-source solid modeling/animation tool which includes a game engine with python scripting suitable for rigid body simulation
- Working Model 2D: quick concept modeling and simulation of mechanisms
- GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)
- SIMM: 3D modeling of bones, muscles, ligaments, etc.
- Open-SIMM: Open source version of SIMM, can be interfaced to Matlab
- Adams: General dynamics package. Capable of analyzing musculoskeletal systems
- Arachi: Used to simulate mulit-body dynamics
- Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA
- PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell

- *High-Level Planning*

- Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs

**Blender**: open-source solid modeling/animation tool which includes a game engine with python scripting suitable for rigid body simulation**Working Model 2D:**quick concept modeling and simulation of mechanisms**GUF**: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)**SIMM:**3D modeling of bones, muscles, ligaments, etc.**Open-SIMM:**Open source version of SIMM, can be interfaced to Matlab**Adams:**General dynamics package. Capable of analyzing musculoskeletal systems**Arachi:**Used to simulate multi-body dynamics**Real World**: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA**PyDSTool**: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell

**High-Level Planning**

**Mission Lab**: Mission simulator from GaTech which has been evolved over many DARPA programs

- MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program

- *FEM*

- ANSYS: Finite element code from Ansys Corp.
- COMSOL: Finite element code from Comsol Corp.
- SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp.
- FEFLO: 3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab

- *Circuits*

- Pspice A/D: Circuit simulator, part of the Orcad/Cadence package

**Design Tools:**

- *Mechanical Design*

- SolidWorks: 3D mechanical design tool

- *Circuits*

- SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D
- Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture
- Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor

**MIDAS:**Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program

**FEM**

**ANSYS:**Finite element code from Ansys Corp.**COMSOL:**Finite element code from Comsol Corp.**SolidWorks CosmosWorks:**Finite element program that runs inside of SolidWorks, from Cosmos Corp.**FEFLO:**3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab

**Circuits**

**Pspice A/D:**Circuit simulator, part of the Orcad/Cadence package

## Design Tools

**Mechanical Design**

**SolidWorks:**3D mechanical design tool

**Circuits**

**SolidWorks CircuitWorks:**3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D**Orcad Capture:**Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture**Orcad Layout:**Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor

**Computational Tools:**

- MATLAB: Mathematical programming tool from The Mathworks

## Computational Tools:

**MATLAB:**Mathematical programming tool from The Mathworks

- Mathematica
- Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software
- Sage: python-based open source mathematics package (free alternative to MATLAB/Mathematica/Maple)

**Mathematica****Mathcad:**Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software**Sage**: python-based open source mathematics package (free alternative to MATLAB/Mathematica/Maple)

**Data Acquisition and Processing Tools:**

- Labview: dataflow graphical programming environment for test & measurement and more recently for control and connections to SolidWorks Motion

## Data Acquisition and Processing Tools:

**Labview:**dataflow graphical programming environment for test & measurement and more recently for control and connections to SolidWorks Motion

Physics Engines (review of some of the freely available options - PhysicsEngines.pdf):

---

**Physics Engines:** (review of some of the freely available options - PhysicsEngines.pdf)

Simulation Tools:

- Dynamics

**Simulation Tools:**

- *Dynamics*

- High-Level Planning

- *High-Level Planning*

- FEM

- *FEM*

- Circuits

- *Circuits*

Design Tools:

- Mechanical Design

**Design Tools:**

- *Mechanical Design*

- Circuits

- *Circuits*

Computational Tools:

**Computational Tools:**

Data Acquisition and Processing Tools:

**Data Acquisition and Processing Tools:**

Physics Engines (Review of some of the freely available options - PhysicsEngines.pdf):

Physics Engines (review of some of the freely available options - PhysicsEngines.pdf):

- Bullet: open-source physics-engine that comes with blender
- Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA (http://www.totimm.com/)

- Bullet: open-source physics-engine that comes with blender

- Dynamics

- GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)

- Blender: open-source solid modeling/animation tool which includes a game engine with python scripting suitable for rigid body simulation
- Working Model 2D: quick concept modeling and simulation of mechanisms

- Blender: open-source solid modeling/animation tool which includes a game engine with python scripting suitable for rigid body simulation
- Working Model 2D: quick concept modeling and simulation of mechanisms
- GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)

- Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA
- PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell

- High-Level Planning

- FEM

- Circuits

- Mechanical Design

- Circuits

- Simulink: Control system modeling tool that runs inside of MATLAB

- Simulink: Control system modeling tool that runs inside of MATLAB

- Mathematica

- PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell

- SciPy: Open-source software for mathematics, science, and engineering (alternative to Matlab).

