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NASA NTRSDate not supplied

OceanWATERS Lander Robotic Arm Operation

Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) is an open-source simulator for developing onboard autonomy software for robotic exploration of ocean worlds, such as Europa, Enceladus, and Titan, built on the Robot Operating System (ROS) and Gazebo simulation environment. Inevitable ground communication delays increase demand for a high degree of autonomy during excavation, collection and transfer of samples to scientific instruments for in-situ analysis. This paper offers a detailed discussion of the robotic arm design and operation for such autonomous surface exploration, taking as reference the Europa Lander mission. The lander arm, which is designed primarily to acquire icy surface and subsurface samples within the arm’s workspace, is a 6-degree-of-freedom manipulator with two end effectors: a sample excavation tool and a trenching end-effector. The robotic arm’s modes and operations can be summarized as follows: stowed arm, intended as the lander arm default configuration characterized by zero-power consumption; un-stowed arm, target arm configuration after its first deployment; selection and deployment of the end-effector to use next; guarded move, to detect ground level at the desired trenching location; drill ice using the grinder; dig trench at a particular location using the scoop; deliver sample to the sample transfer dock; discard redundant samples. The motion planning tool used for the lander arm is MoveIt, a ROS package. MoveIt uses sampling-based planning and collision checking libraries to determine safe paths. The Rapidly Exploring Random Trees* (RRT*) has been chosen as default planning algorithm as it provides optimal plans with an exponential speed and is guaranteed to find a solution, if feasible solutions exist. Furthermore, this work quantifies and discusses the energy requirements for excavating and collecting samples. In OceanWATERS, force feedback from the terrain, which influences the arm dynamics, is modelled using a discrete element method (DEM) simulation. The DEM and Gazebo software run in parallel and communicate through a co-simulation plugin. This paper presents an analysis and comparison of three DEM open source software (YADE, ESyS-Particle, Project Chrono) for implementation in OceanWATERS and motivates the choice of YADE as most suitable candidate.

Damiana Catanoso↗
NASA NTRS2024

Achieving High Efficiency in Reduced Order Modeling for Large Scale Polycrystal Plasticity Simulations

Reduced order models for the nonlinear response of heterogeneous microstructures typically require a construction (or training) stage to build the reduced order basis. In this manuscript, an efficient model construction strategy for the eigenstrain homogenization method (EHM) is presented. The proposed strategy relies on a parallel, element-by-element, conjugate gradient solver. Near linear scaling has been achieved with respect to the number of degrees of freedom used to resolve the microstructure. Linear scaling with respect to the number of pre-analyses required to construct the reduced order model (ROM) follows from the EHM formulation. Furthermore, a parallel implementation for fast evaluation of the constructed ROM has been developed using shared memory parallelization. It has been shown that for large microstructures with ≈ 10,000 grains, the total computational cost of evaluating the nonlinear response of a polycrystal could be reduced by approximately an order of magnitude using 32 cores with respect to serial ROM simulation. The present methodology has been verified using an additively manufactured polycrystalline microstructure of a nickel-based superalloy, Inconel 625. The capability of the developed framework to construct a ROM for such large microstructures, as well as the ability of the ROM to predict average and local quantities of interest has been demonstrated.

microscale↗
DOE OSTI2014

Exploring new frontiers in statistical physics with a new, parallel Wang-Landau framework

Combining traditional Wang Landau sampling for multiple replica systems with an exchange of densities of states between replicas we describe a general framework for simulations on massively parallel Petaflop supercomputers. The advantages and general applicability of the method for simulations of complex systems are demonstrated for the classical 2D Potts spin model featuring a strong first-order transition and the self-assembly of lipid bilayers in amphiphilic solutions in a continuous model.

