This project involves experimental research to develop problem solving environment for mechanical system simulation. Specifically, the research develops software tools that facilitate rapid, high-level creation of mechanical system simulators. These tools are used to generate simulators for a variety of applications, including real-time vehicle simulation, legged locomotion and robotics, and investigation of collision and contact problems. There is a great interest in the development of problem solving environments (PSEs) for engineering and science problems. One of the key challenges lies in developing computer science techniques that enable integration of supporting technologies such as computer algebra systems, numerical analysis libraries, geometric modeling systems, and object-oriented programming systems. This research attacks the problem by concentrating on one well-defined but rich domain, rigid-body dynamics simulation. The project has two specific goals: (1) advance the state of the art in mechanical system simulation by making it easier create and modify dynamics simulators, and (2) develop a software architecture and software tools that extend from this domain to more general problem solving environments. of the software tools to generate dynamics simulators for a number of different applications demonstrate the power of the approach.
