<s>
Hopsan	B-Language
is	O
a	O
free	O
simulation	B-Application
environment	O
for	O
fluid	O
and	O
mechatronic	O
systems	O
,	O
developed	O
at	O
Linköping	O
University	O
.	O
</s>
<s>
Although	O
originally	O
developed	O
for	O
simulation	B-Application
of	O
fluid	O
power	O
systems	O
,	O
it	O
has	O
also	O
been	O
adopted	O
for	O
other	O
domains	O
such	O
as	O
electric	O
power	O
,	O
flight	O
dynamics	O
,	O
and	O
vehicle	O
dynamics	O
.	O
</s>
<s>
It	O
uses	O
bi-directional	B-Algorithm
delay	I-Algorithm
lines	I-Algorithm
(	O
or	O
transmission	O
line	O
elements	O
)	O
to	O
connect	O
different	O
components	O
.	O
</s>
<s>
The	O
development	O
on	O
Hopsan	B-Language
first	O
began	O
in	O
1977	O
at	O
the	O
Division	O
of	O
Hydraulics	O
and	O
Pneumatics	O
at	O
Linköping	O
University	O
.	O
</s>
<s>
The	O
first	O
version	O
was	O
written	O
in	O
FORTRAN	B-Application
,	O
with	O
a	O
drag-and-drop	O
graphical	B-Application
user	I-Application
interface	I-Application
written	O
in	O
Visual	B-Language
Basic	I-Language
.	O
</s>
<s>
In	O
addition	O
to	O
the	O
simulation	B-Application
capability	O
it	O
also	O
had	O
features	O
for	O
simulation	B-Application
based	O
optimization	O
.	O
</s>
<s>
This	O
used	O
the	O
COMPLEX	O
direct	O
search	O
optimization	O
method	O
or	O
a	O
generic	B-Language
algorithm	I-Language
(	O
GA	O
)	O
.	O
</s>
<s>
It	O
also	O
supported	O
co-simulation	O
under	O
Simulink	B-Application
.	O
</s>
<s>
Component	O
models	O
were	O
written	O
as	O
FORTRAN	B-Application
subroutines	O
.	O
</s>
<s>
A	O
separate	O
tool	O
called	O
COMPGEN	O
,	O
written	O
in	O
Mathematica	B-Language
,	O
was	O
also	O
developed	O
,	O
which	O
can	O
be	O
used	O
to	O
generate	O
component	O
models	O
in	O
a	O
more	O
straightforward	O
way	O
.	O
</s>
<s>
In	O
1991	O
the	O
method	O
of	O
bi-directional	B-Algorithm
delay	I-Algorithm
lines	I-Algorithm
(	O
or	O
transmission	B-Algorithm
line	I-Algorithm
modelling	I-Algorithm
TLM	O
)	O
was	O
introduced	O
for	O
system	O
simulation	B-Application
.	O
</s>
<s>
In	O
2009	O
the	O
development	O
of	O
the	O
first	O
version	O
of	O
Hopsan	B-Language
was	O
dropped	O
in	O
favor	O
for	O
a	O
brand	O
new	O
generation	O
of	O
the	O
software	O
,	O
written	O
in	O
C++	B-Language
.	O
</s>
<s>
This	O
working	O
name	O
of	O
the	O
project	O
is	O
Hopsan	B-Language
NG	O
,	O
and	O
the	O
first	O
beta	O
version	O
was	O
released	O
in	O
February	O
2011	O
.	O
</s>
<s>
Parts	O
of	O
the	O
source	O
code	O
in	O
Hopsan	B-Language
was	O
used	O
in	O
the	O
OpenModelica	B-Application
Connection	O
Editor	O
(	O
OMEdit	O
)	O
in	O
a	O
collaboration	O
with	O
the	O
OpenModelica	B-Application
project	O
.	O
</s>
<s>
The	O
current	O
generation	O
of	O
Hopsan	B-Language
consists	O
of	O
two	O
parts	O
,	O
a	O
graphical	B-Application
user	I-Application
interface	I-Application
and	O
a	O
