Realtime interlinked software for distributed Non-latent N-DOF operations

An architecture for linking geographically disparate N-DOF test beds to facilitate real-time distributed operations is proposed. An industry supported middleware solution, OpenDDS, is proposed as a basis for the required simulation software. A survey of existing laboratory conditions is performed. Adaptation to existing laboratory conditions is provided through the abstraction of simulation requirements. Control, data fusion, and other necessary functions are provided as pluggable components. Investigation of approaches for reconstructing full dynamics from multiple reduced-order dynamic systems is undertaken. Techniques for combining the data from multiple simulations are characterized, verified and validated. Investigation of the effect of WAN latencies and laboratory latencies is conducted. A proof of concept test is conducted to establish the feasibility of the proposed architecture and data fusion algorithms.