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NASA NTRS1988

A parallel expert system for the control of a robotic air vehicle

Expert systems can be used to govern the intelligent control of vehicles, for example the Robotic Air Vehicle (RAV). Due to the nature of the RAV system the associated expert system needs to perform in a demanding real-time environment. The use of a parallel processing capability to support the associated expert system's computational requirement is critical in this application. Thus, algorithms for parallel real-time expert systems must be designed, analyzed, and synthesized. The design process incorporates a consideration of the rule-set/face-set size along with representation issues. These issues are looked at in reference to information movement and various inference mechanisms. Also examined is the process involved with transporting the RAV expert system functions from the TI Explorer, where they are implemented in the Automated Reasoning Tool (ART), to the iPSC Hypercube, where the system is synthesized using Concurrent Common LISP (CCLISP). The transformation process for the ART to CCLISP conversion is described. The performance characteristics of the parallel implementation of these expert systems on the iPSC Hypercube are compared to the TI Explorer implementation.

Shakley, Donald↗

NASA NTRS2000

A Simple Tool for the Design and Analysis of Multiple-Reflector Antennas in a Multi-Disciplinary Environment

The process of designing and analyzing a multiple-reflector system has traditionally been time-intensive, requiring large amounts of both computational and human time. At many frequencies, a discrete approximation of the radiation integral may be used to model the system. The code which implements this physical optics (PO) algorithm was developed at the Jet Propulsion Laboratory. It analyzes systems of antennas in pairs, and for each pair, the analysis can be computationally time-consuming. Additionally, the antennas must be described using a local coordinate system for each antenna, which makes it difficult to integrate the design into a multi-disciplinary framework in which there is traditionally one global coordinate system, even before considering deforming the antenna as prescribed by external structural and/or thermal factors. Finally, setting up the code to correctly analyze all the antenna pairs in the system can take a fair amount of time, and introduces possible human error. The use of parallel computing to reduce the computational time required for the analysis of a given pair of antennas has been previously discussed. This paper focuses on the other problems mentioned above. It will present a methodology and examples of use of an automated tool that performs the analysis of a complete multiple-reflector system in an integrated multi-disciplinary environment (including CAD modeling, and structural and thermal analysis) at the click of a button. This tool, named MOD Tool (Millimeter-wave Optics Design Tool), has been designed and implemented as a distributed tool, with a client that runs almost identically on Unix, Mac, and Windows platforms, and a server that runs primarily on a Unix workstation and can interact with parallel supercomputers with simple instruction from the user interacting with the client.

Katz, Daniel S.↗

NASA NTRS1993

The ParaScope parallel programming environment

The ParaScope parallel programming environment, developed to support scientific programming of shared-memory multiprocessors, includes a collection of tools that use global program analysis to help users develop and debug parallel programs. This paper focuses on ParaScope's compilation system, its parallel program editor, and its parallel debugging system. The compilation system extends the traditional single-procedure compiler by providing a mechanism for managing the compilation of complete programs. Thus, ParaScope can support both traditional single-procedure optimization and optimization across procedure boundaries. The ParaScope editor brings both compiler analysis and user expertise to bear on program parallelization. It assists the knowledgeable user by displaying and managing analysis and by providing a variety of interactive program transformations that are effective in exposing parallelism. The debugging system detects and reports timing-dependent errors, called data races, in execution of parallel programs. The system combines static analysis, program instrumentation, and run-time reporting to provide a mechanical system for isolating errors in parallel program executions. Finally, we describe a new project to extend ParaScope to support programming in FORTRAN D, a machine-independent parallel programming language intended for use with both distributed-memory and shared-memory parallel computers.

Cooper, Keith D.↗

NASA NTRS1993

Time Warp Operating System (TWOS)

Designed to support parallel discrete-event simulation, TWOS is complete implementation of Time Warp mechanism - distributed protocol for virtual time synchronization based on process rollback and message annihilation.