- Bullet: open-source physics-engine that comes with blender

- Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
- See also the MAST-specific page

- MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program

- Blender: open-source solid modeling tool
- Bullet: open-source physics-engine that comes with blender

- Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
- See also the MAST-specific page

- MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program

For anyone interested in various physics engines, here's a nice review of some of the freely available options - PhysicsEngines.pdf

Names of Simulation Tools:

Physics Engines (Review of some of the freely available options - PhysicsEngines.pdf):

- ODE: Open Dynamics Engine - an open source rigid body dynamics simulator that provides collision detection and simple contact force models
- Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA (http://www.totimm.com/)

Simulation Tools:

- ODE: Open Dynamics Engine - an open source rigid body dynamics simulator that provides collision detection and simple contact force models

- ANSYS: Finite element code from Ansys Corp.
- COMSOL: Finite element code from Comsol Corp.

- Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture
- Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor
- Pspice A/D: Circuit simulator, part of the Orcad/Cadence package
- Gerber: The name of format of printed circuit board files to be sent to the board manufacturer
- EDIF: The format for the file from PCB design that hold 3D information for import into mechanical CAD tools
- SolidWorks: 3D mechanical design tool
- SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D
- SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp.

- FEFLO: 3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab
- Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA
- Labview: dataflow graphical programming enviornment for test & measurement and more recently for control and connections to SolidWorks Motion
- MATLAB: Mathematical programming tool from The Mathworks
- Simulink: Control system modeling tool that runs inside of MATLAB
- Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software
- Sage: python-based open source mathematics package (free alternative to MATLAB/Mathematica/Maple)
- incorporates many standard free and open source mathematics packages, including SciPy/NumPy, Octave, Maxima, MatPlobLib, ...

- Arachi: Used to simulate mulit-body dynamics

- Arachi: Used to simulate mulit-body dynamics
- ANSYS: Finite element code from Ansys Corp.
- COMSOL: Finite element code from Comsol Corp.
- SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp.
- FEFLO: 3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab
- Pspice A/D: Circuit simulator, part of the Orcad/Cadence package

Design Tools:

- SolidWorks: 3D mechanical design tool
- SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D
- Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture
- Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor
- Gerber: The name of format of printed circuit board files to be sent to the board manufacturer
- EDIF: The format for the file from PCB design that hold 3D information for import into mechanical CAD tools

Computational Tools:

- MATLAB: Mathematical programming tool from The Mathworks
- Simulink: Control system modeling tool that runs inside of MATLAB
- Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software
- Sage: python-based open source mathematics package (free alternative to MATLAB/Mathematica/Maple)
- incorporates many standard free and open source mathematics packages, including SciPy/NumPy, Octave, Maxima, MatPlobLib, ...

Data Acquisition and Processing Tools:

- Labview: dataflow graphical programming environment for test & measurement and more recently for control and connections to SolidWorks Motion

**Sensor simulation**- What kind of sensors are available or can be easily implemented? (cameras, laser range finders, GPS, IMU, etc...)

- SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion
- rigid body dynamics modeling tool that runs inside of the SolidWorks environment, re-written from scratch for SolidWorks 2008

- SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion then SolidWorks Motion
- rigid body dynamics modeling tool that runs inside of the SolidWorks environment GUI , re-written from scratch for SolidWorks 2008

- free with SolidWorks Office Premium

- Bullet: open-source physics-engine that comes with blender

- Bullet: open-source physics-engine that comes with blender
- Working Model 2D: quick concept modeling and simulation of mechanisms
- SIMM: 3D modeling of bones, muscles, ligaments, etc.
- Open-SIMM: Open source version of SIMM, can be interfaced to Matlab
- Adams: General dynamics package. Capable of analyzing musculoskeletal systems
- Arachi: Used to simulate mulit-body dynamics

- Pspice A/D: Circuit simulator, part of the Orcad/Cadence package

- USARSim: Urban Search And Rescue Simulator - based on a gaming engine originally developed by NIST

- USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST

- incorporates many standard free and open source mathematics packages, including SciPy/NumPy, Octave, Maxima, MatPlobLib, ...

- Blender: open-source solid modeling tool
- Bullet: open-source physics-engine that comes with blender

---

## Getting a Handle on Simulation Requirements

--- Aaron, here. I think we could all benefit from a little discussion of the purpose of simulation and each groups interests in various simulation software features and capabilities. For us, as designers of highly capable mobile platforms, we're biased toward thinking of simulation in terms of accurate multi-body dynamics (rigid and possibly soft bodies), collision detection, and visualization. So, with that intro, let me lay out what I see as key components of simulation software that interest us.

