{"id":"https://openalex.org/W1995254035","doi":"https://doi.org/10.1109/icara.2015.7081187","title":"An efficient solution method for multibody systems with loops using multiple processors","display_name":"An efficient solution method for multibody systems with loops using multiple processors","publication_year":2015,"publication_date":"2015-02-01","ids":{"openalex":"https://openalex.org/W1995254035","doi":"https://doi.org/10.1109/icara.2015.7081187","mag":"1995254035"},"language":"en","primary_location":{"id":"doi:10.1109/icara.2015.7081187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara.2015.7081187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ntrs.nasa.gov/api/citations/20140012750/downloads/20140012750.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009856010","display_name":"Tushar K. Ghosh","orcid":"https://orcid.org/0000-0002-8014-2513"},"institutions":[{"id":"https://openalex.org/I55279860","display_name":"L-3 Communications (United States)","ror":"https://ror.org/000nwmh60","country_code":"US","type":"company","lineage":["https://openalex.org/I55279860"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tushar K. Ghosh","raw_affiliation_strings":["National Security Solutions L-3 Communications, Houston, Texas, USA","National Security Solutions, L-3 Communications, Houston, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Security Solutions L-3 Communications, Houston, Texas, USA","institution_ids":["https://openalex.org/I55279860"]},{"raw_affiliation_string":"National Security Solutions, L-3 Communications, Houston, Texas, USA","institution_ids":["https://openalex.org/I55279860"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028183521","display_name":"Luong Anh Tuan Nguyen","orcid":"https://orcid.org/0000-0001-8325-6746"},"institutions":[{"id":"https://openalex.org/I55279860","display_name":"L-3 Communications (United States)","ror":"https://ror.org/000nwmh60","country_code":"US","type":"company","lineage":["https://openalex.org/I55279860"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luong A. Nguyen","raw_affiliation_strings":["National Security Solutions L-3 Communications, Houston, Texas, USA","National Security Solutions, L-3 Communications, Houston, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Security Solutions L-3 Communications, Houston, Texas, USA","institution_ids":["https://openalex.org/I55279860"]},{"raw_affiliation_string":"National Security Solutions, L-3 Communications, Houston, Texas, USA","institution_ids":["https://openalex.org/I55279860"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059616066","display_name":"Leslie J. Quiocho","orcid":null},"institutions":[{"id":"https://openalex.org/I4210149382","display_name":"Johnson Space Center","ror":"https://ror.org/04xx4z452","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210124779","https://openalex.org/I4210149382"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leslie J. Quiocho","raw_affiliation_strings":["Software Robotics and Simulation Division, NASA Johnson Space Center, Houston, Texas, USA","Software, Robotics and Simulation Division, NASA Johnson Space Center, Houston, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Software Robotics and Simulation Division, NASA Johnson Space Center, Houston, Texas, USA","institution_ids":["https://openalex.org/I4210149382"]},{"raw_affiliation_string":"Software, Robotics and Simulation Division, NASA Johnson Space Center, Houston, Texas, USA","institution_ids":["https://openalex.org/I4210149382"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07098747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"436"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.7692443132400513},{"id":"https://openalex.org/keywords/multiprocessing","display_name":"Multiprocessing","score":0.7179795503616333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6914558410644531},{"id":"https://openalex.org/keywords/divide-and-conquer-algorithms","display_name":"Divide and conquer algorithms","score":0.6285303235054016},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.5886811017990112},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.5542178750038147},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5281431674957275},{"id":"https://openalex.org/keywords/parallel-algorithm","display_name":"Parallel algorithm","score":0.5251086354255676},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.4315495491027832},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.38504427671432495},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3769388794898987},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2668055295944214},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14741548895835876}],"concepts":[{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.7692443132400513},{"id":"https://openalex.org/C4822641","wikidata":"https://www.wikidata.org/wiki/Q846651","display_name":"Multiprocessing","level":2,"score":0.7179795503616333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6914558410644531},{"id":"https://openalex.org/C71559656","wikidata":"https://www.wikidata.org/wiki/Q671298","display_name":"Divide