A vector graph object-based modeling technique for complex physical systems

Traditional dynamic analyses do not allow for systematic and routine development of governing equations independent of the physical topology and constraints. Thus, an automated approach to developing such equations is not possible for a sufficiently large class of problems. Most simulation and modeling applications are based on the classical dynamic methods which restricts their use to a limited subset of physical systems. The vector graph theoretic methods have been successfully used to derive the dynamic models of a diverse set of physical systems. The vector graph theory provides for an automated process that can be used for many dynamics systems The researchers at Clark Atlanta University, have established an integrated and open simulation environment as part of the Virtual Environment Robot Controller Design (VERCD) project. The core component of the VERCD framework is the hybrid simulation engine which uses an object-oriented model and vector graph approach to perform dynamic analysis. This paper focuses on a hybrid simulation engine as it relates to real-time simulation environment to perform the dynamic analysis on a wide variety of physical models.