AndreaMikko_Levels_of_simulation_Crecos

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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