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At least 91 records · Page 5

Fast Parallel Computation Of Manipulator Inverse Dynamics

Method for fast parallel computation of inverse dynamics problem, essential for real-time dynamic control and simulation of robot manipulators, undergoing development. Enables exploitation of high degree of parallelism and, achievement of significant computational efficiency, while minimizing various communication and synchronization overheads as well as complexity of required computer architecture. Universal real-time robotic controller and simulator (URRCS) consists of internal host processor and several SIMD processors with ring topology. Architecture modular and expandable: more SIMD processors added to match size of problem. Operate asynchronously and in MIMD fashion.

Fijany, Amir↗

CFD Analysis and Design Optimization Using Parallel Computers

A versatile and efficient multi-block method is presented for the simulation of both steady and unsteady flow, as well as aerodynamic design optimization of complete aircraft configurations. The compressible Euler and Reynolds Averaged Navier-Stokes (RANS) equations are discretized using a high resolution scheme on body-fitted structured meshes. An efficient multigrid implicit scheme is implemented for time-accurate flow calculations. Optimum aerodynamic shape design is achieved at very low cost using an adjoint formulation. The method is implemented on parallel computing systems using the MPI message passing interface standard to ensure portability. The results demonstrate that, by combining highly efficient algorithms with parallel computing, it is possible to perform detailed steady and unsteady analysis as well as automatic design for complex configurations using the present generation of parallel computers.

Martinelli, Luigi↗

Survey of new vector computers: The CRAY 1S from CRAY research; the CYBER 205 from CDC and the parallel computer from ICL - architecture and programming

Problems which can arise with vector and parallel computers are discussed in a user oriented context. Emphasis is placed on the algorithms used and the programming techniques adopted. Three recently developed supercomputers are examined and typical application examples are given in CRAY FORTRAN, CYBER 205 FORTRAN and DAP (distributed array processor) FORTRAN. The systems performance is compared. The addition of parts of two N x N arrays is considered. The influence of the architecture on the algorithms and programming language is demonstrated. Numerical analysis of magnetohydrodynamic differential equations by an explicit difference method is illustrated, showing very good results for all three systems. The prognosis for supercomputer development is assessed.

Gentzsch, W.↗

Solving sparse triangular linear systems on parallel computers

This paper describes and compares three parallel algorithms for solving sparse triangular systems of equations. These methods involve some preprocessing overhead and are primarily of interest in solving many systems with the same coefficient matrix. The first approach is to use a fixed blocksize and form the inverse of the diagonal blocks. The second approach is to use a variable blocksize and reorder the unknowns so that the diagonal blocks are diagonal matrices. The latter technique is called level scheduling because of how it is represented in the adjacency graph, and both row-wise and jagged diagonal storage for the off-diagonal blocks are considered. These techniques are analyzed for general parallel computers and experiments are presented for the eight-processor Alliant FX/8.

Anderson, Edward↗

Interconnections For Stacked Parallel Computer Modules

Concept for interconnecting modules in parallel computers leads to cheaper, smaller, lighter, lower-power computing systems for aerospace, industrial, business, and consumer applications. Computer modules stacked and interconnected in various configurations. Connections among stacks controlled by switching within gateways and/or by addresses on buses.

Johannesson, Richard T.↗

An implementation of a tree code on a SIMD, parallel computer

We describe a fast tree algorithm for gravitational N-body simulation on SIMD parallel computers. The tree construction uses fast, parallel sorts. The sorted lists are recursively divided along their x, y and z coordinates. This data structure is a completely balanced tree (i.e., each particle is paired with exactly one other particle) and maintains good spatial locality. An implementation of this tree-building algorithm on a 16k processor Maspar MP-1 performs well and constitutes only a small fraction (approximately 15%) of the entire cycle of finding the accelerations. Each node in the tree is treated as a monopole. The tree search and the summation of accelerations also perform well. During the tree search, node data that is needed from another processor is simply fetched. Roughly 55% of the tree search time is spent in communications between processors. We apply the code to two problems of astrophysical interest. The first is a simulation of the close passage of two gravitationally, interacting, disk galaxies using 65,636 particles. We also simulate the formation of structure in an expanding, model universe using 1,048,576 particles. Our code attains speeds comparable to one head of a Cray Y-MP, so single instruction, multiple data (SIMD) type computers can be used for these simulations. The cost/performance ratio for SIMD machines like the Maspar MP-1 make them an extremely attractive alternative to either vector processors or large multiple instruction, multiple data (MIMD) type parallel computers. With further optimizations (e.g., more careful load balancing), speeds in excess of today's vector processing computers should be possible.

