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2.10 Hybrid Systems and Modal Models Using Vergil Hybrid systems are models that combine continuous dynamics with discrete mode changes. They are created in Ptolemy <strong>II</strong> by creating a ModalModel, found in the HigherOrderActors library. We start by examining a pre-built modal model, and conclude by illustrating how to construct one. Modal models can be constructed with other domains besides CT, but this section will concentrate on CT. Feel free to examine other examples of modal models given in the quick tour, figure 2.3. 2.10.1 Examining a Pre-Built Model Consider the bouncing ball example, which can be found under “Bouncing Ball” in figure 2.3 (in the “Hybrid Systems” entry). The top-level contents of this model is shown in figure 2.54. It contains a Ball Model, a TimedPlotter, and PeriodicSampler, and an Animate Ball composite actor. The Ball Model is an instance of the ModalModel found in the HigherOrderActors library, but renamed. If you execute the model, you should see a plot like that in the figure and a 3-D animation that is constructed using the GR (graphics) domain. The continuous dynamics correspond to the times when the ball is in the air, and the discrete events correspond to the times when the ball hits the surface and bounces. FIGURE 2.53. Discrete-event model with feedback, which requires a delay actor such as TimedDelay. Notice the library of domain-specific actors at the left. 82 Ptolemy <strong>II</strong>
Using Vergil If you look inside the Ball Model, you will see something like figure 2.55. Figure 2.55 shows a state-machine editor, which has a slightly different toolbar and a significantly different library at the left. The circles in figure 2.55 are states, and the arcs between circles are transitions between states. A modal model is one that has modes, which represent regimes of operation. Each mode in a modal model is represented by a state in a finite-state machine. FIGURE 2.54. Top level of the bouncing ball example. FIGURE 2.55. Inside the Ball Model of figure 2.54. Heterogeneous Concurrent Modeling and Design 83
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PTOLEMY II HETEROGENEOUS CONCURRENT
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VOLUME 1 INTRODUCTION TO PTOLEMY II
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Volume 1 Contents Introduction to P
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2.10.3. Constructing Modal Models 8
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7. MoML 191 7.1. Introduction 191 7
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1 Introduction Author: Edward A. Le
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Introduction heterochronous dataflo
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Introduction A major emphasis in Pt
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Introduction determine when actors
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Introduction provides levels of vis
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Introduction is a guard, and the se
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Introduction well. All of these are
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Introduction clients to update thei
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Introduction will be supplied with
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Introduction 1.3.12 Synchronous Dat
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Introduction FIGURE 1.10. Refinemen
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Introduction occlusions due to terr
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Introduction tion. The overall arch
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Introduction kernel.attributes This
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Introduction 1.5.2 Overview of Key
Page 41 and 42: Introduction Actor interfaces are k
Page 43 and 44: Heterogeneous Concurrent Modeling a
Page 45 and 46: Introduction actor actor.gui data.e
Page 47 and 48: Introduction cient, scalable, and u
Page 49 and 50: Introduction 1.5.8 Future Capabilit
Page 51 and 52: Introduction Appendix A: UML — Un
Page 53 and 54: Introduction grams, the only constr
Page 55 and 56: 2 Using Vergil Authors: Edward A. L
Page 57 and 58: Using Vergil 2.2.2 Executing a Pre-
Page 59 and 60: Using Vergil The Lorenz attractor m
Page 61 and 62: Using Vergil The Continuous-Time (C
Page 63 and 64: Using Vergil box in figure 2.11. En
Page 65 and 66: Using Vergil Don’t panic! Excepti
Page 67 and 68: Using Vergil tions are a normal par
Page 69 and 70: Using Vergil 2.4 Hierarchy Ptolemy
Page 71 and 72: Using Vergil Then using these ports
Page 73 and 74: Using Vergil the default 0.1 to 0.0
Page 75 and 76: Using Vergil pan window, it is easy
Page 77 and 78: Using Vergil FIGURE 2.33. The pan w
Page 79 and 80: Using Vergil we have modified the c
Page 81 and 82: Using Vergil model, simply copy (or
Page 83 and 84: Using Vergil A key issue is to deci
Page 85 and 86: Using Vergil instances. This proble
Page 87 and 88: Using Vergil quick tour for more de
Page 89 and 90: Using Vergil uses the index in the
Page 91: Using Vergil AddSubtract actor, and
Page 95 and 96: Using Vergil If you look inside the
Page 97 and 98: Using Vergil transition (or right c
Page 99 and 100: Using Vergil Once you have created
Page 101 and 102: Using Vergil The grid is turned off
Page 103 and 104: Authors: Edward A. Lee Xiaojun Liu
Page 105 and 106: Expressions classes to create a gen
Page 107 and 108: Expressions The % operation is a mo
Page 109 and 110: Expressions attribute, which includ
Page 111 and 112: Expressions 3.3.5 State Machines Ex
Page 113 and 114: Expressions whose value is an array
Page 115 and 116: Expressions from it. For instance,
Page 117 and 118: Expressions defined. For example, >
Page 119 and 120: Expressions length is given by the
Page 121 and 122: Expressions Thus, for example, you
Page 123 and 124: Expressions number. With one additi
Page 125 and 126: Expressions value. For example, fix
Page 127 and 128: Expressions In the example in figur
Page 129 and 130: Expressions A.2 Basic Mathematical
Page 131 and 132: Expressions A.3 Matrix, Array, and
Page 133 and 134: Expressions A.5 Signal Processing F
