Search results for: Lyapunov-based Control Scheme

Authors: Jinhua Guo

Abstract:

Designing, implementing, and debugging concurrency control algorithms in a real system is a complex, tedious, and errorprone process. Further, understanding concurrency control algorithms and distributed computations is itself a difficult task. Visualization can help with both of these problems. Thus, we have developed an exploratory environment in which people can prototype and test various versions of concurrency control algorithms, study and debug distributed computations, and view performance statistics of distributed systems. In this paper, we describe the exploratory environment and show how it can be used to explore concurrency control algorithms for the interactive steering of distributed computations.

Keywords: Consistency, Distributed Computing, InteractiveSteering, Simulation, Visualization

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Authors: Anatoli Torokhti, Phil Howlett

Abstract:

We present a theory for optimal filtering of infinite sets of random signals. There are several new distinctive features of the proposed approach. First, we provide a single optimal filter for processing any signal from a given infinite signal set. Second, the filter is presented in the special form of a sum with p terms where each term is represented as a combination of three operations. Each operation is a special stage of the filtering aimed at facilitating the associated numerical work. Third, an iterative scheme is implemented into the filter structure to provide an improvement in the filter performance at each step of the scheme. The final step of the concerns signal compression and decompression. This step is based on the solution of a new rank-constrained matrix approximation problem. The solution to the matrix problem is described in this paper. A rigorous error analysis is given for the new filter.

Keywords: stochastic signals, optimization problems in signal processing.

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Authors: M. J. Park, S. H. Lee, C. H. Lee, O. M. Kwon

Abstract:

This paper studies a secondary voltage control framework of the microgrids based on the consensus for a communication network of multiagent. The proposed control is designed by the communication network with one-way links. The communication network is modeled by a directed graph. At this time, the concept of sampling is considered as the communication constraint among each distributed generator in the microgrids. To analyze the sampling effects on the secondary voltage control of the microgrids, by using Lyapunov theory and some mathematical techniques, the sufficient condition for such problem will be established regarding linear matrix inequality (LMI). Finally, some simulation results are given to illustrate the necessity of the consideration of the sampling effects on the secondary voltage control of the microgrids.

Keywords: Microgrids, secondary control, multiagent, sampling, LMI.

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Authors: S. A. Eftekhari

Abstract:

In this paper, a numerical algorithm using a coupled Galerkin-Differential Quadrature (DQ) method is proposed for the solution of dam-reservoir interaction problem. The governing differential equation of motion of the dam structure is discretized by the Galerkin method and the DQM is used to discretize the fluid domain. The resulting systems of ordinary differential equations are then solved by the Newmark time integration scheme. The mixed scheme combines the simplicity of the Galerkin method and high accuracy and efficiency of the DQ method. Its accuracy and efficiency are demonstrated by comparing the calculated results with those of the existing literature. It is shown that highly accurate results can be obtained using a small number of Galerkin terms and DQM sampling points. The technique presented in this investigation is general and can be used to solve various fluid-structure interaction problems.

Keywords: Dam-reservoir system, Differential quadrature method, Fluid-structure interaction, Galerkin method, Integral quadrature method.

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Authors: Tomoaki Hashimoto

Abstract:

Recent technological advance has prompted significant interest in developing the control theory of quantum systems. Following the increasing interest in the control of quantum dynamics, this paper examines the control problem of Schrödinger equation because quantum dynamics is basically governed by Schrödinger equation. From the practical point of view, stochastic disturbances cannot be avoided in the implementation of control method for quantum systems. Thus, we consider here the robust stabilization problem of Schrödinger equation against stochastic disturbances. In this paper, we adopt model predictive control method in which control performance over a finite future is optimized with a performance index that has a moving initial and terminal time. The objective of this study is to derive the stability criterion for model predictive control of Schrödinger equation under stochastic disturbances.

Keywords: Optimal control, stochastic systems, quantum systems, stabilization.

