000			02102nam a22001697a 4500
082			_a531.113 _bS958D
100			_aSunil _926249
245			_aDeNOC based Parallel Dynamics Algorithms for Multibody Systems _cby Sunil
260			_aIIT Jodhpur _bDepartment of Mechanical Engineering _c2018
300			_axiii,34p _bHB
520			_aMultibody system is the combination of bodies interconnected by joints which allow constrainedmotion. Such systems are governed by the mathematical model which relates the governing forces to themotion of the system. This dynamic model also known as dynamic Equations of Motion (EOM) is usedto simulate the dynamic behaviour of the system in the virtual environment. The dynamics problem ofsuch system is broadly divided into Inverse and Forward dynamics. The time complexity of the existingsequential inverse and forward dynamics algorithms isO(n). The evolution of high performance computingresources instils the need to redesign these algorithms for parallel architecture to reduce the computationorder. This work presents parallel paradigm in dynamics by mathematical reformulation of inverse andforward dynamics using Decoupled Natural Orthogonal Complement (DeNOC) matrices.In this work, Inverse and Forward dynamics usingDeNOCmatrices is redesigned for parallel pro-cessing systems. Mathematical formulation of recursive inverse and forward dynamics is modified usingrecursive doubling technique and based on recursive parallel paradigm, Parallel inverse and forward dy-namics algorithm is presented. The proposed parallel algorithms are implemented for serial chains on HighPerformance Computing (HPC) cluster using available parallel interfaces like Message Passing Interface(MPI). The results are validated using Recursive Dynamics Simulator (ReDySim) and the numerical accu-racy, stability and efficiency of the algorithm is also compared with existing algorithm
650			_aParallel Dynamics Algorithms _926250
650			_aMTech Theses _926251
650			_aDepartment of Mechanical Engineering _926252
700			_aShah, Suril V. _926253
942			_cTH
999			_c14716 _d14716