Publications

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As part of DARPA Information Processing Technology Office (IPTO) Software for Distributed Robotics (SDR) Program, Sandia National Laboratories has developed analysis and control software for coordinating tens to thousands of autonomous cooperative robotic agents (primarily unmanned ground vehicles) performing military operations such as reconnaissance, surveillance and target acquisition; countermine and explosive ordnance disposal; force protection and physical security; and logistics support. Due to the nature of these applications, the control techniques must be distributed, and they must not rely on high bandwidth communication between agents. At the same time, a single soldier must easily direct these large-scale systems. Finally, the control techniques must be provably convergent so as not to cause undo harm to civilians. In this project, provably convergent, moderate communication bandwidth, distributed control algorithms have been developed that can be regulated by a single soldier. We have simulated in great detail the control of low numbers of vehicles (up to 20) navigating throughout a building, and we have simulated in lesser detail the control of larger numbers of vehicles (up to 1000) trying to locate several targets in a large outdoor facility. Finally, we have experimentally validated the resulting control algorithms on smaller numbers of autonomous vehicles.

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We present a model for optimizing the placement of sensors in municipal water networks to detect maliciously injected contaminants. An optimal sensor configuration minimizes the expected fraction of the population at risk. We formulate this problem as a mixed-integer program, which can be solved with generally available solvers. We find optimal sensor placements for three test networks with synthetic risk and population data. Our experiments illustrate that this formulation can be solved relatively quickly and that the predicted sensor configuration is relatively insensitive to uncertainties in the data used for prediction.

As Sandia looks toward petaflops computing and other advanced architectures, it is necessary to provide a programming environment that can exploit this additional computing power while supporting reasonable development time for applications. Thus, they evaluate the Partitioned Global Address Space (PGAS) programming model as implemented in Unified Parallel C (UPC) for its applicability. They report on their experiences in implementing sorting and minimum spanning tree algorithms on a test system, a Cray T3e, with UPC support. They describe several macros that could serve as language extensions and several building-block operations that could serve as a foundation for a PGAS programming library. They analyze the limitations of the UPC implementation available on the test system, and suggest improvements necessary before UPC can be used in a production environment.

The mathematical and physical foundations and domain of applicability of Sandia's GeoModel are presented along with descriptions of the source code and user instructions. The model is designed to be used in conventional finite element architectures, and (to date) it has been installed in five host codes without requiring customizing the model subroutines for any of these different installations. Although developed for application to geological materials, the GeoModel actually applies to a much broader class of materials, including rock-like engineered materials (such as concretes and ceramics) and even to metals when simplified parameters are used. Nonlinear elasticity is supported through an empirically fitted function that has been found to be well-suited to a wide variety of materials. Fundamentally, the GeoModel is a generalized plasticity model. As such, it includes a yield surface, but the term 'yield' is generalized to include any form of inelastic material response including microcrack growth and pore collapse. The geomodel supports deformation-induced anisotropy in a limited capacity through kinematic hardening (in which the initially isotropic yield surface is permitted to translate in deviatoric stress space to model Bauschinger effects). Aside from kinematic hardening, however, the governing equations are otherwise isotropic. The GeoModel is a genuine unification and generalization of simpler models. The GeoModel can employ up to 40 material input and control parameters in the rare case when all features are used. Simpler idealizations (such as linear elasticity, or Von Mises yield, or Mohr-Coulomb failure) can be replicated by simply using fewer parameters. For high-strain-rate applications, the GeoModel supports rate dependence through an overstress model.

One problem facing today's nuclear power industry is flow-accelerated corrosion and erosion in pipe elbows. The Korean Atomic Energy Research Institute (KAERI) is performing experiments in their Flow-Accelerated Corrosion (FAC) test loop to better characterize these phenomena, and develop advanced sensor technologies for the condition monitoring of critical elbows on a continuous basis. In parallel with these experiments, Sandia National Laboratories is performing Computational Fluid Dynamic (CFD) simulations of the flow in one elbow of the FAC test loop. The simulations are being performed using the FLUENT commercial software developed and marketed by Fluent, Inc. The model geometry and mesh were created using the GAMBIT software, also from Fluent, Inc. This report documents the results of the simulations that have been made to date; baseline results employing the RNG k-e turbulence model are presented. The predicted value for the diametrical pressure coefficient is in reasonably good agreement with published correlations. Plots of the velocities, pressure field, wall shear stress, and turbulent kinetic energy adjacent to the wall are shown within the elbow section. Somewhat to our surprise, these indicate that the maximum values of both wall shear stress and turbulent kinetic energy occur near the elbow entrance, on the inner radius of the bend. Additional simulations were performed for the same conditions, but with the RNG k-e model replaced by either the standard k-{var_epsilon}, or the realizable k-{var_epsilon} turbulence model. The predictions using the standard k-{var_epsilon} model are quite similar to those obtained in the baseline simulation. However, with the realizable k-{var_epsilon} model, more significant differences are evident. The maximums in both wall shear stress and turbulent kinetic energy now appear on the outer radius, near the elbow exit, and are {approx}11% and 14% greater, respectively, than those predicted in the baseline calculation; secondary maxima in both quantities still occur near the elbow entrance on the inner radius. Which set of results better reflects reality must await experimental corroboration. Additional calculations demonstrate that whether or not FLUENT's radial equilibrium pressure distribution option is used in the PRESSURE OUTLET boundary condition has no significant impact on the flowfield near the elbow. Simulations performed with and without the chemical sensor and associated support bracket that were present in the experiments demonstrate that the latter have a negligible influence on the flow in the vicinity of the elbow. The fact that the maxima in wall shear stress and turbulent kinetic energy occur on the inner radius is therefore not an artifact of having introduced the sensor into the flow.

