## Publications

A list of Dan Negrut’s publications is available here

### SBEL Technical Reports

TR-2017-07: “Performance Analysis of Constant Speed Local Obstacle Avoidance Controller Using an MPC Algorithm on Granular Terrain,” N. Haraus, R. Serban, J. Fleischmann pdf

TR-2017-03: “An Overview of the Theoretical Foundation of the Smoothed-Particle Hydrodynamics Method” Z. Lal, M. Rakhsha, D. Negrut pdf

TR-2017-02: “Using Chrono::FSI and Chrono::Vehicle for the Analysis of Sloshing Phenomena in Vehicle Dynamics Maneuvers” H. Mazhar, R. Serban, D. Negrut pdf

TR-2017-01: “An Overview of the Chrono Soil Contact Model (SCM) Implementation” A. Tasora, D. Mangoni, D. Negrut pdf

TR-2016-18: “Using the Complementarity and Penalty Methods for Solving Frictional Contact Problems in Chrono: Validation for the Shear-Test with Particle Image Velocimetry” M. Kwarta, D. Negrut pdf

TR-2016-17: “Using the Complementarity and Penalty Methods for Solving Frictional Contact Problems in Chrono: Validation for the Standard Triaxial Test” M. Kwarta, D. Negrut pdf

TR-2016-16: “Using the Complementarity and Penalty Methods for Solving Frictional Contact Problems in Chrono: Validation for the Cone Penetration Test” M. Kwarta, D. Negrut pdf

TR-2016-15: “Basic Comparison of Chrono::Vehicle and ADAMS/Car” M. Taylor, R. Serban, D. Negrut pdf

TR-2016-14: “An Overview of an SPH Technique to Maintain Second-Order Convergence for 2D and 3D Fluid Dynamics” W. Hu, W. Pan, M. Rakhsha, D. Negrut pdf

TR-2016-13: “Virtual Sensing for Autonomous Vehicle Simulation in Chrono” A. Elmquist, D. Negrut pdf

TR-2016-12: “Posing Multibody Dynamics with Friction and Contact as a Differential Algebraic Inclusion Problem” D. Negrut, R. Serban pdf

TR-2016-11: “Chrono Support for ANCF Finite Elements: Formulation and Validation Aspects” A. Recuero, D. Negrut pdf

TR-2016-10: “Chrono::Vehicle - Template-Based Ground Vehicle Modeling and Simulation” R. Serban, M. Taylor, D. Negrut, A. Tasora pdf

TR-2016-09: “Overview of Chrono Build Process and Infrastructure” C. Kelly, C. Vanden Heuvel pdf

TR-2016-08: “NG-NRMM Phase I Benchmarking: Chrono Tracked Vehicle Simulation Results Summary” R. Serban, M. Taylor, D. Melanz, D. Negrut pdf

TR-2016-07: “Wheeled Vehicle Mobility Studies in Chrono: Nonlinear Finite Element Tires on Granular Terrain” A. Recuero, R. Serban, B. Peterson, H. Sugiyama, D. Negrut pdf

TR-2016-06: “Networking Architecture for the Distributed Simulation of Manned and Autonomous Vehicles” D. Hatch pdf

TR-2016-05: “An Introduction to the Floating Frame of Reference Formulation” A. Recuero, D. Negrut pdf

TR-2016-04: “Cone penetration results for 3mm glass beads and 20-30 Ottawa sand” K. Williams pdf, data

TR-2016-03: “Incompressible Implicit SPH,” M. Rakhsha, A. Pazouki, D. Negrut pdf

TR-2016-02: “Using an Anti-Relaxation Step to Improve the Accuracy of the Frictional Contact Solution in a Diﬀerential Variational Inequality Framework for the Rigid Body Dynamics Problem,” D. Melanz, H. Mazhar, D. Negrutpdf

TR-2016-01: “Representing fluid dynamics as a many-body dynamics problem: a vehicle fording analysis test case,” H. Mazhar, D. Negrut pdf

TR-2015-13: “Implementation and Validation of the Fiala Tire Model in Chrono,” M. Taylor pdf

TR-2015-12: “Analysis of a Splitting Approach for the Parallel Solution of Linear Systems on GPU Cards,” A. Li, R. Serban, D. Negrut pdf

TR-2015-09: “Boundary Condition Enforcing markers for SPH,” A. Pazouki, B. Song, D. Negrut pdf

TR-2015-08: “Study of SpMV performance using PETSc,” V. Megavannan, O. Deshmukh, N. Subramaniam, D. Negrut pdf

TR-2015-07: “A Study of Sparse-Matrix Vector Multiplication (SpMV) on Different Architectures and Libraries,” N. Subramaniam, O. Deshmukh, V. Megavannan, D. Negrut pdf

