Current Search: Supercomputers (x)
-
-
Title
-
Massively parallel computation and porting of EPIC research hydro code on Cray-T3D.
-
Creator
-
Dutta, Arindum., Florida Atlantic University, Tsai, Chi-Tay
-
Abstract/Description
-
The objective of the work is to verify the feasibility of converting a large FEA code into a massively parallel FEA code in terms of computational speed and cost. Sequential subroutines in the Research EPIC hydro code, a Lagrangian finite element analysis code for high velocity elastic-plastic impact problems, are individually converted into parallel code using Cray Adaptive Fortran (CRAFT). The performance of massively parallel subroutines running on 32 PEs on Cray-T3D is faster than their...
Show moreThe objective of the work is to verify the feasibility of converting a large FEA code into a massively parallel FEA code in terms of computational speed and cost. Sequential subroutines in the Research EPIC hydro code, a Lagrangian finite element analysis code for high velocity elastic-plastic impact problems, are individually converted into parallel code using Cray Adaptive Fortran (CRAFT). The performance of massively parallel subroutines running on 32 PEs on Cray-T3D is faster than their sequential counterparts on Cray-YMP. At next stage of the research, Parallel Virtual Machine (PVM) directives is used to develop a PVM version of the EPIC hydro code by connecting the converted parallel subroutines running on multiple PEs of T3D to the sequential part of the code running on single PE. With an incremental increase in the massively parallel subroutines into the PVM EPIC hydro code, the performance with respect to speedup of the code increased accordingly. The results indicate that significant speedup can be achieved in the EPIC hydro code when most or all of the subroutines are massively parallelized.
Show less
-
Date Issued
-
1996
-
PURL
-
http://purl.flvc.org/fcla/dt/15249
-
Subject Headings
-
Parallel processing (Electronic computers), Computer programs, coding theory, Supercomputers
-
Format
-
Document (PDF)
-
-
Title
-
A new approach to the inverse kinematic analysis of redundant robots.
-
Creator
-
Dutta, Partha Sarathi., Florida Atlantic University
-
Abstract/Description
-
A new approach has been developed for inverse kinematic analysis of redundant robots. In case of redundant robots inverse kinematics is complicated by the non-square nature of the Jacobian. In this method the Jacobian and inverse kinematic equation are reduced based on the rank of the Jacobian and the constraints specified. This process automatically locks some joints of the robot at various trajectory points. The reduced inverse kinematic equation is solved by an iterative procedure to find...
Show moreA new approach has been developed for inverse kinematic analysis of redundant robots. In case of redundant robots inverse kinematics is complicated by the non-square nature of the Jacobian. In this method the Jacobian and inverse kinematic equation are reduced based on the rank of the Jacobian and the constraints specified. This process automatically locks some joints of the robot at various trajectory points. The reduced inverse kinematic equation is solved by an iterative procedure to find joint variable values for known task description. The results of computer simulation of the inverse kinematics applied on a redundant planar robot and a redundant moving base robot proved the method to be efficient, and the results can be found within a few iterations with excellent accuracy.
Show less
-
Date Issued
-
1988
-
PURL
-
http://purl.flvc.org/fcla/dt/14433
-
Subject Headings
-
Parallel processing (Electronic computers), Computer programs, coding theory, Supercomputers
-
Format
-
Document (PDF)