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DTSTEP: Development of an Integer Time Step Algorithm

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### DTSTEP:Development of an Integer Time Step Algorithm

George L Mesina

INL

David L Aumiller

BMPC

September 2010

Outline

- Background and issues
- Integer time step
- Solutions and implementation
- Testing
- Conversion

Background: PVM Coupling Time Step Methods

- Synchronous coupling requires all coupled codes to use the same dt.
- All codes suggest dt to the Executive every time step
- The Executive limits dt based on the halving/doubling scheme
- dt = DTMAX(Exec)/2k where dt <= smallest suggested dt.

- Asynchronous coupling only requires codes to arrive at an Executive mandated time target. Can use own dt, DTMAX, DTMIN, etc.
- ParallelAsynch, each code marches independently to target
- SequentialAsynch, one code marches to target, sends data to other; other marches to target.

Background: PVM Coupling Thermal-Hydraulic Methods

- Explicit coupling exchanges data at each coupling time.
- Simple method that is numerically unstable for many situations.

- Semi-implicit coupling exchanges extra data at each time step to add stability.
- Only certain combinations of time step methods and thermal-hydraulic methods are permissible.

Principal Issue: Time Step Inaccuracy Issue

- With 64-bit floating point variables on an Opteron chip
- Accurate to approximately 14 digits
- The final value of timehy = 1005.0000000745, not 1005.0 exactly.
- This is inaccurate in the 12 digit.

- Inaccuracy builds up with longer time intervals.
- Such inaccuracy caused PVM-coupled codes to deadlock (hang).
- For example, one code would hit a time target and send the proper message while the other would step past it and eventually send a totally different message to the first code.

- Often these hangs were caused by special cases, e.g. velocity flip-flop.

- T=1000.0; dt=0.005
- Do 10 j = 1, 1000
- 10 timehy = timehy + dt

Sources of PVM Communication Issues

- Asynchronous codes can have different DTMAX and DTMIN.
- Can cause time disparity for floating point sums.
- Original solution was to create “epsilon-tolerance if-tests”

- Synchronous RELAP5-3D
- Time targets were supplied, but change of timecard was not.
- RELAP5-3D DTSTEP fundamental algorithm required end time to operate correctly.

- Both Executive and RELAP5-3D DTSTEP routines calculated synchronous cumulative times and time-based actions.
- Produced time discrepancies that deadlocked the machine.

- Time targets were supplied, but change of timecard was not.

- If (abs(timehy – target) <= eps) TAKE ACTION

If DTMIN <= eps, can trigger action beforeactual target.

If eps too small, can step right overtarget.

Summary of DTSTEP Subroutines and Issues

- Floating point inaccuracy caused trouble hitting time-targets exactly
- Especially problematic for PVM communications
- General solution is integer time step

- There were other algorithmic and implementation errors
- These will be listed later with individual solutions

- DTSTEP did too much for one subprogram
- It was very difficult to read and understand
- Too many jumps
- Logical variables with non-mnemonic names
- Too many pre-compiler directives and conditional coding
- Almost no internal documentation

Original RELAP DTSTEP Flow (Simplified)

PVM Explicit Exchange

Parallel or Seq, synch or asynch

Initialization

Normal &1st time only

New Time Targets

Optional PVM Semi-imp. rcv, New time targets

Output

(9 kinds)

Screen, plots, minor, major, restart, GUI

Abrupt Changes

Repeat with same dt, halve/double, terminate transient

User Interfaces

Time step control

dt-stretch, Courant/mass error,dt >= DTMAX/2k

Gather Statistics

New Advancement

End timecard or transient, SS check

Time step selection

Optional PVM Synch Exch, 105 card handler, advance time, EXIT

Integer Time Step Based upon “Clock-cycle” dt = Round(dt/dtsmall) = 2k

- RELAP5-3D and PVMEXEC use a timestep halving/doubling scheme that guarantees hitting integer multiples of the user’s DTMAX
- Time targets from RELAP5-3D timecards are such multiples
- plot, minor, major, restart edits
- Special targets, timecard endtimes and PVM targets, need not be.

- No step smaller than user’s DTMIN allowed. Smallest allowable dt is:
- dtsmall = DTMAX/2n > DTMIN > DTMAX/2n+1.

- All normal values of dt = 2k dtsmall, k=0, 1, . . . , n.
- Dtsmall is effectively the clock-cycle of RELAP5. Always has been.
- To convert to integer time step, use dt = Round(dt/dtsmall) = 2k.
- Only within DTSTEP, outside DTSTEP use dt = dt * dtsmall.

- dtsmall = DTMAX/2n

Integer Time Steps vs. Floating Point Time

- Integer arithmetic is infinitely precise for add, subtract and multiply.
- The earlier do-loop-10 example creates no summing error.
- Error tolerances are eliminated.

- Time, T = t * dtsmall, is more exact and slightly different from floating point calculated time.
- Most of your RELAP5-3D results will be slightly different.

- Integer cumulative time becomes large and requires a 64-bit integer.
- 263 = 23 260 = 8(1024)6 > 8x(103)6 = 8x1018.
- This is sufficient to represent 109 seconds with DTMIN = 10-9.

- Integer Time, t, starts at zero on each successive timecard.
- T = t * dtsmall + T(start of timecard) = floating point time.
- Required because user can change DTMAX and DTMIN.