TR-2015-06: “DEM-PM Contact Model with Multi-Step Tangential Contact Displacement History,” J. Fleischmann pdf

TR-2015-05: “Validation of Basic Modeling Elements in Chrono,” M. Taylor and R. Serban pdf

TR-2015-04: “Investigation of Charm++ SPMV performance using CSR format,” D. Heller pdf

TR-2015-03: “A Geometric Take on the Implementation of Hilber-Hughes-Taylor Integration Formula in Multibody Dynamics,” D. Negrut, R. Serban pdf

TR-2015-02: “Comparison of SPMV performance on matrices in different matrix formats using CUSP, cuSPARSE and ViennaCL,” A. Li, H. Mazhar, R. Serban, D. Negrut pdf

TR-2015-01: “Comparison of OpenCL performance on different platforms using VexCL and Blaze,” H. Mazhar, D. Negrut pdf

TR-2014-17: “An Overview of NVIDIA Tegra K1 Architecture,” A. Li, R. Serban, D. Negrut pdf

TR-2014-16: “Validation of a Single Contact Point Tire Model Based on the Transient Pacejka Model in the Open-Source Dynamics Software Chrono,” J. Madsen pdf

TR-2014-15: “Lugre Tire Model for HMMWV,” A. Mikkola pdf

TR-2014-14: “Validation of a Steady-State Magic Formula Tire in Chrono with a Commercial Software Implementation,” J. Madsen, A. Dirr pdf

TR-2014-13: “An Analysis of a Primal-Dual Interior Point Method for Computing Frictional Contact Forces in a Differential Inclusion-Based Approach for Multibody Dynamics,” L. Fang, D. Negrut pdf presentation

TR-2014-12: “A Hybrid GPU-CPU Parallel Reordering Algorithm for Bandwidth Reduction of Large Sparse Matrices,” A. Li, R. Serban, D. Negrut pdf

TR-2014-11: “An Analysis of Several Methods for Handling Hard-Sphere Frictional Contact in Rigid Multibody Dynamics,” H. Mazhar, D. Melanz, M.C. Ferris, D. Negrut pdf

TR-2014-10: “Preliminary Results For Helical Anchoring Project,” H. Mazhar, J. Schneider, D. Negrut pdf

TR-2014-09: “Unified Memory in CUDA 6.0. A Brief Overview of Related Data Access and Transfer Issues,” D. Negrut, R. Serban, A. Li, A. Seidl pptpdf

TR-2014-08: “The Interplay Between NVIDIA’s Thrust GPU Computing Template Library and Unified Memory Support in CUDA 6.0,” A. Li, R. Serban, D. Negrut pdf

TR-2014-07: “A Comparison of the Performance of SaP::GPU and Intel’s Math Kernel Library for Solving Dense Banded Linear Systems,” A. Li, O. Deshmukh, R. Serban, D. Negrut pdf

TR-2014-06: “Chrono::Render A Graphical Visualization Pipeline for Multibody Dynamics Simulations,” D. Kaczmarek, A. Bartholomew, F. Gutierrez, H. Mazhar, D. Negrut pdf

TR-2014-05: “Computer Architecture for High Performance Computing, Looking Ahead: Implications of the Dennard Law,” A. Sinha, D. Negrut pdf

TR-2014-04: “A Basic Profiling and Performance Assessment Utility for C++ Codes” P. Sankaranarayanan pdf

TR-2014-03: “Characterization of Intel Xeon Phi for Linear Algebra Workloads” O. Deshmukh, D. Negrut pdf

TR-2014-02: “Performance Analysis of CULA on different NVIDIA GPU Architectures” P. Gupta pdf

TR-2014-01: “An implementation of a reordering approach for increasing the product of diagonal entries in a sparse matrix” A. Li, R. Serban and D. Negrut pdf

TR-2013-05: “SaP::GPU. A Splitting Approach for the Solution of Sparse Linear Systems on the GPU” A. Li, A. Seidl, R. Serban and D. Negrut pdf

TR-2013-04: “A High Performance Computing (HPC) approach to the Smoothed Particle Hydrodynamics (SPH) method” A. Pazouki and D. Negrut pdf

TR-2013-03: “Studying the Effect of Powder Geometry on the Selective Laser Sintering Process” H. Mazhar, J. Bollmann, E. Forti, A. Praeger, T. Osswald, and D. Negrut pdf

TR-2013-02: “Scaling Analysis of a Penalty Approach For Multibody Dynamics with Friction and Contact” L. Fang pdf

TR-2013-01: “An Investigation of the Extent to which Simulation Can Be Used to Predict the Dynamics of Granular Material” R. Shotwell pdf

