This paper summarizes the various recent advancements achieved by utilizing the divide-
and-conquer algorithm (DCA) to reduce the computational burden associated with many …

This paper presents a recursive and parallel formulation for the dynamics simulation of large
articulated robotic systems based on the Hamilton's canonical equations. Although …

This chapter provides an initial investigation into using the Graphics Processing Unit
(GPU)(or similar hardware) to execute the Divide-and-Conquer Algorithm (DCA), which …

This work examines the suitability of two popular methods of modeling bodies that undergo
large deformation for use in the adaptive divide-and-conquer framework. In this framework …

This paper presents a recursive parallel formulation for the simulation of complex free-flying,
potentially multi-arm, manipulators. The proposed divide and conquer algorithm (HDCA) is …

The work contained herein makes a meaningful contribution the field of multibody dynamics
in a variety of ways:(1) a new analytical model for highly-flexible bodies based on …

Since computational performance is critically important for simulations to be used as an
effective tool to study and design dynamic systems, the computing performance gains …