[american institute of aeronautics and astronautics aiaa modeling and simulation technologies...

American Institute of Aeronautics and Astronautics

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A Study on the Development of Modeling and Simulation Framework for Anti-Submarine Weapon System Simulation

Yeong-cheol Kim1, Sim Yong Lee2, Chang-bum Ahn3, and Kyung-won Nam2 Agency for Defense Development, PO Box 35-1, Daejon, Republic of Korea, 305-600

The use of modeling, simulation and analysis in defense systems acquisition is now being embraced by the Republic of Korea acquisition community for simulation-based design, simulation-based acquisition, and simulation-based training and experimentation. A modeling and simulation framework provides infrastructure to enable efficient and systematic modeling and simulation development. This paper provides the reader with a practice on the development and application of modeling and simulation framework in developing modeling and simulation tools for the Korean Vertical Launch Anti-submarine missile (KVLA). The design and implementation of modeling and simulation framework for KVLA modeling and simulation activities, named as Shark Integrated Modeling and Simulation Framework (SIMF), are described as a way to get fine solutions under cost and time restrictions.

Nomenclature and Abbreviations ASW = Anti-Submarine Warfare FCS = Fire Control System IPT = Integrated Product Team ISA = Integrated Simulation Architecture KVLA = Korean Vertical Launch Anti-Submarine Missile KVLS = Korean Vertical Launching System MVC = Model-View-Controller M&S = Modeling and Simulation MS&A = Modeling, Simulation and Analysis OOM = Object-Oriented Modeling SIMA = Shark Integrated Model Architecture SIMF = Shark Integrated Modeling and Simulation Framework SLTS = Ship-Launched Torpedo System UML = Unified Modeling Language

I. Introduction he use of modeling and simulation and analysis(MS&A) in defense systems acquisition is now being embraced by the Republic of Korea acquisition community for simulation-based design, simulation-based acquisition, and

simulation-based training and experimentation. The development and use of Modeling and Simulation(M&S) are now considered as mandatory activities for the life cycle support of defense system acquisition such as in support of the development of operational concepts for future weapon systems, requirements analysis and verification, system and component design, performance evaluation, test and evaluation, and the development of training systems. It is believed that M&S provide cost and time-saving engineering methodologies, which has been proved to be true from practices in the KVLA development project.

1 Senior Research Engineer, PGM Technology Research Institute, Member AIAA 2 Senior Research Engineer, Naval systems R&D Institute, Member AIAA 3 Principal Research Engineer, PGM Technology Research Institute, Member AIAA

T

AIAA Modeling and Simulation Technologies Conference and Exhibit18 - 21 August 2008, Honolulu, Hawaii

AIAA 2008-6861

Copyright © 2008 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.


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The KVLA development project was kicked off in the course of two kind of the Republic of Korea Navy destroyer acquisition program and the KVLA system was requested to be integrated into both of them, which resulted in tight project timelines. The M&S objectives for the KVLA development project include ensuring risk reduction for time-consuming shipboard integration test as well as providing efficient engineering and operations supports. Various needs for MS&A supports for the development project and operations supports have brought request for appropriate M&S tools such as systems simulator, firing control system test-bed, land-based test and evaluation support system, anti-submarine mission planning system and training simulator. Those needs requested heavy investment for M&S, which forced the M&S engineers to devise an efficient way for M&S development and supports. The devised way was to build a highly reusable and reconfigurable versatile single solution which covers various needs and to develop a well-established framework for M&S development, which is believed to ensure the efficiency of the M&S development and management and enhance the reusability and scalability of the M&S tools.

This paper provides the reader with a practice on the development and application of modeling and simulation framework in developing modeling and simulation tools for the KVLA development project. The M&S framework, named as Shark Integrated Modeling and Simulation Framework (SIMF), is intended to provide common resources for modeling and simulation development and it concerns mainly simulation software development. It is dedicated to allow M&S engineers to focus on building solutions and to avoid making the duplicate efforts on low-level details of works, which is believed to increase M&S productivity so as to cope with the restrictions on budget and time.

II. M&S Framework In general, software framework could be defined as collections of specific classes and services which could be

reused. It also provides logical architecture for the applications1. An object-oriented modeling methodology was applied in order to identify common components required essentially to develop Ant-submarine Warfare (ASW) M&S applications. Functional components which were captured by use case analysis were re-arranged and implemented in a detailed design of framework. Proposed M&S framework was named as Shark Integrated Modeling and Modeling Framework (SIMF).

