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Development and Application of High-efficiency,Interactive Processing Functions of SP2 Parallel Computer
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《China Oil & Gas》 CAS 2000年第2期44-44,共1页
关键词 Development and Application of High-efficiency Interactive Processing Functions of SP2 parallel computer SP
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Seismic 3D Prestack Time Migration on Parallel Computers
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作者 Liu Ping & Chen Yunhe(Wuhan Digital Engineering institute, Wuchang P. O. Box 74223, P. R. China 430074) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1995年第3期49-55,共7页
Parallel versions of prestack KirchhofT 3D integral migration algorithm, which is suitable forseismic data processing, are described in this paper. Firstly, the inherent parallel characteristics of seismicdata process... Parallel versions of prestack KirchhofT 3D integral migration algorithm, which is suitable forseismic data processing, are described in this paper. Firstly, the inherent parallel characteristics of seismicdata processing are analyzed. Then some principles in algorithm partition are discussed. Based on these analyses and the system architecture, communication mechanism, this algorithm is divided into four subtasksallocated to four nodes of 990 STAR-l. Then we describe in detail a module-partitioning method-theI / O processing and communication are separated from the computation process, the processes includingI / O processing and communication are allocated to transputer T805 and the other is allocated to processori860. These two processes are synchronized by shared memory and memory-lock mechanism, but the communication betWeen different nodes is implemented through links of transputer. Load balance among fourprocessor modules is performed dynamically. Finally, we discussed the speed--up of the parallel versions ofprestack KirchhofT 3D integral migration algorithm running on four nodes. Some further researches are also melltioned in this paper. 展开更多
关键词 parallel algorithm 3D prestack migration parallel processing
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Flow and heat transfer characteristics of regenerative cooling parallel channel
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作者 JU Yinchao LIU Xiaoyong +1 位作者 XU Guoqiang DONG Bensi 《推进技术》 北大核心 2025年第1期163-171,共9页
Due to the complex high-temperature characteristics of hydrocarbon fuel,the research on the long-term working process of parallel channel structure under variable working conditions,especially under high heat-mass rat... Due to the complex high-temperature characteristics of hydrocarbon fuel,the research on the long-term working process of parallel channel structure under variable working conditions,especially under high heat-mass ratio,has not been systematically carried out.In this paper,the heat transfer and flow characteristics of related high temperature fuels are studied by using typical engine parallel channel structure.Through numeri⁃cal simulation and systematic experimental verification,the flow and heat transfer characteristics of parallel chan⁃nels under typical working conditions are obtained,and the effectiveness of high-precision calculation method is preliminarily established.It is known that the stable time required for hot start of regenerative cooling engine is about 50 s,and the flow resistance of parallel channel structure first increases and then decreases with the in⁃crease of equivalence ratio(The following equivalence ratio is expressed byΦ),and there is a flow resistance peak in the range ofΦ=0.5~0.8.This is mainly caused by the coupling effect of high temperature physical proper⁃ties,flow rate and pressure of fuel in parallel channels.At the same time,the cooling and heat transfer character⁃istics of parallel channels under some conditions of high heat-mass ratio are obtained,and the main factors affect⁃ing the heat transfer of parallel channels such as improving surface roughness and strengthening heat transfer are mastered.In the experiment,whenΦis less than 0.9,the phenomenon of local heat transfer enhancement and deterioration can be obviously observed,and the temperature rise of local structures exceeds 200℃,which is the risk of structural damage.Therefore,the reliability of long-term parallel channel structure under the condition of high heat-mass ratio should be fully considered in structural design. 展开更多
