Building an Exemplar Simulation with DARTS Laboratory - 2023 Course
Explore the goals and motivations behind the Exemplar Simulation being developed at the DARTS Laboratory in August 2023. Dive deep into the architecture concepts, simulation requirements, and the reference problem involving a quadcopter vehicle. This course focuses on creating a full-up simulation showcasing Dshell architectural concepts and improvements, with a bottom-up approach. Join us in understanding the under-the-hood process and the integration of key new architectural elements.
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Presentation Transcript
Dynamics and Real-Time Simulation (DARTS) Laboratory Exemplar Sim Goals Building an Exemplar Sim 2023 DARTS Lab Course Abhinandan Jain, Aaron Gaut, Carl Leake, Vivian Steyert, Tristan Hasseler, Asher Elmland, Juan Garcia Bonilla August 2023 https://dartslab.jpl.nasa.gov/ https://dartslab.jpl.nasa.gov/ 1
Exemplar sim topics overview Exemplar sim goals Creating the Vehicle assembly Creating the SimulationExecutive Setting up DataLogging Running the simulation Rendering related models 2
Motivation We have had a chance to see the various Dshell architecture components and ideas from the top- level However, we have not had a chance to see the how pieces come together and the under-the-hood process 3
Goals of the Exemplar Sim We will take a bottom-up approach to build a full-up simulation to demonstrate how the Dshell architectural concepts come together We will also use this exercise to describe key new architectural improvements that are being developed, and transitioned to, during this process 4
Representative Simulation Requirements Functionality Vehicle dynamics model with closed loop control interacting with the environment Usability Support multiple configurations Command line interface Input deck Parameter setting Datalogging Visualization 5
Simulation Reference Problem We have been using the quadcopter vehicle as a way to introduce various approaches to modeling it and to introduce Dshell concepts We will revisit this same problem, and use it as a reference problem for today s session 7
Simulation structure Command line interface (CLI) Input decks Scenario script SimulationExecutive Data Logging Controller Vehicle Environment Visualization Flight dynamics 8
Organization and Process We will walk through the process of meeting the simulation requirements in multiple sessions We will also introduce new capabilities and simulation style concepts that are being developed We will not use notebooks instead we will use live demonstrations 9