Vogel, Thomas↗
DOE OSTI2014

Modernization Enhancements in SCALE 6.2

SCALE is a widely used suite of tools for nuclear systems modeling and simulation that provides comprehensive, verified and validated, user-friendly capabilities for criticality safety, reactor physics, radiation shielding, and sensitivity and uncertainty analysis. For more than 30 years, regulators, industry, and research institutions around the world have used SCALE for nuclear safety analysis and design. However, the underlying architecture of SCALE is based on a 40-year old design with dozens of independent functional modules and control programs, primarily implemented in the Fortran programming language, with extensive use of customized intermediate files to control the logical flow of the analysis. Data are passed between individual computational codes using custom binary files that are read from and written to the hard disk. The SCALE modernization plan provides a progression towards SCALE 7, which will provide an object-oriented parallel-enabled software infrastructure with state-of-the-art methods implemented as reusable components. This paper provides a brief overview of the goals of SCALE modernization and details some modernized features available with SCALE 6.2.

modern↗
DOE OSTI2019

Use of marine algae for co-producing alkenones, alkenone derivatives, and co-products

A method comprising a series of selective extraction techniques for the parallel production of biodiesel and isolation of several valuable co-products including an alkenone hydrocarbon mixture of the kerosene/jet fuel range (primarily C10-, C12-, and C17-hydrocarbons) and fucoxanthin, a high-valued carotenoid, from the marine alkenone-producing microalgae Isochrysis.

Reddy, Christopher M.↗
DOE OSTI2020

Integrated circuits with programmable gate timing signal generation for power converters and apparatus comprising the same

An apparatus is disclosed that includes a semiconductor device to control a power converter having two or more power FETs. The semiconductor device includes a gate signal generator configured to produce two or more gate signals able to drive the two or more FETs. The gate signal generator has programmable timing configuration parameters to control operation of the two or more gate signals, wherein the timing configuration parameters are digitally programmed via a memory in the semiconductor device. The memory may be implemented with fuses, other non-volatile memory or volatile memory. The parameters may be fixed or updated during a lifetime of the apparatus. A serial-to-parallel conversion may be used to input the parameters. Optimization methods may be performed to determine parameters considered to be optimal. The apparatus may also include the power converter.

42 ENGINEERING↗
DOE OSTI2012

A preliminary user-friendly, digital console for the control room parameters supervision in old-generation Nuclear Plants

Improvements in the awareness of a system status is an essential requirement to achieve safety in every kind of plant. In particular, in the case of Nuclear Power Plants (NPPs), a progress is crucial to enhance the Human Machine Interface (HMI) in order to optimize monitoring and analyzing processes of NPP operational states. Firstly, as old-fashioned plants are concerned, an upgrading of the whole console instrumentation is desirable in order to replace an analog visualization with a full-digital system. In this work, we present a novel instrument able to interface the control console of a nuclear reactor, developed by using CompactRio, a National Instruments embedded architecture and its dedicated programming language. This real-time industrial controller composed by a real-time processor and FPGA modules has been programmed to visualize the parameters coming from the reactor, and to storage and reproduce significant conditions anytime. This choice has been made on the basis of the FPGA properties: high reliability, determinism, true parallelism and re-configurability, achieved by a simple programming method, based on LabVIEW real-time environment. The system architecture exploits the FPGA capabilities of implementing custom timing and triggering, hardware-based analysis and co-processing, and highest performance control algorithms. Data stored during the supervisory phase can be reproduced by loading data from a measurement file, re-enacting worthwhile operations or conditions. The system has been thought to be used in three different modes, namely Log File Mode, Supervisory Mode and Simulation Mode. The proposed system can be considered as a first step to develop a more complete Decision Support System (DSS): indeed this work is part of a wider project that includes the elaboration of intelligent agents and meta-theory approaches. A synoptic has been created to monitor every kind of action on the plant through an intuitive sight. Furthermore, another important aim of this work is the possibility to have a front panel available on a web interface: CompactRio acts as a remote server and it is accessible on a dedicated LAN. This supervisory system has been tested and validated on the basis of the real control console for the 1-MW TRIGA reactor RC-1 at the ENEA, Casaccia Research Center. In this paper we show some results obtained by recording each variable as the reactor reaches its maximum level of power. The choice of a research reactor for testing the developed system relies on its training and didactic importance for the education of plant operators: in this context a digital instrument can offer a better user-friendly tool for learning and training. It is worthwhile to remark that such a system does not interfere with the console instrumentation, the latter continuing to preserve the total control. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS1997

