1. Criteria for rapid prototyping
Minimize time to compose a behavior. Strategy: library of low-level behaviors and controls
Minimize edit-execution loop (Requires execution be real-time or close to it.)

2. Components of rapid prototyping system
Language for describing behaviors
Behavior interpreter
Feedback tool--- see behavior as it executes

3. Role of Impulse Virtual world manager
Simulation loop includes behavior interpretation step
Graphical output of Impulse simulation provides execution feedback

4. Exploring behavior description languages
Java
Simulink

5. Java as language for behavior descriptions
Abstract Class structures the interface between Impulse and the behavior
Rapid edit-execution loop
Java code compiled into byte code
Behavior loaded at run-time
Java interpreter simplifies networked simulation architecture

6. Impulse loading new object
geometry
mass properties
behavior“Foo”
Read_object
LoadClass(“Foo”,)
Object Description
Add_to_db
Foo.class

7. Impulse simulation loop
Evolve behavior
F,T
X,q
Foo.Update
Update_forces

8. Java based blimp behavior
Physical modeling
Buoyancy
Aerodynamic drag
Propulsion
User interaction
Propulsion levels from human pilot
Communicates with Java applet client

9. Flight simulation behavior
Client machine
Server machine
Browser
Impulse
blimp
Web server
Internet

10. Graphical modeling using Simulink
PID Controller

11. Simulink as language for behavior descriptions
Graphical programming using blocks and connections
Rapid composition of behaviors using libraries
Interface with Impulse
RealTime Workshop translates blocks to C code (extensible to Java)
Code compiled to shared library and loaded at run-time

12. Graphical programming of behaviors
link1
link2
spring
link1
spring
link2
Impulse model
Simulink model