Research Initiation Award: A Problem Solving Environment for Mechanical System Simulation

该项目涉及实验研究， 机械系统仿真的问题解决环境。 具体来说，该研究开发了软件工具，便于快速，高层次的机械系统仿真器的创建。 这些工具用于生成各种应用的模拟器，包括实时车辆模拟，腿部运动和机器人，以及碰撞和接触问题的调查。 有一个很大的兴趣在工程和科学问题的问题解决环境（PSE）的发展。 其中一个关键的挑战在于开发计算机科学技术，使支持技术，如计算机代数系统，数值分析库，几何建模系统和面向对象的编程系统的集成。 本研究通过集中在一个定义明确但内容丰富的领域，刚体动力学仿真来解决这个问题。 该项目有两个具体目标：（1）通过使其更容易， 创建和修改动态模拟器，以及（2）开发从该领域扩展到更一般的问题解决环境的软件架构和软件工具。 的软件工具，以产生动力学模拟器的一些不同的应用程序证明了该方法的力量。

This project involves experimental research to develop problem solving environment for mechanical system simulation. Specifically, the research develops software tools that facilitate rapid, high-level creation of mechanical system simulators. These tools are used to generate simulators for a variety of applications, including real-time vehicle simulation, legged locomotion and robotics, and investigation of collision and contact problems. There is a great interest in the development of problem solving environments (PSEs) for engineering and science problems. One of the key challenges lies in developing computer science techniques that enable integration of supporting technologies such as computer algebra systems, numerical analysis libraries, geometric modeling systems, and object-oriented programming systems. This research attacks the problem by concentrating on one well-defined but rich domain, rigid-body dynamics simulation. The project has two specific goals: (1) advance the state of the art in mechanical system simulation by making it easier create and modify dynamics simulators, and (2) develop a software architecture and software tools that extend from this domain to more general problem solving environments. of the software tools to generate dynamics simulators for a number of different applications demonstrate the power of the approach.