Modia - Equation Based Modeling and Domain Specific Algorithms

A new design of the Modia experimental modeling language based on Julia is presented. It has simple yet powerful syntax and semantics. A unified means of describing the fundamental semantics, which is similar to Modelica, is outlined. Furthermore, it is shown how domain specific algorithms can be combined with equation based modeling. It is demonstrated for multibody systems and enables more efficient translation since much repetitive analysis and transformations are avoided and faster simulation. The drive train of a robot model was automatically translated from Modelica to Modia. Modern simulation algorithms from the Julia community allow working with automatic differentiation and uncertainties