The peridynamic theory of continuum mechanics allows damage, fracture, and long-range forces to be treated as natural components of the deformation of a material. In this paper, the peridynamic approach is applied to small thickness two- and one-dimensional structures. For membranes, a constitutive model is described appropriate for rubbery sheets that can form cracks. This model is used to perform numerical simulations of the stretching and dynamic tearing of membranes. A similar approach is applied to one-dimensional string like structures that undergrow stretching, bending, and failure. Long-range forces similar to van der Waals interactions at the nanoscale influence the equilibrium configurations of these structures, how they deform, and possibly self-assembly.

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We are extending the existing features of Aspen, a powerful economic modeling tool, and introducing new features to simulate the role of confidence in economic activity. The new model is built from a collection of autonomous agents that represent households, firms, and other relevant entities like financial exchanges and governmental authorities. We simultaneously model several interrelated markets, including those for labor, products, stocks, and bonds. We also model economic tradeoffs, such as decisions of households and firms regarding spending, savings, and investment. In this paper, we review some of the basic principles and model components and describe our approach and development strategy for emulating consumer, investor, and business confidence. The model of confidence is explored within the context of economic disruptions, such as those resulting from disasters or terrorist events.

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A long-standing conjecture in combinatorial optimization says that the integrality gap of the famous Held-Karp relaxation of the metric STSP (Symmetric Traveling Salesman Problem) is precisely 4/3. In this paper, we show that a slight strengthening of this conjecture implies a tight 4/3 integrality gap for a linear programming relaxation of the metric ATSP (Asymmetric Traveling Salesman Problem). Our main tools are a new characterization of the integrality gap for linear objective functions over polyhedra, and the isolation of "hard-to-round" solutions of the relaxations. © Springer-Verlag 2004.

This document is a reference guide for the UNIX Library/Standalone version of the Latin Hypercube Sampling Software. This software has been developed to generate Latin hypercube multivariate samples. This version runs on Linux or UNIX platforms. This manual covers the use of the LHS code in a UNIX environment, run either as a standalone program or as a callable library. The underlying code in the UNIX Library/Standalone version of LHS is almost identical to the updated Windows version of LHS released in 1998 (SAND98-0210). However, some modifications were made to customize it for a UNIX environment and as a library that is called from the DAKOTA environment. This manual covers the use of the LHS code as a library and in the standalone mode under UNIX.

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A study was undertaken to validate the 'capability' computing needs of DOE's Office of Science. More than seventy members of the community provided information about algorithmic scaling laws, so that the impact of having access to Petascale capability computers could be assessed. We have concluded that the Office of Science community has described credible needs for Petascale capability computing.

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Two heuristic strategies intended to enhance the performance of the generalized global basis (GGB) method [H. Waisman, J. Fish, R.S. Tuminaro, J. Shadid, The Generalized Global Basis (GGB) method, International Journal for Numerical Methods in Engineering 61(8), 1243-1269] applied to nonlinear systems are presented. The standard GGB accelerates a multigrid scheme by an additional coarse grid correction that filters out slowly converging modes. This correction requires a potentially costly eigen calculation. This paper considers reusing previously computed eigenspace information. The GGB? scheme enriches the prolongation operator with new eigenvectors while the modified method (MGGB) selectively reuses the same prolongation. Both methods use the criteria of principal angles between subspaces spanned between the previous and current prolongation operators. Numerical examples clearly indicate significant time savings in particular for the MGGB scheme.

We consider linear systems arising from the use of the finite element method for solving scalar linear elliptic problems. Our main result is that these linear systems, which are symmetric and positive semidefinite, are well approximated by symmetric diagonally dominant matrices. Our framework for defining matrix approximation is support theory. Significant graph theoretic work has already been developed in the support framework for preconditioners in the diagonally dominant case, and in particular it is known that such systems can be solved with iterative methods in nearly linear time. Thus, our approximation result implies that these graph theoretic techniques can also solve a class of finite element problems in nearly linear time. We show that the support number bounds, which control the number of iterations in the preconditioned iterative solver, depend on mesh quality measures but not on the problem size or shape of the domain.