http://www-kbs.ai.uiuc.edu/web/kbs/publicLibrary/KBSPubs/TechReports/DCTrain4%20Simulation%20Capabilities%20as%20of%2017May2001.pdf The Illinois Physical Ship Simulator for DC-Train 4.0: Summary of current functionality for DC-Train 2001-05-01T00:00:00+00:00