A Modelica Power System Library for Phasor Time-Domain Simulation
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Applying Reinforcement Learning to Modelica Models
ModelicaGym: Applying Reinforcement Learning to Modelica Models Oleh Lukianykhin∗ Tetiana Bogodorova [email protected] [email protected] The Machine Learning Lab, Ukrainian Catholic University Lviv, Ukraine Figure 1: A high-level overview of a considered pipeline and place of the presented toolbox in it. ABSTRACT CCS CONCEPTS This paper presents ModelicaGym toolbox that was developed • Theory of computation → Reinforcement learning; • Soft- to employ Reinforcement Learning (RL) for solving optimization ware and its engineering → Integration frameworks; System and control tasks in Modelica models. The developed tool allows modeling languages; • Computing methodologies → Model de- connecting models using Functional Mock-up Interface (FMI) to velopment and analysis. OpenAI Gym toolkit in order to exploit Modelica equation-based modeling and co-simulation together with RL algorithms as a func- KEYWORDS tionality of the tools correspondingly. Thus, ModelicaGym facilit- Cart Pole, FMI, JModelica.org, Modelica, model integration, Open ates fast and convenient development of RL algorithms and their AI Gym, OpenModelica, Python, reinforcement learning comparison when solving optimal control problem for Modelica dynamic models. Inheritance structure of ModelicaGym toolbox’s ACM Reference Format: Oleh Lukianykhin and Tetiana Bogodorova. 2019. ModelicaGym: Applying classes and the implemented methods are discussed in details. The Reinforcement Learning to Modelica Models. In EOOLT 2019: 9th Interna- toolbox functionality validation is performed on Cart-Pole balan- tional Workshop on Equation-Based Object-Oriented Modeling Languages and arXiv:1909.08604v1 [cs.SE] 18 Sep 2019 cing problem. This includes physical system model description and Tools, November 04–05, 2019, Berlin, DE. ACM, New York, NY, USA, 10 pages. its integration using the toolbox, experiments on selection and in- https://doi.org/10.1145/nnnnnnn.nnnnnnn fluence of the model parameters (i.e. -
Reusing Static Analysis Across Di Erent Domain-Specific Languages
Reusing Static Analysis across Dierent Domain-Specific Languages using Reference Attribute Grammars Johannes Meya, Thomas Kühnb, René Schönea, and Uwe Aßmanna a Technische Universität Dresden, Germany b Karlsruhe Institute of Technology, Germany Abstract Context: Domain-specific languages (DSLs) enable domain experts to specify tasks and problems themselves, while enabling static analysis to elucidate issues in the modelled domain early. Although language work- benches have simplified the design of DSLs and extensions to general purpose languages, static analyses must still be implemented manually. Inquiry: Moreover, static analyses, e.g., complexity metrics, dependency analysis, and declaration-use analy- sis, are usually domain-dependent and cannot be easily reused. Therefore, transferring existing static analyses to another DSL incurs a huge implementation overhead. However, this overhead is not always intrinsically necessary: in many cases, while the concepts of the DSL on which a static analysis is performed are domain- specific, the underlying algorithm employed in the analysis is actually domain-independent and thus can be reused in principle, depending on how it is specified. While current approaches either implement static anal- yses internally or with an external Visitor, the implementation is tied to the language’s grammar and cannot be reused easily. Thus far, a commonly used approach that achieves reusable static analysis relies on the trans- formation into an intermediate representation upon which the analysis is performed. This, however, entails a considerable additional implementation effort. Approach: To remedy this, it has been proposed to map the necessary domain-specific concepts to the algo- rithm’s domain-independent data structures, yet without a practical implementation and the demonstration of reuse. -
Introduction to Dymola