High-Performance Parallel Analysis of Coupled Problems for Aircraft Propulsion

Applications are described of high-performance computing methods to the numerical simulation of complete jet engines. The methodology focuses on the partitioned analysis of the interaction of the gas flow with a flexible structure and with the fluid mesh motion driven by structural displacements. The latter is treated by a ALE technique that models the fluid mesh motion as that of a fictitious mechanical network laid along the edges of near-field elements. New partitioned analysis procedures to treat this coupled three-component problem were developed. These procedures involved delayed corrections and subcycling, and have been successfully tested on several massively parallel computers, including the iPSC-860, Paragon XP/S and the IBM SP2. The NASA-sponsored ENG10 program was used for the global steady state analysis of the whole engine. This program uses a regular FV-multiblock-grid discretization in conjunction with circumferential averaging to include effects of blade forces, loss, combustor heat addition, blockage, bleeds and convective mixing. A load-balancing preprocessor for parallel versions of ENG10 was developed as well as the capability for the first full 3D aeroelastic simulation of a multirow engine stage. This capability was tested on the IBM SP2 parallel supercomputer at NASA Ames.

Felippa, C. A.↗
NASA NTRS1994

High speed civil transport: Sonic boom softening and aerodynamic optimization

An improvement in sonic boom extrapolation techniques has been the desire of aerospace designers for years. This is because the linear acoustic theory developed in the 60's is incapable of predicting the nonlinear phenomenon of shock wave propagation. On the other hand, CFD techniques are too computationally expensive to employ on sonic boom problems. Therefore, this research focused on the development of a fast and accurate sonic boom extrapolation method that solves the Euler equations for axisymmetric flow. This new technique has brought the sonic boom extrapolation techniques up to the standards of the 90's. Parallel computing is a fast growing subject in the field of computer science because of its promising speed. A new optimizer (IIOWA) for the parallel computing environment has been developed and tested for aerodynamic drag minimization. This is a promising method for CFD optimization making use of the computational resources of workstations, which unlike supercomputers can spend most of their time idle. Finally, the OAW concept is attractive because of its overall theoretical performance. In order to fully understand the concept, a wind-tunnel model was built and is currently being tested at NASA Ames Research Center. The CFD calculations performed under this cooperative agreement helped to identify the problem of the flow separation, and also aided the design by optimizing the wing deflection for roll trim.

Cheung, Samson↗
NASA NTRS1998

A Discontinuous Galerkin Finite Element Method for Hamilton-Jacobi Equations

In this paper, we present a discontinuous Galerkin finite element method for solving the nonlinear Hamilton-Jacobi equations. This method is based on the Runge-Kutta discontinuous Galerkin finite element method for solving conservation laws. The method has the flexibility of treating complicated geometry by using arbitrary triangulation, can achieve high order accuracy with a local, compact stencil, and are suited for efficient parallel implementation. One and two dimensional numerical examples are given to illustrate the capability of the method.