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Authors: K. N. Dinesh Babu, G. R. Manjunatha, R. Ramaprabha, V. Rajini, M. V. Gopalan

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In this paper, monitoring and control of tap changer mechanism of a transformer implementation in an Intelligent Electronic Device (IED) is discussed. It has been a custom for decades to provide a separate panel for on load tap changer control for monitoring the tap position. However, this facility cannot either record or transfer the information to remote control centers. As there is a technology shift towards the smart grid protection and control standards, the need for implementing remote control and monitoring has necessitated the implementation of this feature in numerical relays. This paper deals with the programming, settings and logic implementation which is applicable to both IEC 61850 compatible and non-compatible IEDs thereby eliminating the need for separate tap changer control equipment. The monitoring mechanism has been implemented in a 28MVA, 110 /6.9kV transformer with 16 tap position with GE make T60 IED at Ultratech cement limited Gulbarga, Karnataka and is in successful service.

Keywords: Transformer protection, tap changer control, tap position monitoring, on load tap changer, intelligent electronic device (IED).

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Authors: A. Youseef

Abstract:

IEEE 802.16 (WiMAX) aims to present high speed wireless access to cover wide range coverage. The base station (BS) and the subscriber station (SS) are the main parts of WiMAX. WiMAX uses either Point-to-Multipoint (PMP) or mesh topologies. In the PMP mode, the SSs connect to the BS to gain access to the network. However, in the mesh mode, the SSs connect to each other to gain access to the BS. The main components of QoS management in the 802.16 standard are the admission control, buffer management and packet scheduling. In this paper, we use QualNet 5.0.2 to study the performance of different scheduling schemes, such as WFQ, SCFQ, RR and SP when the numbers of SSs increase. We find that when the number of SSs increases, the average jitter and average end-to-end delay is increased and the throughput is reduced.

Keywords: WiMAX, Scheduling Scheme, QoS, QualNet.

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Authors: K. Laoubi, M. Yamao

Abstract:

In Algeria, liberalization reforms undertaken since the 1990s have resulted in negative effects on the development and management of irrigation schemes, as well as on the conditions of farmers. Reforms have been undertaken to improve the performance of irrigation schemes, such as the national plan of agricultural development (PNDA) in 2000 and the water pricing policy of 2005. However, after implementation of these policies, questions have arisen with regard to irrigation performance and its suitability for agricultural development. Hence, the aim of this paper is to provide insight into the profitability of irrigation during the transition period under current irrigation agricultural policies in Algeria. By using the method of farm crop budget analysis in the East Mitidja irrigation scheme, the returns from using surface water resources based on farm typology were found to vary among crops and farmers- groups within the scheme. Irrigation under the current situation is profitable for all farmers, including both those who benefit from subsidies and those who do not. However, the returns to water were found to be very sensitive to crop price fluctuations, particularly for non-subsidized groups and less so for those whose farming is based on orchards. Moreover, the socio-economic environment of the farmers contributed to less significant impacts of the PNDA policy. In fact, the limiting factor is not only the water, but also the lack of land ownership title. Market access constraints led to less agricultural investment and therefore to low intensification and low water productivity. It is financially feasible to recover the annual O&M costs in the irrigation scheme. By comparing the irrigation water price, returns to water, and O&M costs of water delivery, it is clear that irrigation can be profitable in the future. However, water productivity must be improved by enhancing farmers- income through farming investment, improving assets access, and the allocation of activities and crops which bring high returns to water; this could allow the farmers to pay more for water and allow cost recovery for water systems.

Keywords: Irrigation schemes, agricultural irrigation policy, farm crop budget analysis, water productivity, Algeria.

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Authors: Ladan Maijama’a, Jibril D. Jiya, Ejike C. Anene

Abstract:

This paper presents Differential Evolution Algorithm (DEA) based Variable Structure Position Control (VSPC) of Laboratory DC servomotor (LDCSM). DEA is employed for the optimal tuning of Variable Structure Control (VSC) parameters for position control of a DC servomotor. The VSC combines the techniques of Sliding Mode Control (SMC) that gives the advantages of small overshoot, improved step response characteristics, faster dynamic response and adaptability to plant parameter variations, suppressed influences of disturbances and uncertainties in system behavior. The results of the simulation responses of the VSC parameters adjustment by DEA were performed in Matlab Version 2010a platform and yield better dynamic performance compared with the untuned VSC designed.

