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1. e apply the patch metis namespace cleanup patch from http mbdyn aero polimi it masarati Download mbdyn e make the package e e copy the library libmetis a in usr local lib and the header files defs h macros h netis h proto h rename h and struct h in usr local include metis MBDyn e download mbdyn 1 2 1 tar gz from http mbdyn aero polimi it masarati Download mbdyn e untar it in a temporary directory e make sure the compiler can find headers from MPI and Metis by defining CPPFLAGS I usr local mpich include I usr local mpich include mpi2c I usr local include metis e make sure the linker can find the libraries from MPI and Metis by defining LDFLAGS L usr local mpich lib L usr local lib configure MBDyn by running configure with mpi pmpi with metis enable schur prefix usr local make the package e make install the package Run It To test the system one needs a test input file the example cantilever2 from http www aero polimi it mbdyn documentation examples should do the trick The input file does not need any specific change unless special features are reguired To run it on an SMP machine simply execute usr local mpich bin mpirun np 2 mbdyn f cantilever2 o tmp ss This generates a set of files tmp cantilever2 0 and tmp cantilever2 1 with the outputs from processes 0 and 1 16 7 3 Real Time Simulator This section describes how the Real Time2. simulator available within the MBDyn package has been successfully compiled and executed By no means it is intended to suggest how the related packages should be built for other purposes nor it may represent a replacement for the original build and install procedures Please refer to the documentation available with each package for more details or for troubleshooting Software prereguisites e gcc g g77 gt 3 0 tested with gcc 3 3 1 and 3 4 0 Software reguirements e MBDyn 1 2 1 e RTAI 3 0 RTAI e download rtai 3 0 tar gz from http www rtai org l e untar the package in a temporary directory e configure the package with configure e make the package e make install MBDyn e download mbdyn 1 2 1 tar gz from http mbdyn aero polimi it masarati Download mbdyn e untar it in a temporary directory e make sure the compiler can find headers from RTAI by defining CPPFLAGS I home realtime configure MBDyn by running configure with rtai make the package e make install the package 17 Run It To test the system one needs a test input file the example RT MBDyn pendulum from http www aero polimi it mbdyn documentation examples should do the trick Simply execute mbdyn f pendulum ss 7 4 Simulink Interface This section describes how the Simulink Interface available within the MBDyn package has been successfully compiled and executed By no means it is intended to suggest how th
3. MBDyn Installation Manual Version 1 X Devel Pierangelo Masarati DIPARTIMENTO DI INGEGNERIA AEROSPAZIALE POLITECNICO DI MILANO Automatically generated May 18 2007 Contents 1 Introductio 3 2 Getting the package ROS e Sek eek Se See Gh deh A ee ae ELN 4 2 3 6 TAUCS experimental 2 3 Harwell historical 6 3 1 4 Real Time Simulator 222 10 4 Installing 6 Troubleshooting O 11 12 12 12 12 12 13 14 14 15 17 18 20 Chapter 1 Introduction This document describes how to download build install and execute MBDyn MultiBody Analysis program a suite of tools for multibody multidisciplinary analysis of complex systems For any guestion or problem to fix typos bugs for comments and sugges tions please contact the Development Team without hesitation Pierangelo Masarati MBDyn Development Team Dipartimento di Ingegneria Aerospaziale Politecnico di Milano via La Masa 34 20156 Milano Italy Fax 39 02 2399 8334 E mail mbdyn aero polimi it Web http www aero polimi it mbdyn This document is also available online at http mbdyn aero polimi it masarati MBDyn input install Chapter 2 Getting the package 2 1 MBDyn The package can be downloaded in source form from http mbdyn aero polimi it mbdyn Binary releases and snapshots are also available for Windows 2000 XP at http mbdyn aero polimi it masar
