Parallel simulation is an efficient way to cope with long runtimes and high computational requirements in simulations of modern complex integrated electronic circuits and systems. This paper presents an algorithm for parallel simulation based on parallelization in equation formulation and simultaneous calculation of matrix contributions for nonlinear analog elements. In addition, the paper describes the development of a grid interface for a parallel simulator that enables a designer to perform simulations on distant computer clusters. Performances of the developed parallel simulation algorithm are evaluated by simulation of a microelectromechanical system.
Abstract-Haptics covers many different forms of mechanical interaction with human senses by engaging, touch, vibrations and forces/torques, established for the purpose of augmenting the feedback structure during human-machine interaction. A haptic device has mechanical part, moved by actuators from one and human hand or fingers from the other, actuators, drives, sensing elements, as well as algorithms designed to control the interaction between human and machine in positioning and motion control tasks. With such a system, motors can be controlled in a way to simulate various environments, defined by their material and dynamics, for example pushing soft ball uphill. Haptic devices are becoming more popular in medical applications after introduction of modern medical robots with many different extensions for minimally invasive surgery or diagnostics based on palpation. This paper discusses one DC motor driver custom designed for the purpose of designing a haptic device for medical applications.
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