**Modeling/Model Importing**- How easy is it design a model in the software or import an existing solid model?**Rigid body/component Simulation**- This is stuff like robot bodies, legs, surfaces, obstacles, etc.**Constraints**- Can the engine handle generic 6DOF joints, hinge joints, prismatic joints, etc?**Physics**- Are the passive dynamics believable? Can we integrate control inputs easily? Is the machinery for handling constraints stable?**Collision Detection**- (This is sort of a subset of physics.) What collision geometries are available? How are collisions handled? Can the exact time of collision be computed in order to insert custom contact or friction models? Does the collision detection rely on a constraint solver to push interpenetrating bodies apart?**Hardware abstraction**- Can controllers be developed in simulation and be seamlessly transferred to hardware? Our hardware will probably be really specialized - so, does it even matter?**Control simulation**- Can control loops be easily coded and executed in simulation with predictable results?**High level planning**- Okay, I don't really know what this encompasses, but I suspect it could wind up being important.

As you can probably tell from the feature categories I focused on above, we're mostly interested in simulation as a design tool. We'd like to explore a huge space of design variables and parameters quickly to enable us to actually build capable platforms. So, simulation is more of a tool for us than a research objective in and of itself. To that end, we're currently using some coarse, but free simulation tools in the form of the open source modeling tool, Blender and the open source physics engine now included with it, Bullet. Some main advantages are 1) that it closes the solid modeling/simulation loop. 2) It provides a nice visualization environment. 3) Bullet's physics are reasonably accurate; its collision detection algorithm is very fast, and it provides a variety of handy collision geometries. 4) It interfaces very nicely with Python and all its attendant modules like Numpy (linear algebra), OpenCV (vision), ML (machine learning), etc. 5) It's free and open source.

For anyone interested in various physics engines, here's a nice review of some of the freely available options - PhysicsEngines.pdf

- rigid body dynamics modeling tool that runs inside of the SolidWorks environment

re-written from scratch for SolidWorks 2008

- rigid body dynamics modeling tool that runs inside of the SolidWorks environment, re-written from scratch for SolidWorks 2008

- USARSim: Urband Search And Rescue Simulator - based on a gaming engine originally developed by NIST

- USARSim: Urban Search And Rescue Simulator - based on a gaming engine originally developed by NIST

- Sage: python-based open source mathematics package (free alternative to MATLAB/Mathematica/Maple)

EDIF: The format for the file from PCB design that hold 3D information for import into mechanical CAD tools

- See the MAST-specific page

- Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs

- Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
- See also the MAST-specific page

Player/Stage: Originally developed in DARPA Distributed Robotics program. Now open source.

Gazebo: a 3D simulation environment designed to interface with Player; dynamics provided by ODE

Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs

USARSim: Urband Search And Rescue Simulator - based on a gaming engine originally developed by NIST

How best to deploy little robots? Shot out of a gun, delivered by marsupials?

How are they recovered at the end of the mission? Fly into a net, stay in place forever?

How can they get into place stealthily? What is stealth? (quiet, or not seen or placed within 100 m and they enter building by themselves?)

How will they breach from outside to inside? (through a window, under a door, blasted through a hole in a wall, down the chimney?)

Once in a building what can it provide? (map info or people-are-inside info, or ?)

ODE: Open Dynamics Engine - an open source rigid body dynamics simulator that provides collision detection and simple contact force models

MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program

GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)

ANSYS: Finite element code from Ansys Corp.

COMSOL: Finite element code from Comsol Corp.

Digital Biomechanics: Rigid body simulator from Boston Dynamics

Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture

Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor

Gerber: The name of format of printed circuit board files to be sent to the board manufacturer

EDIF: The format for the file from PCB design that hold 3D information for import into mechanical CAD tools

SolidWorks: 3D mechanical design tool

SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D

SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp.

SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion

re-written from scratch for SolidWorks 2008

can both make animations and give numerical forces, moments, displacements, etc.

