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Focused Ultrasound - Efficient GPU Simulation Methods for Therapy Planning 聚焦超声-高效GPU模拟治疗计划方法
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys11/119-128
Joachim Georgii, C. Dresky, Sebastian Meier, D. Demedts, Christian Schumann, Tobias Preußer
Over the past years, high intensity focused ultrasound therapy has beco me a promising therapeutic alternative for non-invasive tumor treatment. The basic idea of this interventional approa ch is to apply focused ultrasound waves to the tumor tissue such that the cells are heated and hence destroyed. Sinc e it is quite difficult to assess the quality of this non-invasive therapy, there is a dire need for computer support in planning, conduction, and monitoring of such treatments. In this work, we propose efficient simulation techniques for focused ultras ound waves as well as their heat dissemination using current graphics hardware as a numerical co-proc essor. We achieve speed-ups between 10 and 700 for the single simulation steps compared to an optimized CPU solution, over all resulting in a significant performance gain over previous approaches for simulation of focused u ltrasound.
在过去的几年里,高强度聚焦超声治疗已经成为一种很有前途的非侵入性肿瘤治疗方法。这种介入方法的基本思想是将聚焦的超声波应用于肿瘤组织,使细胞被加热并因此被破坏。由于评估这种非侵入性治疗的质量相当困难,因此迫切需要计算机支持来计划、指导和监测这种治疗。在这项工作中,我们提出了有效的模拟技术聚焦超声波及其热传播使用当前的图形硬件作为一个数值协处理器。与优化的CPU解决方案相比,我们在单个模拟步骤中实现了10到700的加速,总的来说,与以前的聚焦超声模拟方法相比,我们的性能有了显著提高。
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引用次数: 14
Laplacian Damping for Projective Dynamics 射影动力学的拉普拉斯阻尼
Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20181065
Jing Li, Tiantian Liu, L. Kavan
Damping is an important ingredient in physics-based simulation of deformable objects. Recent work introduced new fast simulation methods such as Position Based Dynamics and Projective Dynamics. Explicit velocity damping methods currently used in conjunction with Position Based Dynamics or Projective Dynamics are simple and fast, but have some limitations. They may damp global motion or non-physically transport velocities throughout the simulated object. More advanced damping models do not have these limitations, but are slow to evaluate, defeating the benefits of fast solvers such as Projective Dynamics. We present a new type of damping model specifically designed for Projective Dynamics, which provides the quality of advanced damping models while adding only minimal computing overhead. The key idea is to define damping forces using Projective Dynamics’ Laplacian matrix. In a number of simulation examples we show that this damping model works very well in practice. When used with a modified Projective Dynamics solver that uses a non-dissipative implicit midpoint integrator, our damping method provides fully user-controllable damping, allowing the user to quickly produce visually pleasing and vivid animations. CCS Concepts • Computing methodologies → Physical simulation;
在可变形物体的物理仿真中,阻尼是一个重要的组成部分。最近的工作介绍了新的快速仿真方法,如基于位置的动力学和投影动力学。目前与基于位置的动力学或投影动力学结合使用的显式速度阻尼方法简单、快速,但有一定的局限性。它们可能会抑制整个模拟物体的整体运动或非物理传输速度。更先进的阻尼模型没有这些限制,但评估速度较慢,击败了快速求解器(如投影动力学)的优势。我们提出了一种专门为投影动力学设计的新型阻尼模型,它提供了先进阻尼模型的质量,同时只增加了最小的计算开销。关键思想是使用射影动力学的拉普拉斯矩阵来定义阻尼力。通过大量的仿真实例表明,该阻尼模型在实际应用中效果良好。当与使用非耗散隐式中点积分器的改进投影动力学求解器一起使用时,我们的阻尼方法提供完全用户可控的阻尼,允许用户快速生成视觉上令人愉悦和生动的动画。•计算方法→物理模拟;
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引用次数: 10
A p-Multigrid Algorithm using Cubic Finite Elements for Efficient Deformation Simulation 一种基于三次有限元的p-多重网格高效变形模拟算法
Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20141223
D. Weber, J. Mueller-Roemer, C. Altenhofen, A. Stork, D. Fellner
We present a novel p-multigrid method for efficient simulation of co-rotational elasticity with higher-order finite elements. In contrast to other multigrid methods proposed for volumetric deformation, the resolution hierarchy is realized by varying polynomial degrees on a tetrahedral mesh. We demonstrate the efficiency of our approach and compare it to commonly used direct sparse solvers and preconditioned conjugate gradient methods. As the polynomial representation is defined w.r.t. the same mesh, the update of the matrix hierarchy necessary for co-rotational elasticity can be computed efficiently. We introduce the use of cubic finite elements for volumetric deformation and investigate different combinations of polynomial degrees for the hierarchy. We analyze the applicability of cubic finite elements for deformation simulation by comparing analytical results in a static scenario and demonstrate our algorithm in dynamic simulations with quadratic and cubic elements. Applying our method to quadratic and cubic finite elements results in speed up of up to a factor of 7 for solving the linear system.
