Improving simulations

I try to do everything I can with simulators since they are faster and cheaper than real mobile robots. Simulations of sensory input are not as good as the real thing, however, and at the moment I have only a crude simulation of the pain subsystem. As I collect examples of damage with real robots I expect to record enough cases so that a simulator can use case-based reasoning to accurately predict pain inputs for simulated robots. When a sufficiently similar event occurs in the simulation a case-based reasoner will predict and apply appropriate pain signals.