Windows环境下基于Eclipse的MPI编程环境配置

对当前并行程序开发工具存在的问题进行了分析。结合并行开发环境的迫切需求,给出了一种windows环境下,以开源项目Eclipse作为开发平台,以MinGW作为GUN的C/C＋＋编译器的MPI并行程序开发平台的搭建方法。并给出了该环境下的开发实例和测试。     

基于PVM的并行程序开发环境研究

开发并行程序要比开发单机串行程序更难.PVM开发环境是应用比较广的环境之一,适合于开发粗粒度的工程科学计算并行程序,而这些工程计算问题一般是一些数值计算问题的集合.编写这些数值计算并行程序有一定的难度和复杂度,并且现在没有很好支持开发PVM并行程序的成熟开发环境.针对这个问题,构造一个基于PVM的并行程序开发环境.开发环境包括一个并行算法库和一个嵌入到Visual Studio的可视化程序开发插件.通过开发平台进行并行程序开发将更加简单、高效.     

基于Eclipse的并行开发环境EMPI

本文以当前日趋受欢迎的开源工具开发平台Eclipse及高性能软件开发领域主流程序设计环境OpenMPI标准为基础,研究设计了面向MPI通信库的基于有向图和并行模式的GUI程序开发环境EMPI,以期通过Eclipse平台,向程序员提供统一界面和操作风格的IDE开发环境,也作为模式化并行程序开发环境系统的实践性项目。     

基于PVM的并行程序开发环境研究

开发并行程序要比开发单机串行程序更难。PVM开发环境是应用比较广的环境之一,适合于开发粗粒度的工程科学计算并行程序,而这些工程计算问题一般是一些数值计算问题的集合。编写这些数值计算并行程序有一定的难度和复杂度,并且现在没有很好支持开发PVM并行程序的成熟开发环境。针对这个问题,构造一个基于PVM的并行程序开发环境。开发环境包括一个并行算法库和一个嵌入到Visual Studio的可视化程序开发插件。通过开发平台进行并行程序开发将更加简单、高效。     

Windows平台下机群并行编译环境配置

现行的并行计算多是在Linux平台下进行的,为了能够在Windows平台下进行机群并行计算,以Fortran90为开发语言,介绍了Windows XP平台下MPICH2的Fortran90并行编译环境的配置,并进一步介绍在MPICH2环境下Fortran90并行程序的编译、连接和运行方法,从而实现了Windows平台下机群的并行计算。     

Windows平台下机群并行编译环境配置

现行的并行计算多是在Linux平台下进行的,为了能够在Windows平台下进行机群并行计算,以Fortran90为开发语言,介绍了Windows XP平台下MPICH2的Fortran90并行编译环境的配置,并进一步介绍在MPICH2环境下Fortran90并行程序的编译、连接和运行方法,从而实现了Windows平台下机群的并行计算。     

一个基于机群系统的面向对象并行程序 开发环境的研究与实现

面向对象程序设计技术可以降低并行程序设计的复杂性,提高并行程序的可读性、可维护性、可移植性.因此提供面向对象的并行程序设计环境,可以减少并行程序开发难度,有效地利用并行计算机系统的潜能.可扩展并行机群系统是随着网络技术迅速发展而出现的一种网络并行计算系统.其主要特点是适于粗粒度任务并行,适于采用消息传递机制.文中在可扩展机群系统上实现了面向对象的并行程序开发环境ParaObject,它由对象平台、并行对象和邮件对象组成,并行程序以并行对象为单位并行执行,通过邮件对象传送数据,具有良好的封装性和可移植性,友好的用户编程接口,使用方便.     

