Results for “Observing System Simulation” — Page 45

NASA NTRS2003

Preliminary Analysis and Simulations of July 23rd Extended Anvil Case

A key focus of CRYSTAL-FACE (Cirrus Regional Study of Tropical Anvils and cirrus Layers - Florida Area Cirrus Experiment) was the generation and subsequent evolution of cirrus outflow from deep convective cloud systems. A preliminary integrated look at the observations of an extended cirrus anvil cloud system observed on 23 July 2002 will be presented, including lidar and millimeter radar observations from NASA's ER-2 and in- situ observations from NASA's WB-57 and University of North Dakota Citation. The observations will be compared to preliminary results of simulations using 1-D and 2-D high-resolution (100 meter) cloud resolving models. The CRMs explicitly account for cirrus microphysical development by resolving the evolving ice crystal size distribution (bin model) in time and space. Both homogeneous and heterogeneous nucleation are allowed in the model. The CRM simulations are driven using the output of regional simulations using MM5 that produces deep convection similar to what was observed. The MM5 model employs a 2 km inner grid (32 layers) over a 360 km domain, nested within a 6 km grid over a 600 km domain. Initial and boundary conditions for the 36- hour MM5 simulation are taken from NCEP Eta model analysis at 32 km resolution. Key issues to be explored are the settling of the observed anvil versus the model simulations, and comparisons of dynamical properties, such as vertical motions, occurring in the observations and models. The former provides an integrated measure of the validity of the model microphysics (fallspeed) while the latter is the key factor in forcing continued ice generation.

Lin, R.-F.↗

NASA NTRS1994

A distributed analysis and visualization system for model and observational data

Software was developed with NASA support to aid in the analysis and display of the massive amounts of data generated from satellites, observational field programs, and from model simulations. This software was developed in the context of the PATHFINDER (Probing ATmospHeric Flows in an Interactive and Distributed EnviRonment) Project. The overall aim of this project is to create a flexible, modular, and distributed environment for data handling, modeling simulations, data analysis, and visualization of atmospheric and fluid flows. Software completed with NASA support includes GEMPAK analysis, data handling, and display modules for which collaborators at NASA had primary responsibility, and prototype software modules for three-dimensional interactive and distributed control and display as well as data handling, for which NSCA was responsible. Overall process control was handled through a scientific and visualization application builder from Silicon Graphics known as the Iris Explorer. In addition, the GEMPAK related work (GEMVIS) was also ported to the Advanced Visualization System (AVS) application builder. Many modules were developed to enhance those already available in Iris Explorer including HDF file support, improved visualization and display, simple lattice math, and the handling of metadata through development of a new grid datatype. Complete source and runtime binaries along with on-line documentation is available via the World Wide Web at: http://redrock.ncsa.uiuc.edu/ PATHFINDER/pathre12/top/top.html.

Wilhelmson, Robert B.↗

NASA NTRS2018

Linking Asteroid Detections from the Large Synoptic Survey Telescope

We have conducted a detailed simulation of the Large Synoptic Survey Telescope (LSST) in order to understand the system’s ability to link detections of asteroids within and across nights in order to populate a catalog of asteroid orbits. We show that LSST, using its baseline survey cadence, should be able to successfully link and catalog asteroids. In our simulation of a single monthly observing cycle, LSST produced 66 million candidate detections of main belt asteroids (MBAs) and near Earth objects (NEOs), of which 77% were spurious detections related to detector noise or image processing. Using the Moving Object Processing System, we were able to assemble single-night “tracklets” with negligible losses, but a purity of only 43%. The next stage of linking led to three-night orbits with data sets no more than 12 days in length, and it is at this stage that the false detections are readily removed from the data stream. Main-belt linkages were essentially complete and 99.8% pure. Similarly, only 0.02% of linked detections involving NEOs were spurious. On the other hand, NEO linking was 93.6% complete, indicating that 6.4% of potentially findable NEOs were not successfully linked. We believe that this rate can be improved with careful tuning of the MOPS linking algorithms. The NEO catalog was affected by main-belt confusion so that mis-linked MBAs appeared as NEOs, and many correctly linked MBAs were consistent with NEO orbits. We show that these cases arise primarily from MBAs detected at lower solar elongations and we postulate that this is an artifact of a one month simulation that will be readily resolved by surveying over many months.

