FhSim Time domain simulation and visualization of dynamic systems

Motivation Accumulate knowledge through software, and avoid ad- hoc programming. Provide basis for future projects. Nonlinear dynamic systems are often best described in the time domain. Visualization provides improved understanding of systems.

Associated projects Present Anchor lines for real time simulation (OSC) State estimator for trawl system surveillance (Rolls-Royce) Trawl optimization for fishermen Future Training simulator in Trondheim (Fisheries, oil spill prevention) Trawl control systems Further projects for OSC Aquaculture net cage design and mooring system.

Features of fhSim Flexible Supports various integration methods, both fixed and variable time step. Simulation objects can be compiled into dll’s, making various programming languages possible. License manager has separate licenses for each simulation object. 3D visualization Uses OGRE3D (Object-Oriented Graphics Rendering Engine) Each simulation object contains its own visualization methods and properties. Visualization can utilize the GPU, relieving the CPU. Setup The simulation is set up through XML. Output 3D visualization Output file Postscript plot

Simulation object Mass point States: Pos [3] Vel [3] Properties: Mass [1] Force [3] Pos [3] Vel [3] dVel/dt [3]dPos/dt [3] Input ports Output ports State derivatives

fhSim main architecture SO Integrator DllWrapper Port I/O SO File I/O ModelStructure Dll FhSim Method License manager

FhSim main architecture with visualization SO Integrator DllWrapper Port I/O SO File I/O ModelStructure Dll Visualization FhSim Input Camera Scene Extended with visualization methods Added visualization methods Method License manager