Umbra is a highly modular, physics-based computational framework for interactive simulation originally developed by Sandia National Laboratories (SNL) Intelligent Systems and Robotics Center (ISRC) and to which ORION has contributed over the years with modules, interfaces to other tools, and Umbra-based applications. The Umbra core and modules are written in C++; Virtual Reality Modeling Language (VRML) is used for graphics representations; and the Tcl/Tk script language is used to invoke the different Umbra facilities, controls, and modules. Because Umbra uses a modular architecture, incorporation of code modules is relatively simple; therefore, existing libraries of physics code can potentially be incorporated into Umbra as additional modules. Engineers and physicists enjoy rapid spin-up and productivity with Umbra. Umbra offers valuable features, such as:
- A highly modular simulation environment that facilitates rapid model building
- A High Level Architecture (HLA) interface library that utilizes the DMSO RTI NG1.3 software library to federate Umbra-based models into HLA environments
- An analysis of both mobile and manipulator robot concepts as well as the interaction for robotics and other automated systems
- Compatibility with digital terrain databases and other environmental models
- A large module library with modules for environments, sensors, communication, vehicle mobility, behavior, and automated planning
- The ability to analyze communication stability, novel mobility concepts, mobile manipulation concepts, multi-sensor integration, etc.
- Dynamic instantiation and parameterization, allowing systems to automatically adapt
ORION’s work using Umbra has resulted in models of manipulators, adaptive platform cranes for moving cargo between ships in rough seas, unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs), military operations in urban terrain (MOUT), network centric battlespace, network-guided missiles, cognitive systems, and defense demilitarization activities too hazardous for humans.
ORION offers a complete range of Umbra-based products for academic and commercial customers such as training, manuals, literature, modules, and applications. Umbra is available for the MS Windows, Mac OS, and Linux operating systems.
