An Energy-Based Approach Towards Modeling of Mixed Reality Mechatronic Systems

An environment where virtual worlds coexist with real worlds, Mixed Reality, has been extensively studied in the last decade. Mixed reality is not restricted to a mixing of visual images or sounds, but include other phenomena (e.g., electric, mechanical, hydraulic, aerodynamic, thermodynamic). The energy-based approaches, such as Bond Graphs, toward design of mechatronic systems allow the construction of reusable and easily extendible models. This presentation will show a methodology of mixed reality design, called Mixed Reality Bond Graph, in which the modeling methods of real energy dynamics, virtual energy dynamics, and energy interfaces can be combined seamlessly. A real energy dynamic can connect with a virtual energy dynamic via an energy interface providing relevant functionalities such as preservation of power balance, causality reasoning of a connection between real and virtual subsystems, stability, and quality.