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Design and Implementation of an Efficient Multibody Divide and Conquer Algorithm

[+] Author Affiliations
James H. Critchley

General Dynamics Land Systems, Sterling Heights, MI

Adarsh Binani, Kurt Anderson

Rensselaer Polytechnic Institute, Troy, NY

Paper No. DETC2007-35128, pp. 107-118; 12 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


A new and efficient form of Featherstone’s multibody Divide and Conquer Algorithm (DCA) is presented. The DCA was the first algorithm to achieve theoretically optimal logarithmic time complexity with a theoretical minimum of parallel computer resources for general problems of multibody dynamics, however the DCA is extremely inefficient in the presence of small to modest parallel computers. This alternative efficient DCA approach (DCAe) demonstrates that large DCA subsystems can be constructed using fast sequential techniques to realize a substantial increase in speed. The usefullness of the DCAe is directly demonstrated in an application to a four processor workstation and compared with results from the original DCA and a fast sequential recursive method. Previously the DCA was a tool intended for a future generation of parallel computers, this enhanced version delivers practical and competitive performance with the parallel computers of today.

Copyright © 2007 by ASME
Topics: Algorithms , Design



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