Can preoperative planning using IRIS™three-dimensional anatomical virtual models predict operative findings during robot-assisted partial nephrectomy?

Objective To evaluate the predictive validity of IRIS™(Intuitive Surgical®,Sunnyvale,CA,USA)as a planning tool for robot-assisted partial nephrectomy(RAPN)by assessing the degree of overlap with intraoperative execution.Methods Thirty-one patients scheduled for RAPN by four experienced urologists were enrolled in a prospective study.Prior to surgery,urologists reviewed the IRIS™three-dimensional model on an iphone Operating System(iOS)app and completed a questionnaire outlining their surgical plan including surgical approach,and ischemia technique as well as confidence in executing this plan.Postoperatively,questionnaires assessing the procedural approach,clinical utility,efficiency,and effectiveness of IRIS™were completed.The degree of overlap between the preoperative and intraoperative questionnaires and between the planned approach and actual execution of the procedure was analyzed.Questionnaires were answered on a 5-point Likert scale and scores of 4 or greater were considered positive.Results Mean age was 65.1 years with a mean tumor size of 27.7 mm(interquartile range 17.5-44.0 mm).Hilar tumors consisted of 32.3%;48.4%of patients had R.E.N.A.L.nephrometry scores of 7-9.On preoperative questionnaires,the surgeons reported that in 67.7%cases they were confident that they can perform the procedure successfully,and on intraoperative questionnaires,the surgeons reported that in 96.8%cases IRIS™helped achieve good spatial sensation of the anatomy.There was a high degree of overlap between preoperative and intraoperative questionnaires for the surgical approach,interpreting anatomical details and clinical utility.When comparing plans for selective or off-clamp,the preoperative plan was executed in 90.0%of cases intraoperatively.Conclusion A high degree of overlap between the preoperative surgical approach and intraoperative RAPN execution was found using IRIS™.This is the first study to evaluate the predictive accuracy of IRIS™during RAPN by comparing preoperative plan and intraoperative execution.

Research and Application of Caideng Model Rendering Technology for Virtual Reality

With the development of virtual reality (VR) technology, more and more industries are beginning to integrate with VR technology. In response to the problem of not being able to directly render the lighting effect of Caideng in digital Caideng scenes, this article analyzes the lighting model. It combines it with the lighting effect of Caideng scenes to design an optimized lighting model algorithm that fuses the bidirectional transmission distribution function (BTDF) model. This algorithm can efficiently render the lighting effect of Caideng models in a virtual environment. And using image optimization processing methods, the immersive experience effect on the VR is enhanced. Finally, a Caideng roaming interactive system was designed based on this method. The results show that the frame rate of the system is stable during operation, maintained above 60 fps, and has a good immersive experience.

Microstructure modeling and virtual test of asphalt mixture based on three-dimensional discrete element method

The objective of this work is to model the microstructure of asphalt mixture and build virtual test for asphalt mixture by using Particle Flow Code in three dimensions(PFC^(3D))based on three-dimensional discrete element method.A randomly generating algorithm was proposed to capture the three-dimensional irregular shape of coarse aggregate.And then,modeling algorithm and method for graded aggregates were built.Based on the combination of modeling of coarse aggregates,asphalt mastic and air voids,three-dimensional virtual sample of asphalt mixture was modeled by using PFC^(3D).Virtual tests for penetration test of aggregate and uniaxial creep test of asphalt mixture were built and conducted by using PFC^(3D).By comparison of the testing results between virtual tests and actual laboratory tests,the validity of the microstructure modeling and virtual test built in this study was verified.Additionally,compared with laboratory test,the virtual test is easier to conduct and has less variability.It is proved that microstructure modeling and virtual test based on three-dimensional discrete element method is a promising way to conduct research of asphalt mixture.

Science Letters:Dynamic concision for three-dimensional reconstruction of human organ built with virtual reality modelling language (VRML)

This research studies the process of 3D reconstruction and dynamic concision based on 2D medical digital images using virtual reality modelling language (VRML) and JavaScript language, with a focus on how to realize the dynamic concision of 3D medical model with script node and sensor node in VRML. The 3D reconstruction and concision of body internal organs can be built with such high quality that they are better than those obtained from the traditional methods. With the function of dynamic concision, the VRML browser can offer better windows for man-computer interaction in real-time environment than ever before. 3D reconstruction and dynamic concision with VRML can be used to meet the requirement for the medical observation of 3D reconstruction and have a promising prospect in the fields of medical imaging.