REALWORLD

MODEL

PROGRAM

Abstraction(Analysis &

Design)

IMPLE-MENTATION

Figure 1. OOM-based Software Design Process1

A. Background Object-Oriented Modeling, or OOM, is a modeling paradigm mainly used in computer programming2. Prior to

the rise of OOM, the dominant paradigm was functional programming, which emphasized the use of discreet reusable code blocks that could stand on their own, take variables, perform a function on them, and return values. The Object-Oriented paradigm assists the programmer to address the complexity of a problem domain by considering the problem not as a set of functions that can be performed but primarily as a set of related, interacting Objects3. The modeling task then is specifying, for a specific context, those objects (or the class the objects belongs to), their respective set of properties and methods, shared by all objects members of the class. The description of these objects is called as a schema4. The model description or schema may grow in complexity to require a notation. Many notations have been proposed, based on different paradigms, diverged, and converged in a more popular one known as UML5-7.


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OOM methodology could be also applied to an object-oriented software design process, which defines analysis-abstraction-modeling process by implementing a model in software domain from real-world model8. Such a model describes the requirements for the software system to be realized and forms an abstraction in two ways shown as Figure 1. First, it abstracts from real world details which are not relevant for the intended software system. Second, it also abstracts from the implementation details and hence precedes the actual implementation in a programming language.

FMFactoryMethod

PTPrototype

AFAbstractFactory

BUBuilder

SSingleton

TMTemplateMethod

SRStrategy

CDCommand

MMMemento

MDMediator

STSeate

OObserver

ITIterator

INInterpreter

VVisitor

CRChain ofResponsibility

FLFlyWeight

PXProxy

CPComposite

AAdapter

DDecorator

FAFacade

BRBridge

origins

behaviors

structures

Figure 2. Classification of Design Patterns12 In a design of software model derived from abstraction of real-world, design pattern could be introduced as a

best practice defining good solutions9. A design pattern is a general reusable solution to a commonly occurring problem in software design10. A design pattern is not a finished design that can be transformed directly into code. It is a description or template for how to solve a problem that can be used in many different situations. Object-oriented design patterns typically show relationships and interactions between classes or objects, without specifying the final application classes or objects that are involved11. Algorithms are not thought of as design patterns, since they solve computational problems rather than design problems. Design patterns usually can speed up the development process by providing tested, proven development paradigms. Effective software design requires considering issues that may not become visible until later in the implementation. Reusing design patterns helps to prevent subtle issues that can cause major problems, and it also improves code readability for coders and architects who are familiar with the patterns. Design patterns originally grouped design patterns into the categories Creational Patterns, Structural Patterns, and Behavioral Patterns, and described them using the concepts of delegation, aggregation, and consultation. Classification of design patterns are shown in Figure 2.

B. Analysis and Design of M&S Framework13-15 A Use Case analysis on the M&S framework which would be widely used in KVLA M&S activities has been

performed in order to abstract real-world into a model in software domain which could be described as UML. Figure 3 shows Use Case diagram for M&S framework, composed of 13 Use Case components.

Since the Use Case analysis of M&S framework has been completed, design patterns such as Model-View-Controller (MVC), and Façade was introduced for a framework design in order to improve stability and reusability of proposed M&S framework. A framework design should include considerations of the relationship between model or data within a framework and view or display which represents it. This design promotes the reusability and extensibility of a framework to numerous M&S applications. By positioning an object called control between model and view, it is possible to minimize the relationship between model and view. This idea could be developed as a concept of MVC design pattern. MVC is an architectural pattern and a design pattern, depending on where it is used. Successful use of the pattern isolates business logic from user interface considerations, resulting in an application where it is easier to modify either the visual appearance of the application or the underlying business rules without affecting the other16-17. In MVC, the model represents the information (the data) of the application and the business rules used to manipulate the data, the view corresponds to elements of the user interface such as text, checkbox items, and so forth, and the controller manages details involving the communication to the model of user actions such as keystrokes and mouse movements.


