Last update: November 2004

Bond graphs
MS1	MS1 by Lorenz Simulation is a continuos system simulator with the ability to let designers to use different modeling languages such as Bond Graphs, Linear Graphs, Block Diagrams and Equational Models and also to employ alternative model solvers such as ACSL, ESACAP, CSSL IV, DASSL, etc.
20-sim	20-sim (developed by Controllab products, derived from TwenteSim) bond graphs and blocks modelling system for continuous systems. Developed at the University of Twente. Demo download.
Symbols 2000	Symbols 2000, a product of two decades of research at the Indian Institute of Technology of Kharagpur, is a graphical modeling, simulation and control software. It provides an object oriented modeling tool using bond graphs, block diagrams, and equation models to model dynamic systems. Online simulation with event handlers. Pre-cast sub-models for advanced engineering components. Full C++ compatibilty. Analog, digital and state-space analysis using control systems module. Demos for DOS and NT are available for download .
CAMP-G	The modeller can design Bond Graphs models of mechanical, electrical, hydraulic, thermal and control systems, CAMP-G is a model generating tool that interfaces with languages such as MATLAB, SIMULINK, ACSL and others to perform computer simulations of physical and control systems.
MTT	MTT, the Model Transformation Tools, comprises a set of tools for modelling dynamic physical systems using the bond graph methodology and transforming these models into representations suitable for analysis, control and simulation. These tools use, and generate m files for, GNU Octave. MTT is free software licensed under the GNU General Public License.

Integrated environments (modelling language + simulation environment)
NI MATRIXx	New life for MATRIXx. After having been owned by ISI, then acquired by WindRiver, it is now in the safe hands of National Instruments, the makers of LabView. Renamed NI-MATRIXx, it is advertised as a software suite for model-based control design and it provides automatic code generation for real-time embedded systems. It now features a tight integration with other NI software.
SIMULINK and MATLAB	MATLAB: the leading language for technical computing, DSP, control design, etc. SIMULINK provides a graphical interface to some of the MATLAB functions, thus enabling the user to graphically design models and control systems Note that MIDEVA, a MATLAB clone which boosted a faster performance thanks to a better compiler was acquired by MathWorks and it will be included in future releases of MATLAB.
Octave and Scilab	Free software which can compete with Matlab and MatrixX. Scilab is a scientific software package for numerical computations in a user-friendly environment
Scicos	Scicos is a a dynamic systems modeler and simulator. It is a 'Scilab toolbox' and it is included in the Scilab Package.Ê Written in Fortran, C and Scilab language, it comes with complete source code.
SimLab	This is the initial release of the SimLab software. Includes mathematical functionality for algebraic and topological computations and code for creating triangulations of planar areas. Developed by Cornell University.
FreeMat	It is similar to commercial systems such as MATLAB from Mathworks, and IDL from Research Systems, but is Open Source. FreeMat includes several novel features such as a codeless interface to external C/C++/FORTRAN code, parallel/distributed algorithm development (via MPI), and plotting and visualization capabilities.
SDX	SDX is a high performance Fortran based Problem Solving Environment for dynamics (continuous,discrete,hybrid) related applications in science and engineering.
ACSL Sim	ACSL is owned by AEgis Technologies Group, Inc. ACSL Sim combines the core language ACSL, with a complete set of ACSL runtime libraries, the ACSL translator, the ACSL system macro file, the ACSL builder, and an easy to use graphical user interface to give the user an interactive and simulation-friendly development environment.
DESIRE	DESIRE (Direct Executing SImulation in REal Time) is a very fast interactive modeling and simulation of dynamic systems, used in industry and education since 1986. Runtime compilation lets your programs execute without translation delays. This permits truly interactive modeling and immediate comparisons of live models. An academic version that allows to handle aÊsix state system can be downloaded for free. DESIRE/2000 for Windows includes an experiment-protocol language for controlling multirun simulation studies, and an industrial-strength differential-equation solver. DESIRE/2000 handles up to 20,000 first-order differential equations entered in readable scalar or matrix notation, with a choice of 14 integration rules. Multiple models can include user-designed neural networks and fuzzy logic.

