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FhSim
3.1.0
Marine systems simulation
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FhSim
3.1.0
Marine systems simulation
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| ►FhSim Base | Essential models for numerical simulation, e.g. visual objects, signals, math, ports |
| ►Adaptive | SimObjects mainly related to adaptive behavior using feedback laws, e.g. Kalman filters |
| Cable pendulum | Lumped mass cable pendulum with drag |
| Virtual current | Virtual sea current field |
| ►Anchor | Some Anchor SimObjects |
| Fluke Anchor | A fluke anchor |
| Torpedo Anchor | A torpedo anchor |
| ►Ballbox | Ball and Box SimObjects intended for showcasing |
| Ball in Box | Balls that elastically bounce inside a box |
| Box with Ball | 3D box to contain a ball |
| ►Body | Generic point mass and body and rigid body SimObjects. Also a Tanker vessel |
| 3D Body | 3DOF rigid body with gravity |
| 6D Body | 6DOF rigid body with gravity |
| 3D Mass | 3DOF point mass without gravity |
| ►Boolean | SimObjects for boolean operations |
| And | A boolean AND operation |
| Equal | Checks whether two ports have equal value |
| Not | A boolean NOT operations |
| Or | A boolean OR operation |
| ►Cable | Cable SimObjects |
| A mass-lumped cable | Spring-mass cable SimObject with Hydrodynamic loads and bottom contact; winchable from both ends |
| Linear Spring | A linear spring in 3 degrees of freedom |
| Environment | Environment SimObjects, including simple sea bed and water |
| ►Kalman | Sample SimObjects mainly related to Kalman filtering |
| Hydro Ball | Hydrodynamic sphere with gravity, buoyancy, drag, and external forces |
| Hydro Cable | Hydrodynamic cable with gravity, buoyancy, drag. Mass-lumped |
| Kalman HydroBall | Hydrodynamic ball with Kalman filtering capabilities |
| Kalman HydroCable | Hydrodynamic ball with Kalman filtering capabilities |
| Kalman Pendulum | Pendulum with Kalman filter extension |
| Pendulum | Simple kinematic pendulum |
| Zero Dynamics | Classic zero dynamic used in Kalman filtering |
| ►Math | SimObjects mainly related to math operations |
| Low-pass filter | Simple low-pass filter |
| Absolute | The output is the absolute value of the input |
| Bias | A Bias, or offset,which is given as a parameter, is added to the input |
| Derivative | Output is the time derivative of input |
| Divide | Divides inputs |
| Gain | A general gain object with port width and gain ratio decided by input parameters |
| Integrator | Integrates signal |
| Linear mapping | Linear combination mapping |
| Linear system | Linear time-invariant system |
| Logic | A general logics object |
| Math function | Perform mathematical functions |
| Product | Multipy inputs |
| Saturation | Limit range of signal |
| Sign | Output is 1 if input > 0, 0 if input is equal to zero, -1 otherwise |
| Sum | Performs a simple summation of the input signals |
| Trigonometric | Perform trigonometric function, such as sin, arcsin, arctan2, etc |
| Vector norm | Vector 2-norm of input (Pythagorean) |
| ►Signal | Signal handling SimObjects, e.g. multiplexing, selection, sampling |
| Demux | Demux SimObject that takes a std::vector as input and splits it into several output ports |
| Mux | A mux (or multiplexer) taking one of several input lines, and then routing the selected input to a combined output std::vector |
| Selector | Select indexed signals from an input std::vector and output a concatenated std::vector |
| Switch | Switch between the first and the third inputs output based on the value of the second input |
| Samplifier | Sample and hold |
| ►Sink | SimObjects mainly related to simulation behavior, e.g. exit condition, progress |
| CSV Sink | Write comma-separated values to file |
| Exit | Stop simulation if right signal |
| Progress | Simulation progress to output file |
| Progress bar | Simulation progress bar to terminal output |
| ►Source | Source SimObjects, ramp, random, sine, pulse, constant, and more |
| Chirp signal | Generate normally distributed Chirpsignal numbers |
| Clock | Displays the simulation or real time and the real duration |
| Constant | Constant value signal |
