1. Development of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments: Tools for Enhancing Research & Education. http://www.eas.asu.edu/~aar/research/mosart/Presentations/Barcelona/index.htm Sponsors: Boeing, CADSI, AFOSR, Honeywell, Integrated Systems, Intel, Knowledge Revolution, Microsoft, National Science Foundation Unitat d'Enginieria de Sistemes i Automàtica, June 15 1998 Armando A. Rodriguez Richard P. Metzger Jr. Chen-I Lim

2. Outline Motivation System Dynamics Description of Interactive MoSART Environment Utility of Environment Summary and Future Directions

3. Motivation Advanced visualization tools are needed for system analysis and design. Research/education can be enhanced with interactive multimedia environments. PC platforms now offer substantial computing power for engineering design.

4. State of the Art Working Model (Knowledge Revolution) DADS/Plant (CADSI) …generic, not optimized for specific systems (both have contributed to development of MoSART facility at ASU)

5. Contributions of Work System-specific interactive MoSART environments High performance: Windows/ C++ Advanced visualization tools: Direct-3D Extensible: integration with MATLAB User friendly

6. Key Environment Features Real-time simulation Alter model/controller: -structure - parameters (on-the-fly) Advanced visualization: - real-time graphics - visual indicators/aids - 3D animation models Direct user input via joystick Integration with MATLAB: advanced CAD tools

7. Interactive MoSART Environments Robotic Manipulator High-Performance Aircraft Missile-Target Engagements Pendulums: Inverted, Rotary, Multi-link... Adaptive Algorithms/Learning Systems Submarine Environment

8. Basic Helicopter Dynamics Near Hover Vertical Dynamics Longitudinal Dynamics

9. Vertical Dynamics Near Hover - Collective control Open loop poles:

10. Longitudinal Dynamics Near Hover State Space Representation: - Cyclic control Unstable: backflapping mode Open loop poles: …need AFCS to minimize pilot workload θ 010θ0 θ =0M q M u θ +M Blc B lc x-g0X u xx Blc..... Horizontal damping mode

11. Longitudinal Dynamics Near Hover Unstable: backflapping mode Open loop poles & zeros: Horizontal damping mode Lightly damped zero Pitching Dynamics:

12. Longitudinal Dynamics Near Hover Unstable: backflapping mode Open loop poles & zeros: Horizontal damping mode Horizontal Speed Dynamics:

13. Longitudinal Dynamics Near Hover Open loop poles & zeros: Lightly damped zero

14. P “General” System Diagram K Exogenous signals Control signals Regulated outputs Measurements

15. Specific System Diagram

16. Pentium PC Windows ’95/NT About the Program System Requirements: Pentium 166 / Windows 95/NT. 32 MB RAM. Direct-3D 3.0. Recommended: Pentium II 266 w/ MMX running Windows NT 4.0. 64 MB RAM. Direct-3D 3.0. Visual C++/ MFC Direct-3D v3.0 MATLAB Engine v5.0

17. Environment Structure Program User Interface Simulation Module Graphical Animation Module Help-Instruct Module (PUI) (SIM) (GAM) (HIM)

18. Program User Interface (PUI) User Friendly Windows ’95/NT Interface Menus Multiple windows Control toolbars Interactive System Diagram Block Diagram representation of system Point-and-Click access

20. Use of the PUI Edit system parameters on-the-fly Change reference commands: - Signal generator - User joystick input Call up real-time graphs of signals & outputs Activate or deactivate a block Through the point-and-click system diagram interface, a user can:

21. Simulation Module (SIM) Numerical Simulation On-the-Fly Parameter Editing Fast compiled C++: >3000 Hz / 266MHz PII Better than real-time simulation Plant models Controller parameters Reference Commands, Disturbances, Noise, etc. Integration methods: Euler, Runge-Kutta 4, etc. Extensibility

22. Simulation Module: Extensibility Changing plant parameters on-the-fly Playback of externally generated simulation: e.g. MATLAB/SIMULINK Dynamic linking: MATLAB Engine... (Edit Mode) (Playback Mode) (External-Link Mode)

23. Graphical Animation Module (GAM) 3D Animation Direct-3D Texture-mapped, light-shaded polygons Wireframe copters from previous simulations Real-Time Variable Display Window 2D Animation Window: pitch indicator Real-time graph plotting Visualization Tools & Indicators (SMAC) Extensibility

24. Animation Module: Extensibility Direct-3D standard file format 3D modeling packages: e.g. 3D Studio Libraries of 3D objects widely available

25. Help-Instruct Module (HIM) On-line Help Instructions on using the environment Program reference HTML Documents Model documentation Interactive tutorials

26. Sikorsky UH-60 Blackhawk Aerodynamic Derivatives Near Hover

27. Utility of Environment Unstable backflapping mode Open-loop joystick control Stability of Closed-loop system under automatic control Closed-loop user joystick control

32. Summary Versatile system-specific interactive MoSART environments Windows / C++ / Direct3D / MATLAB User friendly: accessible & intuitive User can alter system model structure & parameters (on-the-fly) Highly extensible: can incorporate new simulation/animation models

33. Future Directions More visual indicators Advanced SIM and GAM Expanded HIM: web support, multimedia Enhanced integration with MATLAB Integrated design & analysis environment http://www.eas.asu.edu/~aar/research/mosart/Presentations/Barcelona/index.htm Online presentation available at: … development of MoSART Facility at ASU