Which version of the simulation software must be used?

Version 2023.02.1 of xSimulation must be used.

It can be downloaded from this location:

I:\Applications\xsimulation\Releases\202302 

Repository with the XMF configuration files

The AI-Sail XMF configuration files are saved in a SVN repository.

The url of this repository is:

https://svn.marin.nl/external/projects/34213_AI_Sail

This repository contains the trunk, branches and tags as depicted below. For now the files are only saved and edited in the trunk. At a later stage branches and tags will be made for version control.  

How is the simulation environment configured?

The xmf  directory contains a number of directories, which are listed in the figure below.

The _info directory contains all available background information, which was used to set-up the numerical XMF model. This information consists for example of papers, script, drawings and CAD files. 

The supported modes

At this moment four modes of the numerical model are supported. These modes are listed below and further explained in the paragraphs of this section.  

Modes:

1. Xsfviewer with embedded Optimist GUI
2. Fast-time (FT) and the RL-agent
3. The basin with Xsfviewer and GUI
4. The basin, FT and the RL-agent 

A dedicated main.xmf file is available for each mode. Accordingly, XMF nodes can be included/excluded and enabled/disabled to obtain the required behavior of the mode. If the basin is not included, a physics model in XMF will be used to model the Optimist's behavior. When the basin controls XMF, the Optimist's state from the basin is directly set to the bodies and actuators in XMF. With this solution the interface between XMF and the RL-agent remains intact. There is no intrusive behavior on this interface once the basin is included. 

The main.xmf file is called by an input.xmf file. The input.xmf file is extended with property references, which are favorable for the preferred mode. These property references can be set on the command line or selected in the basin by means of the MIL-GUI (Model-In-the-Loop Graphical User Interface). This GUI is generic and only supports the coupling between the basin and XMF. 

The main.xmf  files supporting the four modes are located in directories of the xmf/general/mode directory. Two modes include the basin. The gui operates with the Xsfviewer and the agent in FT.

The input.xmf files are saved in the run directory as displayed in the snapshot below. Here the conventions of the MIL coupling between the basin and XMF are followed.

The mil_benchmarks directory contains the basic checks (benchmarks), which are executed in the basin prior to any MIL project. The test matrix for the MIL application in the basin are saved in mil_testMatrix directory. The input.xmf files of the other modes (gui and agent) are saved in the mil_none directory. 

Xsfviewer and the supported Optimist GUI

Fast-time (FT) and the RL-agent

The basin and the Xsfviewer with the GUI

The basin, FT and the RL-agent