提出了一种新的p-多重网格方法,用于高阶有限元共转弹性的高效模拟。与其他体积变形的多重网格方法不同,该方法通过在四面体网格上变换多项式度来实现分辨率层次。我们证明了该方法的有效性,并将其与常用的直接稀疏解和预条件共轭梯度方法进行了比较。由于多项式表示是在同一网格上定义的,因此可以有效地计算共旋转弹性所需的矩阵层次更新。我们介绍了体积变形的三次有限元的使用,并研究了层次结构中多项式度的不同组合。通过比较静态情况下的分析结果,分析了三次有限元在变形模拟中的适用性,并在二次元和三次元的动态模拟中展示了我们的算法。将我们的方法应用于二次元和三次元有限元,求解线性系统的速度可提高到原来的7倍。
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引用次数: 3
Nonsmooth Newton Method for Fischer Function Reformulation of Contact Force Problems for Interactive Rigid Body Simulation 交互刚体仿真中接触力问题Fischer函数重表述的非光滑牛顿法
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys09/105-114
Morten Silcowitz-Hansen, Sarah Niebe, Kenny Erleben
EUROGRAPHICS D L IGITAL IBRARY www.eg.org diglib.eg.org Abstract In interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer– Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer– Newton method.
摘要在交互物理仿真中,应用接触力来防止刚体相互穿透。准确确定接触力是一个计算困难的问题。因此,在实践中,人们用准确性来换取性能。其结果是视觉伪影,如粘性或阻尼接触响应。本文提出了一种确定接触力的新方法。我们使用Fischer函数将接触力问题重新表述为一个非线性的根搜索问题。我们用广义牛顿法解决了这个问题。我们的新菲舍尔-牛顿方法在最广泛的替代方案,投影高斯-塞德尔方法失败的特定构型中显示出改进的质量。实验表明,精确费雪-牛顿方法具有优越的收敛性。
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引用次数: 22
Real Time Simulation of Phaco-emulsification for Cataract Surgery Training 白内障手术培训中超声乳化的实时模拟
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys06/091-100
Marco Agus, E. Gobbetti, G. Pintore, G. Zanetti, Antonio Zorcolo
We present a real‐time simulation of the phaco-emulsification task in a virtualreality training system for cataract surgery. Phaco‐emulsification consists in breaking in small fragments an d completely removing the eye crystalline lens by employing an ultra‐sound tool called phaco‐emulsificator. Our ap proach employs a mesh-less shape‐ based dynamic algorithm integrated with a simplex geometry representation in order to efficiently handle the rendering process and the continuous modifications involved by the surg ical tool interaction, and with a smoothed particle hydrodynamics scheme with spatial ordering for handling fragmen ts interactions. The complete training system also simulates other tasks involved in cataract surgery, like the cor neal incision and the capsulorhexis. The simulator runs on a multiprocessing PC platform and provides realistic ph ysically-based visual simulations of tools interactions. The current setup employs SensAble PHANToM for s imulating the interaction devices, and a binocular display for presenting images to the user.
我们提出了一个在白内障手术的虚拟现实训练系统中实时模拟超声乳化任务。超超乳化术是通过使用一种叫做超超乳化剂的超声波工具,将眼睛的晶状体打碎成小块,然后完全去除。我们的方法采用了一种基于无网格形状的动态算法,该算法集成了一个单纯形几何表示,以有效地处理绘制过程和手术工具交互所涉及的连续修改,并采用了一个平滑的粒子流体动力学方案,该方案具有空间顺序,用于处理碎片交互。完整的培训系统还模拟了白内障手术中涉及的其他任务,如角膜切口和撕囊术。该模拟器运行在多处理PC平台上,并提供了真实的基于物理的工具交互视觉模拟。目前的设置采用SensAble PHANToM来模拟交互设备,并使用双目显示器向用户呈现图像。
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引用次数: 16
Efficient Cloth Simulation Using an Adaptive Finite Element Method 基于自适应有限元法的高效布料仿真
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys12/021-030
Jan Bender, Crispin Deul
In this paper we present an efficient adaptive cloth simulation based on the √ 3-refinement scheme. Our adaptive cloth model can handle arbitrary triangle meshes and is not restricted to regular grid meshes which are required by other methods. Previous works on adaptive cloth simulation often use discrete cloth models like mass-spring systems in combination with a specific subdivision scheme. The problem of such models is that the simulation does not converge to the correct solution as the mesh is refined. We propose to use a cloth model which is based on continuum mechanics since continuous models do not have this problem. In order to perform an efficient simulation we use a linear elasticity model in combination with a corotational formulation. The √ 3-subdivision scheme has the advantage that it generates high quality meshes while the number of triangles increases only by a factor of 3 in each refinement step. However, the original scheme only defines a mesh refinement. Therefore, we introduce an extension to support the coarsening of our simulation model as well. Our proposed mesh adaption can be performed efficiently and therefore does not cause much overhead. In this paper we will show that a significant performance gain can be achieved by our adaptive method.
