Multifacetted modelling and discrete event simulation
Multifacetted modelling and discrete event simulation
Numerical analysis: 4th ed
A multimodel methodology for qualitative model engineering
ACM Transactions on Modeling and Computer Simulation (TOMACS)
V-COLLIDE: accelerated collision detection for VRML
VRML '97 Proceedings of the second symposium on Virtual reality modeling language
The annotated VRML 2.0 reference manual
The annotated VRML 2.0 reference manual
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Theory of Modelling and Simulation
Theory of Modelling and Simulation
Architecture for modeling, simulation, and execution of PLC based manufacturing system
Proceedings of the 40th Conference on Winter Simulation
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A combined discrete/continuous simulation methodology based on the DEVS (discrete event system specification) formalism is presented in this paper that satisfies the simulation requirements of 3-dimensional and dynamic systems with multi-components. We propose a geometric and kinematic DEVS (GK-DEVS) formalism that is able to describe the geometric and kinematic structure of a system and its continuous state dynamics as well as the interaction among the multi-components. To establish one model having dynamic behavior and a particular hierarchical structure, the atomic and the coupled model of the conventional DEVS are merged into one model in the proposed formalism. For simulation of the continuous motion of 3-D components, the sequential state set is partitioned into the discrete and the continuous state set and the rate of change function over the continuous state set is employed. Although modified from the conventional DEVS formalism, the GK-DEVS formalism preserves a hierarchical, modular modeling fashion and a coupling scheme. Furthermore, for the GK-DEVS model simulation, we propose an abstract simulation algorithm, called a GK-Simulator, in which data and control are separated and events are scheduled not globally but hierarchically so that an object-oriented principle is satisfied. The proposed GK-DEVS formalism and the GK-Simulator algorithm have been applied to the simulation of a flexible manufacturing system consisting of a 2-axis lathe, a 3-axis milling machine, and a vehicle-mounted robot.