Simulation languages
SimPy	SimPy (= Simulation in Python) is an object-oriented, process-based discrete-event simulation language based on standard Python and released under the GNU GPL. It provides the modeler with components of a simulation model including processes, for active components like customers, messages, and vehicles, and resources, for passive components that form limited capacity congestion points like servers, checkout counters, and tunnels. It also provides monitor variables to aid in gathering statistics. Random variates are provided by the standard Python random module. SimPy comes with data collection capabilities, GUI and plotting packages. It can be easily interfaced to other packages, such as plotting, statistics, GUI, spreadsheets, and data bases. SimPy is under active development by an international development team. It can be downloaded free of charge from http://simpy.sourceforge.net.
JiST	JiST is a high-performance discrete event simulation engine that runs over a standard Java virtual machine. It is a prototype of a new general-purpose approach to building discrete event simulators, called virtual machine-based simulation, that unifies the traditional systems and language-based simulator designs. JiST is developed by Cornell Research Foundation, Inc. and it is free for non commercial use.
ACSL Sim	ACSL (a language for simulation of continous system) by AEgis Research into ACSL Sim, a tool for the simulation of continuous systems.
SLAM II	This is not the official page, but there are a few information on how SLAM works. This page is susceptible to disappear in the short future. Pritsker corp. has set up the Simsource.com site where we can find a description of Visual SLAM.
GPSS/H	The Wolverine General Purpose Simulation System. A language for discrete event simulation.
Ptolemy Project	Ptolemy is a research project and software environment focused on the design of reactive systems, providing high-level support for signal processing, communications, and real-time control.
DSDS+ (http://groucho.gsfc.nasa.gov/ Code_520/Code_522/Projects/DSDSPlus/) (site out of order 27 Sep 99)	The Data Systems Dynamic Simulator Plus (DSDS+) is a discrete-event-based simulator that eases the difficulties associated with simulation of high-data-rate, end-to-end systems.
MODSIM III	A language for simulation both object and process oriented. MODSIM was recently sold to Compuware. As of May 2003, I have heard that CACI is trying to migrate MODSIM users to SIMSCRIPT, but I have no information on Compuware stance on this. On the other hand, Compuware does not seem interested in supporting MODSIM in the future.
Simscript II.5	Free-form, English-like simulation development and modeling language. SIMSCRIPT II.5 is designed to be used for discrete-event and combined discrete/continuous simulations.
Simple_1	SIMPLE_1 supports modeling discrete and continuous systems world views using a network modeling orientation. Features of the language include the ability of the user to declare variables and statistics requirements, perform I/O operations on files and to animate simulation results in real time easily utilizing built in language features. SIMPLE_1 utilizes a repetitive approach to run control to facilitate goal seeking modeling and run length definition based on model behavior. SIMPLE_1 is now released under the GNU GPL and it compiles under RedHat Linux.
SEMoLa	SEMoLa (Simple, Easy to use, MOdelling LAnguage) is a non procedural meta-language to build simulation models for continuous/event driven,Ê deterministic/stochastic systems, developed at the Agricultural and Environmental Sciences Department, University of Udine (Italy). While it is very generic, it has been successfully used to model biological, ecological and agricultural systems, at different scale and complexity level. The SEMoLaÊ language is integrated in a simulation environment that simplifies the tasks of model building, simulation and documentation; moreover it provides calibration, validation, data management, neural network building, unit verification features and others.
Pasion	Pasion is an object-oriented simulation language. The language has a process/event structure. Pasion source code is translated in Pascal, compatible with Delphi v3 or later. It can be used to model Queuing models, Continuous processes and allows the use of the Bond graphs paradigm. A dowloadable demo is available on the website. Pasion's home page can be slow in downloading because of various ad banners.
WinSAAM	The WinSAAM modeling system is a Windows-based version of the SAAM and Consam modeling systems. It has been developed under the auspices of the Laboratory of Experimental and Computational Biology, of the Division of the Cancer Biology and Diagnosis, of the National Cancer Institute. It is provided freely for use in scientific research.
MathCore	MathCore AB offers two main products: MathCore C++, an add-on to the well known Mathematica environment that compiles a subset of Mathematica into highly efficient C++ code. MathCode C++ provides a platform for rapid development of simulations and other expensive computations. MathModelica is is an implementation of Modelica in Mathematica. MathModelica permits object oriented design of physical systems for simulation and visual programming using a graphic editor. MathModelica integrates documentation, runnable code, graphic connection diagrams and mathematical formulae in Mathematica notebooks.
Parsec	Parsec is a C-based simulation language, developed by the Parallel Computing Laboratory at UCLA, for sequential and parallel execution of discrete-event simulation models. It can also be used as a parallel programming language. It is available in binary form only for academic institutions. Commercial users are directed to its commercial implementation, marketed by Scalable Networks technologies.

