Publications

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Combinatorial algorithms have long played a crucial, albeit under-recognized role in scientific computing. This impact ranges well beyond the familiar applications of graph algorithms in sparse matrices to include mesh generation, optimization, computational biology and chemistry, data analysis and parallelization. Trends in science and in computing suggest strongly that the importance of discrete algorithms in computational science will continue to grow. This paper reviews some of these many past successes and highlights emerging areas of promise and opportunity. © Springer-Verlag Berlin Heidelberg 2007.

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The development of tools for complex dynamic security systems is not a straight forward engineering task but, rather, a scientific task where discovery of new scientific principles and math is necessary. For years, scientists have observed complex behavior but have had difficulty understanding it. Prominent examples include: insect colony organization, the stock market, molecular interactions, fractals, and emergent behavior. Engineering such systems will be an even greater challenge. This report explores four tools for engineered complex dynamic security systems: Partially Observable Markov Decision Process, Percolation Theory, Graph Theory, and Exergy/Entropy Theory. Additionally, enabling hardware technology for next generation security systems are described: a 100 node wireless sensor network, unmanned ground vehicle and unmanned aerial vehicle.

Visual simultaneous localization and mapping (VSLAM) is the problem of using video input to reconstruct the 3D world and the path of the camera in an 'on-line' manner. Since the data is processed in real time, one does not have access to all of the data at once. (Contrast this with structure from motion (SFM), which is usually formulated as an 'off-line' process on all the data seen, and is not time dependent.) A VSLAM solution is useful for mobile robot navigation or as an assistant for humans exploring an unknown environment. This report documents the design and implementation of a VSLAM system that consists of a small inertial measurement unit (IMU) and camera. The approach is based on a modified Extended Kalman Filter. This research was performed under a Laboratory Directed Research and Development (LDRD) effort.

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This 3-year research and development effort focused on what we believe is a significant technical gap in existing modeling and simulation capabilities: the representation of plausible human cognition and behaviors within a dynamic, simulated environment. Specifically, the intent of the ''Simulating Human Behavior for National Security Human Interactions'' project was to demonstrate initial simulated human modeling capability that realistically represents intra- and inter-group interaction behaviors between simulated humans and human-controlled avatars as they respond to their environment. Significant process was made towards simulating human behaviors through the development of a framework that produces realistic characteristics and movement. The simulated humans were created from models designed to be psychologically plausible by being based on robust psychological research and theory. Progress was also made towards enhancing Sandia National Laboratories existing cognitive models to support culturally plausible behaviors that are important in representing group interactions. These models were implemented in the modular, interoperable, and commercially supported Umbra{reg_sign} simulation framework.

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We report on algebraic multilevel preconditioners for the parallel solution of linear systems arising from a Newton procedure applied to the finite-element (FE) discretization of the incompressible Navier-Stokes equations. We focus on the issue of how to coarsen FE operators produced from high aspect ratio elements.

Open MPI was initially designed to support a wide variety of high-performance networks and network programming interfaces. Recently, Open MPI was enhanced to support networks that have full support for MPI matching semantics. Previous Open MPI efforts focused on networks that require the MPI library to manage message matching, which is sub-optimal for some networks that inherently support matching. We describes a new matching transport layer in Open MPI, present results of micro-benchmarks and several applications on the Cray XT platform, and compare performance of the new and the existing transport layers, as well as the vendor-supplied implementation of MPI. © Springer-Verlag Berlin Heidelberg 2007.

The default messaging model for the OpenFabrics "Verbs" API is to consume receive buffers in order - regardless of the actual incoming message size - leading to inefficient registered memory usage. For example, many small messages can consume large amounts of registered memory. This paper introduces a new transport protocol in Open MPI implemented using the existing OpenFabrics Verbs API that exhibits efficient registered memory utilization. Several real-world applications were run at scale with the new protocol; results show that global network resource utilization efficiency increases, allowing increased scalability - and larger problem sizes - on clusters which can increase application performance in some cases. © Springer-Verlag Berlin Heidelberg 2007.

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

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