关键词 Regenerative cooling Heat transfer Flow resistance ENGINE parallel channel
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A scheme of optical interconnection for super high speed parallel computer 被引量:1
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作者 毛幼菊 吕翊 +1 位作者 刘江 党明瑞 《Chinese Optics Letters》 SCIE EI CAS CSCD 2004年第11期667-669,共3页
An optical cross connection network which adopts coarse wavelength division multiplexing (CWDM) and data packet is introduced. It can be used to realize communication between multi-CPU and multi-MEM in parallel comput... An optical cross connection network which adopts coarse wavelength division multiplexing (CWDM) and data packet is introduced. It can be used to realize communication between multi-CPU and multi-MEM in parallel computing system. It provides an effective way to upgrade the capability of parallel computer by combining optical wavelength division multiplexing (WDM) and data packet switching technology. CWDM used in network construction, optical cross connection (OXC) based on optical switch arrays, and data packet format used in network construction were analyzed. We have also done the optimizing analysis of the number of optical switches needed in different scales of network in this paper. The architecture of the optical interconnection for 8 wavelength channels and 128 bits parallel transmission has been researched. Finally, a parallel transmission system with 4 nodes, 8 channels per node, has been designed. 展开更多
关键词 A scheme of optical interconnection for super high speed parallel computer OXC HIGH
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The Implementation of Ray Tracing Algorithm with OpenMP Parallelization
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作者 Noor Alnasser Raghad Alabssi +2 位作者 Batool Faran Latifah Alessa Naya Nagy 《Journal of Computer and Communications》 2024年第1期120-130,共11页
Ray tracing is a computer graphics method that renders images realistically. As the name suggests, this technique primarily traces the path of light rays interacting with objects in a scene [1], permitting the calcula... Ray tracing is a computer graphics method that renders images realistically. As the name suggests, this technique primarily traces the path of light rays interacting with objects in a scene [1], permitting the calculation of lighting and reflecting impact [2]. As ray tracing is a time-consuming process, the need for parallelization to solve this problem arises. One downside of this solution is the existence of race conditions. In this work, we explore and experiment with a different, well-known solution for this race condition. Starting with the introduction and the background section, a brief overview of the topic is followed by a detailed part of how the race conditions may occur in the case of the ray tracing algorithm. Continuing with the methods and results section, we have used OpenMP to parallelize the Ray tracing algorithm with the different compiler directives critical, atomic, and first-private. Hence, it concluded that both critical and atomic are not efficient solutions to produce a good-quality picture, but first-private succeeded in producing a high-quality picture. 展开更多
关键词 parallelIZATION Ray Tracing parallel computer Architecture OPENMP
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Implementation of GAMMA on a Massively Parallel Computer 被引量:2
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作者 黄林鹏 童维勤 孙永强 《Journal of Computer Science & Technology》 SCIE EI CSCD 1997年第1期29-39,共11页
The GAMMA paradigm is recently proposed by Banatre and M6tayer to describe the systematic construction of parallel programs without introducing artificial sequentiality. This paper presents two synchronous execution m... The GAMMA paradigm is recently proposed by Banatre and M6tayer to describe the systematic construction of parallel programs without introducing artificial sequentiality. This paper presents two synchronous execution models for GAMMA and discusses how to implement them on MasPar MP-1, a massively data parallel computer. The results show that GAMMA paradigm can be implemented very naturally on data parallel machines, and very high level language, such as GAMMA in which parallelism is left implicit, is suitable for specifying massively parallel applications. 展开更多
关键词 Massively parallel program design parallel computing model
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An MPI parallel DEM-IMB-LBM framework for simulating fluid-solid interaction problems 被引量:2