分布式环境软件开发平台

对一般的软件开发人员编写分布式并行计算程序是比较艰难的。它要求设计者对任务的分解、分配及子任务间的交互等问题有更高的技术。本文给出了分布式环境并行计算程序开发平台的一种新构架,研制了一个网络环境的可视化并行程序设计平台。用户只须将并行问题可视化地以图形方式描述出来,任务的调度、任务间通信都由系统自动完成
成,因而大大地方便了用户进行并行程序设计。     

微机环境下基于PVM的网络并行程序开发方法

并行虚拟机ＰＶＭ是一种通用的网络并行程序开发环境,它可以把连网的巨型机,大规模并行机,工作站以及微机作为一大型并行机使用,供人们开发并行算法或运行并行系统。此文对ＰＶＭ的基本情况和最新进展进行介绍,讨论了基于ＰＶＭ的网络并行程序开发方法,最后给出了具体的实例。     

一个基于机群系统的面向对象并行程序开发环境的研究与实现

面向对象程序设计技术可以降低并行程序设计的复杂性、提高并行程序的可读性,可维护性、可移植性,因此提供面向对象的并行程序设计环境,可以减少并行程序开发难度,有效地利用并行计算机系统的潜能,可扩展并行机群系统是随着网络技术迅速发展而出现的一种网络并行计算系统,其主要特点是适于粗糙度任务并行,适于采用消化传递机制,文中在可扩展机群系统上实现了面向对象的并行程序开发环境ＰａｒａＯｂｊｃｃｔ,它由对象平台,     

Platform impact on performance of parallel genetic algorithms: Design and implementation considerations

Many problems in the operations research field cannot be solved to optimality within reasonable amounts of time with current computational resources. In order to find acceptable solutions to these computationally demanding problems, heuristic methods such as genetic algorithms are often developed. Parallel computing provides alternative design options for heuristic algorithms, as well as the opportunity to obtain performance benefits in both computational time and solution quality of these heuristics. Heuristic algorithms may be designed to benefit from parallelism by taking advantage of the parallel architecture. This study will investigate the performance of the same global parallel genetic algorithm on two popular parallel architectures to investigate the interaction of parallel platform choice and genetic algorithm design. The computational results of the study illustrate the impact of platform choice on parallel heuristic methods. This paper develops computational experiments to compare algorithm development on a shared memory architecture and a distributed memory architecture. The results suggest that the performance of a parallel heuristic can be increased by considering the desired outcome and tailoring the development of the parallel heuristic to a specific platform based on the hardware and software characteristics of that platform.     

分布式并行计算在交通网络仿真中的应用*

根据交通网络仿真的并行特征采用域分解方法设计交通并行仿真系统的框架,把交通网络分为几个子网,集群系统的每个节点机分别负责其中的一个子网,提出基于车辆数负载的网络分割算法来平衡各子网的负载量,并分析子网之间的通信机理.同时,在基于MPI 的并行计算平台上实现设计的并行仿真系统.通过实例表明,提出的并行算法能大大提高交通网络仿真的速度和效率.     

Windows（客户端）和MS—DOS（服务器）网络通信的实现

文中主要介绍了IX3S操作系统和Windows操作系统之间网络通讯的实现方法。在Windows平台下基于Visual C＋＋6．0环境下,利用MFC提供的Winsock类开发客户端程序。在MS—DOS平台下基于Borland C＋＋3．1环境下,利用一个DOS下基于Packet Driver的开发包Wattcp开发服务器端程序。DOS操作系统缺乏类似Winsock的API,所以在该系统下设计基于TCP／IP协议的应用程序时,需要先安装DOS操作系统网卡的Packet Driver驱动,并在DOS下制作Makefile文件,把Wattcp所有的源程序编译、链接成库。采用C／S模式,运用Socket网络编程原理、方法和技巧,开发了基于TCP／IP协议的服务器和客户机通信程序,实现了服务器端与客户端的网络通信。     

Dynamics of the 6-6 Stewart parallel manipulator

Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart–Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator’s link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.     

基于FPGA的动态目标跟踪系统设计

为了解决基于PC机的视频动态目标跟踪实时性瓶颈问题,设计出一种基于FPGA的动态目标跟踪系统。设计遵循图像处理金字塔模型,针对低层和中层算法简单、数据量大且存在一定并行性等特点采用FPGA硬件实现,而高层较复杂算法使用Nios Ⅱ软核进行C语言编程。整个设计采用Verilog-HDL对算法完成建模与实现,并在QUARTUS Ⅱ上进行了综合、布线等工作,最后以Altera公司的DE2开发板为硬件平台实现了整个系统。     

