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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1988

Distributed computation of graphics primitives on a transputer network

A method is developed for distributing the computation of graphics primitives on a parallel processing network. Off-the-shelf transputer boards are used to perform the graphics transformations and scan-conversion tasks that would normally be assigned to a single transputer based display processor. Each node in the network performs a single graphics primitive computation. Frequently requested tasks can be duplicated on several nodes. The results indicate that the current distribution of commands on the graphics network shows a performance degradation when compared to the graphics display board alone. A change to more computation per node for every communication (perform more complex tasks on each node) may cause the desired increase in throughput.

Ellis, Graham K.↗
NASA NTRS2014

Modeling and Prediction of the Noise from Non-Axisymmetric Jets

The new source model was combined with the original sound propagation model developed for rectangular jets to produce a new version of the rectangular jet noise prediction code. This code was validated using a set of rectangular nozzles whose geometries were specified by NASA. Nozzles of aspect ratios two, four and eight were studied at jet exit Mach numbers of 0.5, 0.7 and 0.9, for a total of nine cases. Reynolds-averaged Navier-Stokes solutions for these jets were provided to the contactor for use as input to the code. Quantitative comparisons of the predicted azimuthal and polar directivity of the acoustic spectrum were made with experimental data provided by NASA. The results of these comparisons, along with a documentation of the propagation and source models, were reported in a journal article publication (Ref. 4). The complete set of computer codes and computational modules that make up the prediction scheme, along with a user's guide describing their use and example test cases, was provided to NASA as a deliverable of this task. The use of conformal mapping, along with simplified modeling of the mean flow field, for noise propagation modeling was explored for other nozzle geometries, to support the task milestone of developing methods which are applicable to other geometries and flow conditions of interest to NASA. A model to represent twin round jets using this approach was formulated and implemented. A general approach to solving the equations governing sound propagation in a locally parallel nonaxisymmetric jet was developed and implemented, in aid of the tasks and milestones charged with selecting more exact numerical methods for modeling sound propagation, and developing methods that have application to other nozzle geometries. The method is based on expansion of both the mean-flowdependent coefficients in the governing equation and the Green's function in series of orthogonal functions. The method was coded and tested on two analytically prescribed mean flows which were meant to represent noise reduction concepts being considered by NASA. Testing (Ref. 5) showed that the method was feasible for the types of mean flows of interest in jet noise applications. Subsequently, this method was further developed to allow use of mean flow profiles obtained from a Reynolds-averaged Navier-Stokes (RANS) solution of the flow. Preliminary testing of the generalized code was among the last tasks completed under this contract. The stringent noise-reduction goals of NASA's Fundamental Aeronautics Program suggest that, in addition to potentially complex exhaust nozzle geometries, next generation aircraft will also involve tighter integration of the engine with the airframe. Therefore, noise generated and propagated by jet flows in the vicinity of solid surfaces is expected to be quite significant, and reduced-order noise prediction tools will be needed that can deal with such geometries. One important source of noise is that generated by the interaction of a turbulent jet with the edge of a solid surface (edge noise). Such noise is generated, for example, by the passing of the engine exhaust over a shielding surface, such as a wing. Work under this task supported an effort to develop a RANS-based prediction code for edge noise based on an extension of the classical Rapid Distortion Theory (RDT) to transversely sheared base flows (Refs. 6 and 7). The RDT-based theoretical analysis was applied to the generic problem of a turbulent jet interacting with the trailing edge of a flat plate. A code was written to evaluate the formula derived for the spectrum of the noise produced by this interaction and results were compared with data taken at NASA Glenn for a variety of jet/plate configurations and flow conditions (Ref. 8). A longer-term goal of this task was to work toward the development of a high-fidelity model of sound propagation in spatially developing non-axisymmetric jets using direct numerical methods for solving the relevant equations. Working with NASA Glenn Acoustics Branch personnel, numerical methods and boundary conditions appropriate for use in a high-resolution calculation of the full equations governing sound propagation in a steady base flow were identified. Computer codes were then written (by NASA) and tested (by OAI) for an increasingly complex set of flow conditions to validate the methods. The NASA-supplied codes were ported to the High-End Computing resources of the NASA Advanced Supercomputing facility for testing and validation against analytical (where possible) and independent numerical solutions. The cases which were completed during the course of this contract were solutions of the two-dimensional linearized Euler equations with no mean flow, a uniform mean flow and a nonuniform mean flow representative of a parallel flow jet.