Research on the Three-dimensional Modeling and Optimization of a Virtual Tower Crane Based on 3DS Max, Solidworks and EON Professional

Three-dimensional modeling of virtual hoisting machinery is the critical works to structure the system of virtual construction, and the foundation to realize intelligent and interactive virtual hoisting. Aimed at enhancing the requests of image quality and stability of the virtual construction scene, taking a tower crane for example. We studied the technology of three-dimensional modeling and optimization of a virtual tower crane, and a method named two-stage model optimization was put forward. This depended on the modeling stage using Solidworks and 3DS Max and the performance optimization stage in EON. The practice of software development indicates that the proposed methods of three-dimensional modeling and optimization could satisfy the performance request of virtual construction system and be popularized to other virtual system.

VIRTUAL REALITY BASED THREE-DIMENSIONAL GUIDE WIRE PROPAGATION SIMULATION FOR ENDOVASCULAR INTERVENTION

The virtual reality based motion simulation of the guide wire and the catheter inside specific vascular structures can benefit a lot for the endovascular intervention. A fast and well-performed collision cancellation algorithm is proposed based on the geometric analysis and the angular propagation （AP）, and a 3-D real-time interactive system is developed for the motion simulation of the guide wire and the catheter inside the specific patient vascular. The guide wire or the catheter is modeled as the ＂multi-body＂ representation and properties are defined by its intrinsic characteristics. The motion of the guide wire or the catheter inside the vascular is guided by the collision detection and the collision cancellation algorithm. Finally, a relaxation procedure is used to achieve more realistic status. Experimental results show that the behavior of the guide wire or the catheter depends on the defined parameters. The real-time simulation can be achieved. The result shows that the simulation system is effective and promising.

Three-Dimensional Tidal Model and Its Application to Numerical Simulation of Water Quality in Coastal Waters

The turbulence mechanism plays an important part in the mixing process and momentum transfer of turbulence. A three-dimensional Prandtl mixing length tidal model has been developed to simulate tidal flows and water quality. The eddy viscosities and diffusivities are computed from the Prandtl mixing length model. In order to model the water quality of an estuary or coastal area many interdependent processes need to be simulated. These may be conveniently separated into three main groups: transport and mixing processes, biochemical interaction of water quality variables and the utilization and re-cycling of nutrients by living matter. The model simulates full oxygen and nutrient balance, primary productivity and the transport, reaction mechanism and fate of pollutants over tidal time-scales. The model is applied to numerical simulation of tidal flows and water quality in Dalian Bay. The model has been calibrated against a limited data set of historical water quality observations and in general demonstrates excellent agreement with all available data.

Transect-based Three-Dimensional Road Modeling and Visualization

On the basis of the study on road elements and th e existing three-dimensional road data models, this paper puts forward the transe ct-based road modeling, resolves the modeling of the simplest road with two roa d transects, and fulfils the visualization of the road. OpenGL is applied as the tool of visualization. The map texture technology, LOD algorithm and dynamic mu lti-differentiating texture technology are of benefit to the construction of 3D road GIS, and improve the speed of roaming and effective visualization. This pa per also disusses the combination of 2D digitall road map and 3D road scene, and the dynamic response between them. Finally, on the basis of the research on the transect-based road model, this paper develops the three-dimensional road geo graphic information system called virtual road ( VRoad ), which not only suppli es road designers with a set of tool which can turn the designed 2D road data in to 3D road and the high road assistant function area in computer, but also suppl ies the road management with a set of tool which can realize the road real time and interactive roaming, high-efficiency management.

The three-dimension model for the rock-breaking mechanism of disc cutter andanalysis of rock-breaking forces

To study the rock deformation with three- dimensional model under rolling forces of disc cutter, by car- rying out the circular-grooving test with disc cutter rolling around on the rock, the rock mechanical behavior under rolling disc cutter is studied, the mechanical model of disc cutter rolling around the groove is established, and the the- ory of single-point and double-angle variables is proposed. Based on this theory, the physics equations and geometric equations of rock mechanical behavior under disc cutters of tunnel boring machine （TBM） are studied, and then the bal- ance equations of interactive forces between disc cutter and rock are established. Accordingly, formulas about normal force, rolling force and side force of a disc cutter are de- rived, and their validity is studied by tests. Therefore, a new method and theory is proposed to study rock- breaking mech- anism of disc cutters.