4. The Umfpack linear sparse solver library must be downloaded separately from http www cise ufl edu research sparse umfpack Credit goes to Tim othy A Davis University of Florida Umfpack is used by permission please read its Copyright License and Availability note It is used as the standard sparse solver by MATLAB see http www mathworks com This solver is recommended for very large problems and as a general purpose solver 2 3 4 Lapack 2 3 5 SuperLU experimental 2 3 6 TAUCS experimental 2 3 7 Harwell historical 2 3 8 Meschach historical 2 4 Utilities 2 5 Communication 2 5 1 MPI 2 5 2 Metis Metis is a package that performs automatic domain decomposition It is used by the Schur solution manager to partition the model into submodels of nearly egual computational cost and with minimal interface size Its compilation is straight forward It can bo downloaded fromihttp wwv users cs um edu karypis astis actis Its compilation for MBDyn used to require a special patch to cleanup its names pace now the patch is no longer required as a better namespace separation has been operated No installation procedure is provided as of version 4 0 at the end of compilation the library libmetis a is available in the build tree and it should be copied to a directory where the loader can locate it the headers Lib h should be copied where the C preprocessor can locate them 2 6 Real Time 2 6 1 RTAI 2 7 B
5. ati Download mbdyn compiled with Cygwin see http www cygwin com and thus require cygltd1 3 d11 they are provided to Windows users to save them the burden of installing Cygwin very easy and straightforward though and to compile a package under an unfamiliar environment However no support is provided for those builds unless problems are easily identifiable as related to the sources and not to the OS and they impact the UN X version as well MBDyn may use a wide range of packages if available on the host system and correctly detected by configure 2 2 Mathematical Utilities MPDyn may exploit the availability of some mathematical utilities neither of them is reguired for a basic compilation but they may be useful or reguired for specific features 2 2 1 ATLAS The Automatically Tunable Linear Algebra Subroutines are a replacement of the standard BLAS They are exploited by the linear solver Umfpack see Sec tion 2 3 3 and can be used by Lapack see Section 2 3 4 and other packages that require BLAS see Section 2 2 2 Note that ATLAS provides its own implementation of Lapack but only for a limited set of functions This set of functions is packed into an archive called liblapack a so in typical installations it may shadow complete implemen tations of the Lapack package A useful trick to have a complete Lapack installation that exploits ATLAS performances where available is described in http nath atlas sou
6. e related packages should be built for other purposes nor it may represent a replacement for the original build and install procedures Please refer to the documentation available with each package for more details or for troubleshooting Software prereguisites e gcc g g77 gt 3 0 tested with gcc 3 3 1 and 3 4 0 e Matlab Simulink tested with XXX Software reguirements e MBDyn 1 2 1 MBDyn e download mbdyn 1 2 1 tar gz from http mbdyn aero polimi it masarati Download mbdyn e untar it in a temporary directory e configure MBDyn by running configure e make the package e make install the package e in directory contrib SimulinkInterface edit the file Makefile such that the appropriate mex compiler is used in my system it is opt matlab bin mex e make the package 18 Run It To test the system one needs a test input file the example pendulum in the subdirectory examples should do the trick start Matlab add the subdirectory contrib SimulinkInterface to Matlab s path by executing gt path lt path to gt contrib SimulinkInterface path execute simulink by clicking on the related icon or by running gt simulink open the model by clicking File gt Open on the menubar run the model by clicking Simulation gt Start on the menubar some times the first run fails we re still trying to track that down In case just try again for more details on creating your own model or on editing t
7. he interface parameters refer to the README in contrib SimulinkInterface an analogous interface with Scicos is under development 19 Chapter 8 Developers 8 1 Prepare for Building Developers need to prepare the build environment by running bootstrap sh This need appropriate versions of the autotools e automake there seems to be no special version reguirement e autoconf there seems to be no special version reguirement e libtool needs to be at least version 1 5 20 Bibliography