Keywords: Differential evolution algorithm, laboratory DC servomotor, sliding mode control, variable structure control.

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Authors: M. Safa, A. Sabet, S. MacGillivray, M. Davidson, K. Kaczmarczyk, C. T. Haas, G. E. Gibson, D. Rayside

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In order to address construction project requirements and specifications, scholars and practitioners need to establish taxonomy according to a scheme that best fits their need. While existing characterization methods are continuously being improved, new ones are devised to cover project properties which have not been previously addressed. One such method, the Project Definition Rating Index (PDRI), has received limited consideration strictly as a classification scheme. Developed by the Construction Industry Institute (CII) in 1996, the PDRI has been refined over the last two decades as a method for evaluating a project's scope definition completeness during front-end planning (FEP). The main contribution of this study is a review of practical project classification methods, and a discussion of how PDRI can be used to classify projects based on their readiness in the FEP phase. The proposed model has been applied to 59 construction projects in Ontario, and the results are discussed.

Keywords: Project classification, project definition rating index (PDRI), project goals alignment, risk.

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Authors: Reham Al-Zahrani, Noura Aleisa

Abstract:

The proliferation of Radio Frequency Identification (RFID) technology has raised concerns about system security, particularly regarding tag impersonation attacks. Regarding RFID systems, an appropriate authentication protocol must resist active and passive attacks. A tag impersonation occurs when an adversary's tag is used to fool an authenticating reader into believing it is a legitimate tag. The paper thoroughly analyses the security of the Efficient, Secure, and Practical Ultra-Lightweight RFID Authentication Scheme (ESRAS). It examines the protocol within the context of RFID systems and focuses specifically on its vulnerability to tag impersonation attacks. The Scyther tool is utilized to assess the protocol's security, providing a comprehensive evaluation of ESRAS's effectiveness in preventing unauthorized tag impersonation.

Keywords: RFID, radio frequency identification, impersonation attack, authentication, ultra-lightweight protocols, security.

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Authors: Hayder Natiq Jasem, Zuriati Ahmad Zukarnain, Mohamed Othman, Shamala Subramaniam

Abstract:

Congestion control is one of the fundamental issues in computer networks. Without proper congestion control mechanisms there is the possibility of inefficient utilization of resources, ultimately leading to network collapse. Hence congestion control is an effort to adapt the performance of a network to changes in the traffic load without adversely affecting users perceived utilities. AIMD (Additive Increase Multiplicative Decrease) is the best algorithm among the set of liner algorithms because it reflects good efficiency as well as good fairness. Our control model is based on the assumption of the original AIMD algorithm; we show that both efficiency and fairness of AIMD can be improved. We call our approach is New AIMD. We present experimental results with TCP that match the expectation of our theoretical analysis.

Keywords: Congestion control, Efficiency, Fairness, TCP, AIMD.

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Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad

Abstract:

This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.

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Authors: J. Fernandez de Canete, P. Del Saz Orozco, S. Gonzalez-Perez

Abstract:

LabVIEW and SIMULINK are two most widely used graphical programming environments for designing digital signal processing and control systems. Unlike conventional text-based programming languages such as C, Cµ and MATLAB, graphical programming involves block-based code developments, allowing a more efficient mechanism to build and analyze control systems. In this paper a LabVIEW environment has been employed as a graphical user interface for monitoring the operation of a controlled distillation column, by visualizing both the closed loop performance and the user selected control conditions, while the column dynamics has been modeled under the SIMULINK environment. This tool has been applied to the PID based decoupled control of a binary distillation column. By means of such integrated environments the control designer is able to monitor and control the plant behavior and optimize the response when both, the quality improvement of distillation products and the operation efficiency tasks, are considered.

Keywords: Distillation control, software tools, SIMULINKLabVIEWinterface.