Underconstrained Cable-Driven Parallel Suspension System of Virtual Flight Test Model in Wind Tunnel

An underconstrained cable-driven parallel robot(CDPR)suspension system was designed for a virtual flight testing(VFT)model.This mechanism includes two identical upper and lower kinematic chains,each of which comprises a cylindrical pair,rotating pair,and cable parallelogram.The model is pulled via two cables at the top and bottom and fixed by a yaw turntable,which can realize free coupling and decoupling with three rotational degrees of freedom of the model.First,the underconstrained CDPR suspension system of the VFT model was designed according to the mechanics theory,the degrees of freedom were verified,and the support platform was optimized to realize the coincidence between the model’s center of mass and the rotation center of the mechanism during the motion to ensure the stability of the support system.Finally,kinematic and dynamical modeling of the underconstrained CDPR suspension system was conducted;the system stiffness and stability criteria were deduced.Thus,the modeling of an underconstrained,reconfigurable,passively driven CDPR was understood comprehensively.Furthermore,dynamic simulations and experiments were used to verify that the proposed system meets the support requirements of the wind tunnel-based VFT model.This study serves as the foundation for subsequent wind tunnel test research on identifying the aerodynamic parameters of aircraft models,and also provides new avenues for the development of novel support methods for thewind tunnel testmodel.

Three-Dimensional Kinematics Simulation of Robot Fighting Platform in Virtual Environment

A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.

Interpersonal Perception in Virtual Groups: Examining Homophily, Identification and Individual Attraction Using Social Relations Model in Network

With the penetration of the Internet, virtual groups have become more and more popular. The reliability and accuracy of interpersonal perception in the virtual environment is an intriguing issue. Using the Social relations model (SRM) [1], this paper investigates interpersonal perception in virtual groups from a multilevel perspective. In particular, it examines the following three areas: homophily, identification, and individual attraction, and explores how much of these directional and dyadic relational evaluations can be attributed to the effect of the actor, the partner, and the relationship.

Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment

The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions.

Spatial Heterogeneity of Embedded Water Consumption from the Perspective of Virtual Water Surplus and Deficit in the Yellow River Basin,China

Virtual water trade(VWT)provides a new perspective for alleviating water crisis and has thus attracted widespread attention.However,the heterogeneity of virtual water trade inside and outside the river basin and its influencing factors remains further study.In this study,for better investigating the pattern and heterogeneity of virtual water trade inside and outside provincial regions along the Yellow River Basin in 2015 using the input-output model(MRIO),we proposed two new concepts,i.e.,virtual water surplus and virtual water deficit,and then used the Logarithmic Mean Divisia Index(LMDI)model to identify the inherent mechanism of the imbalance of virtual water trade between provincial regions along the Yellow River Basin and the other four regions in China.The results show that:1)in provincial regions along the Yellow River Basin,the less developed the economy was,the larger the contribution of the agricultural sector in virtual water trade,while the smaller the contribution of the industrial sector.2)Due to the large output of agricultural products,the upstream and midstream provincial regions of the Yellow River Basin had a virtual water surplus,with a net outflow of virtual water of 2.7×10^(8) m^(3) and 0.9×10^(8) m^(3),respectively.3)provincial regions along the Yellow River Basin were in a virtual water deficit with the rest of China,and the decisive factor was the active degree of trade with the outside.This study would be beneficial to illuminate the trade-related water use issues in provincial regions along the Yellow River Basin,which has farreaching practical signific-ance for alleviating water scarcity.

Chemical simulation teaching system based on virtual reality and gesture interaction

Background Most existing chemical experiment teaching systems lack solid immersive experiences,making it difficult to engage students.To address these challenges,we propose a chemical simulation teaching system based on virtual reality and gesture interaction.Methods The parameters of the models were obtained through actual investigation,whereby Blender and 3DS MAX were used to model and import these parameters into a physics engine.By establishing an interface for the physics engine,gesture interaction hardware,and virtual reality(VR)helmet,a highly realistic chemical experiment environment was created.Using code script logic,particle systems,as well as other systems,chemical phenomena were simulated.Furthermore,we created an online teaching platform using streaming media and databases to address the problems of distance teaching.Results The proposed system was evaluated against two mainstream products in the market.In the experiments,the proposed system outperformed the other products in terms of fidelity and practicality.Conclusions The proposed system which offers realistic simulations and practicability,can help improve the high school chemistry experimental education.