8. known to work on any flavor of GNU Linux on X86 X86_64 and on Windows using Cygwin when compiled with gcc It may work on other architectures and with other compilers but it has not been tested by nor reported to the Developers 7 2 Schur Solver This section describes how the Schur parallel solver available within the MBDyn package has been successfully compiled and executed on a dual Athlon SMP machine By no means it is intended to suggest how the related packages should be built for other purposes nor it may represent a replacement for the original build and install procedures Please refer to the documentation available with each package for more details or for troubleshooting Software prereguisites e gcc g g77 gt 3 0 tested with gec g 877 3 2 1 3 3 1 and 3 4 0 Software reguirements e MBDyn 1 2 1 e mpich 1 2 5 2 e Metis 4 0 MPI e download mpich tar gz from http www unix mcs anl gov mpi e untar the package in a temporary directory e configure the package with configure rsh ssh disable f77 prefix usr local mpich e make the package e make install e edit usr local mpich share machines lt arch gt to enumerate the max number instances of the MBDyn process you want to allow on each ma chine in my case lt arch gt is LINUX more details in usr local mpich doc mpichman chp4 pdf 15 Metis e download XXX from http www users cs umn edu karypis metis metis e untar it in a temporary directory
9. loading with static modules enable crypt enable schur enable multithread enable adams enable motionview with tcl enable socket drives auto enable runtime loading auto build known modules as static auto enable crypt deprecated no enable Schur parallel solver needs MPI and either Metis or Chaco auto enable multithread solution no enable MSC ADAMS output no enable Altair s Motion View output no with tcl interpreters auto with libf2c f2c g2c with f2c library auto with fs unix dosJ with mpi enable debug mpi with metis with threads with rtai math libraries with blas with goto lib s with ginac filesystem type unix with MPI support pmpi for profiling auto enable MPI debugging no with Metis model partitioning support auto with threads auto with RTAI support no with C BLAS math library auto with Goto BLAS implementation with GiNaC support ginac config must be in PATH auto linear algebra solvers naive is enabled by default with y12 with Y12 sparse math library yes with umfpack with Umfpack math library auto with lapack with LAPACK math library auto with hsl with HSL Harwell sparse math library historical auto with meschach with Meschach math library historical auto with superlu with SuperLU math library eXperimental auto misc security libraries with pam with PAM support auto
10. rcef orge net errata htal coupletelp The es sential instructions are reported below assuming that ATLAS and LAPACK respectively are the paths to your ATLAS and Lapack static library archive files mkdir tmp cd tmp ar x ATLAS liblapack a cp LAPACK liblapack a ATLAS liblapack a ar r ATLAS liblapack a o cd rm rf tmp 2 2 2 BLAS The Basic Linear Algebra Subroutines can be used by Umfpack see Section 2 3 3 and other packages Specially tuned binaries for each architecture processor type cache size and other special hardware features are advisable otherwise instead of compiling them of your own ATLAS see Section 2 2 T are considered a better replacement 2 3 Linear Solvers MBDyn may use a variety of linear solvers 2 3 1 Naive The Naive solver is also native It is especially meant for medium size problems between 100 and 1000 unknowns and is essentially a sparse solver optimized for speed rather than memory usage 2 3 2 Y12 The Y12 solver is also built in the MBDyn Project distributes the Y12 library AS IS and WITHOUT ANY WARRANTY as part of the source code with no copyright statement and no license Of course credits go to the original Authors Zahari Zlatev Jerzy Wasniewski and Kjeld Schaumburg Comp Sci Math Inst University of Aarhus Ny Munkegade DK 8000 Aarhus This solver is recommended for moderate to large problems if Umfpack see Section 2 3 3 is not available 2 3 3 Umfpack
11. t the ltdl library an ancillary library of libtool that handles platform independent run time loading of software modules e enable run time loading of modules this requires to configure MBDyn with enable runtime loading e when using gcc it is recommended to add rdynamic to the LDFLAGS envi ronment variable this is reguired to make functions and objects provided by MBDyn available in the modules e when developing a custom module it must be placed in a subdirectory of the directory modules named module name The module should be contained in one file with the same name of the directory plus the language specific extension this should be C module name c C module name cc Fortran 77 module name f e the building of each module must be explicitly enabled this requires to configure with with module list providing a list of the module names without the leading module 14 For example to enable run time loading and to build the whee12 module use configure enable runtime loading with module wheel2 Occasionally one may want to statically build some well known modules into MBDyn specifically those that implement new elements This requires to con figure with with static modules After that the user defined elements are available as joints Currently only the whee12 module can be statically built into MBDyn this feature will require some reworking Run time loading of dynamic modules is
