Exploiting hybrid parallelism in the kinematic analysis of multibody systems based on group equations

Computational kinematics is a fundamental tool for the design, simulation, control, optimization and dynamic analysis of multibody systems. The analysis of complex multibody systems and the need for real time solutions requires the development of kinematic and dynamic formulations that reduces computational cost, the selection and efficient use of the most appropriated solvers and the exploiting of all the computer resources using parallel computing techniques. The topological approach based on group equations and natural coordinates reduces the computation time in comparison with well-known global formulations and enables the use of parallelism techniques which can be applied at different levels: simultaneous solution of equations, use of multithreading routines, or a combination of both. This paper studies and compares these topological formulation and parallel techniques to ascertain which combination performs better in two applications. The first application uses dedicated systems for the real time control of small multibody systems, defined by a few number of equations and small linear systems, so shared-memory parallelism in combination with linear algebra routines is analyzed in a small multicore and in Raspberry Pi. The control of a Stewart platform is used as a case study. The second application studies large multibody systems in which the kinematic analysis must be performed several times during the design of multibody systems. A simulator which allows us to control the formulation, the solver, the parallel techniques and size of the problem has been developed and tested in more powerful computational systems with larger multicores and GPU.This work was supported by the Spanish MINECO, as well as European Commission FEDER funds, under grant TIN2015-66972-C5-3-

A parallel simulator for multibody systems based on group equations

Multibody systems consist of a set of components connected through some joints, where the movement of the system is determined by those of its components. Their design is computationally demanding, and the group equations formulation facilitates the application of parallelism to reduce the simulation time. A simulator for the kinematic analysis of multibody systems on up-to-date computational nodes (multicore CPU+GPU) is presented. The movement of the components is simulated by repeatedly solving independent linear systems working on sparse matrices. The appropriate selection of the linear algebra library to be used and the degree of parallelism at each level (explicit with OpenMP and implicit with multithread libraries) help obtain important reductions in the simulation time.This work was supported by the Spanish MINECO and European Commission FEDER funds under grant TIN2015-66972-C5-3-R

Computational methods and software systems for dynamics and control of large space structures

Two key areas of crucial importance to the computer-based simulation of large space structures are discussed. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area involves massively parallel computers

Computational kinematics of multibody systems: Two formulations for a modular approach based on natural coordinates

Multibody systems can be divided into an ordered set of kinematically determined modules, known as structural groups, in order to compute their kinematics more efficiently. In this work a procedure for the kinematic analysis of any kind of structural group is introduced, and two different methods for their solution in natural coordinates are presented: the time derivative (TD) and the third-order tensor (3OT) approaches. Moreover, the newly derived methods are compared in terms of efficiency with a global formulation, consisting in solving the kinematics of the multibody system as a whole using dense and sparse solvers. Two scalable case studies have been considered: a 2D four-bar linkage and a 3D slider-crank mechanism with an increasing number of constraint equations. The results show that the TD approach performs better in all cases with speed ups in a range of 27 to 61 times faster in 2D, and of 2.3 to 3.7 times faster in 3D with respect to the global sparse solution

Computational methods and software systems for dynamics and control of large space structures

This final report on computational methods and software systems for dynamics and control of large space structures covers progress to date, projected developments in the final months of the grant, and conclusions. Pertinent reports and papers that have not appeared in scientific journals (or have not yet appeared in final form) are enclosed. The grant has supported research in two key areas of crucial importance to the computer-based simulation of large space structure. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area, as reported here, involves massively parallel computers

Proceedings of the Fifth NASA/NSF/DOD Workshop on Aerospace Computational Control

The Fifth Annual Workshop on Aerospace Computational Control was one in a series of workshops sponsored by NASA, NSF, and the DOD. The purpose of these workshops is to address computational issues in the analysis, design, and testing of flexible multibody control systems for aerospace applications. The intention in holding these workshops is to bring together users, researchers, and developers of computational tools in aerospace systems (spacecraft, space robotics, aerospace transportation vehicles, etc.) for the purpose of exchanging ideas on the state of the art in computational tools and techniques

Proceedings of the 3rd Annual Conference on Aerospace Computational Control, volume 1

Conference topics included definition of tool requirements, advanced multibody component representation descriptions, model reduction, parallel computation, real time simulation, control design and analysis software, user interface issues, testing and verification, and applications to spacecraft, robotics, and aircraft

CHRONO: a parallel multi-physics library for rigid-body, flexible-body, and fluid dynamics

Abstract. The last decade witnessed a manifest shift in the microprocessor industry towards chip designs that promote parallel computing. Until recently the privilege of a select group of large research centers, Teraflop computing is becoming a commodity owing to inexpensive GPU cards and multi to many-core x86 processors. This paradigm shift towards large scale parallel computing has been leveraged in CHRONO, a freely available C++ multi-physics simulation package. CHRONO is made up of a collection of loosely coupled components that facilitate different aspects of multi-physics modeling, simulation, and visualization. This contribution provides an overview of CHRONO::Engine, CHRONO::Flex, CHRONO::Fluid, and CHRONO::Render, which are modules that can capitalize on the processing power of hundreds of parallel processors. Problems that can be tackled in CHRONO include but are not limited to granular material dynamics, tangled large flexible structures with self contact, particulate flows, and tracked vehicle mobility. The paper presents an overview of each of these modules and illustrates through several examples the potential of this multi-physics library

Unfolding the prospects of computational (bio)materials modelling

In this perspective communication, we briefly sketch the current state of computational (bio)material research and discuss possible solutions for the four challenges that have been increasingly identified within this community: (i) the desire to develop a unified framework for testing the consistency of implementation and physical accuracy for newly developed methodologies, (ii) the selection of a standard format that can deal with the diversity of simulation data and at the same time simplifies data storage, data exchange, and data reproduction, (iii) how to deal with the generation, storage, and analysis of massive data, and (iv) the benefits of efficient 'core' engines. Expressed viewpoints are the result of discussions between computational stakeholders during a Lorentz center workshop with the prosaic title Workshop on Multi-scale Modeling and are aimed at (i) improving validation, reporting and reproducibility of computational results, (ii) improving data migration between simulation packages and with analysis tools, (iii) popularizing the use of coarse-grained and multi-scale computational tools among non-experts and opening up these modern computational developments to an extended user community