Electromechanical Transient Modeling Analysis of Large-Scale New Energy Grid Connection

The synchronous virtual machine uses inverter power to imitate the performance of the conventional synchronous machine.It also has the same inertia,damping,frequency,voltage regulation,and other external performance as the generator.It is the key technology to realize new energy grid connections’stable and reliable operation.This project studies a dynamic simulation model of an extensive new energy power system based on the virtual synchronous motor.A new energy storage method is proposed.The mathematical energy storage model is established by combining the fixed rotor model of a synchronous virtual machine with the charge-discharge power,state of charge,operation efficiency,dead zone,and inverter constraint.The rapid conversion of energy storage devices absorbs the excess instantaneous kinetic energy caused by interference.The branch transient of the critical cut set in the system can be confined to a limited area.Thus,the virtual synchronizer’s kinetic and potential energy can be efficiently converted into an instantaneous state.The simulation of power system analysis software package(PSASP)verifies the correctness of the theory and algorithm in this paper.This paper provides a theoretical basis for improving the transient stability of new energy-connected power grids.

Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe distance.To guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB process.In this case,the minimal safety distance is usually numerically calculated without an analytic formulation.Thus,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing literature.To solve this problem,we propose a Distributed Economic Model Predictive Control(DEMPC)approach with computation efficiency and theoretical guarantee.Specifically,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved efficiently.For theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient tuning.Moreover,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among VCTS.Finally,experimental results demonstrate the performance and advantages of the proposed approaches.

Integrating Virtual Reality and Energy Analysis with BIM to Optimize Window-to-Wall Ratio and Building’s Orientation for Age-in-Place Design at the Conceptual Stage

This study unfolds an innovative approach aiming to address the critical role of building design in global energy consumption, focusing on optimizing the Window-to-Wall Ratio (WWR), since buildings account for approximately 30% of total energy consumed worldwide. The greatest contributors to energy expenditure in buildings are internal artificial lighting and heating and cooling systems. The WWR, determined by the proportion of the building’s glazed area to its wall area, is a significant factor influencing energy efficiency and minimizing energy load. This study introduces the development of a semi-automated computer model designed to offer a real-time, interactive simulation environment, fostering improving communication and engagement between designers and owners. The said model serves to optimize both the WWR and building orientation to align with occupants’ needs and expectations, subsequently reducing annual energy consumption and enhancing the overall building energy performance. The integrated model incorporates Building Information Modeling (BIM), Virtual Reality (VR), and Energy Analysis tools deployed at the conceptual design stage, allowing for the amalgamation of owners’ inputs in the design process and facilitating the creation of more realistic and effective design strategies.

Review of Digital Campus Construction Led by Virtual Reality Technology

In recent years,the government has issued a series of documents to promote the construction of digital campuses.This initiative serves to encourage the deep integration of information technology and intelligent technology education and digital reform,the combination of virtual reality and campus management is the need for innovative thinking and economic and social development,and then better change our learning style and living environment.The construction of the digital campus is based on virtual reality technology,BIM,GIS,and three-dimensional modeling technology to provide an immersive platform for students,promote the integration of virtual reality technology and education,help teachers,students,and parents to understand all kinds of education information and resources,to achieve their interoperability.From the off-campus environment to the school teaching equipment,teachers to teaching quality certification,and learning,to extracurricular entertainment,opening ceremonies to graduation parties,to bring more efficient,convenient,and safe campus life for teachers,students,and staff in school,and break the traditional information restrictions.

Virtual Plant Modeling Based on Mutual Feedback of Function-structure

[Objective] To study virtual plant modeling based on mutual feedback of function-structure.[Method] With the analysis of the shortcomings of current virtual plant modeling method,the modeling with the idea of function-structure mutual feedback was put forward,and the steps of this modeling were elaborated,including the determination of morphological structure model,biomass production model,biomass allocation model,organ reconstruction model,and the integration method of function model and morphological structure model.[Results] The breakthrough of function-structure mutual feedback based mechanism from the boundaries of physiological ecology model and morphological structure model can solve the difficulty of data transmission between the two models and build an integrated model from the two,which can effectively reflect the incidence relation between plant morphology and function,and more suitable for the growth mechanisms of plants.This modeling approach has significant advantages in the dynamic simulation of plant growth.[Conclusion] The virtual plant modeling based on function-structure mutual feedback provides basis for the simulation of plant growth status in the next stage,and has important significance for the accurate simulation of the dynamic growth process of plant.