실시간 시뮬레이션을 위한 병렬적분

A parallel integration approach is proposed for real-time simulation of controlled mechanical systems. The proposed approach, which employs the dual-rate integration method in a parallel computing environment, is developed to deal with stiffness and high frequency characteristics of the controlled mechanical systems effectively. Numerical experiments are performed to demonstrate the effectiveness of the approach in shared memory multiprocessors, A1liant FXJ8 and A1liant FXJ80.