PoolSim HLA-PoolSim HLA-Compatible SimulationCompatible Simulation

Carleton University Simulator Carleton University Simulator Project (CUSP) Systems TeamProject (CUSP) Systems Team

February 6February 6thth, 2003, 2003

Systems Team MembersSystems Team Members

44thth Year Engineering Students Year Engineering Students

Mark DeAbreu (Computer Systems)Mark DeAbreu (Computer Systems) Marc LeBlanc (Computer Systems)Marc LeBlanc (Computer Systems) Rae-Anne Moss (Communications)Rae-Anne Moss (Communications) Peter Wozniak (Aerospace Electronics)Peter Wozniak (Aerospace Electronics)

PoolSim Goals & RationalePoolSim Goals & Rationale

To create a High Level Architecture-To create a High Level Architecture-compatible simulationcompatible simulation

To gain experience with the DoD To gain experience with the DoD DMSO Run-Time InfrastructureDMSO Run-Time Infrastructure

To design a small-scale prototype of To design a small-scale prototype of a real-time system envisioned for a a real-time system envisioned for a motion simulator systemmotion simulator system

PoolSim DesignPoolSim Design

User FederateUser Federate

Queries simulation parameters from Queries simulation parameters from user to form Table objectuser to form Table object

Allows user to control simulation via Allows user to control simulation via RTI interactions:RTI interactions:– Change velocity of ballChange velocity of ball– Pause/resume simulationPause/resume simulation– Shut down all federatesShut down all federates

Timer FederateTimer Federate

Real-time simulation clock, Real-time simulation clock, eliminates need for RTI time eliminates need for RTI time management modelsmanagement models

Uses high-resolution performance Uses high-resolution performance counter of modern microprocessorscounter of modern microprocessors

Sends out “clock tick” interactions at Sends out “clock tick” interactions at regular intervalsregular intervals

Pauses/resumes tickingPauses/resumes ticking

Display FederateDisplay Federate

Subscribes to Ball and Table objects, Subscribes to Ball and Table objects, displays visual representation on displays visual representation on screenscreen

Graphics implemented using OpenGLGraphics implemented using OpenGL

Physics FederatePhysics Federate

Publishes Ball objectPublishes Ball object Uses current state of Table and Ball Uses current state of Table and Ball

objects to compute new state of the objects to compute new state of the Ball objectBall object

Takes into accountTakes into account– Co-efficient of elasticity for bumpersCo-efficient of elasticity for bumpers– Co-efficient of friction for surfaceCo-efficient of friction for surface– User interactionsUser interactions

Current Team EffortsCurrent Team Efforts

Integration of CarWorld automobile Integration of CarWorld automobile simulation into the HLA-compatible simulation into the HLA-compatible Single Degree of Freedom Single Degree of Freedom Demonstrator (SiDFreD)Demonstrator (SiDFreD)

Goal for March 2003: moving the Goal for March 2003: moving the SiDFreD platform based on vehicle SiDFreD platform based on vehicle dynamics of CarWorlddynamics of CarWorld