Olson, Kevin M.↗

TOUGH3-FLAC3D: a modeling approach for parallel computing of fluid flow and geomechanics

The recent development of the TOUGH3 code allows for a faster and more reliable fluid flow simulator. At the same time, new versions of FLAC3D are released periodically, allowing for new features and faster execution. In this paper, we present the first implementation of the coupling between TOUGH3 and FLAC3Dv6/7, maintaining parallel computing capabilities for the coupled fluid flow and geomechanical codes. We compare the newly developed version with analytical solutions and with the previous approach, and provide some performance analysis on different meshes and varying the number of running processors. Finally, we present two case studies related to fault reactivation during CO 2 sequestration and nuclear waste disposal. The use of parallel computing allows for meshes with a larger number of elements, and hence more detailed understanding of thermo-hydro-mechanical processes occurring at depth.

58 GEOSCIENCES↗

An Efficient Objective Analysis System for Parallel Computers

A new objective analysis system designed for parallel computers will be described. The system can produce a global analysis (on a 2 x 2.5 lat-lon grid with 20 levels of heights and winds and 10 levels of moisture) using 120,000 observations in less than 3 minutes on 32 CPUs (SGI Origin 2000). No special parallel code is needed (e.g. MPI or multitasking) and the 32 CPUs do not have to be on the same platform. The system Ls totally portable and can run on -several different architectures at once. In addition, the system can easily scale up to 100 or more CPUS. This will allow for much higher resolution and significant increases in input data. The system scales linearly as the number of observations and the number of grid points. The cost overhead in going from I to 32 CPus is 18%. in addition, the analysis results are identical regardless of the number of processors used. T'his system has all the characteristics of optimal interpolation, combining detailed instrument and first guess error statistics to produce the best estimate of the atmospheric state. It also includes a new quality control (buddy check) system. Static tests with the system showed it's analysis increments are comparable to the latest NASA operational system including maintenance of mass-wind balance. Results from a 2-month cycling test in the Goddard EOS Data Assimilation System (GEOS DAS) show this new analysis retains the same level of agreement between the first guess and observations (0-F statistics) throughout the entire two months.

Stobie, James G.↗

Serial and parallel computation of Kane's equations for multibody dynamics

The analysis of the efficiency of algorithms resulting from Kane's Equation for serial and parallel computation of mass matrix is examined. The algorithms resulting from Kane's equation and Modified Kane's equations are detailed. An analysis was made of two classes of algorithms for computation of mass matrix: the Newton-Euler based algorithms and the Composite rigid body algorithms. An analysis was also made of the efficiency of different algorithms for serial and parallel computations. Conclusions are drawn and presented.

Fijany, Amir↗

Implementation of the Lanczos method for structural vibration analysis on a parallel computer

The use of the Lanczos method in a parallel environment is investigated by implementing the algorithm for structural vibration problems on a parallel computer. It is shown that introducing shifts, assigning each processor a different region in the eigenvalue spectrum, and implementing the Lanczos method in parallel is an effective strategy for speeding up calculations. Test problem results include examples of the 'Lanczos phenomenon' where roundoff error in the vector orthogonalization can result in spurious eigenvalues which must be identified and discarded. The calculation strategy described here permits straightforward determination of these spurious eigenvalues. It is demonstrated that significant speedups in calculation time can be realized over traditional sequential methods.

Bostic, S. W.↗

Rectilinear partitioning of irregular data parallel computations

New mapping algorithms for domain oriented data-parallel computations, where the workload is distributed irregularly throughout the domain, but exhibits localized communication patterns are described. Researchers consider the problem of partitioning the domain for parallel processing in such a way that the workload on the most heavily loaded processor is minimized, subject to the constraint that the partition be perfectly rectilinear. Rectilinear partitions are useful on architectures that have a fast local mesh network. Discussed here is an improved algorithm for finding the optimal partitioning in one dimension, new algorithms for partitioning in two dimensions, and optimal partitioning in three dimensions. The application of these algorithms to real problems are discussed.

Nicol, David M.↗

The finite element machine - An assessment of the impact of parallel computing on future finite element computations

The requirements of complex aerospace vehicles combined with the age of structural analysis systems enhance the need to advance technology toward a new generation of structural analysis capability. Recent and impeding advances in parallel and supercomputers provide the opportunity to significantly improve these structural analysis capabilities for large order finite element problems. Long-term research in parallel computing, associated with the NASA Finite Element Machine project, is discussed. The results show the potential of parallel computers to provide substantial increases in computation speed over sequential computers. Results are given for sample problems in the areas of eigenvalue analysis and transient response.

