8,704 research outputs found
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions
The paper proposes a new calibration method for parallel manipulators that
allows efficient identification of the joint offsets using observations of the
manipulator leg parallelism with respect to the base surface. The method
employs a simple and low-cost measuring system, which evaluates deviation of
the leg location during motions that are assumed to preserve the leg
parallelism for the nominal values of the manipulator parameters. Using the
measured deviations, the developed algorithm estimates the joint offsets that
are treated as the most essential parameters to be identified. The validity of
the proposed calibration method and efficiency of the developed numerical
algorithms are confirmed by experimental results. The sensitivity of the
measurement methods and the calibration accuracy are also studied
Time-parallel iterative solvers for parabolic evolution equations
We present original time-parallel algorithms for the solution of the implicit
Euler discretization of general linear parabolic evolution equations with
time-dependent self-adjoint spatial operators. Motivated by the inf-sup theory
of parabolic problems, we show that the standard nonsymmetric time-global
system can be equivalently reformulated as an original symmetric saddle-point
system that remains inf-sup stable with respect to the same natural parabolic
norms. We then propose and analyse an efficient and readily implementable
parallel-in-time preconditioner to be used with an inexact Uzawa method. The
proposed preconditioner is non-intrusive and easy to implement in practice, and
also features the key theoretical advantages of robust spectral bounds, leading
to convergence rates that are independent of the number of time-steps, final
time, or spatial mesh sizes, and also a theoretical parallel complexity that
grows only logarithmically with respect to the number of time-steps. Numerical
experiments with large-scale parallel computations show the effectiveness of
the method, along with its good weak and strong scaling properties
Achieving Efficient Strong Scaling with PETSc using Hybrid MPI/OpenMP Optimisation
The increasing number of processing elements and decreas- ing memory to core
ratio in modern high-performance platforms makes efficient strong scaling a key
requirement for numerical algorithms. In order to achieve efficient scalability
on massively parallel systems scientific software must evolve across the entire
stack to exploit the multiple levels of parallelism exposed in modern
architectures. In this paper we demonstrate the use of hybrid MPI/OpenMP
parallelisation to optimise parallel sparse matrix-vector multiplication in
PETSc, a widely used scientific library for the scalable solution of partial
differential equations. Using large matrices generated by Fluidity, an open
source CFD application code which uses PETSc as its linear solver engine, we
evaluate the effect of explicit communication overlap using task-based
parallelism and show how to further improve performance by explicitly load
balancing threads within MPI processes. We demonstrate a significant speedup
over the pure-MPI mode and efficient strong scaling of sparse matrix-vector
multiplication on Fujitsu PRIMEHPC FX10 and Cray XE6 systems
Solution of partial differential equations on vector and parallel computers
The present status of numerical methods for partial differential equations on vector and parallel computers was reviewed. The relevant aspects of these computers are discussed and a brief review of their development is included, with particular attention paid to those characteristics that influence algorithm selection. Both direct and iterative methods are given for elliptic equations as well as explicit and implicit methods for initial boundary value problems. The intent is to point out attractive methods as well as areas where this class of computer architecture cannot be fully utilized because of either hardware restrictions or the lack of adequate algorithms. Application areas utilizing these computers are briefly discussed
Where are the parallel algorithms?
Four paradigms that can be useful in developing parallel algorithms are discussed. These include computational complexity analysis, changing the order of computation, asynchronous computation, and divide and conquer. Each is illustrated with an example from scientific computation, and it is shown that computational complexity must be used with great care or an inefficient algorithm may be selected
A bibliography on parallel and vector numerical algorithms
This is a bibliography of numerical methods. It also includes a number of other references on machine architecture, programming language, and other topics of interest to scientific computing. Certain conference proceedings and anthologies which have been published in book form are listed also
- …