| Pulse | Generate square waves pulses at regular intervals |
| Ramp | Ramp signal |
| Random | Normally distributed random numbers |
| Signal list | Piecewise constant signal list with transition times |
| Sine wave | A general sine source |
| Smooth trajectory | Creates a smooth, periodic trajectory |
| Base | Template class for most source SimObjects |
| Step | Step signal |
| ►System | Special system SimObjects, including passthrough and external link SimObjects |
| External link | External .dll communication interface |
| Passthrough | Simply pass input to output port |
| ►Vessel | Vessel SimObjects |
| Norrbin Tanker | A 3DOF vessel |
| ►Visual | Simobjects mainly related to visualization: text, camera, screenshots |
| Billboard Arrow | SimObject draws an arrow, and adds optional text |
| Billboard Text | Shows a billboard text at a 3D position |
| Camera controller | Control movement of camera |
| Camera controller 2 | Control movement of camera |
| Camera shot | Screenshots during a simulation |
| Distance arrow | SimObject implements an arrow between two (moving) points, with number indicating the distance |
| Simple billboard arrow | SimObject draws a directed arrow from a point in a scene between two (moving) points, with numbers/text passed as inputs |
| ►FhSim Coribo | Rigid body dynamics routines |
| Winch | Winchable cable SimObject using coribo routines |
| ►Environment models | Environment SimObjects such as wave simulations, ocean currents and bathymetry |
| Environment | |
| Porous disc wake source | Places one analytic porous-disc wake, for a structure that is not simulated |
| Visual flow plane | |
| Scalar field plane | Draws a scalar field on a plane from a texture baked once at startup |
| Scalar field volume | Ray-marches a scalar field baked once into a 3-D texture |
| Test buoy | |
| Test dynamic waves | |
| Test netcage wake | |
| Test particle field | |
| Test wake body | A kinematic drag sphere that casts a lumped wake for the other objects |
| Test wake cluster | A kinematic cluster of drag spheres that shade each other and cast one lumped wake for the other objects |
| ►FhSim Marine elements | SimObject Elements such as nets, cables etc |
| ►RMCable | Cable SimObjects for winch and deck machinery |
| Rigid body cable | Class containing a winch object developed for Rolls Royce Deck Machinery |
| 6 DOF cable | Class containing a cable with six degrees of freedom |
| Two-port cable connector | A simple two-port connector with 3 degrees of freedom for joining the ends of cables to make loops |
| Rigid body cable | Rigid body cable |
| Ring | |
| Fixed planar chain | A fixed planar chain of three unit masses, anchored at the origin and driven at the other end along (1.25 cos T, 3.5) |
| ►Cable | Some more Cable SimObjects |
| Hydrodynamic cable | A cable object with dynamic stiffness and hydrodynamic loading |
| Branchable cable | Class containing a cable object with the ability to be branched |
| Rigid Bar Cable | A Rigid Bar Cable (RBC) SimObject |
| ►Net | SimObjects related to net structures: cable, panel, disks etc |
| Bar-element net with a stiffness-augmented mass matrix (Windows only) | |
| Disk of sorts | |
| Net structure object | Class containing a net object |
| Net structure with wake | Class containing a net object |
| Net structure with constraints | Class containing a constrained net structure |
| Sphere of sorts | |
| Bar-element net from an ABAQUS input file (Windows only) | |
| Experimental bar-element net structure (Windows only) | |
| ►Trawl mooring interaction | SimObjects related to trawl mooring interactions |
| Mooring cable | Mooring line of top chain, mid rope and bottom chain that joins a TrawlCable's solver so that trawl gear can collide with it |
| RundDorg | A main line to a weight (foil or clump) with two lines from the weight, solved as constrained 6-DOF rigid bodies |
| Trawl beam | A towing vessel reduced to a speed-controlled point on a straight track, carrying a beam with two tow points |
| Trawl cable | One side of a trawl rig: warp, trawl door, clump weight and two bridles, solved as constrained 6-DOF rigid bodies |
| ►Vessel | Vessel motions in waves |