and conquer algorithms","level":2,"score":0.6285303235054016},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.5886811017990112},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.5542178750038147},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5281431674957275},{"id":"https://openalex.org/C120373497","wikidata":"https://www.wikidata.org/wiki/Q1087987","display_name":"Parallel algorithm","level":2,"score":0.5251086354255676},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.4315495491027832},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38504427671432495},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3769388794898987},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2668055295944214},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14741548895835876},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icara.2015.7081187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara.2015.7081187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"},{"id":"pmh:oai:casi.ntrs.nasa.gov:20140012750","is_oa":true,"landing_page_url":"http://hdl.handle.net/2060/20140012750","pdf_url":"https://ntrs.nasa.gov/api/citations/20140012750/downloads/20140012750.pdf","source":{"id":"https://openalex.org/S4377196257","display_name":"NASA STI Repository (National Aeronautics and Space Administration)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210124779","host_organization_name":"National Aeronautics and Space Administration","host_organization_lineage":["https://openalex.org/I4210124779"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CASI","raw_type":"JSC-CN-31978"}],"best_oa_location":{"id":"pmh:oai:casi.ntrs.nasa.gov:20140012750","is_oa":true,"landing_page_url":"http://hdl.handle.net/2060/20140012750","pdf_url":"https://ntrs.nasa.gov/api/citations/20140012750/downloads/20140012750.pdf","source":{"id":"https://openalex.org/S4377196257","display_name":"NASA STI Repository (National Aeronautics and Space Administration)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210124779","host_organization_name":"National Aeronautics and Space Administration","host_organization_lineage":["https://openalex.org/I4210124779"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CASI","raw_type":"JSC-CN-31978"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332379","display_name":"Johnson Space Center","ror":"https://ror.org/04xx4z452"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1995254035.pdf"},"referenced_works_count":7,"referenced_works":["https://openalex.org/W1975537977","https://openalex.org/W2009493696","https://openalex.org/W2012733035","https://openalex.org/W2042356000","https://openalex.org/W2044924427","https://openalex.org/W2097699393","https://openalex.org/W2150871235"],"related_works":["https://openalex.org/W4247094814","https://openalex.org/W2352794675","https://openalex.org/W2111712077","https://openalex.org/W2051228988","https://openalex.org/W108531593","https://openalex.org/W8810113","https://openalex.org/W2158636562","https://openalex.org/W4312602923","https://openalex.org/W2041057519","https://openalex.org/W1513335789"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,24,44,147],"multibody":[4,41],"dynamics":[5,74],"algorithm":[6,38,135],"formulated":[7],"for":[8,90,106,112],"parallel":[9,105],"implementation":[10],"on":[11,146],"multiprocessor":[12],"computing":[13],"platforms":[14],"using":[15],"the":[16,40,73,81,91,94,110,114],"divide-and-conquer":[17,134],"approach.":[18],"The":[19,37,86,127],"system":[20,42],"of":[21,27,46,49,75,80,88,129,132],"interest":[22],"is":[23],"general":[25],"topology":[26],"rigid":[28],"and":[29,64,109,120],"elastic":[30],"articulated":[31],"bodies":[32,50],"with":[33,141],"or":[34,53,124],"without":[35],"loops.":[36],"divides":[39],"into":[43],"number":[45],"smaller":[47],"sets":[48],"in":[51,78,101,104,122,136],"chain":[52],"tree":[54],"structures,":[55],"called":[56,61],"\u201cbranches\u201d":[57],"at":[58],"convenient":[59],"joints":[60],"\u201cconnection":[62],"points\u201d,":[63],"uses":[65],"an":[66,142],"Order-N":[67],"(O":[68],"(N))":[69],"approach":[70],"to":[71],"formulate":[72],"each":[76],"branch":[77],"terms":[79],"unknown":[82,115],"spatial":[83],"connection":[84,95,116],"forces.":[85],"equations":[87,111],"motion":[89],"branches,":[92],"leaving":[93],"forces":[96,117],"as":[97],"unknowns,":[98],"are":[99,118,139],"implemented":[100,145],"separate":[102],"processors":[103,138],"computational":[107],"efficiency,":[108],"all":[113],"synthesized":[119],"solved":[121],"one":[123],"several":[125],"processors.":[126],"performances":[128],"two":[130],"implementations":[131],"this":[133],"multiple":[137],"compared":[140],"existing":[143],"method":[144],"single":[148],"processor.":[149]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}