DYMOLA AND MODELICA Course overview DAY 1 Dymola and Modelica I • Introduction Dymola, Modelica, Modelon • Lecture 1 Overview of Dymola and Physical modeling . Workshop 1 Workflow of modeling physical systems in Dymola • Lecture 2 Simulation and post-processing with Dymola . Workshop 2 Simulating and analyzing a physical system • Lecture 3 Configure system models . Workshop 3 Creating a reconfigurable system DAY 2 Dymola and Modelica I • Lecture 4 Modelica I – Writing Modelica models . Workshop 4a Cauer low pass filter using Electric Library . Workshop 4b A moving coil using Magnetic, Electric and Translational mechanics libraries . Workshop 4c Temperature control using Heat transfer Library • Lecture 5 Understanding equation-based modeling . Workshop 5 Defining boundary conditions • Lecture 6 Trouble shooting and common pitfalls . Workshop 6 Common pitfalls DAY 3 Dymola and Modelica II • Lecture 7 Modelica II – Advanced features . Workshop 7 Implementing a solar collector • Lecture 8 Working with the Modelica Standard Library . Workshop 8a Lamp logic using StateGraph II . Workshop 8b Suspension linkage using MultiBody mechanics • Lecture 9 Hybrid modeling . Workshop 9a Hybrid examples . Workshop 9b Hammer impact model . Workshop 9c Designing a thermostat valve DAY 4 Dymola and Modelica II • Lecture 10 Efficient and reconfigurable modeling . Workshop 10 Creating a system architecture based on templates and interfaces • Lecture 11 Model variants and data management . Workshop 11 Creating a data architecture and adaptive parameter interfaces • Lecture 12 FMI technology . Workshop 12a Import and Export FMUs in Dymola . Workshop 12b FMI with Excel . Workshop 12c FMI with Simulink DAY 5 Dymola and Modelica II • Lecture 13 Workflow automation and scripting . Workshop 13 Automated sensitivity analysis • Lecture 14 Dymola code with other tools . -
Automated Annotation of Simulink Generated C Code Based on the Simulink Model
DEGREE PROJECT IN COMPUTER SCIENCE AND ENGINEERING, SECOND CYCLE, 30 CREDITS STOCKHOLM, SWEDEN 2020 Automated Annotation of Simulink Generated C Code Based on the Simulink Model SREEYA BASU ROY KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE Automated Annotation of Simulink Generated C Code Based on the Simulink Model SREEYA BASU ROY Master in Embedded Systems Date: September 25, 2020 Supervisor: Predrag Filipovikj Examiner: Matthias Becker School of Electrical Engineering and Computer Science Host company: Scania CV AB Swedish title: Automatisk Kommentar av Simulink Genererad C kod Baserad på Simulink Modellen iii Abstract There has been a wave of transformation in the automotive industry in recent years, with most vehicular functions being controlled electron- ically instead of mechanically. This has led to an exponential increase in the complexity of software functions in vehicles, making it essential for manufactures to guarantee their correctness. Traditional software testing is reaching its limits, consequently pushing the automotive in- dustry to explore other forms of quality assurance. One such technique that has been gaining momentum over the years is a set of verification techniques based on mathematical logic called formal verification tech- niques. Although formal techniques have not yet been adopted on a large scale, these methods offer systematic and possibly more exhaus- tive verification of the software under test, since their fundamentals are based on the principles of mathematics. In order to be able to apply formal verification, the system under test must be transformed into a formal model, and a set of proper- ties over such models, which can then be verified using some of the well-established formal verification techniques, such as model check- ing or deductive verification. -
Lecture #4: Simulation of Hybrid Systems
Embedded Control Systems Lecture 4 – Spring 2018 Knut Åkesson Modelling of Physcial Systems Model knowledge is stored in books and human minds which computers cannot access “The change of motion is proportional to the motive force impressed “ – Newton Newtons second law of motion: F=m*a Slide from: Open Source Modelica Consortium, Copyright © Equation Based Modelling • Equations were used in the third millennium B.C. • Equality sign was introduced by Robert Recorde in 1557 Newton still wrote text (Principia, vol. 1, 1686) “The change of motion is proportional to the motive force impressed ” Programming languages usually do not allow equations! Slide from: Open Source Modelica Consortium, Copyright © Languages for Equation-based Modelling of Physcial Systems Two widely used tools/languages based on the same ideas Modelica + Open standard + Supported by many different vendors, including open source implementations + Many existing libraries + A plant model in Modelica can be imported into Simulink - Matlab is often used for the control design History: The Modelica design effort was initiated in September 1996 by Hilding Elmqvist from Lund, Sweden. Simscape + Easy integration in the Mathworks tool chain (Simulink/Stateflow/Simscape) - Closed implementation What is Modelica A language for modeling of complex cyber-physical systems • Robotics • Automotive • Aircrafts • Satellites • Power plants • Systems biology Slide from: Open Source Modelica Consortium, Copyright © What is Modelica A language for modeling of complex cyber-physical systems -