| Wave hull | A vessel hull in the horizontal plane, with heave, roll and pitch driven by the wave elevation sampled under it |
| Wave propulsion hull | A Vessel/WaveHull driven by one propeller and one rudder behind it |
| ►FhSim Fishery | Simulation of fishing vessels and fishing gear |
| ►Trawl | SimObjects for trawl |
| Actuator | Models an actuator |
| Center weight mass | Simulation of a center weight for double trawl systems |
| Crow foot | Crow foot with at most tree lines attached to a common collecting point |
| Simple PID Controller | Class modelling a simple PID controller |
| 6-DOF trawl door | Simulation of a trawl door in six degrees of freedom |
| Simple trawl vessel | Simple vessel used for the trawl optimization tool |
| Trawl door with foil | A trawl door with an additional, controlled foil |
| Trawl door base | Base SimObject for trawl door |
| Trawl door with controlled lift force | Trawl door whose lift and weight are set by controllers, to find the door properties that give a desired spread and bottom contact |
| Trawl door with controlled lift force and mass | Trawl door whose lift is set by a controller and whose mass follows a goal, to find the door properties that give a desired spread and mass |
| Trawl door with warp control | Trawl door whose warp hangs from a crowfoot with a control line, which rolls the door |
| Trawl geometry controller | Controls the warp lengths of a trawl system to keep each net square to the direction of travel and the system at the specified bottom contact |
| Trawl info reporter | Measures a trawl system's warp tensions, door spreads and net openings, as output ports and on the HUD |
| ValuesDisplay | Displaying signal values as text lines on the 3D view's HUD |
| ►Seine | SimObjects for seine fishing |
| Cable branched attractor | Class containing a cable object with the ability to be branched |
| Seine connector | A seine connector of some kind |
| Seine operation | Class modelling the operation of danish seining |
| Vessel with deployment | Class modelling a fishing vessel with deployment functionality |
| ►Auv | SimObjects for autonomous underwater vehicles and their sensors |
| Autonomous underwater vehicle | Six degree-of-freedom rigid body for a torpedo-shaped survey AUV |
| AUV undulation dive control | Outer depth loop that makes an AUV saw-tooth between a shallow and a deep limit |
| AUV undulation mission control | Horizontal guidance for an undulating survey AUV: a waypoint track, an unwrapped heading reference, a cruise speed and a battery-aware return |
| CTD sensor | Conductivity, temperature and depth instrument mounted on a moving body |
| Echosounder | Downward and upward looking split-beam echosounder: an altimeter on its ports and a three-frequency echogram in a file |
| Silhouette camera | In-situ silhouette camera counting and sizing plankton in a small imaged volume |
| ►FhSim Maritime | Modelling of ships and maritime systems |
| ►Engine | SimObjects simulating engine |
| 4-stroke CI engine | Simulation of a 4-stroke CI engine |
| ►Ship | Ship-related SimObjects, thrusters, rudders, hulls |
| Cable attachment | |
| Cycloidal actuator | |
| Cycloidal propeller | |
| Environment query | |
| Foil | |
| Force receiver | |
| Frame transform | |
| Generic gamepad input | |
| Ship local connection | |
| Heading PID controller | Heading PID controller |
| PID controller | Yet another PID controller |
| Turning circle maneuver | Heading controller for performing a IMO Turning Circle maneuver |
| Waypoint reference generator | Reference generator which generates a reference based on position triplets |
| Waypoint reference tracker | |
| Waypoint heading controller | Basic PI-heading controller for waypoint guidance |
| Zig-Zag maneuver | Heading controller for performing a IMO Zig-Zag maneuver |
| Propeller | |
| Propeller 4Q | |
| Propeller 4Q with strut | Extends Propeller4Q |
| Propulsor actuator | |
| Rudder | |
| Ship console input | |
| Ship crane | |
| Ship with advanced hull | |
| Switch console input | |
| Thruster | |
| Wind force | |
| ►FhSim Bio | Simulation of biomass and feed distribution |