TR-2012-04: “A GPU-based LU factorization of dense banded matrices” A. Li, A. Seidl, D. Negrut pdf

TR-2012-03: “Parallel Ray Tracing Simulations with MATLAB for Dynamic Lens Systems” N. Wengert, D. Negrut pdf

TR-2012-02: “A Comparison of Several Solvers for Bound Constraint Quadratic Programming within the Context of Frictionless Multibody Dynamics” T. Heyn, M. Anitescu, A. Tasora, D. Negrut pdf

TR-2012-01: “A Comparison of Chrono::Engine’s Primitive Joints with ADAMS Results” R. Shotwell pdf

TR-2011-04: “A Smoothed Particle Hydrodynamics Approach to the Simulation of the Transport Flow of Cells” A. Pazouki, D. Buschke, P. Resto, B. Ogle, D. Negrut pdf

TR-2011-03: “Using a Granular Dynamics Code to Investigate the Performance of a Helical Anchoring System Design” H. Mazhar, M. Quadrelli, D. Negrut pdf

TR-2011-02: “Tire Modeling for Multibody Dynamics Applications” M. Schmid pdf

TR-2011-01: “SPIKE - A Hybrid Algorithm for Large Banded Systems” T. Heyn, D. Negrut pdf

TR-2010-02: “Smoothed Particle Hydrodynamics in Acoustic Simulations” P. Hahn, D. Negrut pdf

TR-2010-01: “Methods of Tracked Vehicle System Modeling and Simulation” J. Madsen, T. Heyn, D. Negrut pdf

TR-2009-07: “A simulation setup in ABAQUS to study response of a tire under base excitation” Manoj K. [pdf]

TR-2009-06: “On the Validation of a DVI Approach for the Dynamics of Granular Material” D. Melanz, M. Tupy, B. Smith, K. Turner, D. Negrut pdf

TR-2009-05: “A Stochastic Approach to Integrated Vehicle Reliability Prediction” J. Madsen, D. Ghiocel, D. Gorsich, D. Lamb, D. Negrut pdf

TR-2009-04: “On the Construction and Use of Surrogate Models for the Dynamic Analysis of Multibody Systems” H. Ansari, M. Tupy, D. Makarand, D. Negrut pdf

TR-2009-03: “A Tutorial on Leveraging double-precision GPU Computing for MATLAB Applications” D. Makarand, D. Negrut pdf

TR-2009-02: “A Co-simulation Approach for the Time Analysis of a Biomechanically-Inspired System with Rigid and Deformable Bodies” A. Schmitz, A. Pazouki, D. Thelen, D. Negrut pdf

TR-2009-01: “Surrogate Models for the Dynamic Response of Constrained Multibody Systems” N. Khude, Y. Hwang, P. Qian, D. Negrut

TR-2008-09: “Implicit Integration in Molecular Dynamics Project Summary” N. Schafer, D. Negrut pdf

TR-2008-08: “Efficient Sampling of Dynamical Systems with Spatial Uncertainty” K. Schmitt, M. Anitescu, D. Negrut pdf

TR-2008-07: “A Framework for Uncertainty Quantification in Nonlinear Multi-body System Dynamics” M. Datar, D. Negrut, D. Gorsich, D. Lamb pdf

TR-2008-06: “Real-time Vehicle Simulation for Video Games Using the Bullet Physics Library” H. Mazhar pdf

TR-2008-05: “Scalability of Rigid Body Frictional Contacts with Non-primitive Collision Geometry” J. Madsen, E. Kolajo pdf

TR-2008-04: “On Using Multiple CPU Threads to Manage Multiple GPUs Under CUDA” H. Mazhar pdf

TR-2008-03: “A Gaussian Process-Based Approach for Handling Uncertainty in Vehicle Dynamics Simulation” K. Schmitt, J. Madsen, M. Anitescu, D.Negrut pdf

TR-2008-02: “A Comparison of Low Order Numerical Integration Formulas for Rigid and Flexible Multibody Dynamics” N. Khude, L. O. Jay, D. Negrut pdf

TR-2008-01: “Experiments to Compare Implicit and Explicit Methods of Integration in Molecular Dynamics Simulation” N. Schafer, D. Negrut pdf

TR-2007-07: “A MATLAB implementation of the seven-body mechanism for implicit integration of the constrained equations of motion” N. Khude, D. Negrut pdf Matlab Code contact1.avi Beam_contact

TR-2007-06: “Penalty Versus Complementary-Based Frictional Contact of Rigid Spheres: a CPU Time Comparison” J. Madsen, N. Pechdimaljian, D. Negrut pdf Simulation Video 1 Simulation Video 2

TR-2007-05: “Use of the Implicit HHT-I3 and the Explicit ADAMS Methods with the Absolute Nodal Coordinate Formulation” B. Hussein, D. Negrut, A. Shabana pdf

