document: GK-DEVS : Geometric and kinematic DEVS formalism for simulation modeling of 3-dimensional multi-component systems A combined discrete/continuous simulation methodology based on the DEVS -LRB- discrete event system specification -RRB- formalism is presented in this paper that satisfies the simulation requirements of 3-dimensional and dynamic systems with multi-components . We propose a geometric and kinematic DEVS -LRB- GK-DEVS -RRB- formalism that is able to describe the geometric and kinematic structure of a system and its continuous state dynamics as well as the interaction among the multi-components . To establish one model having dynamic behavior and a particular hierarchical structure , the atomic and the coupled model of the conventional DEVS are merged into one model in the proposed formalism . For simulation of the continuous motion of 3-D components , the sequential state set is partitioned into the discrete and the continuous state set and the rate of change function over the continuous state set is employed . Although modified from the conventional DEVS formalism , the GK-DEVS formalism preserves a hierarchical , modular modeling fashion and a coupling scheme . Furthermore , for the GK-DEVS model simulation , we propose an abstract simulation algorithm , called a GK-Simulator , in which data and control are separated and events are scheduled not globally but hierarchically so that an object-oriented principle is satisfied . The proposed GK-DEVS formalism and the GK-Simulator algorithm have been applied to the simulation of a flexible manufacturing system consisting of a 2-axis lathe , a 3-axis milling machine , and a vehicle-mounted robot
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