Agent-based simulation
SeSAm	SeSAm (Shell for Simulated Agent Systems) provides a generic environment for modelling and experimenting with agent-based simulation. SeSAm agents consist of a body, that contains a set of state variables and a behaviour that is implemented in form of UML-like diagram. Based on an extensive number of primitive components, a user is able to design a simulation graphically without knowing the syntax of a traditional programming language. It is written in Java and it is freeely downloadable.
Ps-i	An environment and a simulation language for running agent-based simulations. Models are written using the standard Tcl/Tk scripting language and a graphical interface can also be used.
SimWalk	SimWalk is an agent-based pedestrian simulation software developed by Savannah Simulation in cooperation with the ETH Zurich, in Switzerland. With SimWalk you can model and simulate the behaviour of large aggregations of people in places such as shopping centres, railway stations, bridges, airports and so on.

Simulation based on the World Dynamics approach
Powersim	From Norway, a simulation tool which a marked "penchant" for Web Simulation. Free demos available.
Vensim	Vensim, a system simulator from Ventana Systems, based on the world dynamics approach. For Windows and Macintosh. Demo download available. Free for personal use.
Stella + Ithink	From High Performance Systems. Stella demo available.
ModelMaker	Modelmaker (formerly Cherwell Software Publisher, now from ModelKineti.comx) is a tool for modelling and simulation of compartmental systems. Demo, time limited, fully functional, is available for Windows systems.
Berkeley Madonna	Already listed in the "Visual Environments" category, it also provides the World Dynamics modelling paradigm.
SIMILE	Simile is a software environment for building and running simulation models in ecology, biology, environmental science and related disciplines. It features a powerful and expressive diagram-based language for designing models, including both System Dynamics and object-based concepts. System Dynamics is an intuitive and widely-used notation for describing dynamics in terms of storages and flows, while objects provide a natural way for describing system composition and relationships. Simile also supports modular model construction, and modules can be nested to any depth. The resulting models can be run very efficiently as compiled C programs, and delivered to others as stand-alone models. Simile provides a range of tools for displaying model behaviour - but also allows you to add your own, customised to your own needs.

 

Hybrid Simulation	Hybrid simulation deals with mixing discrete events and continuos simulations
Shift	Shift is a programming language for describing dynamic networks of hybrid automata, consisting of continuous-time phases separated by discrete-event transitions. A project developed at Berkeley, by California Path.
CESIMO	The Cesimo Group of the University of the Andes in Venezuela is active in research on hybrid simulation.
AnyLogic	AnyLogic is a virtual prototyping environment for complex systems with discrete, continuous, and hybrid behavior. AnyLogic enables you to rapidly build a simulation model - a virtual prototype - of the system under development and its environment, including physical objects and human users. There is no proprietary script or block diagram language the user needs to learn to use AnyLogic. The modeling technology is entirely based on UML-RT Unified Modelling Language for Real-Time.