Introduction to Simulink
Introduction to Simulink Mariusz Janiak p. 331 C-3, 71 320 26 44 c 2015 Mariusz Janiak All Rights Reserved Contents 1 Introduction 2 Essentials 3 Continuous systems 4 Hardware-in-the-Loop (HIL) Simulation Introduction Simulink is a block diagram environment for multidomain simulation and Model-Based Design. It supports simulation, automatic code generation, and continuous test and verification of embedded systems.1 Graphical editor Customizable block libraries Solvers for modeling and simulating dynamic systems Integrated with Matlab Web page www.mathworks.com 1 The MathWorks, Inc. Introduction Simulink capabilities Building the model (hierarchical subsystems) Simulating the model Analyzing simulation results Managing projects Connecting to hardware Introduction Alternatives to Simulink Xcos (www.scilab.org/en/scilab/features/xcos) OpenModelica (www.openmodelica.org) MapleSim (www.maplesoft.com/products/maplesim) Wolfram SystemModeler (www.wolfram.com/system-modeler) Introduction Model based design with Simulink Modeling and simulation Multidomain dynamic systems Nonlinear systems Continuous-, Discrete-time, Multi-rate systems Plant and controller design Rapidly model what-if scenarios Communicate design ideas Select/Optimize control architecture and parameters Implementation Automatic code generation Rapid prototyping for HIL, SIL Verification and validation Essentials Working with Simulink Launching Simulink Library Browser Finding Blocks Getting Help Context sensitive help Simulink documentation Demo Working with a simple model Changing -
Exploitable Results by Third Parties 11004 MODRIO
Exploitable Results by Third Parties 11004 MODRIO Project details Project leader: Daniel Bouskela Email: [email protected] Website: https://www.modelica.org/external-projects/modrio 4 Exploitable Results by Third Parties 11004 MODRIO Name: O3PRM editor Input(s): Main feature(s) Output(s): . PRM (Probabilistic . Syntactic editor for O3PRM . Probability Relational Model) language distributions of written in the . Bayesian inference engine the requested O3PRM modeling variables language . Observations and requests on some variables of the PRM Unique Selling . Supports object oriented PRM Proposition(s): . Will soon be connected to Modelica models . Performance of inference algorithms . Free, open source . Web site including documentation, ready to use executable, source code: http://o3prm.lip6.fr Integration . Uses the Agrum open source library for inference constraint(s): Intended user(s): . In a first step: researchers interested in creating diagnosis applications. Then the users of such applications in the industry. Provider: . Lip6 (Laboratoire d’informatique de Paris 6) and EDF Contact point: . Marc Bouissou (EDF R&D) Condition(s) for . This software is currently under a GPL license reuse: Latest update: 19/04/2016 5 Exploitable Results by Third Parties 11004 MODRIO Name: SKELBO Figaro library Input(s): Main feature(s) Output(s): . Thermohydraulic . This library can be exploited . Fault tree(s) system architecture by the Figaro processor in order to generate a fault tree describing the causes of a thermohydraulic system failure . Describes failure modes (on demand and in function) of the most common thermohydraulic components, with the way they can propagate in a system . Includes 29 classes of objects that can be used to describe a system . -
FMI Target for Simulink Coder, It Is Now Possible to Export Models from Simulink to Any Platform That Supports Fmus for Co-Simulation