Structural synthesis for a lower-mobility parallel kinematic machine with swivel hinges

In this paper, a novel parallel kinematic machine is proposed. Its active platform (main supporting spindle) is manufactured with swivel hinges, that is, we substitute the spherical hinge with a swivel hinge. The active platform is also divided into several layers, which alters the characteristics of a single-layer-platform parallel machine. This paper applies a comprehensive structural approach based on position and orientation characteristics (POC). Each single open chain (SOC) is studied independently from the whole mechanism; we also analyse the POC of each kinematic pair. By the method of union, we obtain the POC matrix of the output motion of each link. Based on the verification of the 5-DOF (degree of freedom) parallel kinematic machine, we construct 3-DOF and 4-DOF parallel mechanisms with swivel hinges through the combination and union of different chains, and develop them into a series.     

Design and analysis of kinematically redundant parallel manipulators with configurable platforms

Redundancy can, in general, improve the ability and performance of parallel manipulators by implementing the redundant degrees of freedom to optimize a secondary objective function. Almost all published researches in the area of parallel manipulators redundancy were focused on the design and analysis of redundant parallel manipulators with rigid (nonconfigurable) platforms and on grasping hands to be attached to the platforms. Conventional grippers usually are not appropriate to grasp irregular or large objects. Very few studies focused on the idea of using a configurable platform as a grasping device. This paper highlights the idea of using configurable platforms in both planar and spatial redundant parallel manipulators, and generalizes their analysis. The configurable platform is actually a closed kinematic chain of mobility equal to the degree of redundancy of the manipulator. The additional redundant degrees of freedom are used in reconfiguring the shape of the platform itself. Several designs of kinematically redundant planar and spatial parallel manipulators with configurable platform are presented. Such designs can be used as a grasping device especially for irregular or large objects or even as a micro-positioning device after grasping the object. Screw algebra is used to develop a general framework that can be adapted to analyze the kinematics of any general-geometry planar or spatial kinematically redundant parallel manipulator with configurable platform.     

基于代理的并行空间查询语言

目前针对并行空间数据处理的研究主要集中在空间数据划分及其在其基础上的并行空间算法,对空间并行数据库平台本身的可用性,如应用程序的开发模式、高并发请求支持等研究较少。为此,对开源并行关系数据库查询语言进行空间查询扩展,提出一种基于代理的并行空间查询语言,并实现相应的并行数据库平台原型。基于该平台开发标准的网络地图绘图服务,在高并发环境下使用该服务对海量矢量数据进行实时渲染。实验结果表明,该平台具有与传统关系数据库一致的开发应用模式,可提供无缝的衔接方式,在海量数据高并发的情况下具有较高的可用性及查询性能。     

A new method for actuating parallel manipulators

This paper presents a new technique of actuating a parallel platform manipulator using shape memory alloy (SMA). This is a type of smart materials that can attain a high strength-to-weight ratio, which makes them ideal for miniature application. The work is mainly to develop a new SMA actuator and then incorporating the actuator in building the parallel manipulator prototype. The SMA used in this study is a commercial NiTi wire. The SMA wire provides an actuating force that produces a large bending and end displacement. A 3-UPU (universal–prismatic–universal) parallel manipulator using linear SMA actuators was developed. The manipulator consists of a fixed platform, a moving platform and three SMA actuators. The manipulator workspace was specified based on the restrictions due to actuator strokes and joint angle limits. System identification techniques were used to model both heating and cooling processes. An ON/OFF control was performed and the results showed closeness in simulation and experimental results. This study showed that shape memory alloy actuated beam can successfully be used to provide linear displacement. The built prototype indicates the feasibility of using SMA actuators in parallel manipulators.     

Dynamics of the spherical 3- \mathit{U\underline{P}S/}S parallel mechanism with prismatic actuators

Recursive relations in kinematics and dynamics of the symmetric spherical 3- parallel mechanism having three prismatic actuators are established in this paper. Controlled by three forces, the parallel manipulator is a 3-DOF mechanical system with three parallel legs connecting to the moving platform. Knowing the position and the rotation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity, and acceleration of each manipulator’s link. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified using the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input forces and powers are obtained.