Simulation of network systems
OMNeT++	OMNeT++ is ancomponent-based, modular and open-architecture simulation environment with strong GUI support and an embeddable simulation kernel. The simulator can be used for modelling: communication protocols, computer networks and traffic modelling, multi-processors and distributed systems, etc. OMNeT++ also supports animation and interactive execution. It is freely distributed under an academic public license.
ns2	Ns is a discrete event simulator targeted at networking research. Ns provides substantial support for simulation of TCP, routing, and multicast protocols over wired and wireless (local and satellite) networks. Ns is devloped by ISI, the Information Sciences Institute at the USC school of engineering. The full source code of ns 2 can be downloaded and it can be compiled of multiple platform, including most popular Unix flavours and Windows.
GloMoSim	GloMoSim is a scalable simulation environment for wireless and wired network systems. It employs the parallel discrete-event simulation capability provided by Parsec. GloMoSim currently supports protocols for a purely wireless network. In the future, we anticipate adding functionality to simulate a wired as well as a hybrid network with both wired and wireless capabilities. GloMoSim source and binary code can be downloaded only by academic institutions for research purposed. Commercial users must use QualNet, the commercial version of GloMoSim.
SWANS	SWANS is a scalable wireless network simulator built atop the JiST platorm. SWANS is organized as independent software components that can be composed to form complete wireless network or sensor network configurations. Its capabilities are similar to ns2 and GloMoSim, but is able to simulate much larger networks. SWANS leverages the JiST design to acheive high simulation throughput, save memory, and run standard Java network applications over simulated networks. In addition, SWANS implements a data structure, called hierarchical binning, for efficient computation of signal propagation.
QualNet	QualNet is a modelling tool for wireless and wired network,. The QualNet suite is composed of QualNet Simulator, which claims to be the fastest for real-time traffic modelling. QualNet Animator allows to graphically design the network model (using a wide library of components) and it displays the results of simulation runs. QualNet Designer allos to create Finite State Automata to describe the behaviour of your network, while with QualNet Analyzer and Designer you can interpret and make sense of simulation results. Windows and Linux versions are available. A demo can be downloaded on request.
cnet	CNET is a simulator of computer networks. This simulator is not really focused on industrial simulation 'per-se', but to an aspect of it. It is a discrete-event network simulator enabling experimentation with various data-link layer, network layer, routingand transport layer networking protocols. It has been specifically developed for, and used in, undergraduate computer networking courses taken by thousands of students worldwide.
OPNET	OPNET's suite of products combine predictive modeling and a comprehensive understanding of networking technologies to enable customers to design, deploy, and manage network infrastructure, network equipment, and networked applications. In particular OPNET Modeler is a development environment, allowing you to design and study communication networks,devices, protocols, and applications.
Traffic v2.0	Traffic version 2 is a simulation product designed to solve complex call-centre modelling problems, where traditional Erlang equations fail, but it can also be applied to any other queueing problem. It has an easy to use graphical interface and it runs under Windows.
NCTUns 2.0	The NCTUns is a high-fidelity and extensible network simulator and emulator capable of simulating various protocols used in both wired and wireless IP networks. Its core technology is based on the novel kernel re-entering methodology. NCTUns can be used as an emulator, it directly uses the Linux TCP/IP protocol stack to generate high-fidelity simulation results, and it has many other interesting qualities. It is commercialised by SimReal Inc.