Supporting your vision Cross-Platform Modeling with FMI Target for Simulink® Coder™ Open technology standards for an integrated product lifecycle Engine Transmission Thermal EV/HV Chassis Compo- Models Models Systems Models nents Models Functional Mock-Up Interface The challenge for manufacturers of complex machinery that heavily rely on components from suppliers is the seamless exchange of data and specifications during the development. The same holds true for large corporates with multiple R&D departments at various locations using several development tools due to different objectives. Those challenges include different programming languages from the various tools, the lack of standardized model interfaces and the concerns for the protection of intellectual property. The development of the Functional Mock-up Interface (FMI) has enabled software-, model- and hardware-in-the-loop simulations with dynamic system models from different software environments. With the FMI Target for Simulink Coder, it is now possible to export models from Simulink to any platform that supports FMUs for Co-Simulation. FMI for Co-Simulation The goal is to couple two or more models with solvers in a co-simulation environment. The data exchange between subsystems is restricted to discrete communication points. The subsystems are processed independently from each other by their individual solvers during the time interval between two communication points. Master algorithms control the synchronization of all slave simulation solvers and the data exchange between the subsystems. The interface allows for both standard and advanced master algorithms, such as variable communication step sizes, signal extrapolation of higher order and error checking. FMI Target for Simulink® Coder™ FMI for Co-Simulation For the exchange of models across different platforms, the FMI Target for Simulink Coder enables the export of models from Simulink as FMUs for Co-Simulation. -
Making Simulink Models Robust with Respect to Change Making Simulink Models Robust with Respect to Change
Making Simulink Models Robust with Respect to Change Making Simulink Models Robust with Respect to Change By Monika Jaskolka, B.Co.Sc., M.A.Sc. a thesis submitted to the Department of Computing and Software and the School of Graduate Studies of McMaster University in partial fulfillment of the requirements for the degree of Doctor of Philosophy Doctor of Philosophy (December 2020) McMaster University (Software Engineering) Hamilton, ON, Canada Title: Making Simulink Models Robust with Respect to Change Author: Monika Jaskolka B.Co.Sc. (Laurentian University) M.A.Sc. (McMaster University) Supervisors: Dr. Mark Lawford, Dr. Alan Wassyng Number of Pages: xi, 206 ii For my husband, Jason iii Abstract Model-Based Development (MBD) is an approach that uses software models to describe the behaviour of embedded software and cyber-physical systems. MBD has become an increasingly prevalent paradigm, with Simulink by MathWorks being the most widely used MBD platform for control software. Unlike textual programming languages, visual languages for MBD such as Simulink use block diagrams as their syntax. Thus, some software engineering principles created for textual languages are not easily adapted to this graphical notation or have not yet been supported. A software engineering principle that is not readily supported in Simulink is the modularization of systems using information hiding. As with all software artifacts, Simulink models must be constantly maintained and are subject to evolution over their lifetime. This principle hides likely changes, thus enabling the design to be robust with respect to future changes. In this thesis, we perform repository mining on an industry change management system of Simulink models to understand how they are likely to change. -
Modeling and Simulation in Scilab/Scicos Mathematics Subject Classification (2000): 01-01, 04-01, 11 Axx, 26-01
Stephen L. Campbell, Jean-Philippe Chancelier and Ramine Nikoukhah Modeling and Simulation in Scilab/Scicos Mathematics Subject Classification (2000): 01-01, 04-01, 11 Axx, 26-01 Library of Congress Control Number: 2005930797 ISBN-10: 0-387-27802-8 ISBN-13: 978-0387278025 Printed on acid-free paper. © 2006 Springer Science + Business Media, Inc. All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, Inc., 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaption, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed in the United States of America. (BPR/HAM) 9 8 7 6 5 4 3 2 1 springeronline.com Preface Scilab (http://www.scilab.org) is a free open-source software package for scientific com- putation. It includes hundreds of general purpose and specialized functions for numerical computation, organized in libraries called toolboxes that cover such areas as simulation, optimization, systems and control, and signal processing. These functions reduce consid- erably the burden of programming for scientific applications. One important Scilab toolbox is Scicos. Scicos (http://www.scicos.org) provides a block-diagram graphical editor for the construction and simulation of dynamical sys- tems. -