12. uild Environments 2 7 1 GNU Linux The preferred build environment is GNU Linux using gcc g and either g77 or gfortran 2 7 2 Windows CygWin MPDyn has been successfully compiled under CygWin No special reguirement is known Special attention is reguired to build with some specific feature significantly run time loadable modules 2 7 3 Windows MSYS MinGW MBDyn has been successfully compiled under MSYS MinGW Special attention needs to be played to what version is used Download packages from Reguired packages in order of installation e MinGW 3 1 0 1 exe install wizard e MSYS 1 0 10 exe install wizard if not automagically done edit file etc fstab as indicated in MSYS documentation msysDTK 1 0 1 exe install wizard e gcc core 3 4 2 20040916 1 tar gz archive untar after changing di rectory into mingw e gcc g 3 4 2 20040916 1 tar gz archive untar after changing direc tory into mingw e gcc g77 3 4 2 20040916 1 tar gz archive untar after changing direc tory into mingw e msys libtool 1 5 tar bz2 archive untar after changing directory into Chapter 3 Building The configuration of the MBDyn package is based on GNU s autotools see for details 3 1 Configuring 3 1 1 Option List Specific options from configure help enable debug enable debugging no with debug mode none mem with debug mode none mem none enable socket drives enable runtime
13. ure releases The Schur solver is not compatible with the multithreaded assembly solution so if no switch is specified and the system meets the requirements for both the multithreaded assembly wins over the Schur solver As a consequence the schur solver should be explicitly enabled 3 1 4 Real Time Simulator The real time simulator is enabled by using the switch with rtai which essentially detects the availability of the mandatory headers of the GNU Linux Real Time Application Interface These headers changed between 2 4 13 and 3 X both versions are automatically detected 10 Chapter 4 Installing Run make install this essentially installs the binary the utilities the man page and the dynamic modules if any 11 Chapter 5 Executing Prepare an input file and run mbdyn f lt input gt o lt output gt 5 1 Regular Execution 5 2 Parallel Execution 5 3 Real Time Execution 5 4 External Execution To run MBDyn as a Simulink module use the SimulinkInterface that is available under contrib 12 Chapter 6 Troubleshooting Chapter 7 HOWTOs This chapter contains mini howtos about typical significant configurations of MBDyn as performed by the developers Feel free to contribute your own if you had to do any unusual configuring to meet special needs 7 1 Run Time Modules To enable run time loading of modules a powerful means to extend MBDyn functionality one needs to e install and let MBDyn detec
14. with sasl2 with Cyrus SASL2 support auto supported features with struct with structural elements yes with elec with electric stuff yes with aero with aerodynamic stuff yes with aero output std gauss node aerodynamic output mode auto with hydr with hydraulic stuff yes with module lt list gt build listed modules see modules 3 1 2 Multithread Assembly Solution The switch enable multithread enables multithreaded assembly it defaults to auto i e if the system meets the following requirements it is automati cally enabled Essentially a working lpthread library and a POSIX compli ant pthread h header must be available Currently only the SuperLU sparse threaded solver is available it is experimental A threaded implementation of the built in naive sparse solver is under development 3 1 3 Schur Parallel Solver The Schur parallel solver is enabled by using the switch enable schur It requires a working MPI library with the ch driver and the C interface and a partitioning library The MPI library is selected by the switch with mpi which allows to specify the value pmpi if the profiling version of the library is to be used Note that recent MPI releases by default only build the profiling version of the C library so the pmpi value is mandatory Currently the only partitioning library that is supported by MBDyn is METIS a patch to support Chaco is being incorporated and may be available in fut
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