Leib, Stewart J.↗
NASA NTRS1997

Pilot Non-Conformance to Alerting System Commands

Instances of pilot non-conformance to alerting system commands have been identified in previous studies. Pilot non-conformance changes the final behavior of the system, and therefore may reduce actual performance from that anticipated. A simulator study has examined pilot non-conformance, using the task of collision avoidance during closely spaced parallel approaches as a case study. Consonance between the display and the alerting system was found to significantly improve subject agreement with automatic alerts. Based on these results, a more general discussion of the factors involved in pilot conformance is given, and design guidelines for alerting systems are given.

Pritchett, Amy R.↗
NASA NTRS2018

Climatespark: an In-Memory Distributed Computing Framework for Big Climate Data Analytics

The unprecedented growth of climate data creates new opportunities for climate studies, and yet big climate data pose a grand challenge to climatologists to efficiently manage and analyze big data. The complexity of climate data content and analytical algorithms increases the difficulty of implementing algorithms on high performance computing systems. This paper proposes an in-memory, distributed computing framework, ClimateSpark, to facilitate complex big data analytics and time-consuming computational tasks. Chunking data structure improves parallel I/O efficiency, while a spatiotemporal index is built for the chunks to avoid unnecessary data reading and preprocessing. An integrated, multi-dimensional, array-based data model (ClimateRDD) and ETL operations are developed to address big climate data variety by integrating the processing components of the climate data lifecycle. ClimateSpark utilizes Spark SQL and Apache Zeppelin to develop a web portal to facilitate the interaction among climatologists, climate data, analytic operations and computing resources (e.g., using SQL query and Scala/Python notebook). Experimental results show that ClimateSpark conducts different spatiotemporal data queries/analytics with high efficiency and data locality. ClimateSpark is easily adaptable to other big multiple- dimensional, array-based datasets in various geoscience domains.

Hu, Fei↗
NASA NTRS1987

Computer architecture for efficient algorithmic executions in real-time systems: New technology for avionics systems and advanced space vehicles

Improvements and advances in the development of computer architecture now provide innovative technology for the recasting of traditional sequential solutions into high-performance, low-cost, parallel system to increase system performance. Research conducted in development of specialized computer architecture for the algorithmic execution of an avionics system, guidance and control problem in real time is described. A comprehensive treatment of both the hardware and software structures of a customized computer which performs real-time computation of guidance commands with updated estimates of target motion and time-to-go is presented. An optimal, real-time allocation algorithm was developed which maps the algorithmic tasks onto the processing elements. This allocation is based on the critical path analysis. The final stage is the design and development of the hardware structures suitable for the efficient execution of the allocated task graph. The processing element is designed for rapid execution of the allocated tasks. Fault tolerance is a key feature of the overall architecture. Parallel numerical integration techniques, tasks definitions, and allocation algorithms are discussed. The parallel implementation is analytically verified and the experimental results are presented. The design of the data-driven computer architecture, customized for the execution of the particular algorithm, is discussed.

Carroll, Chester C.↗
NASA NTRS2018

Evaluation of Crew-Centric Onboard Mission Operations Planning and Execution Tool: Year 2