Web based and distributed simulation	In the near future it will be more and more difficult to draw a line between web simulation and traditional simulation. In my opinion, web simulation must allow the simulation and interaction of distributed entities. Not all of the tools listed below are ready for this, but they somehow aim in that direction.
Silk	Silk is a Java-based modeling tool for the simulation, study and improvement of industrial systems. Silk is a modeling tool which merges the process-description modeling methodology within an object-oriented language. An educational version is available on request.
SLX	SLX builds on the strengths of Wolverine's GPSS/H. SLX is structured as a multiplicity of layers, ranging from its C-like SLX kernel, at the bottom, through traditional simulation languages, e.g., GPSS/H, in the middle, to application-specific language dialects and extensions at the top. SLX contains powerful extensibility mechanisms for building new layers atop old ones. SLX has been coupled with other software, including DoD's High Level Architecture (HLA).
STARDIS	STARDIS is a simulation tool developed by EDS (http://eds.com) that has been used by EDS for over ten years for predicting the behaviour of future military command and control systems and future communications systems. It has also been used for some civil projects. STARDIS uses an object-oriented, event based approach to model real world entities and their communications. All the relevant discrete activities involved in the real world system are encapsulated in STARDIS entities using a mixture of rules written in structured English, and, if required, more complex routines written in a high level computer language.
JSIM	JSIM is a Java-based simulation and animation environment supporting Web-Based Simulation. In JSIM, simulation models may be built using either the event package (Event-Scheduling Paradigm) or the process package (Process-Interaction Paradigm). In addition, a graphical designer (jmodel package) allows process models to be be rapidly built graphically. The qds package (Query Driven Simulation) under development controls the storage, retrieval and execution of simulation models as Java Beans and utilizes JDBC to access databases. It also stores model inputs and outputs. Finally, JSIM has three foundation packages: queue, statistic and variate.
RT-LAB	RT-LAB is a simulation software used by major companies such as Ford, GM, NASA, Toyota, Canadian Space Agency... and it allow simulating Simulink and MATRIXx models in real-time with a network of PCs interconnected with Internet or Firewire or Giganet. It runs under Windows. Demo available.
GridSim	The primary objective of the GridSim project is to investigate effective resource allocation techniques based on computational economy through simulation. Millions of resources and thousands of users with varied requirements must be simulated. The scalability of systems, algorithms, efficiency of resource allocation policies and satisfaction of users is studied. GridSim is a research project based on SimJava .
Forio	Forio brings web-simulation a step forward since it lets the user enter his/her own model, using a scripting language and then it provides web-based tools to design the user interface. The simulation engine resides on the Forio web server. The main focus is on business simulations and they are geared towards operational issues (e.g. development of market strategy).

Modelling and Simulation of Environmental Resources	This new category aims to list software tools for modelling and simulation of environmental systems such as water catchments, reservoirs, ecosystems, etc. Most probably it will evolve in a dedicated home page in the near future.
ICMS	The Integrated Catchment Management System (ICMS) is aPC-based software product, developed to facilitate the rapid development and delivery of catchment science to catchment managers. It implements a 'layered' approach to development, and delivery, through the use of four components. These are:ICMSBuilder– the central engine; Models embedded in the ICMS MDL(model libraries) – proprietary, free-ware and newly developed models; ICMS Projects– suites of linked models, and their data; ICMS Views – DLLs which provide tailored views of Projects
Tarsier	The Tarsier modelling framework is a modular collection of Windows software that enables fast development and deployment of a wide variety of environmental computing tools. These tools include simulation models, data storage and analysis tools, and visualization systems. The system supports many structures for the organization of quantitative environmental information, including: gridded maps, networks, time series, and simple lists of geographic locations. Upon these are built analytical tools covering topics such as interpolation, statistics, sampling, and data transformation. At the top level are modules that implement a variety of simulation models, from cellular automata to stream pollutant routing models to large-scale spatial catchment hydrology models.
JDEVS	JDEVS is the outcome of the current PhD work of Jean Baptiste Filippi and it is still under development. JDEVS implements Zeigler's DEVS paradigm and it is particularly suited for modeling and simulation of natural complex systems.
Ecolego	Ecolego, developed by Facilia, is a tool for modelling dynamic systems and to perform risk assessments using model simulations. It requires the Simulink toolbox of the Matlab platform. The graphical user interface helps the user to define and manage building blocks, parameters, species and simulation settings. Ecolego also helps to create reports, to plot simulation results, to perform probabilistic simulations and sensitivity analysis. Even though Ecolego can be used to simulate any species and dynamic system, it has been specially designed to fulfil specific needs in the field of radio ecological risk assessment. It is platform independent and it runs under Mac OSX, Linux and Windows.