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.

High Performance Analytics with SAP HANA Virtual Models

Informed decision-making, better communication and faster response to business situation are the key differences between leaders and followers in this competitive global marketplace. A data-driven organization can analyze patterns & anomalies to make sense of the current situation and be ready for future opportunities. Organizations no longer have the problem of “lack of data”, but the problem of “actionable data” at the right time to act, direct and influence their business decisions. The data exists in different transactional systems and/or data warehouse systems, which takes significant time to retrieve/ process relevant information and negatively impacts the time window to out-maneuver the competition. To solve the problem of “actionable data”, enterprises can take advantage of the SAP HANA [1] in-memory platform that enables rapid processing and analysis of huge volumes of data in real-time. This paper discusses how SAP HANA virtual data models can be used for on-the-fly analysis of live transactional data to derive insight, perform what-if analysis and execute business transactions in real-time without using persisted aggregates.

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.

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.

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.

Force-reflecting teleoperation of robots based on on-line correction of a virtual model

Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to establish a more precise model.The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote.Then the sliding average least squares(SALS)method was adopted to determine the mass,damp,and stiffness of the remote environment and use this information to amend the dynamic model of the environment.Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay,and improve the operational performance of the teleoperation system.

Differences in spatial understanding between physical and virtual models

In the digital age, physical models are still used as major tools in architectural and urban design processes. The reason why designers still use physical models remains unclear. In addition, physical and 3D virtual models have yet to be differentiated. The answers to these questions are too complex to account for in all aspects. Thus, this study only focuses on the differences in spatial understanding between physical and virtual models. In particular, it emphasizes on the perception of scale. For our experiment, respondents were shown a physical model and a virtual model consecutively. A questionnaire was then used to ask the respondents to evaluate these models objectively and to establish which model was more accurate in conveying object size. Compared with the virtual model, the physical model tended to enable cluicker and more accurate comDarisons of building heights.

Towards reconstructing the Shakespeare’s first Globe Theatre: A virtual model for research and development

Shakespeare’s first Globe Theatre(early 17th century)is considered one of the most iconic theatres in English history,despite lasting less than twenty years and having little information directly attributable to its shape and size.This building,part of a wide variety of Elizabethan theatres found in London during a fertile period in the history of entertainment,has fascinated historians and scholars for years.Interest in Globe Theatre has led to several attempts at reconstruction around the world in recent decades,very few of which are historically reliable due to a lack of accurate sources and the need to adapt a historic building,burnt down in a fire in 1613,to modern safety standards.However,with the increasing evolution of modelling systems in a virtual environment,it is now possible to analyse the theatre in a spatially and historically more consistent way with surviving data.The aim of this paper is to provide a historically and constructively valid virtual model that can reopen the debate on the shapes and dimensions of Shakespeare’s first Globe Theatre.The model has been created by collecting the main hypotheses proposed by scholars.These were used to create the basic scheme,the plans,and then the whole theatre.Finally,the model was made available to encourage its use in future research and development.

利用Virtual Quake地震模拟器研究鲜水河断裂带地震活动性与地震复发周期

2022年9月5日四川泸定6.8级地震发生在鲜水河断裂带磨西断裂上。本文依据鲜水河断裂带的断层几何形态、断层面物理力学参数、断层滑移速率等基础资料,构建断裂带三维模型,基于Virtual Quake地震模拟器开展鲜水河断裂带准静态数值模拟。对七条分支断裂独立模拟的结果显示模拟结果与历史地震的最大震级和复发周期具有较好的一致性。结果表明模型长度影响震级大小,滑移速率影响地震复发周期。断层面几何弯曲展布使得断层面应力分布不均匀,在弯曲处出现应力积累的现象,易触发地震,并出现了地震分段破裂现象,降低了几何弯曲断层的地震频次,为强震的孕育创造了条件。联合模拟的10000年时间内,鲜水河断裂带共发生了33次M≥7.0地震,最大震级为M7.6,地震活动性呈现一定的活跃期与平静期。断层系统地震间的相互应力作用和复杂的断层几何结构影响着地震迁移的复杂性。道孚断裂上相距40年发生两次M≥7.0地震,乾宁断裂北端相距5.8年发生M≥7.0双震,此类现象与历史地震有一定的相似性。

Simulation study of a magnetocardiogram based on a virtual heart model:effect of a cardiac equivalent source and a volume conductor

In this paper, we present a magnetocardiogram （MCG） simulation study using the boundary element method （BEM） and based on the virtual heart model and the realistic human volume conductor model. The different contributions of cardiac equivalent source models and volume conductor models to the MCG are deeply and comprehensively investigated. The single dipole source model, the multiple dipoles source model and the equivalent double layer （EDL） source model are analysed and compared with the cardiac equivalent source models. Meanwhile, the effect of the volume conductor model on the MCG combined with these cardiac equivalent sources is investigated. The simulation results demonstrate that the cardiac electrophysiological information will be partly missed when only the single dipole source is taken, while the EDL source is a good option for MCG simulation and the effect of the volume conductor is smallest for the EDL source. Therefore, the EDL source is suitable for the study of MCG forward and inverse problems, and more attention should be paid to it in future MCG studies.