TR-2007-04: “An Investigation on New Numerical Methods for Molecular Dynamics Simulation” N. Schafer pdf

TR-2007-03: “Virtual Prototyping of Ground Vehicles” M. Datar, D. Negrut pdf

TR-2007-02: “High Fidelity Modeling and Simulation of Tracked Elements for Off-Road Applications Using MSC/ADAMS”, J. Madsen pdf Simulation Video 1 Simulation Video 2

TR-2007-01: “A Primer to Electronic Structure Computation” N. Schafer pdf

TR-2006-01: “A Discussion of Low Order Numerical Integration Formulas for Rigid and Flexible Multibody Dynamics” D. Negrut, N. Khude, T. Heyn pdf

### Theses of Lab Members

Michal Kwarta, M.S. Thesis, May 2017: “On the Friction and Contact Modeling Methods Used in Simulations of Geomechanical Tests” Document

Dan Melanz, Ph.D. Thesis, May 2016: “Physics-based contact using the complementarity approach for discrete element applications in vehicle mobility and terramechanics” Document

Ang Li, Ph.D. Thesis, May 2016: “A Splitting Approach for the Parallel Solution of Linear Systems On Gpu Cards” Document

Omkar Deshmukh, M.S. Thesis, May 2015: “Assessing the Performance of Computational Engineering Codes” Document Presentation

Luning Fang, M.S. Thesis, May 2015: “A Primal-Dual Interior Point Method for Solving Multibody Dynamics Problems with Frictional Contact” Document Presentation

Naresh Khude, Ph.D. Thesis, November 2014: “Efficient Simulation of Flexible Body Systems with Frictional Contact/Impact” Document Presentation

Justin Madsen, Ph.D. Thesis, May 2014: “Mobility Prediction of Multi-Body Vehicle Dynamics Handling Simulations on Deformable Terrain” Document

Arman Pazouki, Ph.D. Thesis, April 2014: “A Lagrangian-Lagrangian Framework for the Simulation of Fluid-Solid Interaction Problems with Rigid and Flexible Components” Document Presentation

Toby Heyn, Ph.D. Thesis, May 2013: “On the Modeling, Simulation, and Visualization of Many-Body Dynamics Problems with Friction and Contact” Document Presentation

Hammad Mazhar, M.S. Thesis, May 2012: “Parallel Multi-Body Dynamics On Graphics Processing Unit (GPU) Cards” Document

Daniel Melanz, M.S. Thesis, May 2012: “On the Validation and Applications of a Parallel Flexible Multi-body Dynamics Implementation” Document Presentation

Andrew Seidl, M.S. Thesis, May 2012: “Parallel Implementation of a Vehicle-Tire-Terrain Interaction Model” Document Presentation

Martin Tupy, M.S. Thesis, August 2010: “A Study on the Dynamics of Granular Material with a Comparison of DVI and DEM Approaches” Document Presentation

Philipp Hahn, M.S. Thesis, November 2009: “On the Use of Meshless Methods in Acoustic Simulations” Document Presentation

Justin Madsen, M.S. Thesis, November 2009: “A Stochastic Framework for Ground Vehicle Simulation” Document Presentation

Toby Heyn, M.S. Thesis, November 2009: “Simulation of Tracked Vehicles on Granular Terrain Leveraging GPU Computing” Document Presentation

M. Datar, M.S., Fall 2008: “Uncertainty Quantification in Ground Vehicle Dynamics through High Fidelity Co-simulation” Document Presentation

D. Negrut, PhD., July 1998: “On the Implicit Integration of Differential-Algebraic Equations of Multibody Dynamics” Document Presentation

### Lab Presentations

Nvidia GPU Technology Conference Presentation, October 2009: pdf audio

JPL Presentation, September 2009: Handout

AMSAA Presentation, March 2009: Slides Handout

Graduate School Presentation zip pdf

Numerical Experiment Results for Implicit Integration Methods in Molecular Dynamics pdf

On the Time-Domain Analysis of Mechanical Sysytems pdf

A Reconstruction Approach for Electronic Structure Computation pdf

An Inverstigation on new Numerical Methods for Molecular Dynamics Simulation pdf

Statistics Presentations html

### Miscellaneous Tutorials

Powertrain Systems In ADAMS Car pdf

Short MATLAB tutorial pptx

Short CVS tutorial ppt

Short MATLAB FFT tutorial zip

### Documents related to MSC.ADAMS

“Powertrain Systems In ADAMS Car,” M.Datar pdf

“High Fidelity Modeling and Simulation of Tracked Elements for Off-Road Applications Using MSC/ADAMS,” J.Madsen pdf