| Author | K. S. Anderson and S. Duan |
|---|---|
| Title | A New Order-N Order-N3 Hybrid Parallelizable Algorithm for Multi-Rigid-Body Dynamics |
| Year | 1998 |
| Abstract | In this paper, a new hybrid parallelizable algorithm involving formulations of different computational orders is presented for chain systems. The method is based on the parallelizable O(n) algorithm developed previously by the authors in combination with a more traditional O(n3) formulation for key bodies of the system. The resulting parallel algorithm may be considered hybridization of other methods at three levels: i) Descriptor form and state space O(n); ii) Combined iterative and direct solution schemes at each integration step for the solution of system state derivatives; and iii) Recursive parallel hybrid state space O(n) and traditional O(n3) treatment of subsystems. Due to this triple hybridization, the algorithm can exploit the available number of processors to a great degree while maintaining a higher efficiency than hybrid parallel O(n) developed and presented previously by the authors. |