| ►Fish Population | SimObject for simulation of biomass distribution and of a net cage in waves and currents |
| Fish population | Fish population simulation as biomass distribution |
| ►Particles | SimObject for simulation of feed distribution |
| Pellet field | |
| ►Bio Environment | Various environment SimObjects Grid and abiotic environmental factors such as light |
| Grid Environment | |
| Vertical Abiotic Environment | |
| ►Artificial | SimObjects creating artificial effects |
| Adaptive Direction | The output is the estimated current direction based on the input forces |
| Integrator remove mean | Integrates signal |
| Preprocess data | PreprocessData |
| Virtual current | |
| Virtual current direction | The output is the estimated current direction based on the input forces |
| Virtual current in direction | |
| Virtual PID | VirtualPID |
| Virtual spring | VirtualSpring |
| Virtual time | This SimObject convert an input number to date time |
| Virtual wave | VirtualWave |
| ►System | Systems |
| Rigid body cable | |
| Constant strain triangle | Class containing a simObject for Constant Strain Triangle (CST) elements |
| Coupling plate | Class containing a 3dof mass simObjec (Coupling plate for aquaculture) with gravity and linear damping |
| Flexible bottom ring | |
| Rotation free shell | Class containing a simObject for the basic rotation-free triangular shell elements |
| Ring | TODO |
| Simple buoy | |
| Simple floating collar | Class modeling a flexible floating collar ring |
| Simple rope | SimpleRope |
| Small volume object in water | |
| ►Interfaces | Interfaces |
| TCP server | TCP/IP server |
| TCP client | TCP/IP client |
| Visual arrow | |
| Visual deformable body | |
| Visual rigid body | |
| Visual rigid body Ogre | |
| Visual rigid body with quaternions | |
| Visual trajectory | |
| Vessel defined in .obj | Class modelling a simple vessel on stationkeeping. The hull defined in an .obj file. Surge, Sway, Heave, Yaw, Roll and Pitch are input port parameters (e.g., from an IMU sensor) |
| ►FhSim Aquaculture | Aquaculture SimObjects |
| ►Netcage | Aquaculture netcage elements |
| Bottom ring | Model of a rigid bottom ring |
| Circular buoy | Circular Buoy with cone SimObject |
| Cylinder | Circular Buoy with cone SimObject |
| Flexible bottom ring | Class modelling a flexible bottom ring, inheriting from CRing in RMCable lib |
| Floating collar | Floating collar SimObject |
| 6-DOF floating collar | |
| Membrane cage | Class modelling a Membrane structure |
| Membrane structure | Class containing a net object |
| Net cage | Class modelling a Net cage |
| Net cage with wake | Net cage structure with wake effect |
| Coribo bottom ring collar connection | |
| Coribo bottom ring | |
| Coribo floating collar | Class modeling a flexible floating collar ring |
| Coribo mooring system | |
| Coribo mooring system v2 | |
| Coribo mooring system v3 | |
| Coribo ring structure gravity hydro | |
| Simple cage collar | Class modelling a simple cage collar |
| Dead fish | Class modelling added mass from dead fish |
| Linear floater (verification) | Freely floating collar SimObject |
| ►Barge | Barge SimObject |
| Barge | A 6DOF barge SimObject |
| ►Ice | Ice flow and related SimObjects |
| Ice floe | Class containing a 6dof rigid ice floe simObject |
| Multi Ice floe | Class containing a 6dof rigid ice floe simObject |
| Floe Detect Region | |
| ►Membrane | Shell and strain element SimObjects |
| Constant strain triangle | Class containing a simObject for Constant Strain Triangle (CST) elements |
| Rotation free triangular shell | Class containing a simObject for the basic rotation-free triangular shell elements |
| ►Marine Environment Library | Synchronized marine environment models for distributed simulations |
| Wave Models | Wave field computations and surface elevation models |
| Current Models | Ocean current velocity fields at arbitrary locations and depths |
| Seafloor Models | Bathymetry and seafloor geometry representations |
| Wake Models | Velocity deficit fields behind nets and other porous structures |
| Calculation Utilities | Low-level mathematical utilities and helper functions |
| Coribo_WinchableCable |
1.9.8