本文提出了一种基于√3细化方案的高效自适应布料仿真方法。我们的自适应布模型可以处理任意的三角形网格,而不局限于其他方法所要求的规则网格。以往的自适应布料仿真工作通常使用离散布料模型,如质量-弹簧系统与特定的细分方案相结合。这种模型的问题是,随着网格的细化,模拟不能收敛到正确的解。我们建议使用基于连续介质力学的布模型,因为连续模型不存在这个问题。为了进行有效的模拟,我们将线性弹性模型与旋转公式相结合。√3-subdivision方案的优点是它可以生成高质量的网格,而三角形的数量在每个细化步骤中只增加3倍。然而,原始方案只定义了网格细化。因此,我们还引入了一个扩展来支持仿真模型的粗化。我们提出的网格自适应可以有效地执行,因此不会造成太多的开销。在本文中,我们将展示通过我们的自适应方法可以获得显着的性能增益。
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引用次数: 10
GPU Accelerated Tandem Traversal of Blocked Bounding Volume Hierarchy Collision Detection for Multibody Dynamics GPU加速串联遍历阻塞边界体层次碰撞检测的多体动力学
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys09/115-124
J. Damkjær, Kenny Erleben
delivered by EUROGRAPHICS D L IGITAL IBRARY www.eg.org diglib.eg.org Abstract The performance bottleneck of physics based animation is often the collision detection. It is well known by practitioners that the collision detection may consume more than half of the simulation time. In this work, we will introduce a novel approach for collision detection using bounding volume hierarchies. Our approach makes it possible to perform non-convex object versus non-convex object collision on the GPU, using tandem traversals of bounding volume hierarchies. Prior work only supports single traversals on GPUs. We introduce a blocked hierarchy data structure, using imaginary nodes and a simultaneous descend in the tandem traversal. The data structure design and traversal are highly specialized for exploiting the parallel threads in the NVIDIA GPUs. As proof-of-concept we demonstrate a GPU implementation for a multibody dynamics simulation, showing an approximate speedup factor of up to 8 compared to a CPU implementation.
摘要基于物理的动画的性能瓶颈往往是碰撞检测。从业人员都知道,碰撞检测可能会消耗一半以上的仿真时间。在这项工作中,我们将介绍一种使用边界体层次结构进行碰撞检测的新方法。我们的方法使得在GPU上执行非凸对象与非凸对象的碰撞成为可能,使用边界体层次结构的串联遍历。以前的工作只支持gpu上的单遍历。在串联遍历中,我们引入了一种采用虚节点和同时下降的阻塞分层数据结构。数据结构的设计和遍历是专门为利用NVIDIA gpu中的并行线程而设计的。作为概念验证,我们展示了多体动力学仿真的GPU实现,与CPU实现相比,显示了大约高达8的加速因子。
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引用次数: 2
Soil Deformation Models for Real-Time Simulation: A Hybrid Approach 土壤变形模型的实时模拟:一种混合方法
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys09/021-030
Daniel Holz, Thomas Beer, Torsten Kuhlen
The simulation of soil deformation in real-time is a challenging task. Realizing the strengths and weaknesses of particle and mesh-based approaches we propose a hybrid model that combines both. Together with an adaptive sampling method, which effectively reduces the number of particles in the simulation, and a selective update technique our method is applicable in real-time VR environments. Furthermore, in order to account for the high degree of dynamics in soil behavior we consider soil as non-homogeneous and account for its degree of compaction. By incorporating soil mechanical formulations in our model and considering several physically plausible parameters the presented method allows for the simulation of soil as the material empirically investigated by civil engineers and soil mechanicians for decades.