Hu, Changqing↗
NASA NTRS2000

High Order Discontinuous Gelerkin Methods for Convection Dominated Problems with Application to Aeroacoustics

This project is about the investigation of the development of the discontinuous Galerkin finite element methods, for general geometry and triangulations, for solving convection dominated problems, with applications to aeroacoustics. On the analysis side, we have studied the efficient and stable discontinuous Galerkin framework for small second derivative terms, for example in Navier-Stokes equations, and also for related equations such as the Hamilton-Jacobi equations. This is a truly local discontinuous formulation where derivatives are considered as new variables. On the applied side, we have implemented and tested the efficiency of different approaches numerically. Related issues in high order ENO and WENO finite difference methods and spectral methods have also been investigated. Jointly with Hu, we have presented a discontinuous Galerkin finite element method for solving the nonlinear Hamilton-Jacobi equations. This method is based on the RungeKutta discontinuous Galerkin finite element method for solving conservation laws. The method has the flexibility of treating complicated geometry by using arbitrary triangulation, can achieve high order accuracy with a local, compact stencil, and are suited for efficient parallel implementation. One and two dimensional numerical examples are given to illustrate the capability of the method. Jointly with Hu, we have constructed third and fourth order WENO schemes on two dimensional unstructured meshes (triangles) in the finite volume formulation. The third order schemes are based on a combination of linear polynomials with nonlinear weights, and the fourth order schemes are based on combination of quadratic polynomials with nonlinear weights. We have addressed several difficult issues associated with high order WENO schemes on unstructured mesh, including the choice of linear and nonlinear weights, what to do with negative weights, etc. Numerical examples are shown to demonstrate the accuracies and robustness of the methods for shock calculations. Jointly with P. Montarnal, we have used a recently developed energy relaxation theory by Coquel and Perthame and high order weighted essentially non-oscillatory (WENO) schemes to simulate the Euler equations of real gas. The main idea is an energy decomposition under the form epsilon = epsilon(sub 1) + epsilon(sub 2), where epsilon(sub 1) is associated with a simpler pressure law (gamma)-law in this paper) and the nonlinear deviation epsilon(sub 2) is convected with the flow. A relaxation process is performed for each time step to ensure that the original pressure law is satisfied. The necessary characteristic decomposition for the high order WENO schemes is performed on the characteristic fields based on the epsilon(sub l) gamma-law. The algorithm only calls for the original pressure law once per grid point per time step, without the need to compute its derivatives or any Riemann solvers. Both one and two dimensional numerical examples are shown to illustrate the effectiveness of this approach.

Shu, Chi-Wang↗
DOE OSTI2023

On the use of a multigrid-reduction-in-time algorithm for multiscale convergence of turbulence simulations

Simulations of turbulent flow present challenges in terms of accuracy and affordability on modern highly-parallel computer architectures. A multigrid-reduction-in-time algorithm is used to provide a framework for separately evolving different scales of turbulence and for parallelizing the temporal domain, thereby increasing the concurrency. It is hypothesized that the space–time locality of the small scales of turbulence can be used to circumvent difficulties in applying temporal multigrid to flows dominated by inertial physics. For algorithms that fall well short of spectral accuracy (fourth-order is used in this work) attention must be paid to the accuracy of features on scales transferred between multigrid levels. Numerical experiments were performed using implicit large-eddy simulation. Results from applying the approach to an infinite-Reynolds number Taylor–Green flow and a double-shear flow at a Reynolds number of 11650 provide strong evidence that the approach has merit. The multigrid-reduction-in-time framework can be used to parallelize the temporal domain of a high-Reynolds-number turbulent flow and permit independent convergence of different scales. Establishing this foundation allows for future research in reducing the wall-clock time to solve turbulent flows while retaining the same accuracy as sequential solvers. In conclusion, current performance results from parallelizing the temporal domain are not competitive with those from sequential-in-time methods.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2014

Numerical method for determination of resonance electron velocities in periodic electric fields

A Monte Carlo method is applied for modeling of a plasma source with a periodic structure of a radiofrequency electric field. The method is modified in order to detect resonance increase of the electron energy at given velocities of the electrons as expected from theoretical considerations. The numerical model is validated by comparison with known analytical results. The applicability of the method for detection of resonance velocities in plasma sources with electric field variation parallel or perpendicular to the electric field vector is proven.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1980

Parallel processing implementations of a contextual classifier for multispectral remote sensing data

Contextual classifiers are being developed as a method to exploit the spatial/spectral context of a pixel to achieve accurate classification. Classification algorithms such as the contextual classifier typically require large amounts of computation time. One way to reduce the execution time of these tasks is through the use of parallelism. The applicability of the CDC flexible processor system and of a proposed multimicroprocessor system (PASM) for implementing contextual classifiers is examined.