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User Display

PVD (2-D)

3-D

User Control Data Management

Accessory Model

Timer Analysis

Scenario TCP/IP

UDP

Comm. Middleware

Figure 3. Use Case Analysis of M&S Framework

The complexity of software products would be aggravated in the part of network communication if a usual socket programming is performed in order to establish network communications, considering the characteristics of M&S applications which have to perform various network communications. The quality of software products would be also highly dependent to the proficiency or maturity of the software developer. To avoid this issue which have been commonly identified in network programming, communication middleware is designed to have façade pattern so that simplified interfaces could be used independent of various protocols; TCP/IP, UDP, and so on. A façade pattern usually provides a simplified interface to a larger body of code, such as a class library18. Figure 4 shows a design of framework and middleware using those patterns.

Figure 4. Conceptual Structure of MVC and Facade Pattern


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C. Architecture of M&S Framework A proposed M&S framework was designed to have three sub-frameworks; Infrastructure, Core, Accessory. The

functional architecture of framework is shown in Figure 5.

Core

PVD 3D View User Control

Presentation

Timer Simulation Analysis

Simulation

ModelPhysical

Environmental

ScenarioMission

Environment

AccessoryInfrastructure

CommunicationMiddleware

Data Access

Parser

MemoryManagement

STL

Translator

Figure 5. The Functional Architecture of M&S Framework Core sub-framework is composed of four functional blocks, which are presentation, simulation, model, and

scenario. The presentation block which is in charge of visualization of data processed from model block supports 2-dimensonal, 3-dimensional display and user control. It is possible to conduct actions, and transform state of model with physical and environmental model blocks. They provide abstract class to application developer. Model could be designed and maintained with consistency since every physical and environmental model should be implemented by inheritance from abstract classes defined in model block. Timer in simulation block provides not only wall clock time in real-time simulation, but also logical clock in logical simulation such as Monte-Carlo simulation.

Core

PVD 3D View User Control

Presentation

Timer Simulation Analysis

Simulation

ModelPhysical

Environmental

ScenarioMission

Environment

Vew

Control

Model

Figure 6. Functional Architecture of Core Sub-Framework


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Infrastructure sub-framework provides data access, communication middleware, and translator which could be referred as communication basis. Communication middleware could be defined as a programming service which has a function to arbitrate between two or groups of processes. Data access, and communication middleware were designed to provide common interface functions to application developers independent of network protocols, and data types. ACE which is an open source framework was used to build platform-independent, protocol-independent programming services.

Infrastructure

Logger

Data AccessInfrastructure

CommunicationMiddleware

Data Access

SAM ISAM COTS DB

Communication Middleware

UDP TCP

Translator

Translator

Figure 7. Functional Architecture of Infrastructure Sub-Framework Accessory sub-framework has a function of memory management, parser, and standard template library. Memory management block was designed to allocate specific size of memory space to applications at the start of process. When the memory is no longer used by the termination of applications, memory management block collects and free the memory space like garbage collection. This logic is helpful to avoid memory leak which could be easily observed in Windows-based applications.

Accessory

Parser

MemoryManagement

STL

Accessory

List

STL

Queue

De-queue

Stack

Vector

Set

Map

Memory Management

Smart Pointer

Memory Pool

Parser

Parser

Figure 8. Functional Architecture of Accessory Sub-Framework


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D. Communication Middleware20 An operating environment could be diverse depending on the requirements of the M&S applications. So,

communication middleware should be designed to support various operating systems with high reliability. The difference caused by different operating system usually includes system API functions. A façade pattern could be introduced in order to provide simplified common programming interface independent of operating systems by the way of wrapping the difference with abstracted interface. ACE, which is an open source framework, was also introduced to ensure platform independency21-22.

Network applications which use communication middleware could have single-threaded or multi-threaded architecture. To prevent network applications from being affected by any threads of middleware, middleware was designed to have single-threaded architecture. Network applications are usually required to have two different types of threads which are synchronous and asynchronous since network events are originally asynchronous by its nature, while an event processing should be synchronous23-25. A design suitable to this architecture is a half-synchronous / half-asynchronous pattern26-30. A Queue and Synchronization function are provided in order to build network applications dependably by a proposed communication middleware31.

A proposed middle ware is designed to have two layers; kernel and user space. A kernel layer provides essential system services prepared by operating systems. A user layer is divided into four layers composed of OS adaption, event de-multiplexer, network handler, middleware API. Particularly, an OS adaption layer consists of ACE libraries which wrap OS interfaces and network event processing such as TCP/IP or UDP. Since ACE libraries support numerous operating systems, it is easy to perform porting between different operating systems.