Bellenot, Steven F.↗

NASA NTRS1994

Array distribution in data-parallel programs

We consider distribution at compile time of the array data in a distributed-memory implementation of a data-parallel program written in a language like Fortran 90. We allow dynamic redistribution of data and define a heuristic algorithmic framework that chooses distribution parameters to minimize an estimate of program completion time. We represent the program as an alignment-distribution graph. We propose a divide-and-conquer algorithm for distribution that initially assigns a common distribution to each node of the graph and successively refines this assignment, taking computation, realignment, and redistribution costs into account. We explain how to estimate the effect of distribution on computation cost and how to choose a candidate set of distributions. We present the results of an implementation of our algorithms on several test problems.

Chatterjee, Siddhartha↗

NASA NTRS1978

A modular minicomputer based Navier-Stokes solver

The basic module consists of a minicomputer, low cost peripheral storage device (disk) and a modest number (8-12) of microcomputer modules. A simple arrangement, where the microcomputers are connected to a single time multiplexed bus, only communicating to the host minicomputer, will be efficient. By running the machine in a dedicated mode for long periods of time, it will be possible to obtain a large number of solutions. As such, the device should be useful as a research tool. A scheme is outlined to assemble a number of these computing modules in parallel to decrease computing time. The advantages and disadvantages are discussed of using a number of these systems assembled in a loosely coupled configuration, each independently computing a separate flow, to give a very high throughput.

Steinhoff, J.↗

NASA NTRS2001

Parallelization of Program to Optimize Simulated Trajectories (POST3D)

This paper describes the parallelization of the Program to Optimize Simulated Trajectories (POST3D). POST3D uses a gradient-based optimization algorithm that reaches an optimum design point by moving from one design point to the next. The gradient calculations required to complete the optimization process, dominate the computational time and have been parallelized using a Single Program Multiple Data (SPMD) on a distributed memory NUMA (non-uniform memory access) architecture. The Origin2000 was used for the tests presented.

Hammond, Dana P.↗

NASA NTRS1988

An asymptotic induced numerical method for the convection-diffusion-reaction equation

A parallel algorithm for the efficient solution of a time dependent reaction convection diffusion equation with small parameter on the diffusion term is presented. The method is based on a domain decomposition that is dictated by singular perturbation analysis. The analysis is used to determine regions where certain reduced equations may be solved in place of the full equation. Parallelism is evident at two levels. Domain decomposition provides parallelism at the highest level, and within each domain there is ample opportunity to exploit parallelism. Run time results demonstrate the viability of the method.

Scroggs, Jeffrey S.↗

NASA NTRS2012

Method of detecting system function by measuring frequency response

Real-time battery impedance spectrum is acquired using a one-time record. Fast Summation Transformation (FST) is a parallel method of acquiring a real-time battery impedance spectrum using a one-time record that enables battery diagnostics. An excitation current to a battery is a sum of equal amplitude sine waves of frequencies that are octave harmonics spread over a range of interest. A sample frequency is also octave and harmonically related to all frequencies in the sum. The time profile of this signal has a duration that is a few periods of the lowest frequency. The voltage response of the battery, average deleted, is the impedance of the battery in the time domain. Since the excitation frequencies are known and octave and harmonically related, a simple algorithm, FST, processes the time record by rectifying relative to the sine and cosine of each frequency. Another algorithm yields real and imaginary components for each frequency.

Morrison, John L.↗

NASA NTRS1989

Parallel processing of a rotating shaft simulation

A FORTRAN program describing the vibration modes of a rotor-bearing system is analyzed for parellelism in this simulation using a Pascal-like structured language. Potential vector operations are also identified. A critical path through the simulation is identified and used in conjunction with somewhat fictitious processor characteristics to determine the time to calculate the problem on a parallel processing system having those characteristics. A parallel processing overhead time is included as a parameter for proper evaluation of the gain over serial calculation. The serial calculation time is determined for the same fictitious system. An improvement of up to 640 percent is possible depending on the value of the overhead time. Based on the analysis, certain conclusions are drawn pertaining to the development needs of parallel processing technology, and to the specification of parallel processing systems to meet computational needs.

