DEVS Graph In Modelica For Real-Time Simulation

Abstract

Two new Modelica libraries are presented. The first library, named GGADLib, supports the DEVS graph notation in Modelica. The second Modelica library, named UDPLib, allows sending and receiving data using the User Datagram Protocol (UDP). GGADLib uses UDPLib. As a result, DEVS graph models composed using GGADLib can receive and send data (input and output events, according to DEVS terminology) using UDP. This feature allows Modelica DEVS graph models to communicate with hardware and with other models, e.g., with models developed using other languages and tools, and running in other computers. The implementation of UDPLib and GGADLib is discussed in this paper. Their use is illustrated by means of a case study: evaluating an obstacle avoidance controller for the e-puck mobile robot. The UDPLib and GGAD-Lib Modelica libraries can be freely downloaded from