Network Handler

I/OHandler

Event De-Multiplexer

NetworkMonitor

Event De-Multiplexer

OS Adaptation (ACE)

Use

r Spa

ce

Applications

Middleware API

Ker

nel

Queue

Synchronous

Asynchronous

Thread

OS Interface

TCP/IP, UDP

Figure 9. Hierarchal Structure of Communication Middleware A Brief class diagram for a proposed communication middleware is shown in Figure 10. CMiddleware class

performs a function of de-multiplexing network events. Since it should exist solely throughout the application life cycle, singleton pattern was applied in the design. A series of classes such as CConnectedEvent, CDisconnetedEvent, CRevDataEvent, CFailedEvent, and CLanAuditEvent are used in order to handle network events.


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Figure 10. Class Diagram of Middleware

Evaluation of performance is essential for middleware products because several performance indexes such as

throughput and latency is critical in distributed network environments. Two generic desktop computers which have CPU of Pentium 4 2.8Ghz, memory of 1Gb, and Windows XP professional as an operating systems. Bandwidth of network was set to 100Mbps.

Latency is one of the most important performance indexes. Latency in a packet-switched network is measured either one-way (the time from the source sending a packet to the destination receiving it), or round-trip (the one-way latency from source to destination plus the one-way latency from the destination back to the source). Round-trip latency is more often quoted, because it can be measured from a single point. Figure 11 shows that round-trip time is maintained in the level of 0.2msec over 90% of message number. Maximum round-trip time does not exceed 1.6msec.

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

0 200 400 600 800 1000 1200

Message number

RTT (

msec)

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

0 200 400 600 800 1000 1200

Message number

RTT (

msec)

Figure 11. Round-Trip Time over Message Number


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0

0.5

1

1.5

2

2.5

64 128 256 512 1024 2048

Message s ize

La

ten

cy

(ms

ec

)

0

0.5

1

1.5

2

2.5

64 128 256 512 1024 2048

Message s ize

La

ten

cy

(ms

ec

)

Figure 12. Latency Graph

0

10

20

30

40

50

60

70

80

64 128 256 512 1024 2048

Message s ize

Thro

ug

hp

ut

(Mb

ps)

Figure 13. Throughput Graph Throughput is the average rate of successful message delivery over a communication channel. This data may be

delivered over a physical or logical link, over a wireless channel, or that is passing through a certain network node, such as data passed between two specific computers. The throughput is usually measured in bits per second (bit/s or bps), and sometimes in data packets per second or data packets per time slot. Performance of communication middleware is usually deteriorated in case of the transmission of small messages resulting from an overhead of header files. However, ability of message transmission is improved when the size of message becomes bigger.

E. M&S Model Architecture32 Common system models including vehicle dynamics and its state which are operated in the similar ASW

environments were identified. These were integrated in the M&S model architecture named as Shark Integrated M&S Model Architecture (SIMA). Layered concept was applied in the design of SIMA. Each system model was designed and integrated into SIMA as a building block in order to be robust against the changes in model. Model Base class exits in the lowest layers in the architecture as a basis. System models for Missile, torpedo, and acoustic model were designed to be described by being inherited directly from Model Base. ASW entities which consist of underwater vehicle motion, surface vehicle motion, and acoustic countermeasures were designed to be specified from ASW Entity class which is inherited from Model Base. Each motion class has various types of system models from generic to specific ones. Hierarchal architecture of SIMA is shown in Figure 14. System models could be developed and maintained consistently with hierarchal model architecture.

Several system models such as missile, torpedo, and acoustic model were designed to have multiple fidelities since they play an important role in system simulation and performance analysis. Application developer could select specific models which have proper complexity if models are implemented with multiple level of fidelity. This could prevent the increase of computation which is caused by unnecessary model complexity.

MODEL BASE

LightWeight

Torpedo(LWT)

Missile

Inter-mediate

LSW

Inter-mediateMissile

ASW Entity

UnderwaterVehicleMotion

SurfaceVehicleMotion

AirVehicleMotion

AcousticCountermeasures

AbstractLWT

AbstractMissile

GENERIC

WHISKEY

KILO

ROMEO

. . .. . .