Top-level modeling theory of multi-discipline virtual prototype

Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based on the multi-disciplinary heteroge- neous models has brought great challenges to the modeling and simulation （M＆S） science and technology. This paper presents a top-level modeling theory based on the meta modeling framework （M2F） of the COllaborative SIMulation （COSlM） theory of virtual prototyping to solve the problems. Firstly the fundamental prin- ciples of the top-level modeling theory are decribed to expound the premise, assumptions, basic conventions and special require- ments in the description of complex heterogeneous systems. Next the formalized definitions for each factor in top level modeling are proposed and the hierarchical nature of them is illustrated. After demonstrating that they are self-closing, this paper divides the top- level modeling into two views, static structural graph and dynamic behavioral graph. Finally, a case study is discussed to demon- strate the feasibility of the theory.

COLLISION AVOIDANCE DECISION-MAKING MODEL OF MULTI-AGENTS IN VIRTUAL DRIVING ENVIRONMENT WITH ANALYTIC HIERARCHY PROCESS

Collision avoidance decision-making models of multiple agents in virtual driving environment are studied. Based on the behavioral characteristics and hierarchical structure of the collision avoidance decision-making in real life driving, delphi approach and mathematical statistics method are introduced to construct pair-wise comparison judgment matrix of collision avoidance decision choices to each collision situation. Analytic hierarchy process （AHP） is adopted to establish the agents＇ collision avoidance decision-making model. To simulate drivers＇ characteristics, driver factors are added to categorize driving modes into impatient mode, normal mode, and the cautious mode. The results show that this model can simulate human＇s thinking process, and the agents in the virtual environment can deal with collision situations and make decisions to avoid collisions without intervention. The model can also reflect diversity and uncertainly of real life driving behaviors, and solves the multi-objective, multi-choice ranking priority problem in multi-vehicle collision scenarios. This collision avoidance model of multi-agents model is feasible and effective, and can provide richer and closer-to-life virtual scene for driving simulator, reflecting real-life traffic environment more truly, this model can also promote the practicality of driving simulator.

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.

Characterization for elastic constants of fused deposition modelling-fabricated materials based on the virtual fields method and digital image correlation

Fused deposition modelling(FDM), a widely used rapid prototyping process, is a promising technique in manufacturing engineering. In this work, a method for characterizing elastic constants of FDM-fabricated materials is proposed. First of all, according to the manufacturing process of FDM, orthotropic constitutive model is used to describe the mechanical behavior. Then the virtual fields method(VFM) is applied to characterize all the mechanical parameters(Q, Q, Q, Q) using the full-field strain,which is measured by digital image correlation(DIC). Since the principal axis of the FDM-fabricated structure is sometimes unknown due to the complexity of the manufacturing process, a disk in diametrical compression is used as the load configuration so that the loading angle can be changed conveniently. To verify the feasibility of the proposed method, finite element method(FEM) simulation is conducted to obtain the strain field of the disk. The simulation results show that higher accuracy can be achieved when the loading angle is close to 30?. Finally, a disk fabricated by FDM was used for the experiment. By rotating the disk, several tests with different loading angles were conducted. To determine the position of the principal axis in each test, two groups of parameters(Q, Q, Q, Q) are calculated by two different groups of virtual fields. Then the corresponding loading angle can be determined by minimizing the deviation between two groups of the parameters. After that, the four constants(Q, Q, Q, Q) were determined from the test with an angle of 27?.