Currently, mission planning for the International Space Station (ISS) is largely affected by ground operators in mission control. The task of creating a week-long mission plan for ISS crew takes dozens of people multiple days to complete, and is often created far in advance of its execution. As such, re-planning or adapting to changing real-time constraints or emergent issues is similarly taxing. As we design for future mission operations concepts to other planets or areas with limited connectivity to Earth, more of these ground-based tasks will need to be handled autonomously by the crew onboard.There is a need for a highly usable (including low training time) tool that enables efficient self-scheduling and execution within a single package. The ISS Program has identified Playbook as a potential option. It already has high crew acceptance as a plan viewer from previous analogs and can now support a crew self-scheduling assessment on ISS or on another mission. The goals of this work, a collaboration between the Human Research Program and the ISS Program, are to inform the design of systems for more autonomous crew operations and provide a platform for research on crew autonomy for future deep space missions. Our second year of the research effort have included new insights on the crew self-scheduling sessions performed by the crew through use on the HERA (Human Exploration Research Analog) and NEEMO (NASA Extreme Environment Mission Operations) analogs. Use on the NEEMO analog involved two self-scheduling strategies where the crew planned and executed two days of EVAs (Extra-Vehicular Activities). On HERA year two represented the first HERA campaign where we were able to perform research tasks. This involved selected flexible activities that the crew could schedule, mock timelines where the crew completed more complex planning exercises, usability evaluation of the crew self-scheduling features, and more insights into the limit of plan complexity that the crew could effectively self-schedule. In parallel we have added in new features and functionality in the Playbook tool based off of our insights from crew self-scheduling in the NASA analogs. In particular this year we have added in the ability for the crew to add, edit, and remove their own activities in the Playbook tool, expanding the type of planning and re-planning possible in the tool and opening up the ability for more free form plan creation. The ability to group and manipulate groups of activities from the plan task list was also added, allowing crew members to add predefined sets of activities onto their mission timeline. In addition we also added a way for crew members to roll back changes in their plan, in order to allow an undo like capability. These features expand and complement the initial self-scheduling features added in year one with the goal of making crew autonomous planning more efficient. As part of this work we have also finished developing the first version of our Playbook Data Analysis Tool, a research tool built to interpret and analyze the unobtrusively collected data obtained during the NASA analog missions through Playbook. This data which includes user click interaction as well as plan change information, through the Playbook Data Analysis Tool, allows us to playback this information as if a video camera was mounted over the crewmember's tablet. While the primary purpose of this tool is to allow usability analysis of crew self-scheduling sessions used on the NASA analog, since the data collected is structured, the tool can automatically derive metrics that would be traditionally tedious to achieve without manual analysis of video playback. We will demonstrate and discuss the ability for future derived metrics to be added to the tool. In addition to the current data and results gathered in year two we will also discuss the preparation and goals of our International Space Station (ISS) onboard technology demonstration with Playbook. This technology demonstration will be preformed as part of the CAST payload starting in late 2016.

onboard planning↗
NASA NTRS1991

Extensions to the Parallel Real-Time Artificial Intelligence System (PRAIS) for fault-tolerant heterogeneous cycle-stealing reasoning

Extensions to an architecture for real-time, distributed (parallel) knowledge-based systems called the Parallel Real-time Artificial Intelligence System (PRAIS) are discussed. PRAIS strives for transparently parallelizing production (rule-based) systems, even under real-time constraints. PRAIS accomplished these goals (presented at the first annual C Language Integrated Production System (CLIPS) conference) by incorporating a dynamic task scheduler, operating system extensions for fact handling, and message-passing among multiple copies of CLIPS executing on a virtual blackboard. This distributed knowledge-based system tool uses the portability of CLIPS and common message-passing protocols to operate over a heterogeneous network of processors. Results using the original PRAIS architecture over a network of Sun 3's, Sun 4's and VAX's are presented. Mechanisms using the producer-consumer model to extend the architecture for fault-tolerance and distributed truth maintenance initiation are also discussed.

Goldstein, David↗
NASA NTRS2004

What Multilevel Parallel Programs do when you are not Watching: A Performance Analysis Case Study Comparing MPI/OpenMP, MLP, and Nested OpenMP

With the current trend in parallel computer architectures towards clusters of shared memory symmetric multi-processors, parallel programming techniques have evolved that support parallelism beyond a single level. When comparing the performance of applications based on different programming paradigms, it is important to differentiate between the influence of the programming model itself and other factors, such as implementation specific behavior of the operating system (OS) or architectural issues. Rewriting-a large scientific application in order to employ a new programming paradigms is usually a time consuming and error prone task. Before embarking on such an endeavor it is important to determine that there is really a gain that would not be possible with the current implementation. A detailed performance analysis is crucial to clarify these issues. The multilevel programming paradigms considered in this study are hybrid MPI/OpenMP, MLP, and nested OpenMP. The hybrid MPI/OpenMP approach is based on using MPI [7] for the coarse grained parallelization and OpenMP [9] for fine grained loop level parallelism. The MPI programming paradigm assumes a private address space for each process. Data is transferred by explicitly exchanging messages via calls to the MPI library. This model was originally designed for distributed memory architectures but is also suitable for shared memory systems. The second paradigm under consideration is MLP which was developed by Taft. The approach is similar to MPi/OpenMP, using a mix of coarse grain process level parallelization and loop level OpenMP parallelization. As it is the case with MPI, a private address space is assumed for each process. The MLP approach was developed for ccNUMA architectures and explicitly takes advantage of the availability of shared memory. A shared memory arena which is accessible by all processes is required. Communication is done by reading from and writing to the shared memory.