GENERIC KDX-II GENERIC P3-C MOBILEJAMMER

STATIONARYJAMMER

MOBILEREPEATER

STATIONARYREPEATER

MOBILEMASKER

STATIONARYMASKER

KDX-III LST LYNX

ACOUSTICMODEL

/LIB

Figure 14. Hierarchal Architecture of Model Architecture


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III. M&S Framework as an Integrated Development Environment A proposed M&S framework has been released to software development groups in the form of both physical and

logical packages. In the physical aspect, software framework has a form of re-distributable package in order to provide common libraries and core functions by successfully integrated into the development environments. The quality of software products based on a software framework could be maintained with the help of design patterns which provide standards of programming as a best practice22. Application architecture and various types of abstracted model are provided for the purpose of supporting system design task in the logical aspect. Primitive data types and base classes are also offered to populate common data format throughout the KVLA M&S applications.

A. Simulation Architecture for Integrated M&S System Highly reusable and reconfigurable simulation architecture for integrated M&S system was designed to support

KVLA M&S activities throughout the development lifecycle. KVLA system simulator was developed as a multi-purpose M&S platform in the simulation architecture to meet various needs for M&S; system analysis supports for requirement definition, configuration management, and system design verification, Testbed for firing control system (FCS) validation and verification, KVLA system T&E (test and evaluation) supports and combat systems integration supports, tactics development and mission planning supports and operational supports as a training simulator. Valuable resources including M&S framework, communication middleware and M&S model architecture have been successfully deployed to application developers to provide an integrated development environment in software engineering domain.

Real-world C2 network was used without modification in the network architecture in order that the interface of KVLA and SLTS (Ship-Launched Torpedo System) should be tested, and verified. For the purpose of extensibility of system simulator to training simulator or land-based T&E support system, simulation network is added in the architecture. SLTS control panel and its launcher systems were also configured in order to simulate shipboard anti-submarine weapons, which are KVLA and SLTS, at the same time. The application architecture of KVLA system simulator was designed to have three independent layers based on M&S framework. All of simulation applications should have three blocks of layers composed of user interface, model, and network interface. This 3-tier architecture guaranteed the minimum change of software blocks in the case of the modification of user interfaces and network interface.

KVLA Control Console

SLT Control Panel

Combat SystemsSimulator

Server / Client

Client

Client

SimulationController

Server

Environments & Dynamic

Model Simulator

Client

Real-TimeImage Generator

Client

Sim

ulat

ion

Netw

ork

Torpedo Launcher

Vertical LaunchControl Unit

Korean VerticalLaunch System

(KVLS)

KVLAMissile Simulator

Torpedo Simulator

C2 N

etw

ork

KVLAFCS Simulator

SLTSFCS Simulator

KVLSLauncher Simulator

SLTSLauncher Simulator

KVLA System Simulator

Figure 15. Simulation Architecture for Integrated M&S System


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Combat systems simulator (CSS) was designed to be positioned in the middle of simulation and C2 network to arbitrate between two networks. The information reported from KVLA and SLTS is synthesized in CSS in order to transmit it to simulation controller since CSS is an only route from KVLA and SLTS to simulation network. However, the data displayed in simulation controller is a summary of status which is processed in CSS. Internal data recording facilities equipped in KVLA and SLTS equipments are used for further analysis. System configuration using two kinds of isolated networks is thought to be a best solution to maximize the extensibility of system. Three equipments were configured in the simulation network; Simulation Controller (SIMC), Environment and Dynamics Simulator (EDMS), and Real-Time Image Generator (RTIG). SIMC was designed to control and motor entire simulation phase. It has also control authority on simulation equipments. The authority on real-world equipments could not be implemented because any changes on them were not allowed. EDMS provides dynamics of surface ship, submarine, aircraft, decoy, missile and torpedo which are required to simulate ASW environments. The effects of sea state and wind were also included in the model engine of EDMS. RTIG generates real-time and 3-dimensional images of ASW tactical environments which are simulated in the simulation architecture. RTIG could provide visual results even if it is not considered as mandatory equipments.