Arpasi, Dale J.↗

NASA NTRS1991

Parallel algorithms for placement and routing in VLSI design

The computational requirements for high quality synthesis, analysis, and verification of very large scale integration (VLSI) designs have rapidly increased with the fast growing complexity of these designs. Research in the past has focused on the development of heuristic algorithms, special purpose hardware accelerators, or parallel algorithms for the numerous design tasks to decrease the time required for solution. Two new parallel algorithms are proposed for two VLSI synthesis tasks, standard cell placement and global routing. The first algorithm, a parallel algorithm for global routing, uses hierarchical techniques to decompose the routing problem into independent routing subproblems that are solved in parallel. Results are then presented which compare the routing quality to the results of other published global routers and which evaluate the speedups attained. The second algorithm, a parallel algorithm for cell placement and global routing, hierarchically integrates a quadrisection placement algorithm, a bisection placement algorithm, and the previous global routing algorithm. Unique partitioning techniques are used to decompose the various stages of the algorithm into independent tasks which can be evaluated in parallel. Finally, results are presented which evaluate the various algorithm alternatives and compare the algorithm performance to other placement programs. Measurements are presented on the parallel speedups available.

Brouwer, Randall Jay↗

NASA NTRS1996

RANS-MP: A Portable Parallel Navier-Stokes Solver

RANS-MP, a new implementation of a single-grid Navier-Stokes solver using the diagonalized Beam-Warming approximate-factorization scheme, is presented. This first release of the completely rewritten solver employs the following optimizations: (1) Bi-directional multi-partition method for the ADI solver part; this improves granularity and load balance; (2) Improved cache usage through elimination of non-unit-stride array access (possible in part due to multi-partitioning); (3) Preprocessing of communicating boundary conditions to streamline logic during time stepping; (4) Truly parallel, high-performance I/O using the newly-developed MPI-IO library; (5) Elimination of large amounts of redundant operations through efficient use of workspace. Results of some realistic wing computations on the IBM SP2 computer will be presented. We will demonstrate that excellent absolute performance and scalability are obtained with RANS-MP, even for relatively small grid sizes. Besides high performance, an outstanding feature of RANS-MP is its true portability, due to the use of the portable message passing and I/O libraries MPI and MPI-IO.

VanderWijngaart, Rob F.↗

NASA NTRS1995

Time accurate application of the MacCormack 2-4 scheme on massively parallel computers

Many recent computational efforts in turbulence and acoustics research have used higher order numerical algorithms. One popular method has been the explicit MacCormack 2-4 scheme. The MacCormack 2-4 scheme is second order accurate in time and fourth order accurate in space, and is stable for CFL's below 2/3. Current research has shown that the method can give accurate results but does exhibit significant Gibbs phenomena at sharp discontinuities. The impact of adding Jameson type second, third, and fourth order artificial viscosity was examined here. Category 2 problems, the nonlinear traveling wave and the Riemann problem, were computed using a CFL number of 0.25. This research has found that dispersion errors can be significantly reduced or nearly eliminated by using a combination of second and third order terms in the damping. Use of second and fourth order terms reduced the magnitude of dispersion errors but not as effectively as the second and third order combination. The program was coded using Thinking Machine's CM Fortran, a variant of Fortran 90/High Performance Fortran, and was executed on a 2K CM-200. Simple extrapolation boundary conditions were used for both problems.

Hudson, Dale A.↗

NASA NTRS2001

Finite Element Methods for real-time Haptic Feedback of Soft-Tissue Models in Virtual Reality Simulators

We have applied the linear elastic finite element method to compute haptic force feedback and domain deformations of soft tissue models for use in virtual reality simulators. Our results show that, for virtual object models of high-resolution 3D data (>10,000 nodes), haptic real time computations (>500 Hz) are not currently possible using traditional methods. Current research efforts are focused in the following areas: 1) efficient implementation of fully adaptive multi-resolution methods and 2) multi-resolution methods with specialized basis functions to capture the singularity at the haptic interface (point loading). To achieve real time computations, we propose parallel processing of a Jacobi preconditioned conjugate gradient method applied to a reduced system of equations resulting from surface domain decomposition. This can effectively be achieved using reconfigurable computing systems such as field programmable gate arrays (FPGA), thereby providing a flexible solution that allows for new FPGA implementations as improved algorithms become available. The resulting soft tissue simulation system would meet NASA Virtual Glovebox requirements and, at the same time, provide a generalized simulation engine for any immersive environment application, such as biomedical/surgical procedures or interactive scientific applications.