FEFLO: 3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab

Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA

Labview: dataflow graphical programming enviornment for test & measurement and more recently for control and connections to SolidWorks Motion
MATLAB: Mathematical programming tool from The Mathworks

Simulink: Control system modeling tool that runs inside of MATLAB

Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software

- Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source.
- Player: abstract interface for robot sensing, communication, and control
- Stage: 2D simulation environment designed to interface with Player
- Gazebo: 3D simulation environment designed to interface with Player; dynamics provided by ODE

- ODE: Open Dynamics Engine - an open source rigid body dynamics simulator that provides collision detection and simple contact force models
- Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
- USARSim: Urband Search And Rescue Simulator - based on a gaming engine originally developed by NIST
- MAST can use it for high-level simulations to learn about
- How best to deploy little robots? Shot out of a gun, delivered by marsupials?
- How are they recovered at the end of the mission? Fly into a net, stay in place forever?
- How can they get into place stealthily? What is stealth? (quiet, or not seen or placed within 100 m and they enter building by themselves?)
- How will they breach from outside to inside? (through a window, under a door, blasted through a hole in a wall, down the chimney?)
- Once in a building what can it provide? (map info or people-are-inside info, or ?)

- GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)
- ANSYS: Finite element code from Ansys Corp.
- COMSOL: Finite element code from Comsol Corp.
- Digital Biomechanics: Rigid body simulator from Boston Dynamics
- Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor
- Gerber: The name of format of printed circuit board files to be sent to the board manufacturer

- SolidWorks: 3D mechanical design tool
- SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp.
- SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion
- rigid body dynamics modeling tool that runs inside of the SolidWorks environment

re-written from scratch for SolidWorks 2008

- can both make animations and give numerical forces, moments, displacements, etc.

- FEFLO: 3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab
- Labview: dataflow graphical programming enviornment for test & measurement and more recently for control and connections to SolidWorks Motion
- MATLAB: Mathematical programming tool from The Mathworks
- Simulink: Control system modeling tool that runs inside of MATLAB

Gazebo: a 3D simulation environment designed to interface with Player; dynamics provided by ODE \\

Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics

ODE: Open Dynamics Engine - an open source rigid body dynamics simulator with collision detection and simple contact models \\

ODE: Open Dynamics Engine - an open source rigid body dynamics simulator that provides collision detection and simple contact force models \\

ODE: Open Dynamics Engine - an open source ODE (Ordinary Differential Equation) solver\\

ODE: Open Dynamics Engine - an open source rigid body dynamics simulator with collision detection and simple contact models \\

EDIF (?): The format for the file from PCB design that hold 3D information for import into mechanical CAD tools\\

EDIF: The format for the file from PCB design that hold 3D information for import into mechanical CAD tools\\

FEFLO - 3D unsteady unstructured grid CFD code for flapping flight etc.

Real World - most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA

Labview - dataflow graphical programming enviornment for test & measurement and more recently for control and connections to SolidWorks Motion
MATLAB: Mathematical programming tool from The Mathworks\\

FEFLO: 3D unsteady unstructured grid CFD code for flapping flight etc. by Naval Research Lab

Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA

Labview: dataflow graphical programming enviornment for test & measurement and more recently for control and connections to SolidWorks Motion
MATLAB: Mathematical programming tool from The Mathworks\\

MATLAB: Mathematical programming tool from The Mathworks

Simulink: Control system modeling tool that runs inside of MATLAB

Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software

MATLAB: Mathematical programming tool from The Mathworks

Simulink: Control system modeling tool that runs inside of MATLAB

Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software

re-written from scratch for SolidWorks 2008 <-can both make animations and give numerical forces, moments, displacements, etc.\\

re-written from scratch for SolidWorks 2008

can both make animations and give numerical forces, moments, displacements, etc.

re-written from scratch for SolidWorks 2008\\

re-written from scratch for SolidWorks 2008

can both make animations and give numerical forces, moments, displacements, etc.\\

<-can both make animations and give numerical forces, moments, displacements, etc.\\

USARSim: A simulation environment based on a gaming engine originally developed by NIST

USARSim: Urband Search And Rescue Simulator - based on a gaming engine originally developed by NIST

MIDAS: MAST Integration Design and Analysis System tool - being developed at GaTech under this MAST program\\

MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program\\

can both make animations and give numerical forces, moments, displacements, etc.

can both make animations and give numerical forces, moments, displacements, etc.

FEFLO - 3D unsteady unstructured grid CFD code for flapping flight etc.

Real World - most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA

Labview - dataflow graphical programming enviornment for test & measurement and more recently for control and connections to SolidWorks Motion

<-Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics\\

Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics\\

Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics\\

<-Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics\\

How best to deploy little robots? Shot out of a gun, delivered by marsupials? How are they recovered at the end of the mission? Fly into a net, stay in place forever? How can they get into place stealthily? What is stealth? (quiet, or not seen or placed within 100 m and they enter building by themselves?) How will they breach from outside to inside? (through a window, under a door, blasted through a hole in a wall, down the chimney?)

How best to deploy little robots? Shot out of a gun, delivered by marsupials?

How are they recovered at the end of the mission? Fly into a net, stay in place forever?

