DistributedHardware-In-the-LoopSimulatorforAutonomousContinuousDynamicalSystemswithSpatiallyConstrainedInteractions;Drivingareal-timemulti-physicssimulatortofollowanactualsystem:aDAEobserverapproach;Dynamic-windowsearchforreal-timesimulationofdynamicsystems;Efficientsolvingmethodsexploitingsparsityofmatrixinreal-timemultibodydynamicsimulationwithrelativecoordinateformulation;FlexibleMaterialsinAvangoVirtualEnvironmentFramework;GeneralizedaveragemodellingofFACTSforrealtimesimulationinARENE。