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dc.contributor.authorBernabé García, Gregorio 
dc.contributor.authorCano Lorente, José Carlos 
dc.contributor.authorCuenca Muñoz, Antonio Javier 
dc.contributor.authorFlores Gil, Antonio 
dc.contributor.authorGiménez Cánovas, Domingo 
dc.contributor.authorSaura Sánchez, Maríano 
dc.contributor.authorSegado Cabezos, Pablo 
dc.date.accessioned2020-05-15T07:17:41Z
dc.date.available2020-05-15T07:17:41Z
dc.date.issued2017
dc.identifier.citationBernabé, G., Cano, J.-C., Cuenca, J., Flores, A., Giménez, D., Saura-Sánchez, M., & Segado-Cabezos, P. (2017). Exploiting Hybrid Parallelism in the Kinematic Analysis of Multibody Systems Based on Group Equations. Procedia Computer Science, 108, 576–585. doi:10.1016/j.procs.2017.05.041es_ES
dc.identifier.issn1877-0509
dc.description.abstractComputational kinematics is a fundamental tool for the design, simulation, control, optimization and dynamic analysis of multibody systems. The analysis of complex multibody systems and the need for real time solutions requires the development of kinematic and dynamic formulations that reduces computational cost, the selection and efficient use of the most appropriated solvers and the exploiting of all the computer resources using parallel computing techniques. The topological approach based on group equations and natural coordinates reduces the computation time in comparison with well-known global formulations and enables the use of parallelism techniques which can be applied at different levels: simultaneous solution of equations, use of multithreading routines, or a combination of both. This paper studies and compares these topological formulation and parallel techniques to ascertain which combination performs better in two applications. The first application uses dedicated systems for the real time control of small multibody systems, defined by a few number of equations and small linear systems, so shared-memory parallelism in combination with linear algebra routines is analyzed in a small multicore and in Raspberry Pi. The control of a Stewart platform is used as a case study. The second application studies large multibody systems in which the kinematic analysis must be performed several times during the design of multibody systems. A simulator which allows us to control the formulation, the solver, the parallel techniques and size of the problem has been developed and tested in more powerful computational systems with larger multicores and GPU.es_ES
dc.description.sponsorshipThis work was supported by the Spanish MINECO, as well as European Commission FEDER funds, under grant TIN2015-66972-C5-3-Res_ES
dc.formatapplication/pdfes_ES
dc.language.isoenges_ES
dc.publisherElsevieres_ES
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights© Copyright 2717 Elsevieres_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.titleExploiting hybrid parallelism in the kinematic analysis of multibody systems based on group equationses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.subjectMultibody systemses_ES
dc.subjectGroup equationses_ES
dc.subjectStewart platformes_ES
dc.subjectHybrid parallelismes_ES
dc.subject.otherIngeniería Mecánicaes_ES
dc.identifier.urihttp://hdl.handle.net/10317/8549
dc.identifier.doi10.1016/j.procs.2017.05.041
dc.identifier.urlhttps://www.sciencedirect.com/science/article/pii/S1877050917305586#!
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses_ES
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_ES
dc.relation.projectIDTIN2015-66972-C5-3-Res_ES
dc.subject.unesco3313 Tecnología E Ingeniería Mecánicases_ES
dc.contributor.funderComisión Europeaes_ES
dc.contributor.funderMinisterio de Economía, Industria y Competitividades_ES


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