Jost, Gabriele↗
NASA NTRS2002

NAS Grid Benchmarks

We provide a paper-and-pencil specification of a benchmark suite for computational grids. It is based on the NAS (NASA Advanced Supercomputing) Parallel Benchmarks (NPB) and is called the NAS Grid Benchmarks (NGB). NGB problems are presented as data flow graphs encapsulating an instance of a slightly modified NPB task in each graph node, which communicates with other nodes by sending/receiving initialization data. Like NPB, NGB specifies several different classes (problem sizes). In this report we describe classes S, W, and A, and provide verification values for each. The implementor has the freedom to choose any language, grid environment, security model, fault tolerance/error correction mechanism, etc., as long as the resulting implementation passes the verification test and reports the turnaround time of the benchmark.

VanderWijngaart, Rob↗
NASA NTRS1999

Electrorheological Fluid Based Force Feedback Device

Parallel to the efforts to develop fully autonomous robots, it is increasingly being realized that there are applications where it is essential to have a fully controlled robot and "feel" its operating conditions, i.e. telepresence. This trend is a result of the increasing efforts to address tasks where humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Such robots need to be assisted by a human that remotely controls the operation. To address the goal of operating robots as human surrogates, the authors launched a study of mechanisms that provide mechanical feedback. For this purpose, electrorheological fluids (ERF) are being investigated for the potential application as miniature haptic devices. This family of electroactive fluids has the property of changing the viscosity during electrical stimulation. Consequently, ERF can be used to produce force feedback haptic devices for tele-operated control of medical and space robotic systems. Forces applied at the robot end-effector due to a compliant environment are reflected to the user using an ERF device where a change in the system viscosity will occur proportionally to the transmitted force. Analytical model and control algorithms are being developed taking into account the non-linearities of these type of devices. This paper will describe the concept and the developed mechanism of ERF based force feedback. The test process and the physical properties of this device will be described and the results of preliminary tests will be presented.

Pfeiffer, Charles↗
NASA NTRS1992

Automatic data partitioning on distributed memory multicomputers

Distributed-memory parallel computers are increasingly being used to provide high levels of performance for scientific applications. Unfortunately, such machines are not very easy to program. A number of research efforts seek to alleviate this problem by developing compilers that take over the task of generating communication. The communication overheads and the extent of parallelism exploited in the resulting target program are determined largely by the manner in which data is partitioned across different processors of the machine. Most of the compilers provide no assistance to the programmer in the crucial task of determining a good data partitioning scheme. A novel approach is presented, the constraints-based approach, to the problem of automatic data partitioning for numeric programs. In this approach, the compiler identifies some desirable requirements on the distribution of various arrays being referenced in each statement, based on performance considerations. These desirable requirements are referred to as constraints. For each constraint, the compiler determines a quality measure that captures its importance with respect to the performance of the program. The quality measure is obtained through static performance estimation, without actually generating the target data-parallel program with explicit communication. Each data distribution decision is taken by combining all the relevant constraints. The compiler attempts to resolve any conflicts between constraints such that the overall execution time of the parallel program is minimized. This approach has been implemented as part of a compiler called Paradigm, that accepts Fortran 77 programs, and specifies the partitioning scheme to be used for each array in the program. We have obtained results on some programs taken from the Linpack and Eispack libraries, and the Perfect Benchmarks. These results are quite promising, and demonstrate the feasibility of automatic data partitioning for a significant class of scientific application programs with regular computations.

