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ROBOTIC SIMULATION

The L-3 MAPPS robotic simulation development provides a flexible solution to your robotic simulations needs.

We offer our customers a whole range of possibilities, from a standalone model development platform to a completely integrated end-to-end customized simulator with hardware-in-the-loop. Capabilities include:

•Real-time flexible multi-body dynamics
•Real-time contact dynamics
•Kinematic mode
•Control system simulation or stimulation
•Control interface (GUI) emulation or stimulation
•Force and moment sensors
•Visual renderer
•Camera effects
•Joint motor hardware models
•Environment models (external forces, lighting)
•Electrical power generation and distribution
•Thermal solver (radiation, conduction)

REAL-TIME DYNAMICS


Models of large flexible robots require small time steps in order to realistically simulate the dynamic behaviour and to maintain the stability of the control loop. The L-3 MAPPS robotic simulation environment provides rates up to 1,000 Hz in real-time, with up to 100 flexible modes.

CONTROL SYSTEM SIMULATION/STIMULATION


The robotic control system can either be simulated, based on the controller specification, or the real vendor-provided software can be integrated and stimulated directly in the simulator. This controller software can be integrated in source code format or as a pre-compiled external library. The control system software can then be tested in a fully closed loop, with models of the environment, dynamics, sensors and actuators. This approach is also called a “software-in-the-loop” simulation.

HARDWARE-IN-THE-LOOP


Actual equipment can also be interfaced to the simulator via analog or digital interface models that call the specific hardware device drivers. In this manner, a hardware component can be stimulated and tested in a fully closed loop, with models of the environment, dynamics, sensors and actuators.

CUSTOMER-PROVIDED MODELS


Models from customers or equipment vendors can easily be encapsulated and integrated in the simulator. We
can integrate models written in Fortran, Ada, C or C++. Code generated from Matlab/ Simulink™ can also be encapsulated in our simulation environment. This permits the integration of models that the customer has already developed and validated and maximizes the re-use of models developed in other phases of the space vehicle development cycle.

VISUAL RENDERER


A  visual modeling and rendering environment is  provided in order to generate a synthetic view of  the  robot operation. Camera effects can be added in order to realistically simulate views as seen through cameras either attached or external to the robot. These effects include: depth-of-field focusing, exposure control, smearing, black and white, blooming, overlays and dynamic shadows.

COMPLETE LIFE-CYCLE SUPPORT


The simulator can be used from beginning to end of a robotic program:
•System/subsystem requirements verification
•System/subsystem design
•System/subsystem integration and testing
•Operations validation
•Operations support
•Training
 
The L-3 MAPPS space vehicle simulation development tool provides a flexible solution to your space systems simulations needs. We offer our customers a whole range of possibilities, from a standalone model development platform to a completely integrated end-to-end customized simulator with hardware-in-the-loop. Off-the-shelf models and code generators are available for most commonly required components, such as:
•Orbital and attitude dynamics
•Environment (atmosphere, magnetosphere, solar)
•Electrical power generation and distribution
•Thermal solver (radiation, conduction)
•Guidance and navigation sensors
•Attitude control subsystem
•Communication subsystem
•GPS clocks, receivers, transmitters
•Ground control subsystem (STOL procedures)
•CCSDS telemetry/telecommand encoding

OBJECT-ORIENTED MODELING ENVIRONMENT


Pre-validated elementary objects are available in object libraries to permit a rapid and reliable build of complex models. The objects are generic and are customizable to the specific equipment characteristics to be simulated.

SOFTWARE-IN-THE-LOOP


Actual control system software (flight code) can be integrated in the simulator just by creating a wrapper object for it.
The software can be  integrated in  source code format or  as an external library. The real control system software can then be tested in a fully closed loop, with models of the environment, dynamics, sensors and actuators.

HARDWARE-IN-THE-LOOP


Actual equipment can be interfaced to the simulator via analog or digital interface objects that call the specific hardware device drivers. In this manner, a hardware component can be stimulated and tested in a fully closed loop, with models of the environment, dynamics, sensors and actuators.

CUSTOMER-PROVIDED MODELS


Models from customers or equipment vendors can easily be encapsulated and integrated in the simulator. We
can integrate models written in Fortran, Ada, C or C++. code generated from Matlab/Simulink™ can also be encapsulated in our simulation environment. This permits the integration of models that the customer has already developed and validated and maximizes the re-use of models developed in other phases of the space vehicle development cycle.

COMPLETE LIFE-CYCLE SUPPORT


The simulator can be used from beginning to end of a space vehicle program:
•System/subsystem requirements verification
•System/subsystem design
•System/subsystem integration and testing
•Ground segment validation
•Operations support
•Training

REAL-TIME OR FASTER


The simulator can run in real-time for testing hardware-in- the-loop, for example, but can also run faster than real- time in order to permit the execution of several days of simulation in a few minutes
 

 


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