1. Control Software Features  Modularity and flexibility to ensure the long-term viability and scalability of the MUST-SIM Control System  System setup and tuning  Programmable error detect and responses  Comprehensive safety features  Remote troubleshooting capability  Real time monitoring

2. Shore Western Control System  Network interfaced digital servo controller  Friendly software providing a complete control over the entire hardware  Multiple system can be run and synchronized through a network  Graphical user interface

3. Load Control Software for LBCBs Application Architecture DAQ Controller Box Master Communication Level Master Control Command Level Servo Wizard Interface Motion Base Box Master Hardware Level LBCB Master Board

4. Load Control Software for LBCBs Motion Base (Command Input Program with GUI)

5. Load Control Software for LBCBs Servo Wizard (Controller-inner loop)

6. Load Control Software for LBCBs Calibration Window

7. Servo Wizard Program LBCB Control Software

8. Servo Wizard Program LBCB Control Software

9. Servo Wizard Program LBCB Control Software

10. Servo Wizard Program LBCB Control Software

11. Servo Wizard Program LBCB Control Software

12. PID Position Command Load Command G -1 ActG Structure l ® x x ® l inner loop PID LBCB outer loop Shore Western Outer Loop Design  Any combinations of 6 actions (3 forces and 3 moments) and 6 motions (3 translations and 3 rotations)  Algorithm to converge to the command position and load  Taking account of limitations (sensor capacities, platform position and pin angle limits)