GK-DEVS: 3차원 인간제작 시스템의 시뮬레이션을 위한 형상 기구학 DEVS

GK-DEVS: Geometric and Kinematic DEVS for Simulation of 3 Dimensional Man-Made Systems

Presented in this paper is a modeling and simulation methodology for 3 dimensional man-made systems. Based on DEVS(discrete event system specification) formalism[13], we propose GK -DEVS (geometrical and nematic DEVS) formalism to describe the geometrical and kinematic structure and continuous state dynamics. To represent geometry and kinematics, we add a hierarchical structure to the conventional atomic model. In addition, we employ the empty event and its external event function for continuous state changing. In terms of abstract simulation algorithm[13], the ation method of GK-DEVS, named GK-Simulator, is proposed for combined discrete-continuous simulation. Using GK-DEVS, the simulation of an FMS(flexible manufacturing system) consisting of a turing machine, a 3-axis machine and a RGV-mounted robot has been performed.