Abstract
In the field of co-simulation, the construction of a bridge between different simulators and the solution of problems, like synchronization and data translation, are some of the main challenges. This paper presents a generic architecture to support environments for geographically distributed co-simulation, called distributed co-simulation backbone, which is based on HLA (High-level architecture) and FMI (Functional Mock-up Interface). This architecture is very flexible and does not enforce code modifications off the simulators integrated into the environment.
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Notes
- 1.
MiL: Model in the Loop, SiL: Software in the Loop.
- 2.
Institute for Information Technology (Oldenburg, Germany).
- 3.
Gdansk University of Technology (Gdansk, Poland).
- 4.
Hardware in the Loop.
- 5.
AVL Software and Functions GmbH.
- 6.
- 7.
Remote Method Invocation.
- 8.
Field Programmable Gate Array.
- 9.
- 10.
Like almost every technology, AIS is subject to specific restriction and limitations, too. Because of the dual character of AIS data (disengageable, dependent on the human initiated processes) and the dependency on other onboard devices (for example the GPS receiver) there is still a margin for errors in both the static as well as the dynamic data. Insofar, a possibility cannot be ruled out, that AIS data is wrong or not meaningful during important maneuvers of a vessel. Source: ANNUAL OF NAVIGATION 19/2012/part 1. DOI: https://doi.org/10.2478/v10367-012-0001-0.
- 11.
National Marine Electronics Association. The NMEA 0183 Standard, a communication standard defined by the NMEA organization (www.nmea.org), defines a communication protocol that enables navigation instruments and devices to exchange data with each other. The NMEA 0183 Interface Standard defines electrical signal requirements, data transmission protocol and time, and specific sentence formats for a 4800-baud serial data bus.
- 12.
Open initiative of German maritime industry for improving safety and efficiency in maritime transportation systems.
- 13.
HLA standards: IEEE 1516-2000: High Level Architecture (Framework and Rules), IEEE 1516.1-2000: High Level Architecture (Federate Interface Specification), IEEE 1516.1-2000: Errata (16. Oct. 2003), IEEE 1516.2-2000: High Level Architecture (Object Model Template (OMT) Specification, IEEE 1516.3-2003: Recommended Practice for HLA Federation Development and Execution Process (FEDEP). Our model is based on the S-100 standard. S-100 is the document that explains how the IHO will use and extend the ISO 19100 series of geographic standards for hydrographic, maritime and related issues. S-100 extends the scope of the existing S-57 Hydrographic Transfer standard. Unlike S-57, S-100 is inherently more flexible and makes provision for such things as the use of imagery and gridded data types, enhanced metadata and multiple encoding formats. It also provides a more flexible and dynamic maintenance regime via a dedicated on-line registry.
- 14.
Independent Co-Simulation.
- 15.
Real time.
- 16.
Three translations of a ship’s center of gravity in the direction of the x-, y-, and z-axes:
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surge in the longitudinal x-direction, positive forward
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sway in the lateral y-direction, positive to the port side
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heave in the vertical z-direction, positive upward
-
- 17.
ADMIRALTY TotalTide (ATT) provides bridge crews with fast, accurate tidal height and tidal stream predictions for more than 7000 ports and 3000 tidal streams worldwide.
- 18.
NAVAREAs are the geographic areas in which various governments are responsible for navigation and weather warnings.
- 19.
The International Rules shipping traffic rules were formalized in the Convention on the International Regulations for Preventing Collisions at Sea, 1972, and became effective on July 15, 1977. The Rules (commonly called 72 COLREGS) are part of the Convention, and vessels flying the flags of states ratifying the treaty are bound to the Rules.
- 20.
Vincenty’s formulae are two related iterative methods used in geodesy to calculate the distance between two points on the surface of a spheroid, developed by Thaddeus Vincenty in 1975. They are based on the assumption that the figure of the Earth is an oblate spheroid, and hence are more accurate than methods such as great-circle distance which assume a spherical Earth (http://en.wikipedia.org/wiki/Vincenty‘s_formulae).
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Akkermann, A., Hjøllo, B.Å., Siegel, M. (2020). Maritime Co-simulation Framework: Challenges and Results. In: Leitner, A., Watzenig, D., Ibanez-Guzman, J. (eds) Validation and Verification of Automated Systems. Springer, Cham. https://doi.org/10.1007/978-3-030-14628-3_19
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