simulation	B-Application
core	O
library	B-Library
.	O
</s>
<s>
These	O
are	O
completely	O
separated	O
,	O
so	O
that	O
the	O
core	O
can	O
be	O
used	O
stand-alone	O
,	O
for	O
example	O
in	O
embedded	B-Architecture
systems	I-Architecture
or	O
target	O
computers	O
.	O
</s>
<s>
These	O
includes	O
components	O
for	O
hydraulic	O
,	O
pneumatic	O
,	O
electrical	O
,	O
mechanical	O
and	O
control	O
systems	O
(	O
filters	O
,	O
non-linear	O
functions	O
and	O
arithmetic	O
)	O
The	O
library	B-Library
components	O
are	O
pre-compiled	O
,	O
so	O
that	O
no	O
compilation	O
is	O
required	O
during	O
runtime	B-Library
.	O
</s>
<s>
Custom	O
user	O
models	O
can	O
be	O
created	O
and	O
compiled	O
as	O
separate	O
library	B-Library
files	O
,	O
which	O
can	O
be	O
loaded	O
into	O
Hopsan	B-Language
.	O
</s>
<s>
There	O
is	O
also	O
a	O
built-in	O
automated	O
equation	O
based	O
component	O
generator	O
using	O
Modelica	B-Application
syntax	O
.	O
</s>
<s>
Models	O
can	O
also	O
be	O
generated	O
from	O
equations	O
by	O
using	O
Mathematica	B-Language
.	O
</s>
<s>
Hopsan	B-Language
models	O
can	O
be	O
exported	O
to	O
Simulink	B-Application
.	O
</s>
<s>
Plot	O
data	O
can	O
be	O
exported	O
to	O
XML	B-Protocol
,	O
CSV	O
,	O
gnuplot	B-Application
and	O
Matlab	B-Language
.	O
</s>
<s>
Experiments	O
with	O
including	O
the	O
Hopsan	B-Language
simulation	B-Application
core	O
to	O
LabVIEW	B-Application
Simulation	B-Application
Interface	O
Toolkit	O
by	O
using	O
a	O
wrapper	B-Library
library	I-Library
have	O
been	O
successful	O
.	O
</s>
<s>
Support	O
for	O
model	O
exchange	O
,	O
both	O
import	O
and	O
export	O
,	O
by	O
using	O
the	O
Functional	B-Application
Mock-up	I-Application
Interface	I-Application
is	O
currently	O
being	O
implemented	O
.	O
</s>
<s>
Hopsan	B-Language
is	O
a	O
cross-platform	B-Operating_System
project	O
,	O
with	O
the	O
intention	O
of	O
running	O
on	O
Windows	O
,	O
Unix	B-Application
and	O
Macintosh	B-Device
systems	O
.	O
</s>
<s>
The	O
transmission	O
line	O
element	O
method	O
is	O
very	O
suitable	O
for	O
parallel	B-Operating_System
execution	I-Operating_System
,	O
due	O
to	O
physically	O
motivated	O
time	O
delays	O
between	O
certain	O
components	O
.	O
</s>
<s>
Hopsan	B-Language
has	O
support	O
for	O
dividing	O
simulations	O
in	O
separate	O
threads	B-Operating_System
,	O
making	O
it	O
possible	O
to	O
take	O
advantage	O
of	O
multicore	B-Architecture
processors	I-Architecture
.	O
</s>
<s>
Features	O
in	O
the	O
graphical	B-Application
user	I-Application
interface	I-Application
include	O
Python	B-Language
scripting	O
,	O
an	O
undo/redo	O
function	O
,	O
XML-based	O
model	O
and	O
configuration	O
files	O
,	O
hydraulic	O
symbols	O
according	O
to	O
the	O
ISO	O
1219-1	O
standard	O
and	O
global	O
system	O
parameters	O
that	O
can	O
be	O
shared	O
between	O
components	O
.	O
</s>