Siegel, H. J.↗
NASA NTRS1988

Vectorization of a particle simulation method for hypersonic rarefied flow

An efficient particle simulation technique for hypersonic rarefied flows is presented at an algorithmic and implementation level. The implementation is for a vector computer architecture, specifically the Cray-2. The method models an ideal diatomic Maxwell molecule with three translational and two rotational degrees of freedom. Algorithms are designed specifically for compatibility with fine grain parallelism by reducing the number of data dependencies in the computation. By insisting on this compatibility, the method is capable of performing simulation on a much larger scale than previously possible. A two-dimensional simulation of supersonic flow over a wedge is carried out for the near-continuum limit where the gas is in equilibrium and the ideal solution can be used as a check on the accuracy of the gas model employed in the method. Also, a three-dimensional, Mach 8, rarefied flow about a finite-span flat plate at a 45 degree angle of attack was simulated. It utilized over 10 to the 7th particles carried through 400 discrete time steps in less than one hour of Cray-2 CPU time. This problem was chosen to exhibit the capability of the method in handling a large number of particles and a true three-dimensional geometry.

Mcdonald, Jeffrey D.↗
DOE OSTI2020

Parallel three-dimensional simulations of quasi-static elastoplastic solids

Hypo-elastoplasticity is a flexible framework for modeling the mechanics of many hard materials under small elastic deformation and large plastic deformation. Under typical loading rates, most laboratory tests of these materials happen in the quasi-static limit, but there are few existing numerical methods tailor-made for this physical regime. Here, we extend to three dimensions a recent projection method for simulating quasi-static hypo-elastoplastic materials. The method is based on a mathematical correspondence to the incompressible Navier–Stokes equations, where the projection method of Chorin (1968) is an established numerical technique. We develop and utilize a three-dimensional parallel geometric multigrid solver employed to solve a linear system for the quasi-static projection. Our method is tested through simulation of three-dimensional shear band nucleation and growth, a precursor to failure in many materials. As an example system, we employ a physical model of a bulk metallic glass based on the shear transformation zone theory, but the method can be applied to any elastoplasticity model. We consider several examples of three-dimensional shear banding, and examine shear band formation in physically realistic materials with heterogeneous initial conditions under both simple shear deformation and boundary conditions inspired by friction welding.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2018

Portable Data-Parallel Surface Reconstruction on a Uniform Rectilinear Grid

With the increasing heterogeneity and on-node parallelism of high-performance computing hardware, a major challenge is to develop portable and efficient algorithms and software. In this work, we present our implementation of a portable code to perform surface reconstruction using NVIDIA's Thrust library. Surface reconstruction is a technique commonly used in volume tracking methods for simulations of multimaterial flow with interfaces. Here, we have designed a 3D mesh data structure that is easily mapped to the 1D vectors used by Thrust and at the same time is simple to use and uses familiar data structure terminology (such as cells, faces, vertices, and edges). With this new data structure in place, we have implemented a piecewise linear interface reconstruction algorithm in 3 dimensions that effectively exploits the symmetry present in a uniform rectilinear computational cell. Finally, we report performance results, which show that a single implementation of these algorithms can be compiled to multiple backends (specifically, multi-core CPUs, NVIDIA GPUs, and Intel Xeon Phi processors), making efficient use of the available parallelism on each. We also compare performance of our implementation to a legacy FORTRAN implementation in Message Passing Interface (MPI) and show performance parity on single and multi-core CPU and achieved good parallel speed-ups on GPU. In conclusion, our research demonstrates the advantage of performance portability of the underlying data-parallel programming model.

97 MATHEMATICS AND COMPUTING↗