48,656 research outputs found
DEVELOPMENT OF HARDWARE-IN-THE-LOOP SIMULATION SYSTEM FOR ELECTRIC POWER STEERING CONTROLLER TESTING
The Electronic Control Unit (ECU) of an Electric Power Steering (EPS) system is a core device to decide how much assistance an electric motor applies on steering wheel. EPS ECUs play an important role in EPS systems. The effectiveness of EPS ECUs needs to be thoroughly tested before mass production. Hardware-in-the-loop (HIL) simulation provides an efficient way for the development and testing of embedded controllers. This report focuses on the development of HIL system for testing EPS controllers. The hardware of the HIL system employs a dSPACE HIL simulator. The EPS plant model is an integrated model consisting of Vehicle Dynamics model of the dSPACE Automotive Simulation Model (ASM) and the Nexteer model. The report presents the design of EPS HIL system, the simulation of sensors and actuators, the functions of ASM Vehicle Dynamics model, and the integration method of ASM Vehicle Dynamics model with Nexteer model. The offline simulation of the integrated model is performed and the results for different driving maneuvers are presented. The real-time HIL testing will be conducted in the future to examine the performance of an entire HIL system
Developing performance-portable molecular dynamics kernels in Open CL
This paper investigates the development of a molecular dynamics code that is highly portable between architectures. Using OpenCL, we develop an implementation of Sandia’s miniMD benchmark that achieves good levels of performance across a wide range of hardware: CPUs, discrete GPUs and integrated GPUs.
We demonstrate that the performance bottlenecks of miniMD’s short-range force calculation kernel are the same across these architectures, and detail a number of platform- agnostic optimisations that improve its performance by at least 2x on all hardware considered. Our complete code is shown to be 1.7x faster than the original miniMD, and at most 2x slower than implementations individually hand-tuned for a specific architecture
A dynamics-driven approach to precision machines design for micro-manufacturing and its implementation perspectives
Precision machines are essential elements in fabricating high quality micro products or micro features and directly affect the machining accuracy, repeatability and efficiency. There are a number of literatures on the design of industrial machine elements and a couple of precision machines commercially available. However, few researchers have systematically addressed the design of precision machines from the dynamics point of view. In this paper, the design issues of precision machines are presented with particular emphasis on the dynamics aspects as the major factors affecting the performance of the precision machines and machining processes. This paper begins with a brief review of the design principles of precision machines with emphasis on machining dynamics. Then design processes of precision machines are discussed, and followed by a practical modelling and simulation approaches. Two case studies are provided including the design and analysis of a fast tool servo system and a 5-axis bench-top micro-milling machine respectively. The design and analysis used in the two case studies are formulated based on the design methodology and guidelines
Five-Axis Machine Tool Condition Monitoring Using dSPACE Real-Time System
This paper presents the design, development and SIMULINK implementation of the lumped parameter model of C-axis drive from GEISS five-axis CNC machine tool. The simulated results compare well with the experimental data measured from the actual machine. Also the paper describes the steps for data acquisition using ControlDesk and hardware-in-the-loop implementation of the drive models in dSPACE real-time system. The main components of the HIL system are: the drive model simulation and input – output (I/O) modules for receiving the real controller outputs. The paper explains how the experimental data obtained from the data acquisition process using dSPACE real-time system can be used for the development of machine tool diagnosis and prognosis systems that facilitate the improvement of maintenance activities
Design and optimization of a portable LQCD Monte Carlo code using OpenACC
The present panorama of HPC architectures is extremely heterogeneous, ranging
from traditional multi-core CPU processors, supporting a wide class of
applications but delivering moderate computing performance, to many-core GPUs,
exploiting aggressive data-parallelism and delivering higher performances for
streaming computing applications. In this scenario, code portability (and
performance portability) become necessary for easy maintainability of
applications; this is very relevant in scientific computing where code changes
are very frequent, making it tedious and prone to error to keep different code
versions aligned. In this work we present the design and optimization of a
state-of-the-art production-level LQCD Monte Carlo application, using the
directive-based OpenACC programming model. OpenACC abstracts parallel
programming to a descriptive level, relieving programmers from specifying how
codes should be mapped onto the target architecture. We describe the
implementation of a code fully written in OpenACC, and show that we are able to
target several different architectures, including state-of-the-art traditional
CPUs and GPUs, with the same code. We also measure performance, evaluating the
computing efficiency of our OpenACC code on several architectures, comparing
with GPU-specific implementations and showing that a good level of
performance-portability can be reached.Comment: 26 pages, 2 png figures, preprint of an article submitted for
consideration in International Journal of Modern Physics
Tackling Exascale Software Challenges in Molecular Dynamics Simulations with GROMACS
GROMACS is a widely used package for biomolecular simulation, and over the
last two decades it has evolved from small-scale efficiency to advanced
heterogeneous acceleration and multi-level parallelism targeting some of the
largest supercomputers in the world. Here, we describe some of the ways we have
been able to realize this through the use of parallelization on all levels,
combined with a constant focus on absolute performance. Release 4.6 of GROMACS
uses SIMD acceleration on a wide range of architectures, GPU offloading
acceleration, and both OpenMP and MPI parallelism within and between nodes,
respectively. The recent work on acceleration made it necessary to revisit the
fundamental algorithms of molecular simulation, including the concept of
neighborsearching, and we discuss the present and future challenges we see for
exascale simulation - in particular a very fine-grained task parallelism. We
also discuss the software management, code peer review and continuous
integration testing required for a project of this complexity.Comment: EASC 2014 conference proceedin
Effective Viscous Damping Enables Morphological Computation in Legged Locomotion
Muscle models and animal observations suggest that physical damping is
beneficial for stabilization. Still, only a few implementations of mechanical
damping exist in compliant robotic legged locomotion. It remains unclear how
physical damping can be exploited for locomotion tasks, while its advantages as
sensor-free, adaptive force- and negative work-producing actuators are
promising. In a simplified numerical leg model, we studied the energy
dissipation from viscous and Coulomb damping during vertical drops with
ground-level perturbations. A parallel spring-damper is engaged between
touch-down and mid-stance, and its damper auto-disengages during mid-stance and
takeoff. Our simulations indicate that an adjustable and viscous damper is
desired. In hardware we explored effective viscous damping and adjustability
and quantified the dissipated energy. We tested two mechanical, leg-mounted
damping mechanisms; a commercial hydraulic damper, and a custom-made pneumatic
damper. The pneumatic damper exploits a rolling diaphragm with an adjustable
orifice, minimizing Coulomb damping effects while permitting adjustable
resistance. Experimental results show that the leg-mounted, hydraulic damper
exhibits the most effective viscous damping. Adjusting the orifice setting did
not result in substantial changes of dissipated energy per drop, unlike
adjusting damping parameters in the numerical model. Consequently, we also
emphasize the importance of characterizing physical dampers during real legged
impacts to evaluate their effectiveness for compliant legged locomotion
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