Fulton, R. E.↗

Elastic-plastic crack analysis using a global-local approach on a parallel computer

A global-local finite-element analysis procedure is employed to solve elastoplastic crack problems. This procedure involves a global analysis using a coarse mesh and the subsequent locally refined analysis of a number of subregions. Parallel computation is involved in the local analyses. Numerical examples are performed on a MIMD parallel computer to demonstrate the time-saving capability of the proposed procedure.

Sun, C. T.↗

An Efficient Objective Analysis System for Parallel Computers

A new atmospheric objective analysis system designed for parallel computers will be described. The system can produce a global analysis (on a 1 X 1 lat-lon grid with 18 levels of heights and winds and 10 levels of moisture) using 120,000 observations in 17 minutes on 32 CPUs (SGI Origin 2000). No special parallel code is needed (e.g. MPI or multitasking) and the 32 CPUs do not have to be on the same platform. The system is totally portable and can run on several different architectures at once. In addition, the system can easily scale up to 100 or more CPUS. This will allow for much higher resolution and significant increases in input data. The system scales linearly as the number of observations and the number of grid points. The cost overhead in going from 1 to 32 CPUs is 18%. In addition, the analysis results are identical regardless of the number of processors used. This system has all the characteristics of optimal interpolation, combining detailed instrument and first guess error statistics to produce the best estimate of the atmospheric state. Static tests with a 2 X 2.5 resolution version of this system showed it's analysis increments are comparable to the latest NASA operational system including maintenance of mass-wind balance. Results from several months of cycling test in the Goddard EOS Data Assimilation System (GEOS DAS) show this new analysis retains the same level of agreement between the first guess and observations (O-F statistics) as the current operational system.

Stobie, J.↗

Studies of electron collisions with polyatomic molecules using distributed-memory parallel computers

Elastic electron scattering cross sections from 5-30 eV are reported for the molecules C2H4, C2H6, C3H8, Si2H6, and GeH4, obtained using an implementation of the Schwinger multichannel method for distributed-memory parallel computer architectures. These results, obtained within the static-exchange approximation, are in generally good agreement with the available experimental data. These calculations demonstrate the potential of highly parallel computation in the study of collisions between low-energy electrons and polyatomic gases. The computational methodology discussed is also directly applicable to the calculation of elastic cross sections at higher levels of approximation (target polarization) and of electronic excitation cross sections.

Winstead, C.↗

Impact of Parallel Computing on Large Scale Aeroelastic Computations

Aeroelasticity is computationally one of the most intensive fields in aerospace engineering. Though over the last three decades the computational speed of supercomputers have substantially increased, they are still inadequate for large scale aeroelastic computations using high fidelity flow and structural equations. In addition to reaching a saturation in computational speed because of changes in economics, computer manufactures are stopping the manufacturing of mainframe type supercomputers. This has led computational aeroelasticians to face the gigantic task of finding alternate approaches for fulfilling their needs. The alternate path to over come speed and availability limitations of mainframe type supercomputers is to use parallel computers. During this decade several different architectures have evolved. In FY92 the US Government started the High Performance Computing and Communication (HPCC) program. As a participant in this program NASA developed several parallel computational tools for aeroelastic applications. This talk describes the impact of those application tools on high fidelity based multidisciplinary analysis.

Guruswamy, Guru P.↗

Parallel Computation of Unsteady Flows on a Network of Workstations

Parallel computation of unsteady flows requires significant computational resources. The utilization of a network of workstations seems an efficient solution to the problem where large problems can be treated at a reasonable cost. This approach requires the solution of several problems: 1) the partitioning and distribution of the problem over a network of workstation, 2) efficient communication tools, 3) managing the system efficiently for a given problem. Of course, there is the question of the efficiency of any given numerical algorithm to such a computing system. NPARC code was chosen as a sample for the application. For the explicit version of the NPARC code both two- and three-dimensional problems were studied. Again both steady and unsteady problems were investigated. The issues studied as a part of the research program were: 1) how to distribute the data between the workstations, 2) how to compute and how to communicate at each node efficiently, 3) how to balance the load distribution. In the following, a summary of these activities is presented. Details of the work have been presented and published as referenced.

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