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Authors: Abhishek Swaroop, Awadhesh Kumar Singh

Abstract:

The group mutual exclusion (GME) problem is a variant of the mutual exclusion problem. In the present paper a token-based group mutual exclusion algorithm, capable of handling transient faults, is proposed. The algorithm uses the concept of dynamic request sets. A time out mechanism is used to detect the token loss; also, a distributed scheme is used to regenerate the token. The worst case message complexity of the algorithm is n+1. The maximum concurrency and forum switch complexity of the algorithm are n and min (n, m) respectively, where n is the number of processes and m is the number of groups. The algorithm also satisfies another desirable property called smooth admission. The scheme can also be adapted to handle the extended group mutual exclusion problem.

Keywords: Dynamic request sets, Fault tolerance, Smoothadmission, Transient faults.

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Authors: Shengqi Yu, Jinwei Zhao

Abstract:

This paper presents a kind of analog circuit based temperature control system, which is mainly composed by threshold control signal circuit, synchronization signal circuit and trigger pulse circuit. Firstly, the temperature feedback signal function is realized by temperature sensor TS503F3950E. Secondly, the main control circuit forms the cycle controlled pulse signal to control the thyristor switching model. Finally two reverse paralleled thyristors regulate the output power by their switching state. In the consequence, this is a modernized and energy-saving domestic electric heating system.

Keywords: Time base circuit, automatic control, zero-crossing trigger, temperature control.

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Authors: Sidshchadhaa Aumted, Shuhei Shiina, Hiroshi Takami

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In this paper, we propose an advanced ILQ control for the buck-converter via two-degrees of freedom servo-system. Our presented strategy is based on Inverse Linear Quadratic (ILQ) servo-system controller without solving Riccati-s equation directly. The optimal controller of the current and voltage control system is designed. The stability and robust control are analyzed. A conscious and persistent effort has been made to improve ILQ control via two-degrees of freedom guarantees the optimal gains on the basis of polynomial pole assignment, which our results of the proposed strategy shows that the advanced ILQ control can be controlled independently the step response and the disturbance response by appending a feed-forward compensator.

Keywords: Optimal voltage control, inverse LQ design method, second order polynomial, two-degrees of freedom.

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Authors: Hassan Faraji Baghtash

Abstract:

A high-speed current mirror with low-power method of adjusting current gain is presented. The current mirror provides continuous gain adjustment; yet, its gain can simply be programmed digitally, as well. The structure features the ever interesting merits of linear-in-dB gain control scheme and low power/voltage operation. The performance of proposed structure is verified through the simulation in TSMC 0.18 µm CMOS Technology. The proposed tunable gain current mirror structure draws only 18 µW from 0.9 V power supply and can operate at high frequencies up to 550 MHz in the worst case condition of maximum gain setting.

Keywords: Current mirror, current mode, low power, low voltage, tunable circuit, variable current amplifier.

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Authors: Shiuh-Jer Huang, Yu-Chi Liu, Su-Hai Hsiang

Abstract:

A novel low-cost impedance control structure is proposed for monitoring the contact force between end-effector and environment without installing an expensive force/torque sensor. Theoretically, the end-effector contact force can be estimated from the superposition of each joint control torque. There have a nonlinear matrix mapping function between each joint motor control input and end-effector actuating force/torques vector. This new force control structure can be implemented based on this estimated mapping matrix. First, the robot end-effector is manipulated to specified positions, then the force controller is actuated based on the hall sensor current feedback of each joint motor. The model-free fuzzy sliding mode control (FSMC) strategy is employed to design the position and force controllers, respectively. All the hardware circuits and software control programs are designed on an Altera Nios II embedded development kit to constitute an embedded system structure for a retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI and FSMC force control algorithms can achieve reasonable contact force monitoring objective based on this hardware control structure.

Keywords: Robot, impedance control, fuzzy sliding mode control, contact force estimator.

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Authors: Petia Georgieva, Sebastião Feyo de Azevedo

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This paper is focused on issues of nonlinear dynamic process modeling and model-based predictive control of a fed-batch sugar crystallization process applying the concept of artificial neural networks as computational tools. The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control input. A feed forward neural network (FFNN) model of the process is first built as part of the controller structure to predict the process response over a specified (prediction) horizon. The predictions are supplied to an optimization procedure to determine the values of the control action over a specified (control) horizon that minimizes a predefined performance index. The control task is rather challenging due to the strong nonlinearity of the process dynamics and variations in the crystallization kinetics. However, the simulation results demonstrated smooth behavior of the control actions and satisfactory reference tracking.

