Simulation Tools

Main.SimulationTools History

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February 09, 2009, at 03:45 PM by 128.32.137.245 -
Added line 34:
  • See http://www.cc.gatech.edu/ai/robot-lab/mast/instructions.html for details about MAST-specific installations
January 23, 2009, at 05:03 PM by 128.32.43.47 -
Changed line 51 from:
  1. Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs. Official mission planner in MAST
to:
  1. 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
January 22, 2009, at 11:11 AM by 128.32.43.144 -
Changed lines 48-49 from:
to:
  1. DARTS: "High-fidelity, flexible, multi-body dynamics simulator" developed by JPL for use in spacecraft mission simulation.
December 10, 2008, at 12:20 PM by hachung -
Changed line 33 from:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST, Official MAST simulation environment in Integration Center
to:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST Official MAST simulation environment in Integration Center
Changed line 50 from:
  1. Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
to:
  1. Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs. Official mission planner in MAST
December 10, 2008, at 12:18 PM by hachung -
Changed line 28 from:
  1. Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source. Official MAST simulation environment in AM3
to:
  1. Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source. Official MAST simulation environment in AM3
December 10, 2008, at 12:03 PM by hachung -
Changed line 28 from:
  1. Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source.
to:
  1. Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source. Official MAST simulation environment in AM3
Changed line 33 from:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST
to:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST, Official MAST simulation environment in Integration Center
December 10, 2008, at 12:00 PM by hachung -
Deleted lines 33-38:
  • 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 ?)
December 07, 2008, at 04:03 PM by hachung -
Changed line 33 from:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST
to:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST
December 07, 2008, at 04:02 PM by hachung -
Changed line 32 from:
  • See the MAST-specific page
to:
  • See the MAST-specific page
December 06, 2008, at 07:23 PM by Aaron -
Changed lines 22-24 from:
to:
December 06, 2008, at 07:22 PM by Aaron -
Changed lines 17-19 from:

---

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

to:

Physics Engines:

Changed lines 22-23 from:

Simulation Tools:

to:

Simulation Tools:

Changed lines 27-28 from:

- Dynamics

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

Dynamics

  1. Player/Stage/Gazebo: Originally developed in DARPA Distributed Robotics program. Now open source.
Changed line 33 from:
  • USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST
to:
  1. USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST
Changed lines 40-41 from:
  • Digital Biomechanics: Rigid body simulator from Boston Dynamics
  • SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion then SolidWorks Motion
to:
  1. Digital Biomechanics: Rigid body simulator from Boston Dynamics
  2. SolidWorks Motion: Originally the ADAMS dynamics solver, then Mechanical Dynamics, then CosmosMotion then SolidWorks Motion
Changed lines 45-56 from:
  • 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
to:
  1. Blender: open-source solid modeling/animation tool which includes a game engine with python scripting suitable for rigid body simulation
  2. Working Model 2D: quick concept modeling and simulation of mechanisms
  3. GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)
  4. SIMM: 3D modeling of bones, muscles, ligaments, etc.
  5. Open-SIMM: Open source version of SIMM, can be interfaced to Matlab
  6. Adams: General dynamics package. Capable of analyzing musculoskeletal systems
  7. Arachi:Used to simulate multi-body dynamics
  8. Real World: most amazing gaming engine in the world, demoed at DARPATech 2007 by Total Immersion Software in Alameda, CA
  9. PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell

High-Level Planning

  1. Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
Changed lines 58-77 from:
  • 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
to:
  1. MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program

FEM

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

Circuits

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

Design Tools


Mechanical Design

  1. SolidWorks: 3D mechanical design tool

Circuits

  1. SolidWorks CircuitWorks: 3rd party to SolidWorks, but bought by SolidWorks, reads in EDIF to model circuit boards in 3D
  2. Orcad Capture: Printed circuit board design schematic capture tool. Bought by Cadence, renamed Allegro Capture
  3. Orcad Layout: Printed circuit board layout tool. Bought by Cadence and end-of-lifed. Replace by Allegro PCB Editor
Changed lines 84-86 from:

Computational Tools:

  • MATLAB: Mathematical programming tool from The Mathworks
to:

Computational Tools:


  1. MATLAB: Mathematical programming tool from The Mathworks
Changed lines 89-91 from:
  • 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)
to:
  1. Mathematica
  2. Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software
  3. Sage: python-based open source mathematics package (free alternative to MATLAB/Mathematica/Maple)
Changed lines 95-97 from:

Data Acquisition and Processing Tools:

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

Data Acquisition and Processing Tools:


  1. Labview: dataflow graphical programming environment for test & measurement and more recently for control and connections to SolidWorks Motion
December 06, 2008, at 07:08 PM by 76.191.146.80 -
Changed lines 20-21 from:
to:

Changed line 26 from:
to:

December 06, 2008, at 02:04 AM by fgb -
December 06, 2008, at 02:03 AM by fgb -
Changed lines 17-18 from:

