In this paper a Modelica library for interactive simulation and advanced visualization called Ex-ternalDevices is introduced and presented. Providing support for standard input devices like keyboard and joystick as well as for communication via UDP and shared memory, this library allows the user to interact with a running simulation and process the output data of the simulation in other processes capable of UDP connections. An advanced visualization system replaces the standard Dymola visualization and offers additional features like full-screen viewing, transparency and support for flexible bodies.
Modelica models are mathematical descriptions and therefore their simulation output typically shows numerical variable trajectories. While universal for all kinds of simulations, this representation is oftentimes difficult to understand. In the field of multi-body simulations, 3D visualizations present a way of displaying vast amounts of numerical data in an intuitive way which is instantly understandable, even by people without specialized knowledge. For integration of visualization in Modelica multi-body simulations, the "DLR Visualization Library" has been developed. This paper presents the newest additions to the library and shows their application in several DLR projects.
There are many cases where simulation applications need to interact with their environment. Typical examples are Human-in-the-Loop (HITL) simulators (including flight, driving, and marine training simulators), Hardware-inthe-Loop (HIL) simulators, but also offline process simulators which cannot operate in a completely self-contained manner and therefore need to be coupled to external applications. Embedded control applications are another related area requiring interaction between applications and their environment. The Modelica_DeviceDrivers library, which had its first release as open-source library in 2012, tries to cater to such use cases. This paper describes the library for the first time and reports about the numerous challenges that the project experienced to meet its goal of supporting several platforms and tools within a standardconform, platform-generic, feature-rich, and easy-to-use Modelica library. Furthermore, the paper gives an insight into the inner mechanics of the library's communication and serialization functionalities, the various supported hardware interfaces and the possibilities to generate code for embedded systems.
The DLR Robot Motion Simulator is a serial kinematics based platform that employs an industrial robot (as opposed to the conventional 'Hexapod') to impart motion cues to the attached simulator cell. This simulation platform is the culmination of ongoing research on motion simulation at the Robotics and Mechatronics Center, German Aerospace Center (DLR). Safety tests were undertaken to ascertain the effects of critical motions and subsequent emergency stop procedures on the prospective human passengers of the simulator cell. To this end, an Anthropomorphic Test Device (ATD) aka 'crash test dummy' was used as a human surrogate for these tests. Several severity indices were evaluated for the head-neck region, which was found to be more susceptible to injuries compared to the rest of the body. The results of this study are discussed in this paper.
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