Gupta, Manish↗
NASA NTRS2004

Space Biotechnology and Commercial Applications University of Florida

The Space Biotechnology and Commercial Applications grant was funded by NASA's Kennedy Space Center in FY 2002 to provide dedicated biotechnology and agricultural research focused on the regeneration of space flight environments with direct parallels in Earth-based applications for solving problems in the environment, advances in agricultural science, and other human support issues amenable to targeted biotechnology solutions. This grant had three project areas, each with multiple tasks. They are: 1) Space Agriculture and Biotechnology Research and Education, 2) Integrated Smart Nanosensors for Space Biotechnology Applications, and 3) Commercial Applications. The Space Agriculture and Biotechnology Research and Education (SABRE) Center emphasized the fundamental biology of organisms involved in space flight applications, including those involved in advanced life support environments because of their critical role in the long-term exploration of space. The SABRE Center supports research at the University of Florida and at the Space Life Sciences Laboratory (SLSL) at the Kennedy Space Center. The Integrated Smart Nanosensors for Space Biotechnology Applications component focused on developing and applying sensor technologies to space environments and agricultural systems. The research activities in nanosensors were coordinated with the SABRE portions of this grant and with the research sponsored by the NASA Environmental Systems Commercial Space Technology Center located in the Department of Environmental Engineering Sciences. Initial sensor efforts have focused on air and water quality monitoring essential to humans for living and working permanently in space, an important goal identified in NASA's strategic plan. The closed environment of a spacecraft or planetary base accentuates cause and effect relationships and environmental impacts. The limited available air and water resources emphasize the need for reuse, recycling, and system monitoring. It is essential to collect real-time information from these systems to ensure crew safety. This new class of nanosensors will be critical to monitoring the space flight environment in future NASA space systems. The Commercial Applications component of this program pursued industry partnerships to develop products for terrestrial use of NASA sponsored technologies, and in turn to stimulate growth in the biotechnology industry. For technologies demonstrating near term commercial potential, the objective is to include industry partners on or about the time of proof of concept that will not only co-invest in the technology but also take the resultant technology to the commercial market.

Phillips, Winfred↗
NASA NTRS1989

A real time, FEM based optimal control algorithm and its implementation using parallel processing hardware (transistors) in a microprocessor environment

There is an evident need to discover a means of establishing reliable, implementable controls for systems that are plagued by nonlinear and, or uncertain, model dynamics. The development of a generic controller design tool for tough-to-control systems is reported. The method utilizes a moving grid, time infinite element based solution of the necessary conditions that describe an optimal controller for a system. The technique produces a discrete feedback controller. Real time laboratory experiments are now being conducted to demonstrate the viability of the method. The algorithm that results is being implemented in a microprocessor environment. Critical computational tasks are accomplished using a low cost, on-board, multiprocessor (INMOS T800 Transputers) and parallel processing. Progress to date validates the methodology presented. Applications of the technique to the control of highly flexible robotic appendages are suggested.

Patten, William Neff↗
NASA NTRS1992

Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992

The present volume on cooperative intelligent robotics in space discusses sensing and perception, Space Station Freedom robotics, cooperative human/intelligent robot teams, and intelligent space robotics. Attention is given to space robotics reasoning and control, ground-based space applications, intelligent space robotics architectures, free-flying orbital space robotics, and cooperative intelligent robotics in space exploration. Topics addressed include proportional proximity sensing for telerobots using coherent lasar radar, ground operation of the mobile servicing system on Space Station Freedom, teleprogramming a cooperative space robotic workcell for space stations, and knowledge-based task planning for the special-purpose dextrous manipulator. Also discussed are dimensions of complexity in learning from interactive instruction, an overview of the dynamic predictive architecture for robotic assistants, recent developments at the Goddard engineering testbed, and parallel fault-tolerant robot control.

Erickson, Jon D.↗
NASA NTRS1996

NASA Approach to HPCCP Support Software and Tools

The NASA HPCC Program, together with other agencies participating in the Federal HPCC Program, intends to advance technologies to enable the execution of grand challenge applications at sustained rates up to TeraFLOPS. During 1995-6 NASA undertook two major systems software efforts to improve the state of high performance support software and tools. The first of these activities was a replanning of support software and tools activities internal to the Agency. In replanning the software activities emphasis was placed on Meeting the needs of Grand Challenge Uses Few projects Near term useful results. The revised NASA plan calls for support software and tools activities in four areas: Application Creation Process Support Application Usage/Operations Support Advanced Support Software and Tools Concepts Metrics Based Monitoring and Management The second major activity undertaken was participation in a multiagency Task Force resulting from the Second Pasadena Workshop on System Software and Tools. The task force developed the Guidelines for Writing System Software and Tools Requirements for Parallel and Clustered Computers.