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作者 Ming Xia Liuhong Deng +3 位作者 Fengqiang Gong Tongming Qu Y.T.Feng Jin Yu 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2024年第6期2219-2231,共13页
The high-resolution DEM-IMB-LBM model can accurately describe pore-scale fluid-solid interactions,but its potential for use in geotechnical engineering analysis has not been fully unleashed due to its prohibitive comp... The high-resolution DEM-IMB-LBM model can accurately describe pore-scale fluid-solid interactions,but its potential for use in geotechnical engineering analysis has not been fully unleashed due to its prohibitive computational costs.To overcome this limitation,a message passing interface(MPI)parallel DEM-IMB-LBM framework is proposed aimed at enhancing computation efficiency.This framework utilises a static domain decomposition scheme,with the entire computation domain being decomposed into multiple subdomains according to predefined processors.A detailed parallel strategy is employed for both contact detection and hydrodynamic force calculation.In particular,a particle ID re-numbering scheme is proposed to handle particle transitions across sub-domain interfaces.Two benchmarks are conducted to validate the accuracy and overall performance of the proposed framework.Subsequently,the framework is applied to simulate scenarios involving multi-particle sedimentation and submarine landslides.The numerical examples effectively demonstrate the robustness and applicability of the MPI parallel DEM-IMB-LBM framework. 展开更多
关键词 Discrete element method(DEM) Lattice Boltzmann method(LBM) Immersed moving boundary(IMB) Multi-cores parallelization Message passing interface(MPI) CPU Submarine landslides
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A possible probe to neutron-skin thickness by fragment parallel momentum distribution in projectile fragmentation reactions 被引量:1
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作者 Chun-Wang Ma Yi-Jie Duan +5 位作者 Ya-Fei Guo Chun-Yuan Qiao Yu-Ting Wang Jie Pu Kai-Xuan Cheng Hui-Ling Wei 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2024年第6期114-119,共6页
Neutron-skin thickness is a key parameter for a neutron-rich nucleus;however,it is difficult to determine.In the framework of the Lanzhou Quantum Molecular Dynamics(LQMD)model,a possible probe for the neutron-skin thi... Neutron-skin thickness is a key parameter for a neutron-rich nucleus;however,it is difficult to determine.In the framework of the Lanzhou Quantum Molecular Dynamics(LQMD)model,a possible probe for the neutron-skin thickness(δ_(np))of neutron-rich ^(48)Ca was studied in the 140A MeV ^(48)Ca+^(9)Be projectile fragmentation reaction based on the parallel momentum distribution(p∥)of the residual fragments.A Fermi-type density distribution was employed to initiate the neutron density distributions in the LQMD simulations.A combined Gaussian function with different width parameters for the left side(Γ_(L))and the right side(Γ_(R))in the distribution was used to describe the p∥of the residual fragments.Taking neutron-rich sulfur isotopes as examples,Γ_(L) shows a sensitive correlation withδ_(np) of ^(48)Ca,and is proposed as a probe for determining the neutron skin thickness of the projectile nucleus. 展开更多
关键词 Neutron-skin thickness Projectile fragmentation parallel momentum distribution Neutron-rich nucleus Quantum molecular dynamics model
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ANALYSIS OF MULTIGRID PARALLELIZATION ON MESSAGE PASSING COMPUTERS
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作者 ZH.ENG-QUAN XUi and NENG-CHAO WANGZ(Department of Computer Science. Deprtment Of MathematicsHuazhong University of Science and Technology430074 Wuhan, Hubei, Peopleis Republic of China) 《Wuhan University Journal of Natural Sciences》 CAS 1996年第Z1期686-691,共6页
This paper studies the;complexity of multighd mpllelization on message PaSsing computers. Parallelization is by domain decomposition. An optimal strip decomposition is proposed. With natural ordering of the grid point... This paper studies the;complexity of multighd mpllelization on message PaSsing computers. Parallelization is by domain decomposition. An optimal strip decomposition is proposed. With natural ordering of the grid points,the strip decomposition leads to good processor utilization. The efficiency could be significantly improved. Better performances could be achieved by making use of Van der Vorst ordering. 展开更多
关键词 multigrain method parallelIZATION COMPLEXITY efficiency.
