To-do-list based on observations in April basin slot |
---|
Inspect agent messages to trace the set XMF states by the basin |
Inspect main sheet control to avoid an initial value of 0, which might be caused by the embedded GUI. |
Create a tagged version of the XMF configuration files, which were used in the April slot. |
Root cause analysis of the missing logged samples at t=0.1s. |
Doubts about meaning of set integer for status value by agent (0,1,2), info only. |
Write a MIL procedure to check your XMF model behavior after enabling the re-initialize state. |
Version 2023.02.1 of xSimulation must be used.
It can be downloaded from this location:
I:\Applications\xsimulation\Releases\202302
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.
Created branches and tags are listed below.
Table: Listed versions and associated descriptions
Version | Description |
---|---|
1.0 | Maintenance branch for the the first Offshore Basin slot in April/May2023 |
1.0.0 | First tagged version of the maintenance branch 1.0 (OB April/May 2023) |
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.
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:
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
with Xsfviewer and FT. Although after inspecting the correct initial position and attitude in the viewer, it is more convenient to make use of FT to run multiple episodes.
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.
The main.xmf
of the is mode is saved at this location: xmf\general\mode\gui
. The physics of the Optimist model is part of the hull body hydrodynamic nodes and the three coupled bodies by means of constraints. The three actuators (main sheet, rudder, ballast weight) can be controlled by an embedded GUI in the Xsfviewer. This mode allows you to simulate sailing an Optimist and obtain a better understanding about the actions and consequences of these actions. Experienced sailors can comment on the realism of the physics in this mode.
The main.xmf
of the is mode is saved at this location: xmf\general\mode\agent
. This physics of this mode is identical to the previous mode. The three controls of this mode are now coupled to the RL-agent to operate the Optimist. For practical reasons the model will only be operated in Fast-time (FT), although runs can also be visualized with Xsfviewer and an active RL-agent
The main.xmf
of the is mode is saved at this location: xmf\general\mode\basinGui
.