Page 135 and 136: Expressions TABLE 8: Functions perf
Page 137 and 138: 4 Actor Libraries Authors: Elaine C
Page 139 and 140: Actor Libraries properly in the CT
Page 141 and 142: Actor Libraries ing that multiple c
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Actor Libraries TypedAtomicActor «
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Actor Libraries SequenceScope (exte
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Actor Libraries UnsignedByteArrayTo
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Actor Libraries MobileFunction (ext
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Actor Libraries LogicFunction (exte
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Actor Libraries Sleep (extends Tran
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Actor Libraries VariableFIR (extend
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Actor Libraries Integrator: Integra
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Actor Libraries Figure 4.4 shows th
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5 Designing Actors Authors: Christo
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Designing Actors /** Javadoc commen
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Designing Actors although with most
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Designing Actors import ptolemy.act
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Designing Actors makes such actors
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Designing Actors same parameter val
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Designing Actors morphic actor comp
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Designing Actors To get data polymo
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Designing Actors public class Seque
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Designing Actors be used in domains
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Designing Actors alComm actor. Beca
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Designing Actors attribute has valu
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Designing Actors import ptolemy.act
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6 Coding Style Authors: Christopher
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Coding Style /* One line descriptio
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Coding Style Copyright (c) 2004 The
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Coding Style @version $Id: NamedObj
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Coding Style } We use instead the i
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Coding Style * @exception MyExcepti
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Coding Style + "it does not impleme
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Authors: Edward A. Lee Steve Neuend
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MoML cutes it forever, until you hi
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MoML A second difference between ou
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MoML
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MoML 7.3.3 Names and Classes Most M
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MoML Here, the element named
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MoML implement. 7.3.7 Doc Element S
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MoML It is also sometimes necess
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MoML then there will be a link t
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MoML found. For example, if the cla
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MoML it cannot collide with the nam
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MoML The rendering of the icon is d
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MoML 7.4.5 Deleting Entities, Relat
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MoML This unlinks a port from the s
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MoML model. The EntityLibrary class
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MoML Suppose that using incremental
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MoML Generate a sine wave.
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MoML
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MoML Number of iterations in
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MoML -P- The f
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MoML -P- The phase,
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8 Custom Applets Authors: Edward A.
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Custom Applets html code, see the J
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Custom Applets public class Tutoria
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Custom Applets then the result of
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Custom Applets 8.3.5 Using Model Pa
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Custom Applets ptolemy/domains/doma
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References [1] G. Agha, Actors: A M
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[33] S. A. Edwards, “The Specific
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[67] E. Kohler, The Click Modular R
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[95] J. Liu, X. Liu, T. J. Koo, B.
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[132]W. R. Sutherland, "The on-Line
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Glossary abstract syntax ..........
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Ptolemy II ........................
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Index Symbols - in UML 41 # in UML
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coin flips 142 Color class 173 colo
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entity in XML 198 EntityLibrary cla
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Director class 159 inverse FFT 124
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CompositeEntity class 206 nextPower
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safety 34 SampleDelay actor 78, 138
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type constraint 155 type constraint
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