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Efficient Partially Asynchronous Parallel Simulation on Multicomputer Systems: Research and Practice
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作者 Chen, Delai Hong, Bo +1 位作者 Xie, Zhiwu Weng, Shilie 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1998年第2期40-47,共8页
This paper presents partially asynchronous parallel simulation of continuous-system (PAPSoCS) and some approaches to the issues of its implementation on a multicomputer system. To guarantee the simulation results cor... This paper presents partially asynchronous parallel simulation of continuous-system (PAPSoCS) and some approaches to the issues of its implementation on a multicomputer system. To guarantee the simulation results correct and speedup the simulation, the scheme for efficient PAPSoCS is proposed and the virtual topology star is constructed to match the path of message passing for solving algorithm-architecture adequation problem. Under the circumstances that messages frequently passed inter-processor are much shorter, typically within several 4 bytes, asynchronous communication mode is employed to reduce the communication ratio. Experiment results show that asynchronous parallel simulation has much higher efficiency than its synchronous counterpart. 展开更多
关键词 parallel processing Asynchronous computation Virtual topology Multicomputer system SIMULATION
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A Parallel Multicomputer Simulation System
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作者 Chen Delai Wang Chen Zhou Ying & Zhang Defu(Department of Computer Science and TechnologyNaming University, Naming 210093, P.R. China) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1995年第3期30-40,共11页
In this paper, a homogenous parallel simulation system is presented in detail for continuous--system simulation. The system is collstructed by a host computer and I I transputers connected into a topologyof 'Super... In this paper, a homogenous parallel simulation system is presented in detail for continuous--system simulation. The system is collstructed by a host computer and I I transputers connected into a topologyof 'Super--Node' which is very suitable for simulation of stiff systems. An automatic software interface runin the host is developed to partition simulation model, either equations or block diagrams, into several equitable segments and then pack them into parallel simulation program to be executed in the parallel system.This interface frees simulation users from parallel programming to focus on their simulation experiments. 展开更多
关键词 Multicomputer system Continuous-system simulation parallel simulation
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Parallel Computation of Fourier Transform on Distributed Memory Computer System
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作者 Yihui Yan Qingfeng Hu Xinfang He 《Wuhan University Journal of Natural Sciences》 CAS 1996年第Z1期557-560,共4页
Multicomputer systems(distributed memory computer systems) are becoming more and more popular and will be wildly used in scientific researches. In this paper, we present a parallel algorithm of Fourier Transform of a ... Multicomputer systems(distributed memory computer systems) are becoming more and more popular and will be wildly used in scientific researches. In this paper, we present a parallel algorithm of Fourier Transform of a vector of complex numbers on multicomputer system and give its computing times and its speedup in parallel environment supported by EXPRESS system on the multicomputer system which consists of four SGI workstations. Our analysis shows that the results is ideal and this scheme is suitable to multicomputer systems. 展开更多
关键词 Fourier Transform Distributed Memory computer System parallel Computing
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Parallel Computing of the Global Spectral Atmospheric Model on the YH-2 Supercomputer
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作者 Song Junqiang Wu Xiangjun and Li Xiaomei(Department of COmputer Science, Changsha Institute of Technology Hunan 410073, P.R. of China) 《Wuhan University Journal of Natural Sciences》 CAS 1996年第Z1期526-530,共5页
A global spectral atmospheric model has been vectorized and multitasked on the YH-2 supercomputer. The model is used for the operational system of medium--range numerical weather prediction in National Meteorological ... A global spectral atmospheric model has been vectorized and multitasked on the YH-2 supercomputer. The model is used for the operational system of medium--range numerical weather prediction in National Meteorological Center(NMC), China. In this paper the vectorization algorithms of the spectral-grid transformation and multitasking schemes of the model are discussed in detail. The results show that high speed-up for tile model can be obtained. 展开更多
关键词 parallel algorithm spectral model.