Keywords: Feed forward neural network, process modelling, model predictive control, crystallization process.

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Authors: Changho Han, Jaemin Lee, Li Hua, Seokkwon Jeong

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Design of membership function ranges in fuzzy logic control (FLC) is presented for robust control of a variable speed refrigeration system (VSRS). The criterion values of the membership function ranges can be carried out from the static experimental data, and two different values are offered to compare control performance. Some simulations and real experiments for the VSRS were conducted to verify the validity of the designed membership functions. The experimental results showed good agreement with the simulation results, and the error change rate and its sampling time strongly affected the control performance at transient state of the VSRS.

Keywords: Variable speed refrigeration system, Fuzzy logic control, membership function range, control performance.

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Authors: Ali Akbar Attari, Ali Asghar Beheshti Shirazi

Abstract:

In this paper, we propose a blind and robust audio watermarking scheme based on spread spectrum in Discrete Wavelet Transform (DWT) domain. Watermarks are embedded in the low-frequency coefficients, which is less audible. The key idea is dividing the audio signal into small frames, and magnitude of the 6^th level of DWT approximation coefficients is modifying based upon the Direct Sequence Spread Spectrum (DSSS) technique. Also, the psychoacoustic model for enhancing in imperceptibility, as well as Savitsky-Golay filter for increasing accuracy in extraction, is used. The experimental results illustrate high robustness against most common attacks, i.e. Gaussian noise addition, Low pass filter, Resampling, Requantizing, MP3 compression, without significant perceptual distortion (ODG is higher than -1). The proposed scheme has about 83 bps data payload.

Keywords: Audio watermarking, spread spectrum, discrete wavelet transform, psychoacoustic, Savitsky-Golay filter.

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Authors: Say Wei Foo, Qi Dong

Abstract:

A novel robust audio watermarking scheme is proposed in this paper. In the proposed scheme, the host audio signals are segmented into frames. Two consecutive frames are assessed if they are suitable to represent a watermark bit. If so, frequency transform is performed on these two frames. The compressionexpansion technique is adopted to generate distortion over the two frames. The distortion is used to represent one watermark bit. Psychoacoustic model is applied to calculate local auditory mask to ensure that the distortion is not audible. The watermarking schemes using mono and stereo audio signals are designed differently. The correlation-based detection method is used to detect the distortion and extract embedded watermark bits. The experimental results show that the quality degradation caused by the embedded watermarks is perceptually transparent and the proposed schemes are very robust against different types of attacks.

Keywords: Audio watermarking, Compression-expansion, Stereo signals, Robustness.

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Authors: Nazrul M. Ahmad, Asrul H. Yaacob, Ridza Fauzi, Alireza Khorram

Abstract:

Elliptic curve-based certificateless signature is slowly gaining attention due to its ability to retain the efficiency of identity-based signature to eliminate the need of certificate management while it does not suffer from inherent private key escrow problem. Generally, cryptosystem based on elliptic curve offers equivalent security strength at smaller key sizes compared to conventional cryptosystem such as RSA which results in faster computations and efficient use of computing power, bandwidth, and storage. This paper proposes to implement certificateless signature based on bilinear pairing to structure the framework of IKE authentication. In this paper, we perform a comparative analysis of certificateless signature scheme with a well-known RSA scheme and also present the experimental results in the context of signing and verification execution times. By generalizing our observations, we discuss the different trade-offs involved in implementing IKE authentication by using certificateless signature.

Keywords: Certificateless signature, IPSec, RSA signature, IKE authentication.

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Authors: Wei Dong, Guo-Ying Gu, Xiangyang Zhu, Han Ding

Abstract:

This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and controllers, simulations and experiments for altitude control, position control and trajectory tracking are carried out. The results show that the quadrotor UAV well follows the referenced commands, which clearly demonstrates the effectiveness of the proposed approach.