- T = t * dtsmall + T(start of timecard)

0

Comparison of Integer and Real TimeExample

dtmax=0.004

dtmin=1.0e-7 n = 15

dtsmall=1.220703125e-7

t (seconds)

.004

.008

1.00

t (cycles)

32784

65568

819600

Normal vs. Unusual Target Times

- Normal time target, T, is an integer multiple of DTMAX
- Unusual time target, T, is not integer multiple of DTMAX.
- e.g. DTMAX= 0.33, Timecard end = 10.0, Assume no cuts.
- At T = 9.9, need dt = 0.1, but 0.1 /= DTMAX/2k.

- e.g. DTMAX= 0.33, Timecard end = 10.0, Assume no cuts.
- Unusual times are handled by using a floating point dt, which exactly reaches the unusual time, and a resynch variable.
- The resynch variable indicates need to resynch dt and dt.

- e.g. Dtmax = 0.004, dtmin = 1.0e-7, dtsmall =1.22e-7, target=1.00021

t2=1.0021

t1

t3

t (seconds)

1.000

1.002

1.004

t(cycles)

t1

t2

t3=t1+dtsav

Some Other DTSTEP Errors

- Explosive Doubling
- When PVM and RELAP5-3D timecards differed
- with R5 timecard end time exceeding PVM transient end-time,

- The timestep could double on every timestep until the R5 timecard end time was exceeded.
- The source was variable, NREPET.
- The solution: PVM timecards override the RELAP5-3D timecards.

- When PVM and RELAP5-3D timecards differed
- Penultimate timecard stop
- Some asynchronous processes stopped at end-time of second to last timecard.
- Cause: an error in resetting variable CURCLM in R-DTSTEP.
- This error has been fixed.

Some Other DTSTEP Errors (continued)

- Hang when subroutine HYDRO set variable, FAIL
- R5 incorrectly sent a message that the timestep was succesful
- Solution: Set PVM success message to repeat (as R5 repeats)

- Hang in explicit asynchronous sequential
- When follower received go-ahead message from leader, but had to repeat its first advancement.
- It returned to “receive go-ahead from leader message” => hang

- Solution: Logical variable prevents return to this receive message until time actually advances.

- When follower received go-ahead message from leader, but had to repeat its first advancement.
- Hang from repeat condition at minimum dt (expl asyn parallel)
- In certain cases RELAP5 DTSTEP subroutine incorrectly set dt twice the size of EXEC dt.
- Solution: Rewrote/simplified R-DTSTEP code correctly.

Some Other DTSTEP Errors (continued)

- Stretch logic error
- On a 2-step approach to an unusual time, first step was half the distance, but second step went to multiple of DTMAX, not endtime
- Source: one real target time was k*DTMAX, not endtime
- Solution: (P- and R-DTSTEP) reset ALL time targets to the unusual endtime when within one DTMAX

- Error Messages P-DTSTEP and some PVM diagnostics were improved.

Solutions and Implementation

- Replace floating point time with integer based time.
- Extra integer variables were created in both R-DTSTEP and P-DTSTEP
- Replaced floating point if-tests by integer versions
- Created internal subroutines for initializing and calculating integer time from real and vice-versa.
- Create unifying mechanisms for quantities and processes shared by both DTSTEPS (next slide)
- Shared module

Some Unifying Implementation Features

- Isnormal – determines if time is normal or unusual
- abs(1-dt/idt*dtsmallest) < 1.0e-10
- Interpretation: dt & idt*dtsmallest agree to 10 places => dt normal.

- Calctimehy
- Calculate real time from certain integer time variables
- Uses quad precision to guarantee correct conversion

- idtmod – f95 module
- Contains internal subroutines and data common to both P- and R-DTSTEP subroutines
- Used by both

- Ensures both perform same functions in same way
- Reduces coding, increases maintainability

- Contains internal subroutines and data common to both P- and R-DTSTEP subroutines

Implementation continued

- Simplified and enhanced both RELAP5 DTSTEP and PVMEXEC DTSTEP by moving portions of coding into internal subroutines.
- Separated flowchart sections were pulled together.
- Create internal subroutines for reused sections of code, e.g. output
- Create internal subroutines for most precompiler-protected code
- Replace jumps to a section of code with call of internal subroutine

- Enhance readability
- Determine definitions of all variables and document
- Give mnemonic names to logical variables
- Implement Outline-style documentation for sections of code
- Simplify code and reduce logic paths
- Eliminate dead code and unused variables

Implementation continued Created new test cases to increase coverage Verified that all test cases run correctly.

- Identified and fixed algorithmic and implementation errors

- Especially for failure conditions and PVM coupling

DTSTEP Test Matrix

- To fully test the relevant logic paths through DTSTEP, a matrix of over 2000 cases was constructed.
- BASIC – 17 tests cases that cover normal, special case, and failure case and some combinations.

Group A (34)

Basic @ normal dt

Basic @ minimal dt

Group B (102)

Group A @ minor edit

Group A @ expl exchange

Group A @ transient end

Group D (2856)

Group C R5 standalone

Group C R5-R5 expl asynch parallel

Group C R5-R5 semi-impl

Group C R5-R5-R5 expl & semi-impl

Group C R5-R5 expl synch

Group C R5-R5 expl asynch sequ

Group C R5 controled by Exec

Group C (408)

Group B w/ normal target

Group B w/ unusual time

Group B w/ normal then unusual target

Group B w/ target every step

Conversion to F95

- The integer algorithm was developed in version 2.4.
- These use the old container array (FA) and equivalences.

- All R-DTSTEP, P-DTSTEP, and related changes were ported to version 2.9.5
- Merge issues resolved (post-2.4 development and differences in integer time implementation)

- Conversion to F95
- Access F95 modules, replace FA variables with module ones

- Resolution of variable declarations
- Issue with precompiler directive and 32-bit PVM

- Verified again that all test cases worked correctly.

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