Blaylock, Bruce↗
NASA NTRS2013

3D Guided Wave Motion Analysis on Laminated Composites

Ultrasonic guided waves have proved useful for structural health monitoring (SHM) and nondestructive evaluation (NDE) due to their ability to propagate long distances with less energy loss compared to bulk waves and due to their sensitivity to small defects in the structure. Analysis of actively transmitted ultrasonic signals has long been used to detect and assess damage. However, there remain many challenging tasks for guided wave based SHM due to the complexity involved with propagating guided waves, especially in the case of composite materials. The multimodal nature of the ultrasonic guided waves complicates the related damage analysis. This paper presents results from parallel 3D elastodynamic finite integration technique (EFIT) simulations used to acquire 3D wave motion in the subject laminated carbon fiber reinforced polymer composites. The acquired 3D wave motion is then analyzed by frequency-wavenumber analysis to study the wave propagation and interaction in the composite laminate. The frequency-wavenumber analysis enables the study of individual modes and visualization of mode conversion. Delamination damage has been incorporated into the EFIT model to generate "damaged" data. The potential for damage detection in laminated composites is discussed in the end.

Tian, Zhenhua↗
NASA NTRS2000

Performance Assessment of OVERFLOW on Distributed Computing Environment

The aerodynamic computer code, OVERFLOW, with a multi-zone overset grid feature, has been parallelized to enhance its performance on distributed and shared memory paradigms. Practical application benchmarks have been set to assess the efficiency of code's parallelism on high-performance architectures. The code's performance has also been experimented with in the context of the distributed computing paradigm on distant computer resources using the Information Power Grid (IPG) toolkit, Globus. Two parallel versions of the code, namely OVERFLOW-MPI and -MLP, have developed around the natural coarse grained parallelism inherent in a multi-zonal domain decomposition paradigm. The algorithm invokes a strategy that forms a number of groups, each consisting of a zone, a cluster of zones and/or a partition of a large zone. Each group can be thought of as a process with one or multithreads assigned to it and that all groups run in parallel. The -MPI version of the code uses explicit message-passing based on the standard MPI library for sending and receiving interzonal boundary data across processors. The -MLP version employs no message-passing paradigm; the boundary data is transferred through the shared memory. The -MPI code is suited for both distributed and shared memory architectures, while the -MLP code can only be used on shared memory platforms. The IPG applications are implemented by the -MPI code using the Globus toolkit. While a computational task is distributed across multiple computer resources, the parallelism can be explored on each resource alone. Performance studies are achieved with some practical aerodynamic problems with complex geometries, consisting of 2.5 up to 33 million grid points and a large number of zonal blocks. The computations were executed primarily on SGI Origin 2000 multiprocessors and on the Cray T3E. OVERFLOW's IPG applications are carried out on NASA homogeneous metacomputing machines located at three sites, Ames, Langley and Glenn. Plans for the future will exploit the distributed parallel computing capability on various homogeneous and heterogeneous resources and large scale benchmarks. Alternative IPG toolkits will be used along with sophisticated zonal grouping strategies to minimize the communication time across the computer resources.

Djomehri, M. Jahed↗
NASA NTRS2003

A computational-grid based system for continental drainage network extraction using SRTM digital elevation models

We describe a new effort for the computation of elevation derivatives using the Shuttle Radar Topography Mission (SRTM) results. Jet Propulsion Laboratory's (JPL) SRTM has produced a near global database of highly accurate elevation data. The scope of this database enables computing precise stream drainage maps and other derivatives on Continental scales. We describe a computing architecture for this computationally very complex task based on NASA's Information Power Grid (IPG), a distributed high performance computing network based on the GLOBUS infrastructure. The SRTM data characteristics and unique problems they present are discussed. A new algorithm for organizing the conventional extraction algorithms [1] into a cooperating parallel grid is presented as an essential component to adapt to the IPG computing structure. Preliminary results are presented for a Southern California test area, established for comparing SRTM and its results against those produced using the USGS National Elevation Data (NED) model.

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