Keywords: Quadrotor UAV, Modeling, Control, Aerodynamics, System Identification.

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Authors: A. Abid, F. M. Abbou, H. T. Ewe

Abstract:

Optical Bursts Switching (OBS) is a relatively new optical switching paradigm. Contention and burst loss in OBS networks are major concerns. To resolve contentions, an interesting alternative to discarding the entire data burst is to partially drop the burst. Partial burst dropping is based on burst segmentation concept that its implementation is constrained by some technical challenges, besides the complexity added to the algorithms and protocols on both edge and core nodes. In this paper, the burst segmentation concept is investigated, and an implementation scheme is proposed and evaluated. An appropriate dropping policy that effectively manages the size of the segmented data bursts is presented. The dropping policy is further supported by a new control packet format that provides constant transmission overhead.

Keywords: Burst length, Burst Segmentation, Optical BurstSwitching.

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Authors: H.R.Goshayeshi, M.Fahim inia, M.M.Naserian

Abstract:

In this research, the laminar heat transfer of natural convection on vertical surfaces has been investigated. Most of the studies on natural convection have been considered constantly whereas velocity and temperature domain, do not change with time, transient one are used a lot. Governing equations are solved using a finite volume approach. The convective terms are discretized using the power-law scheme, whereas for diffusive terms the central difference is employed. Coupling between the velocity and pressure is made with SIMPLE algorithm. The resultant system of discretized linear algebraic equations is solved with an alternating direction implicit scheme. Then a configuration of rectangular fins is put in different ways on the surface and heat transfer of natural convection on these surfaces without sliding is studied and finally optimization is done.

Keywords: Natural convection, vertical surfaces, SIMPLE algorithm, Rectangular fins.

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Authors: S. Damodaran, T. V. S.Sekhar

Abstract:

The motion of a sphere moving along the axis of a rotating viscous fluid is studied at high Reynolds numbers and moderate values of Taylor number. The Higher Order Compact Scheme is used to solve the governing Navier-Stokes equations. The equations are written in the form of Stream function, Vorticity function and angular velocity which are highly non-linear, coupled and elliptic partial differential equations. The flow is governed by two parameters Reynolds number (Re) and Taylor number (T). For very low values of Re and T, the results agree with the available experimental and theoretical results in the literature. The results are obtained at higher values of Re and moderate values of T and compared with the experimental results. The results are fourth order accurate.

Keywords: Navier_Stokes equations, Taylor number, Reynolds number, Higher order compact scheme, Rotating Fluid.

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Authors: Hang-cheong Wong, Pak-kin Wong, Chi-man Vong, Zhengchao Xie, Shaojia Huang

Abstract:

Automotive engine air-ratio plays an important role of emissions and fuel consumption reduction while maintains satisfactory engine power among all of the engine control variables. In order to effectively control the air-ratio, this paper presents a model predictive fuzzy control algorithm based on online least-squares support vector machines prediction model and fuzzy logic optimizer. The proposed control algorithm was also implemented on a real car for testing and the results are highly satisfactory. Experimental results show that the proposed control algorithm can regulate the engine air-ratio to the stoichiometric value, 1.0, under external disturbance with less than 5% tolerance.

Keywords: Air-ratio, Fuzzy logic, online least-squares support vector machine, model predictive control.

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Authors: Ding Guo-hao, Li Hua, Wang Wen-long

Abstract:

A parallel computational fluid dynamics code has been developed for the study of aerodynamic heating problem in hypersonic flows. The code employs the 3D Navier-Stokes equations as the basic governing equations to simulate the laminar hypersonic flow. The cell centered finite volume method based on structured grid is applied for spatial discretization. The AUSMPW+ scheme is used for the inviscid fluxes, and the MUSCL approach is used for higher order spatial accuracy. The implicit LU-SGS scheme is applied for time integration to accelerate the convergence of computations in steady flows. A parallel programming method based on MPI is employed to shorten the computing time. The validity of the code is demonstrated by comparing the numerical calculation result with the experimental data of a hypersonic flow field around a blunt body.

Keywords: Aerodynamic Heating, AUSMPW+, MPI, ParallelComputation

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