Description of a Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environment for a Broad Class of Dynamical Systems. - Armando A. Rodriguez; Oguzhan Çifdalöz; Mariano Phielipp; Jeffrey J. Dickeson; Paul M. Koziol; David Miles; Miguel Garcia; Robert McCullen; Jerald Willis; Jose Benavides (CDC, 2006)