Criteria for rapid prototyping

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
behaviorFoo
Read_object
LoadClass(Foo,)
Object Description
Add_to_db
Foo.class
7
Impulse simulation loop
Evolve behavior
Exec_Java_proc(_at_foo,...)
X,q
F,T
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
spring
link2
Impulse model
Simulink model