How can they get into place stealthily? What is stealth? (quiet, or not seen or placed within 100 m and they enter building by themselves?)

How will they breach from outside to inside? (through a window, under a door, blasted through a hole in a wall, down the chimney?)\\

USARSim: A simulation environment based on a gaming engine originally developed by NIST\\

USARSim: A simulation environment based on a gaming engine originally developed by NIST

How best to deploy little robots? Shot out of a gun, delivered by marsupials? How are they recovered at the end of the mission? Fly into a net, stay in place forever? How can they get into place stealthily? What is stealth? (quiet, or not seen or placed within 100 m and they enter building by themselves?) How will they breach from outside to inside? (through a window, under a door, blasted through a hole in a wall, down the chimney?) Once in a building what can it provide? (map info or people-are-inside info, or ?)

Player/Stage: Originally developed in DARPA Distributed Robotics program. Now open source.\\

Player/Stage: Originally developed in DARPA Distributed Robotics program. Now open source.

can both make animations and give numerical forces, moments, displacements, etc.\\

can both make animations and give numerical forces, moments, displacements, etc.

Names of Simulation Tools:\\

Names of Simulation Tools:

SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion\\

SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion

Names of Simulation Tools: Player/Stage: Originally developed in DARPA Distributed Robotics program. Now open source. Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs USARSim: A simulation environment based on a gaming engine originally developed by NIST Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics ODE: Open Dynamics Engine - an open source ODE (Ordinary Differential Equation) solver MIDAS: MAST Integration Design and Analysis System tool - being developed at GaTech under this MAST program GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech) ANSYS: Finite element code from Ansys Corp. COMSOL: Finite element code from Comsol Corp. Digital Biomechanics: Rigid body simulator from Boston Dynamics Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor Gerber: The name of format of printed circuit board files to be sent to the board manufacturer EDIF (?): The format for the file from PCB design that hold 3D information for import into mechanical CAD tools SolidWorks: 3D mechanical design tool SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D MATLAB: Mathematical programming tool from The Mathworks Simulink: Control system modeling tool that runs inside of MATLAB SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp. SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion

re-written from scratch for SolidWorks 2008 can both make animations and give numerical forces, moments, displacements, etc.

Names of Simulation Tools:

Player/Stage: Originally developed in DARPA Distributed Robotics program. Now open source.

Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs

USARSim: A simulation environment based on a gaming engine originally developed by NIST

Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics

ODE: Open Dynamics Engine - an open source ODE (Ordinary Differential Equation) solver

MIDAS: MAST Integration Design and Analysis System tool - being developed at GaTech under this MAST program

GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)

ANSYS: Finite element code from Ansys Corp.

COMSOL: Finite element code from Comsol Corp.

Digital Biomechanics: Rigid body simulator from Boston Dynamics

Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture

Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor

Gerber: The name of format of printed circuit board files to be sent to the board manufacturer

EDIF (?): The format for the file from PCB design that hold 3D information for import into mechanical CAD tools

SolidWorks: 3D mechanical design tool

SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D

MATLAB: Mathematical programming tool from The Mathworks

Simulink: Control system modeling tool that runs inside of MATLAB

SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp.

SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion

-> rigid body dynamics modeling tool that runs inside of the SolidWorks environment

re-written from scratch for SolidWorks 2008

can both make animations and give numerical forces, moments, displacements, etc.\\

Names of Simulation Tools: Player/Stage: Originally developed in DARPA Distributed Robotics program. Now open source. Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs USARSim: A simulation environment based on a gaming engine originally developed by NIST Gazebo: A physics-based dynamic simulator from GaTech which calls ODE for underlying physics ODE: Open Dynamics Engine - an open source ODE (Ordinary Differential Equation) solver MIDAS: MAST Integration Design and Analysis System tool - being developed at GaTech under this MAST program GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech) ANSYS: Finite element code from Ansys Corp. COMSOL: Finite element code from Comsol Corp. Digital Biomechanics: Rigid body simulator from Boston Dynamics Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor Gerber: The name of format of printed circuit board files to be sent to the board manufacturer EDIF (?): The format for the file from PCB design that hold 3D information for import into mechanical CAD tools SolidWorks: 3D mechanical design tool SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D MATLAB: Mathematical programming tool from The Mathworks Simulink: Control system modeling tool that runs inside of MATLAB SolidWorks CosmosWorks: Finite element program that runs inside of SolidWorks, from Cosmos Corp. SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion

re-written from scratch for SolidWorks 2008 can both make animations and give numerical forces, moments, displacements, etc.