土体变形的实时模拟是一项具有挑战性的任务。认识到基于粒子和基于网格的方法的优缺点,我们提出了一种结合两者的混合模型。该方法采用了自适应采样方法,有效地减少了模拟中的粒子数量,并采用了选择性更新技术,适用于实时VR环境。此外,为了解释土壤行为的高度动态性,我们认为土壤是非均匀的,并考虑其压实程度。通过将土力学公式纳入我们的模型,并考虑几个物理上合理的参数,所提出的方法允许将土作为土木工程师和土壤力学家几十年来经验研究的材料进行模拟。
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引用次数: 26
Refraction of Water Surface Intersecting Objects in Interactive Environments 交互环境中水面相交物体的折射
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys07/059-068
H. Cords
This paper presents a rapid method to render dynamic water surfaces with penetrating obstacles in real-time. Taking the surface boundary into account, our method allows the rendering of single reflections and single refractions of objects even intersecting the water surface, including a physically approximative perspective refraction mapping. Thereby, water surfaces are represented as 2.5D height fields and obstacles as polygonal objects. In principle, we determine approximating virtual reflection and refraction eye coordinates. With respect to the water surface, the reflected and refracted objects and parts of objects are projected onto the surface from separate, virtual eye coordinates. Since we are using per-pixel reflection and refraction mapping, our multi-pass, image-based technique is suitable for GPU-based implementations. Moreover, we demonstrate the interactive application of the method for height field based data sets extracted from interactive 3D Smoothed Particle Hydrodynamics (SPH) simulations in real-time. Thereby, the presented approach achieves high frame rates and plausible results.
提出了一种具有穿透障碍物的动态水面实时快速绘制方法。考虑到水面边界,我们的方法允许渲染物体的单反射和单折射,甚至与水面相交,包括物理近似透视折射映射。因此,水面表示为2.5D高度场,障碍物表示为多边形物体。原则上,我们确定近似虚反射和折射眼坐标。对于水面,反射和折射的物体和物体的部分从单独的虚拟眼坐标投射到水面上。由于我们使用的是逐像素反射和折射映射,因此我们的多通道、基于图像的技术适用于基于gpu的实现。此外,我们还演示了该方法在交互式三维光滑粒子流体动力学(SPH)仿真中实时提取的基于高度场的数据集的交互式应用。因此,所提出的方法实现了高帧率和可信的结果。
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引用次数: 1
Seams and Bending in Cloth Simulation 布料的接缝和弯曲模拟
Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys08/031-038
S. Pabst, S. Krzywinski, A. Schenk, B. Thomaszewski
Accurate modeling of bending behavior is one of the most important tasks in the field of cloth simulation. Bending stiffness is probably the most significant material parameter describing a given textile. Much work has been done in recent years to allow a fast and authentic reproduction of the effect of bending in cloth simulation systems. However, these approaches usually treat the textiles as consisting of a single, homogeneous material. The effects of seams, interlining and multilayer materials have not been considered so far. Recent work showed that the bending stiffness of a textile is greatly influenced by the presence of seams and that a good cloth simulation system needs to consider these effects. In this work we show how accurate modeling of bending and seams can be achieved in a state-of-the-art cloth simulation system. Our system can make use of measured bending stiffness data, but also allows intuitive user control, if desired. We verify our approach using virtual draping tests and garments in the simulation and comparing the results to their real-world counterparts. Furthermore, we provide heuristics derived from measurements that can be used to approximate the influence of several common types of seams.
布料弯曲性能的精确建模是布料仿真领域的重要课题之一。抗弯刚度可能是描述给定纺织品的最重要的材料参数。近年来,为了在布料模拟系统中快速真实地再现弯曲的效果,已经做了很多工作。然而,这些方法通常将纺织品视为由单一的、均匀的材料组成。到目前为止,还没有考虑接缝、衬布和多层材料的影响。最近的研究表明,织物的弯曲刚度受接缝的存在有很大的影响,一个好的布料模拟系统需要考虑这些影响。在这项工作中,我们展示了如何在最先进的布料模拟系统中实现弯曲和接缝的精确建模。我们的系统可以利用测量的弯曲刚度数据,但也允许直观的用户控制,如果需要的话。我们在模拟中使用虚拟悬垂测试和服装验证我们的方法,并将结果与现实世界的对应产品进行比较。此外,我们还提供了从测量中得出的启发式方法,可用于近似几种常见类型的煤层的影响。
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引用次数: 30
期刊
Workshop on Virtual Reality Interactions and Physical Simulations
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