Virtual population pharmacokinetic using physiologically based pharmacokinetic model for evaluating bioequivalence of oral lacidipine formulations in dogs

The aim of the present study was to investigate virtual population pharmacokinetic using physiologically based pharmacokinetic(PBPK) model for evaluating bioequivalence of oral lacidipine formulations in dogs. The dissolution behaviors of three lacidipine formulations including one commercial product and two self-made amorphous solid dispersions(ASDs)capsules were determined in 0.07% Tween 80 media. A randomized 3-period crossover design in 6 healthy beagle dogs after oral administration of the three formulations at a single dose of 4 mg was conducted. The PBPK modeling was utilized for the virtual bioequivalence study.In vitro dissolution experiment showed that the dissolution behaviors of lacidipine amorphous solid dispersions(ASDs) capsules, which was respectively prepared by HPMC-E5 or Soluplus, as polymer displayed similar curves compared with the reference formulation in 0.07% Tween 80 media. In vivo pharmacokinetics experiments showed that three formulations had comparable maximum plasma drug concentration(Cmax), and the time(Tmax) to reach Cmax of lacidipine tablet, which was prepared by Soluplus, as polymer was slower than other two formulations in consistency with the in vitro dissolution rate. The 90% confidence interval(CI) for the Cmax, AUC0–24 h and AUC0–∞ of the ratio of the test drug to the reference drug exceeded the acceptable bioequivalence(BE) limits(0.80–1.25). However, the 90% CI of the AUC0–24 h, AUC0–∞ and Cmax of the ratio of test to reference drug were within the BE limit,calculated using PBPK modeling when the virtual subjects reached 24 dogs. The results all demonstrated that virtual bioequivalence study can overcome the inequivalence caused by inter-subject variability of the 6 beagle dogs involved in in vivo experiments.

Virtual reality approach for 3D large model browsing on web site

Using virtual reality for interactive design gives a designer an intuitive vision of a design and allows the designer to achieve a viable, optimal solution in a timely manner. The article discusses the process of making the Virtual Reality System of the Humble Administrator’s Garden. Translating building data to the Virtual Reality Modeling Language (VRML) is by far unsatisfactory. This creates a challenge for computer designers to do optimization to meet requirements. Five different approaches to optimize models have been presented in this paper. The other methods are to optimize VRML and to reduce the file size. This is done by keeping polygon counts to a minimum and by applying such techniques as object culling and level-of- detail switching.

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.

A new approach for time effect analysis of settlement for single pile based on virtual soil-pile model

A new approach is proposed to analyze the settlement behavior for single pile embedded in layered soils.Firstly,soil layers surrounding pile shaft are simulated by using distributed Voigt model,and finite soil layers under the pile end are assumed to be virtual soil-pile whose cross-section area is the same as that of the pile shaft.Then,by means of Laplace transform and impedance function transfer method to solve the static equilibrium equation of pile,the analytical solution of the displacement impedance function at the pile head is derived.Furthermore,the analytical solution of the settlement at the head of single pile is theoretically derived by virtue of convolution theorem.Based on these solutions,the influences of parameters of soil-pile system on the settlement behavior for single pile are analyzed.Also,comparison of the load-settlement response for two well-instrumented field tests in multilayered soils is given to demonstrate the effectiveness and accuracy of the proposed approach.It can be noted that the presented solution can be used to calculate the settlement of single pile for the preliminary design of pile foundation.

Modular Fixture Assembly Model for Virtual Assembly Design

To support modular fixture assembly design in virtual environment,a multi-view based modular fixture virtual assembly model is proposed.Instead of squeezing all assembly related information into a single model,three complementary views of assembly model,element information,function and structure,and assembly relationship are proposed to be used.The first view contains the detailed element information,while the other two explicitly capture the hierarchical function relationships and mating relationships respectively.These views are complementary in the sense that each view only contains a specific aspect of assembly related information while together they include required assembly related information.The proposed assembly model is specialized to accommodate the features of modular fixture virtual assembly design and applied in our developed prototype system.

Universal Mechanism Modeling Method in Virtual Assembly Environment

Motion simulation and performance analysis of mechanism are important methods for analyzing assembly quality after finishing assembly simulation in virtual assembly environment. However, most simulation systems have no function of mechanism motion simulation due to the randomicity of mechanism and lack of universal mechanism modeling method. In order to realize the simulation of any mechanism after finishing assembly simulation in a virtual environment, a new universal mechanism modeling method is presented. Two main models are contained in the mechanism model： information model and mathematical model. Firstly, the information model of mechanism is proposed to describe the data structure of mechanism which contains bottom geometry data, information of constraint, link, kinematic pair and physical data. Because the object of mechanism simulation is the assembly, which is assembled during the process of assembly simulation, the information of mechanism can be obtained automatically through mechanism automatic search method. Secondly, mathematical model of mechanism is presented. The mathematical model uses mathematical method to express the mechanism. In order to realize the automatic expression of any random mechanism, basic constraint library is presented, consequently random mechanism can be described based on the basic constraint library. Finally, two examples are introduced to validate the method in the prototype system named VAPP（Virtual Assembly Process Planning）. The validation result shows that the mechanism modeling provides a universal modeling method for mechanism motion simulation in virtual assembly environment. This research has important effect on the development both of mechanism motion simulation and virtual assembly.