A stiffness-based quality measure for compliant grasps and fixtures

This paper presents a systematic approach to quantifying the effectiveness of compliant grasps and fixtures of an object. The approach is physically motivated and applies to the grasping of two- and three-dimensional objects by any number of fingers. The approach is based on a characterization of the frame-invariant features of a grasp or fixture stiffness matrix. In particular, we define a set of frame-invariant characteristic stiffness parameters, and provide physical and geometric interpretation for these parameters. Using a physically meaningful scheme to make the rotational and translational stiffness parameters comparable, we define a frame-invariant quality measure, which we call the stiffness quality measure. An example of a frictional grasp illustrates the effectiveness of the quality measure. We then consider the optimal grasping of frictionless polygonal objects by three and four fingers. Such frictionless grasps are useful in high-load fixturing applications, and their relative simplicity allows an efficient computation of the globally optimal finger arrangement. We compute the optimal finger arrangement in several examples, and use these examples to discuss properties that characterize the stiffness quality measure

On the Way to Future's High Energy Particle Physics Transport Code

High Energy Physics (HEP) needs a huge amount of computing resources. In addition data acquisition, transfer, and analysis require a well developed infrastructure too. In order to prove new physics disciplines it is required to higher the luminosity of the accelerator facilities, which produce more-and-more data in the experimental detectors. Both testing new theories and detector R&D are based on complex simulations. Today have already reach that level, the Monte Carlo detector simulation takes much more time than real data collection. This is why speed up of the calculations and simulations became important in the HEP community. The Geant Vector Prototype (GeantV) project aims to optimize the most-used particle transport code applying parallel computing and to exploit the capabilities of the modern CPU and GPU architectures as well. With the maximized concurrency at multiple levels the GeantV is intended to be the successor of the Geant4 particle transport code that has been used since two decades successfully. Here we present our latest result on the GeantV tests performances, comparing CPU/GPU based vectorized GeantV geometrical code to the Geant4 version

Improving Performance of M-to-N Processing and Data Redistribution in In Transit Analysis and Visualization

In an in transit setting, a parallel data producer, such as a numerical simulation, runs on one set of ranks M, while a data consumer, such as a parallel visualization application, runs on a different set of ranks N. One of the central challenges in this in transit setting is to determine the mapping of data from the set of M producer ranks to the set of N consumer ranks. This is a challenging problem for several reasons, such as the producer and consumer codes potentially having different scaling characteristics and different data models. The resulting mapping from M to N ranks can have a significant impact on aggregate application performance. In this work, we present an approach for performing this M-to-N mapping in a way that has broad applicability across a diversity of data producer and consumer applications. We evaluate its design and performance with a study that runs at high concurrency on a modern HPC platform. By leveraging design characteristics, which facilitate an “intelligent” mapping from M-to-N, we observe significant performance gains are possible in terms of several different metrics, including time-to-solution and amount of data moved

History-Preserving Bisimilarity for Higher-Dimensional Automata via Open Maps

We show that history-preserving bisimilarity for higher-dimensional automata has a simple characterization directly in terms of higher-dimensional transitions. This implies that it is decidable for finite higher-dimensional automata. To arrive at our characterization, we apply the open-maps framework of Joyal, Nielsen and Winskel in the category of unfoldings of precubical sets.Comment: Minor updates in accordance with reviewer comments. Submitted to MFPS 201

Parallel Anisotropic Unstructured Grid Adaptation

Computational Fluid Dynamics (CFD) has become critical to the design and analysis of aerospace vehicles. Parallel grid adaptation that resolves multiple scales with anisotropy is identified as one of the challenges in the CFD Vision 2030 Study to increase the capacity and capability of CFD simulation. The Study also cautions that computer architectures are undergoing a radical change and dramatic increases in algorithm concurrency will be required to exploit full performance. This paper reviews four different methods to parallel anisotropic grid generation. They cover both ends of the spectrum: (i) using existing state-of-the-art software optimized for a single core and modifying it for parallel platforms and (ii) designing and implementing scalable software with incomplete, but rapidly maturating functionality. A brief overview for each grid adaptation system is presented in the context of a telescopic approach for multilevel concurrency. These methods employ different approaches to enable parallel execution, which provides a unique opportunity to illustrate the relative behavior of each approach. Qualitative and quantitative metric evaluations are used to draw lessons for future developments in this critical area for parallel CFD simulation

Investigating The Algebraic Structure of Dihomotopy Types

This presentation is the sequel of a paper published in GETCO'00 proceedings where a research program to construct an appropriate algebraic setting for the study of deformations of higher dimensional automata was sketched. This paper focuses precisely on detailing some of its aspects. The main idea is that the category of homotopy types can be embedded in a new category of dihomotopy types, the embedding being realized by the Globe functor. In this latter category, isomorphism classes of objects are exactly higher dimensional automata up to deformations leaving invariant their computer scientific properties as presence or not of deadlocks (or everything similar or related). Some hints to study the algebraic structure of dihomotopy types are given, in particular a rule to decide whether a statement/notion concerning dihomotopy types is or not the lifting of another statement/notion concerning homotopy types. This rule does not enable to guess what is the lifting of a given notion/statement, it only enables to make the verification, once the lifting has been found.Comment: 28 pages ; LaTeX2e + 4 figures ; Expository paper ; Minor typos corrections ; To appear in GETCO'01 proceeding