Frank, Andreas O.↗

NASA NTRS1990

Real-time image processing II; Proceedings of the Meeting, Orlando, FL, Apr. 16-18, 1990

The present conference discusses topics in the fields of feature extraction and implementation, filter and correlation algorithms, optical correlators, high-level algorithms, and digital image processing for ranging and remote driving. Attention is given to a nonlinear filter derived from topological image features, IR image segmentation through iterative thresholding, orthogonal subspaces for correlation masking, composite filter trees and image recognition via binary search, and features of matrix-coherent optical image processing. Also discussed are multitarget tracking via hybrid joint transform correlator, binary joint Fourier transform correlator considerations, global image processing operations on parallel architectures, real-time implementation of a differential range finder, and real-time binocular stereo range and motion detection.

Juday, Richard D.↗

NASA NTRS2000

Parallel Unsteady Turbopump Flow Simulations for Reusable Launch Vehicles

An efficient solution procedure for time-accurate solutions of Incompressible Navier-Stokes equation is obtained. Artificial compressibility method requires a fast convergence scheme. Pressure projection method is efficient when small time-step is required. The number of sub-iteration is reduced significantly when Poisson solver employed with the continuity equation. Both computing time and memory usage are reduced (at least 3 times). Other work includes Multi Level Parallelism (MLP) of INS3D, overset connectivity for the validation case, experimental measurements, and computational model for boost pump.

Kiris, Cetin↗

NASA NTRS2005

Predicting Flows of Rarefied Gases

DSMC Analysis Code (DAC) is a flexible, highly automated, easy-to-use computer program for predicting flows of rarefied gases -- especially flows of upper-atmospheric, propulsion, and vented gases impinging on spacecraft surfaces. DAC implements the direct simulation Monte Carlo (DSMC) method, which is widely recognized as standard for simulating flows at densities so low that the continuum-based equations of computational fluid dynamics are invalid. DAC enables users to model complex surface shapes and boundary conditions quickly and easily. The discretization of a flow field into computational grids is automated, thereby relieving the user of a traditionally time-consuming task while ensuring (1) appropriate refinement of grids throughout the computational domain, (2) determination of optimal settings for temporal discretization and other simulation parameters, and (3) satisfaction of the fundamental constraints of the method. In so doing, DAC ensures an accurate and efficient simulation. In addition, DAC can utilize parallel processing to reduce computation time. The domain decomposition needed for parallel processing is completely automated, and the software employs a dynamic load-balancing mechanism to ensure optimal parallel efficiency throughout the simulation.

LeBeau, Gerald J.↗

NASA NTRS2000

Stimulus configuration determines the detectability of motion signals in noise

We measured the detectability of moving signal dots in dynamic noise to determine whether local motion signals are preferentially combined along an axis parallel to the direction of motion. Observers were asked to detect a signal composed of three dots moving in a linear trajectory among dynamic noise dots. The signal dots were collinear and equally spaced in a configuration that was either parallel to or perpendicular to their trajectory. The probability of detecting the signal was measured as a function of noise density, over a range of signal dot spacings from 0.5 degrees to 5.0 degrees. At any given noise density, the signal in the parallel configuration was more detectable than that in the perpendicular configuration. Our four observers could tolerate 1.5-2.5 times more noise in the parallel configuration. This improvement is not due merely to temporal summation between consecutive dots in the parallel trajectory. Temporal summation functions measured on our observers indicate that the benefit from spatial coincidence of the dots lasts for no more than 50 ms, whereas the increased detectability of the parallel configuration is observed up to the largest temporal separations tested (210 ms). These results demonstrate that dots arranged parallel to the signal trajectory are more easily detected than those arranged perpendicularly. Moreover, this enhancement points to the existence of visual mechanisms that preferentially organize motion information parallel to the direction of motion.

Non-NASA Center↗