Table 1. Integrated System Configuration Items

Equipments Roles and Functions Network Remarks

Simulation Controller

- Edit ASW simulation scenario - Control and Monitor entire simulation - Record and analyze simulation data

Sim Sim

Combat System Simulator

- Simulate KDX-II class destroyer combat system - Simulate KDX-III class destroyer combat system Sim. Sim

Environments & Dynamic Model Simulator

- Provide system models for ASW entities - Provide submarine maneuvering control Sim. Sim

Real-Time Image Generator

- Visualize ASW tactical environments in 3-D - Replay simulation results Sim Sim

KVLA Control Console - Real KVLA missile control console (KMCC) C2 Real

Vertical Launch Control Unit - Real vertical launch control console (VLCU) C2 Real

Korean Vertical Launch Systems - Real Korean vertical launch systems (KVLS) C2 Real

KVLA Missile Simulator - Simulate KVLA missile in launcher cell C2 Sim

SLTS Control Panel - Real SLTS control panel (SLTCP) C2 Real

Torpedo Launcher - Real torpedo launcher C2 Real Torpedo Simulator Simulate torpedo in launcher tube C2 Sim

KVLA FCS Simulator

- Simulate KVLA control console - Simulate Vertical Launch control console - Simulate whole KVLA systems (KMCC, VLCU, KVLS, KVLA missile)

C2 Real

/ Sim

SLTS FCS Simulator

- Simulate SLTS control panel - Simulate whole SLTS system (SLTCP, launcher, torpedo)

C2 Real

/ Sim

KVLS Launcher Simulator

- Simulate KVLS launcher - Simulate KVLA missile in launcher cell C2 Sim

Torpedo Launcher Simulator

- Simulate torpedo launcher - Simulate torpedo in launcher tube C2 Sim


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In a real-world C2 network, various equipments were configured with tactical and simulation software items. For example, KVLA FCS simulator was designed to equip with not only tactical KVLA and VLCU software but also simulation software of KVLS launcher system and KVLA missile so as to work as whole KVLA FCS system including FCS equipments, launchers, and missiles. Configuration items representing proposed simulation architecture are shown in Table 1.

B. Land-based T&E Supports Integrated simulation architecture (ISA) which is composed of various configuration items was easily re-

configured as a land-based T&E support system in order to support various land-based T&E activities. Firstly, early integration of combat system with KVLA FCS was conducted for early de-risking of newly developed interfaces. Combat system interface was verified based on interface control document between KVLA and combat system. Risks on combat system integrity were reduced by early integration test which were performed with preliminary version KVLA firing control system software. Secondly, ISA was also configured as a FCS development bench to support the development of FCS software products. FCS development bench successfully provided an integrated development environment to FCS application developers. Graphical user interface of KVLA control console, and vertical launch control unit were demonstrated to Republic of Korea Navy in order to incorporate end-user requirements into final design. The design of KVLA FCS software was finalized after several demonstrations and meetings with end-users. Thirdly, Land-based flight test of KVLA missile was also performed with ISA environments. KVLA missile simulator was substituted by KVLA missile in an original configuration of ISA. Shipboard operating environments were successfully simulated by SIMC, EDMS, and CSS. Lastly, development of shipboard T&E scenarios including flight test procedure was conducted with land-based T&E support system. It helped T&E IPT (Integrated Product Team) to develop and analyze shipboard T&E scenario by providing numerical and visual simulation results. Screenshots of SIMC which were captured during the development of shipboard T&E scenario are shown in Figure 16 and Figure 17.

Figure 16. PVD Analysis

Figure 17. Functional Chain Analysis Basically, all of M&S applications were forced to introduce M&S framework including communication

middleware and M&S model architecture in their development environments. Some of real-world tactical computer programs such as KVLA missile control console were designed to be equipped with communication middleware as a communication service provider.


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IV. Conclusion In this paper, a modeling and simulation framework for the KVLA development project, named as Shark

Integrated Modeling and Simulation Framework, is introduced, and the design and implementation of the framework are presented. Architecture of the framework and its categorized items such as the framework’s core, communication infrastructure and accessories are introduced and described. The communication middleware designed by as façade design pattern provided easy way to build an integrated simulation quickly. Object-oriented simulation model architecture, named Shark Integrated Model Architecture facilitated the object-oriented approach for development of environment, assets, and systems models for anti-submarine engagement simulation.

Lessons learned from this practice show that a well-established M&S framework is able to provide the best way to ensure efficient M&S engineering and enhance the reusability and scalability of the models and simulations. It is also found that object-oriented approach and conventional design patterns such as model-view-controller and façade facilitate improving of stability and reusability of proposed M&S framework.

Acknowledgments This study was supported by Agency for Defense Development in the part of Korean Vertical Launch Anti-

Submarine Missile development project.

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