Building Software for Simulation Theory and Algorithms, with Applications in C++

by Nutaro, James J.

• ISBN13: 9780470414699
• ISBN10: 0470414693
• Edition: 1st
• Format: Hardcover
• Copyright: 2010-12-21
• Publisher: Wiley

Summary

This book offers a concise introduction to the art of building simulation software. It clearly demonstrates the five skills necessary for building simulations of complicated systems: abstractions for simulation dynamic systems; basic simulation algorithms for continuous and discrete event simulations; combining continuous and discrete event simulations into a coherent whole; strategies for testing a simulation; and theoretical foundations of the modeling constructs and simulation algorithms. This is indispensable reading for software programmers, developers, and engineers, and students in related courses.

Author Biography

James J. Nutaro, PhD, is an adjunct faculty member at the University of Tennessee in Knoxville and a member of the research staff at Oak Ridge National Laboratory. He has developed simulation software used by industrial, academic, and research organizations including Raytheon, Northrop Grumman, Intel, and several universities. Nutaro has published articles on modeling and simulation in ACM and IEEE journals. He is Associate Editor for Simulation: Transactions of the Society for Computer Simulation International as well as for ACM Transactions on Modeling and Computer Simulation, and is a member of the IEEE.

Table of Contents

Preface	p. ix
Introduction	p. 1
Elements of a Software Architecture	p. 2
Systems Concepts as an Architectural Foundation	p. 4
Summary	p. 5
Organization of the Book	p. 6
First Example: Simulating a Robotic Tank	p. 7
Functional Modeling	p. 8
A Robotic Tank	p. 9
Equations of Motion	p. 11
Motors, Gearbox, and Tracks	p. 13
Complete Model of the Tank's Continuous Dynamics	p. 17
The Computer	p. 18
Complete Model of the Tank	p. 22
Design of the Tank Simulator	p. 23
Experiments	p. 25
Summary	p. 30
Discrete-Time Systems	p. 32
Atomic Models	p. 33
Trajectories	p. 33
The State Transition and Output Function	p. 35
Two Examples of Atomic, Discrete-Time Models	p. 39
Systems with Bags for Input and Output	p. 42
A Simulator for Atomic Models	p. 42
Network Models	p. 53
The Parts of a Network Model	p. 54
The Resultant of a Network Model	p. 55
An Example of a Network Model and Its Resultant	p. 56
Simulating the Resultant	p. 61
A Simulator for Discrete-Time Systems	p. 77
Mealy/Moore-Type Systems	p. 89
Cellular Automata	p. 91
Summary	p. 98
Discrete-Event Systems	p. 100
Atomic Models	p. 101
Time and Trajectories	p. 101
The State Transition Function	p. 103
The Output Function	p. 105
Legitimate Systems	p. 106
An Example of an Atomic Model	p. 107
The Interrupt Handler in the Robotic Tank	p. 110
Systems with Bags for Input and Output	p. 114
A Simulator for Atomic Models	p. 114
Simulating the Interrupt Handler	p. 118
Network Models	p. 125
The Parts of a Network Model	p. 125
The Resultant of a Network Model	p. 126
An Example of a Network Model and Its Resultant	p. 128
Simulating the Resultant	p. 132
A Simulator for Discrete-Event Systems	p. 143
The Event Schedule	p. 144
The Bag	p. 153
The Simulation Engine	p. 157
The Computer in the Tank	p. 170
Cellular Automata Revisited	p. 176
Summary	p. 180
Hybrid Systems	p. 182
An Elementary Hybrid System	p. 185
Networks of Continuous Systems	p. 186
Hybrid Models as Discrete-Event Systems	p. 187
Numerical Simulation of Hybrid Systems	p. 190
A Simulator for Hybrid Systems	p. 198
Interactive Simulation of the Robotic Tank	p. 211
Correcting the Dynamics of a Turn	p. 211
A Simplified Model of the Motor	p. 213
Updating the Display	p. 218
Implementing the Tank Physics	p. 219
Approximating Continuous Interaction Between Hybrid Models	p. 225
A Final Comment on Cellular Automata	p. 229
Differential Automata with Constant Derivatives	p. 229
Modeling Asynchronous Cellular Automata with Differential Automata	p. 230
A Homomorphism from Differential Automata to Asynchronous Cellular Automata	p. 232
Summary	p. 236
Applications	p. 237
Control Through a Packet-Switched Network	p. 237
Model of the Pendulum and Its PID Controller	p. 238
Integration with an Ethernet Simulator	p. 244
Experiments	p. 249
Frequency Regulation in an Electrical Power System	p. 255
Generation	p. 257
Transmission Network and Electrical Loads	p. 259
Frequency Monitoring and Load Actuation	p. 260
Software Implementation	p. 261
Experiments	p. 262
Summary	p. 269
The Future	p. 271
Simulation Programming Languages	p. 271
Parallel Computing and Discrete-Event Simulation	p. 273
The Many Forms of Discrete Systems and Their Simulators	p. 276
Other Facets of Modeling and Simulation	p. 277
Design and Test of Simulations	p. 279
Decomposing a Model	p. 280
Bottom-Up Testing	p. 280
Invariants and Assertions	p. 281
Input and Output Objects	p. 281
Simple Structures	p. 282
Unions	p. 282
Pointers and Hierarchies of Events	p. 284
Mixing Strategies with Model Wrappers	p. 286
Reducing Execution Time	p. 291
Parallel Discrete Event Simulation	p. 296
A Conservative Algorithm	p. 298
Lookahead	p. 300
The Algorithm	p. 303
Implementing the Algorithm with OpenMP	p. 304
Pragmas, Volatiles, and Locks	p. 304
Overview of the Simulator	p. 308
The LogicalProcess	p. 309
The MessageQ	p. 318
The ParSimulator	p. 321
Demonstration of Gustafsort's and Amdahl's Laws	p. 325
Mathematical Topics	p. 331
System Homomorphisms	p. 331
Sinusoidal State-Steady Analysis	p. 333
References	p. 335
Index	p. 345
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