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Implementing Higher-Order Gamma on a Massively Parallel computer-A Case study
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作者 Linpeng Huang Kam Wing Ng, Yongqiang Sun(Department of Computer Science and EngineeringShanghai Jiao Tong University, Shanghai 200030, P. R. China)(Department of Computer Science, The Chinese University of Hong Kong, Hong Kong) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1995年第3期56-62,共7页
Gamma is a kernel programming language with an elegant chemical reaction metaphor in whichprograms are described in terms of multiset rewriting. Gamma formalism allows one to describe analgorithm without introducing a... Gamma is a kernel programming language with an elegant chemical reaction metaphor in whichprograms are described in terms of multiset rewriting. Gamma formalism allows one to describe analgorithm without introducing artificial sequentiality and leads to the derivation of a parallel solution to agiven problem naturally. However, the difficulty of incorporating control strategies makes Gamma not onlyhard for one to define any sophisticated approaches but also impossible to reach a decent level of efficiencyin any direct implementation. Recently, a higherorder multiset programming paradigm, named higher--order Gamma, is introduced by Metayer to alleviate these problems. In this paper, we investigate the possibility of implementing higherorder Gamma on Maspar, a massively data parallel computer. The results showthat a program written in higher--order Gamma can be transformed naturally toward an efficientimplementation on a real parallel machine. 展开更多
关键词 Massively parallel Computation GAMMA programming paradigm
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PARALLEL(M-N) SVD ALGORITHMS ON THE SIMD COMPUTERS
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作者 Wang Guorong Wei Yimin(Dept. of Mathematics, Shanghai Normal University Shanghai 200234, P. R. China Institute of Mathematics, Fudan University Shanghai 200133, P. R. China) 《Wuhan University Journal of Natural Sciences》 CAS 1996年第Z1期541-546,共6页
Let A be m by n matrix, M and N be positive definite matrices of order in and n respectively. This paper presents an efficient method for computing (M-N) singular value decomposition((M-N) SVD) of A on a cube connecte... Let A be m by n matrix, M and N be positive definite matrices of order in and n respectively. This paper presents an efficient method for computing (M-N) singular value decomposition((M-N) SVD) of A on a cube connected single instruction stream-multiple data stream(SIMD) parallel computer. This method is based on a one-sided orthogonalization algorithm due to Hestenes. On the cube connected SIMD parallel computer with o(n) processors, the (M -- N) SVD of a matrix A requires a computation time of o(m3 log m/n). 展开更多
关键词 parallel algorithm cube connected SIMD machine (M-N) SVD.
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A Massively Parallel Re-Configurable Mesh Computer Emulator: Design, Modeling and Realization
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作者 Mohamed YOUSSFI Omar BOUATTANE Mohamed O. BENSALAH 《Journal of Software Engineering and Applications》 2010年第1期11-26,共16页
Emulating massively parallel computer architectures represents a very important tool for the parallel programmers. It allows them to implement and validate their algorithms. Due to the high cost of the massively paral... Emulating massively parallel computer architectures represents a very important tool for the parallel programmers. It allows them to implement and validate their algorithms. Due to the high cost of the massively parallel real machines, they remain unavailable and not popular in the parallel computing community. The goal of this paper is to present an elaborated emulator of a 2-D massively parallel re-configurable mesh computer of size n x n processing elements (PE). Basing on the object modeling method, we develop a hard kernel of a parallel virtual machine in which we translate all the physical properties of its different components. A parallel programming language and its compiler are also devel-oped to edit, compile and run programs. The developed emulator is a multi platform system. It can be installed in any sequential computer whatever may be its operating system and its processing unit technology (CPU). The size n x n of this virtual re-configurable mesh is not limited;it depends just on the performance of the sequential machine supporting the emulator. 展开更多
关键词 parallel processing Object MODELING Re-Configurable MESH computer Emulation XML parallel Virtual Machine
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Parallel Implementation of the CCSDS Turbo Decoder on GPU
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作者 Liu Zhanxian Liu Rongke +3 位作者 Zhang Haijun Wang Ning Sun Lei Wang Jianquan 《China Communications》 SCIE CSCD 2024年第10期70-77,共8页