Component-Oriented Acausal Modeling of the Dynamical Systems in Python Language on the Example of the Model of the Sucker Rod String
Component-oriented acausal modeling of the dynamical systems in Python language on the example of the model of the sucker rod string Volodymyr B. Kopei, Oleh R. Onysko and Vitalii G. Panchuk Department of Computerized Mechanical Engineering, Ivano-Frankivsk National Technical University of Oil and Gas, Ivano-Frankivsk, Ukraine ABSTRACT Typically, component-oriented acausal hybrid modeling of complex dynamic systems is implemented by specialized modeling languages. A well-known example is the Modelica language. The specialized nature, complexity of implementation and learning of such languages somewhat limits their development and wide use by developers who know only general-purpose languages. The paper suggests the principle of developing simple to understand and modify Modelica-like system based on the general-purpose programming language Python. The principle consists in: (1) Python classes are used to describe components and their systems, (2) declarative symbolic tools SymPy are used to describe components behavior by difference or differential equations, (3) the solution procedure uses a function initially created using the SymPy lambdify function and computes unknown values in the current step using known values from the previous step, (4) Python imperative constructs are used for simple events handling, (5) external solvers of differential-algebraic equations can optionally be applied via the Assimulo interface, (6) SymPy package allows to arbitrarily manipulate model equations, generate code and solve some equations symbolically. The basic set of mechanical components (1D translational “mass”, “spring-damper” and “force”) is developed. The models of a sucker rods string are developed and simulated using these components. The comparison of results of the sucker rod string simulations with practical dynamometer cards and Submitted 22 March 2019 Accepted 24 September 2019 Modelica results verify the adequacy of the models. -
Modelica and Fmi As Enablers for Virtual Product Innovation
OPEN STANDARDS IN SIMULATION MODELICA AND FMI AS ENABLERS FOR VIRTUAL PRODUCT INNOVATION Hubertus Tummescheit Board member, Modelica Association & co-founder of Modelon 1 OVERVIEW • Background and Motivation • Introduction – why open standards matter • Innovation in Model Based Design • Modelica – the equation based modeling language • The Functional-Mockup-Interface (FMI) • Examples • What’s next: upcoming innovations • Conclusions 2 The Modelica Association • An independent non-profit organization registered in Sweden. https://www.modelica.org • Members: ▪ Tool vendors ▪ Government research organizations ▪ Service providers ▪ Power users • Two standards and four core projects: ▪ The Modelica Language ▪ The Modelica Standard Library ▪ The FMI Standard for model exchange and co-simulation ▪ The SSP project for an upcoming standard on system structure and parameterization • FMI web site: http://www.fmi-standard.org • Next Modelica Conference: May 15-17 in Prague MOTIVATION: THE COMPLEXITY ISSUE ▪ System complexity increases ▪ Required time to market decreases (most industries) ▪ Without disruptive changes, an impossible equation to solve. Source: DARPA Large part of AVM project complexity is in software! 4 WHY OPEN STANDARDS ARE NEEDED • Computer Aided Engineering is a very fragmented industry • Tools evolved domain by domain • Interoperability has been an afterthought, at best • Today’s complex systems require interoperability! • An everyday challenge for engineering design • Open standards drastically reduce the cost of creating interoperability between tools • There is an interplay with open source: open source can also increase the speed of software innovation 5 TIE YOURSELF TO STANDARDS, NOT TOOLS! 1. It will be cheaper 2. It will keep software vendors on their toes to compete on tool capability, not quality of lock-in 3.