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

to:

---

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

Changed lines 24-26 from:

Simulation Tools:

- Dynamics

to:

Simulation Tools:

- Dynamics

Changed line 54 from:

- High-Level Planning

to:

- High-Level Planning

Changed line 59 from:

- FEM

to:

- FEM

Changed line 65 from:

- Circuits

to:

- Circuits

Changed lines 68-70 from:

Design Tools:

- Mechanical Design

to:

Design Tools:

- Mechanical Design

Changed line 73 from:

- Circuits

to:

- Circuits

Changed lines 80-81 from:

Computational Tools:

to:

Computational Tools:

Changed lines 90-91 from:

Data Acquisition and Processing Tools:

to:

Data Acquisition and Processing Tools:

December 06, 2008, at 02:00 AM by fgb - Reorganization of simulation tools list. Added links and Scipy info.
Changed lines 17-18 from:

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

to:

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

Changed lines 20-22 from:
  • 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/)
to:
  • Bullet: open-source physics-engine that comes with blender
Added line 24:

- Dynamics

Deleted line 36:
  • GUF: Grand Unified Fly (fruit fly simulator for aerodynamics and vision control from Caltech)
Changed lines 42-44 from:
  • 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
to:
  • 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)
Changed lines 49-52 from:
to:
  • 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

Added line 57:

- FEM

Added line 63:

- Circuits

Added line 68:

- Mechanical Design

Added line 71:

- Circuits

Changed lines 81-82 from:
  • Simulink: Control system modeling tool that runs inside of MATLAB
to:
  • Simulink: Control system modeling tool that runs inside of MATLAB
  • Mathematica
Deleted line 83:
  • PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell
Changed lines 86-87 from:
to:
  • SciPy: Open-source software for mathematics, science, and engineering (alternative to Matlab).
December 06, 2008, at 01:39 AM by fgb - Reorganization of simulation tools
Changed line 20 from:
to:
  • Bullet: open-source physics-engine that comes with blender
Deleted lines 29-30:
  • Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
    • See also the MAST-specific page
Deleted line 36:
  • MIDAS: Microsystems Integration Design Analysis & Simulation tool - being developed at GaTech under this MAST program
Changed lines 43-44 from:
  • Blender: open-source solid modeling tool
  • Bullet: open-source physics-engine that comes with blender
to:
  • Blender: open-source solid modeling/animation tool which includes a game engine with python scripting suitable for rigid body simulation
Added lines 51-54:
  • 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
December 06, 2008, at 01:29 AM by fgb - Reorganization of simulation tools
Changed lines 17-20 from:

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:

to:

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:

Deleted line 29:
  • ODE: Open Dynamics Engine - an open source rigid body dynamics simulator that provides collision detection and simple contact force models
Deleted lines 40-41:
  • ANSYS: Finite element code from Ansys Corp.
  • COMSOL: Finite element code from Comsol Corp.
Deleted lines 41-48:
  • 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.
Deleted lines 45-53:
  • 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
  • PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell
  • 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, ...
Changed lines 52-82 from:
  • Arachi: Used to simulate mulit-body dynamics
to:
  • 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
  • PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell
  • 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
December 06, 2008, at 01:12 AM by fgb - Added sensor simulation
Added line 12:
  1. Sensor simulation - What kind of sensors are available or can be easily implemented? (cameras, laser range finders, GPS, IMU, etc...)
December 05, 2008, at 11:51 PM by 76.218.68.71 -
Changed lines 48-49 from:
  • 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
to:
  • 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
December 05, 2008, at 11:50 PM by 76.218.68.71 -
Added line 51:
  • free with SolidWorks Office Premium
December 05, 2008, at 10:25 AM by 76.218.68.71 -
Changed lines 61-66 from:
  • Bullet: open-source physics-engine that comes with blender
to:
  • 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
December 05, 2008, at 08:42 AM by 76.218.68.71 -
Added line 42:
  • Pspice A/D: Circuit simulator, part of the Orcad/Cadence package
December 04, 2008, at 03:33 PM by Flynn -
Changed line 28 from:
  • USARSim: Urban Search And Rescue Simulator - based on a gaming engine originally developed by NIST
to:
  • USARSim: Unified System for Automation and Robot Simulation - based on a gaming engine originally developed by NIST
December 04, 2008, at 03:25 PM by Flynn -
Changed lines 58-60 from:
  • incorporates many standard free and open source mathematics packages, including SciPy/NumPy, Octave, Maxima, MatPlobLib, ...
to:
  • 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
December 03, 2008, at 09:53 PM by 76.191.146.80 -
Changed line 2 from:

---

to:

Changed line 17 from:
to:

December 03, 2008, at 09:52 PM by 76.191.146.80 -
Added lines 1-17:

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.