This paper presents a software turbo decoder on graphics processing units(GPU).Unlike previous works,the proposed decoding architecture for turbo codes mainly focuses on the Consultative Committee for Space Data Syste... This paper presents a software turbo decoder on graphics processing units(GPU).Unlike previous works,the proposed decoding architecture for turbo codes mainly focuses on the Consultative Committee for Space Data Systems(CCSDS)standard.However,the information frame lengths of the CCSDS turbo codes are not suitable for flexible sub-frame parallelism design.To mitigate this issue,we propose a padding method that inserts several bits before the information frame header.To obtain low-latency performance and high resource utilization,two-level intra-frame parallelisms and an efficient data structure are considered.The presented Max-Log-Map decoder can be adopted to decode the Long Term Evolution(LTE)turbo codes with only small modifications.The proposed CCSDS turbo decoder at 10 iterations on NVIDIA RTX3070 achieves about 150 Mbps and 50Mbps throughputs for the code rates 1/6 and 1/2,respectively. 展开更多
关键词 CCSDS CUDA GPU parallel decoding turbo codes
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Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom
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作者 Ya Liu Wenjuan Lu +3 位作者 Dabao Fan Weijian Tan Bo Hu Daxing Zeng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第1期160-175,共16页
The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study ... The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR. 展开更多
关键词 Ankle rehabilitation robot SELF-ALIGNMENT parallel mechanism Type synthesis Screw theory
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An efficient parallel algorithm of variational nodal method for heterogeneous neutron transport problems
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作者 Han Yin Xiao-Jing Liu Teng-Fei Zhang 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2024年第4期29-45,共17页
The heterogeneous variational nodal method(HVNM)has emerged as a potential approach for solving high-fidelity neutron transport problems.However,achieving accurate results with HVNM in large-scale problems using high-... The heterogeneous variational nodal method(HVNM)has emerged as a potential approach for solving high-fidelity neutron transport problems.However,achieving accurate results with HVNM in large-scale problems using high-fidelity models has been challenging due to the prohibitive computational costs.This paper presents an efficient parallel algorithm tailored for HVNM based on the Message Passing Interface standard.The algorithm evenly distributes the response matrix sets among processors during the matrix formation process,thus enabling independent construction without communication.Once the formation tasks are completed,a collective operation merges and shares the matrix sets among the processors.For the solution process,the problem domain is decomposed into subdomains assigned to specific processors,and the red-black Gauss-Seidel iteration is employed within each subdomain to solve the response matrix equation.Point-to-point communication is conducted between adjacent subdomains to exchange data along the boundaries.The accuracy and efficiency of the parallel algorithm are verified using the KAIST and JRR-3 test cases.Numerical results obtained with multiple processors agree well with those obtained from Monte Carlo calculations.The parallelization of HVNM results in eigenvalue errors of 31 pcm/-90 pcm and fission rate RMS errors of 1.22%/0.66%,respectively,for the 3D KAIST problem and the 3D JRR-3 problem.In addition,the parallel algorithm significantly reduces computation time,with an efficiency of 68.51% using 36 processors in the KAIST problem and 77.14% using 144 processors in the JRR-3 problem. 展开更多
关键词 Neutron transport Variational nodal method parallelIZATION KAIST JRR-3
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Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms
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作者 Xuejian Ma Zhenghe Xu +3 位作者 Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第3期62-82,共21页
Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining robots.However,there is a lack of an effective method to evaluate th... Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining robots.However,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design stage.It is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design stage.Considering the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration stiffness.Subsequently,a specific method is proposed to calculate these stiffness indices.Initially,the various types of structural and driving stiffness for each branch are assessed and their specific values defined.Subsequently,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire workspace.Finally,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method above.The obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms. 展开更多
关键词 parallel mechanism STIFFNESS Over-constrained Three degrees of freedom
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