  1. Modeling/Model Importing - How easy is it design a model in the software or import an existing solid model?
  2. Rigid body/component Simulation - This is stuff like robot bodies, legs, surfaces, obstacles, etc.
  3. Constraints - Can the engine handle generic 6DOF joints, hinge joints, prismatic joints, etc?
  4. Physics- Are the passive dynamics believable? Can we integrate control inputs easily? Is the machinery for handling constraints stable?
  5. 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?
  6. 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?
  7. Control simulation - Can control loops be easily coded and executed in simulation with predictable results?
  8. 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

December 03, 2008, at 02:15 PM by hachung -
December 03, 2008, at 02:15 PM by hachung -
Changed lines 31-32 from:
  • rigid body dynamics modeling tool that runs inside of the SolidWorks environment

re-written from scratch for SolidWorks 2008

to:
  • rigid body dynamics modeling tool that runs inside of the SolidWorks environment, re-written from scratch for SolidWorks 2008
December 01, 2008, at 09:55 PM by 76.218.68.71 -
Changed line 11 from:
  • USARSim: Urband Search And Rescue Simulator - based on a gaming engine originally developed by NIST
to:
  • USARSim: Urban Search And Rescue Simulator - based on a gaming engine originally developed by NIST
December 01, 2008, at 04:30 PM by sburden -
Changed lines 39-42 from:
  • Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software
to:
  • Mathcad: Mathematical programming/scratchpad environment with automatic unit conversions in equations by PTC Software
  • PyDSTool: python-based dynamical systems simulation tool developed by the Center for Applied Mathematics at Cornell
  • 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, ...
December 01, 2008, at 04:27 PM by sburden -
Changed line 26 from:

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

to:
  • EDIF: The format for the file from PCB design that hold 3D information for import into mechanical CAD tools
December 01, 2008, at 04:26 PM by sburden -
Added line 7:
  • See the MAST-specific page
Changed lines 9-10 from:
  • Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
to:
  • Mission Lab: Mission simulator from GaTech which has been evolved over many DARPA programs
    • See also the MAST-specific page
December 01, 2008, at 04:25 PM by sburden -
Changed lines 3-37 from:

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

Player: Abstraction layer for agents
Stage: 2D environment

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

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 ?)

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

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
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

to:
  • 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 ?)
  • 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
    • 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
  • 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
December 01, 2008, at 04:18 PM by sburden -
Added line 6:

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

Changed lines 15-16 from:

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 \\

to:

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

December 01, 2008, at 04:17 PM by sburden -
Changed line 15 from:

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

to:

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

November 26, 2008, at 11:01 PM by 76.218.68.71 -
Changed line 24 from:

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

to:

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

Changed lines 32-35 from:

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\\

to:

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\\

November 26, 2008, at 11:00 PM by 76.218.68.71 -
Deleted lines 26-28:

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

Added lines 35-37:

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

November 26, 2008, at 10:59 PM by 76.218.68.71 -
Changed lines 33-34 from:

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

to:

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

November 26, 2008, at 10:59 PM by 76.218.68.71 -
Changed line 33 from:

re-written from scratch for SolidWorks 2008\\

to:

re-written from scratch for SolidWorks 2008

November 26, 2008, at 10:58 PM by 76.218.68.71 -
Changed line 34 from:

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

to:

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

November 26, 2008, at 10:58 PM by 76.218.68.71 -
Changed line 7 from:

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

to:

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

Changed line 16 from:

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

to:

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

Added line 29:

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

Changed lines 34-35 from:

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

to:

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

November 26, 2008, at 05:16 PM by Flynn -
Changed line 14 from:

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

to:

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

November 26, 2008, at 05:15 PM by Flynn -
Changed lines 14-15 from:

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

to:

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

November 26, 2008, at 05:15 PM by Flynn -
Deleted line 14:
November 26, 2008, at 05:15 PM by Flynn -
Changed line 8 from:
MAST can use it for high-level simulations to learn about:
to:
MAST can use it for high-level simulations to learn about\\
November 26, 2008, at 05:14 PM by Flynn -
Changed lines 9-12 from:

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?)

to:

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?)\\

November 26, 2008, at 05:14 PM by Flynn -
Changed lines 7-15 from:

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

to:

USARSim: A simulation environment 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 ?)

November 26, 2008, at 05:09 PM by Flynn -
Changed lines 4-5 from:
Abstraction layer for agents
2D environment
to:
Player: Abstraction layer for agents
Stage: 2D environment
November 26, 2008, at 05:08 PM by Flynn -
Changed lines 3-5 from:

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

to:

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

Abstraction layer for agents
2D environment
November 26, 2008, at 05:08 PM by Flynn -
Changed lines 25-26 from:

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

to:

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

November 26, 2008, at 05:07 PM by Flynn -
Changed lines 1-2 from:

Names of Simulation Tools:\\

to:

Names of Simulation Tools:

Changed line 22 from:

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

to:

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

November 26, 2008, at 05:07 PM by Flynn -
Changed lines 1-24 from:

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.

to:

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.\\

November 26, 2008, at 05:06 PM by Flynn -
Added lines 1-24:

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.

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