Chesley, Steven R.↗

NASA NTRS1984

Simulation Experiments on the Relative Accuracy of Inferred Atmospheric States from Idealized Wind and Temperature Profiling Systems

The First GARP Global Experiment (FGGE) led to the planning, design and implementation of a global observing system. Technologies as coherent CO2 LIDAR systems and highly sensitive IR detectors offer the potential of more accurate global spaceborne observation systems. The advent of super computers allows general circulation modeling and more sophisticated data analysis schemes. The consideration of advanced spaceborne systems better suited to meet the new emerging requirements are suggested. The Global Weather Experiment provides us with a new baseline to assess data accuracy and forecasting capabilities which is used for study of the incremental performance.

Halem, M.↗

NASA NTRS2018

Evaluation of a High-Resolution Numerical Weather Prediction Model’s Simulated Clouds Using Observations from CloudSat, GOES-13 and in Situ Aircraft

This study aimed to assess tropical cloud properties predicted by Environment and Climate Change Canada’s Global Environmental Multiscale (GEM)modelwhen run with the Milbrandt–Yau double-moment cloud microphysical scheme and one-way nesting that culminated at a (∼300 km)2 inner domain with 0.25 km horizontal grid spacing. The assessment utilized satellite and in situ data collected during the High Ice Water Content (HIWC) and High Altitude Ice Crystals (HAIC) projects for a mesoscale convective system on 16May 2015 over French Guiana.Data fromCloud- Sat’s cloud-profiling radar and GOES-13’s imager were compared to data either simulated directly by GEM or produced by operating on GEM’s cloud data with both the CFMIP (Cloud Feedback Model Intercomparison Project) Observation Simulator Package (COSP) instrument simulator and a three-dimensional Monte Carlo solar radiative transfer model. In situ observations were made from research aircraft – Canada’s National Research Council Convair-580 and the French SAFIRE Falcon-20 – whose flight paths were aligned with CloudSat’s ground-track. Spatial and temporal shifts of clouds simulated by GEM compared well to GOES-13 imagery. There are, however, differences between simulated and observed amounts of high and low cloud. While GEM did well at predicting ranges of ice-water content (IWC) near 11 km altitude (Falcon-20), it produces too much graupel and snow near 7 km (Convair-580). This produced large differences between CloudSat’s and COSP-generated radar reflectivities and two-way attenuations. On the other hand, CloudSat’s inferred values of IWC agree well with in situ samples at both altitudes. Generally, GEM’s visible reflectances exceeded GOES-13’s on account of having produced too much low-level liquid cloud. It is expected that GEM’s disproportioning of cloud hydrometeors will improve once it includes a better representation of secondary ice production.

Qu, Zhipeng↗

NASA NTRS2019

POLARRIS: A POLArimetric Radar Retrieval and Instrument Simulator

This paper introduces a synthetic polarimetric radar simulator and retrieval package, POLArimetric Radar Retrieval and Instrument Simulator (POLARRIS), for evaluating cloud‐resolving models (CRMs). POLARRIS is composed of forward (POLARRIS‐f) and inverse (retrieval and diagnostic) components (iPOLARRIS) to generate not only polarimetric radar observables (Zh, Zdr, Kdp, ρhv) but also radar‐consistent geophysical parameters such as hydrometeor identification, vertical velocity, and rainfall rates retrieved from CRM data. To demonstrate its application and uncertainties, POLARRIS is applied to simulations of a mesoscale convective system over the Southern Great Plains on 23 May 2011, using the Weather Research and Forecasting model with both spectral bin microphysics (SBM) and the Goddard single‐moment bulk 4ICE microphysics. Statistical composites reveal a significant dependence of simulated polarimetric observables (Zdr, Kdp) on the assumptions of the particle axis ratio (oblateness) and orientation angle distributions. The simulated polarimetric variables differ considerably between the SBM and 4ICE microphysics in part due to the differences in their ice particle size distributions as revealed by comparisons with aircraft measurements. Regardless of these uncertainties, simulated hydrometeor identification distributions overestimate graupel and hail fractions, especially from the simulation with SBM. To minimize uncertainties in forward model, the particle shape and orientation angle distributions of frozen particles should be predicted in a microphysics scheme in addition to the size distributions and particle densities.

Toshi Matsui↗

NASA NTRS1989

Modeling, simulation, and analysis of optical remote sensing systems

Remote Sensing of the Earth's resources from space-based sensors has evolved in the past 20 years from a scientific experiment to a commonly used technological tool. The scientific applications and engineering aspects of remote sensing systems have been studied extensively. However, most of these studies have been aimed at understanding individual aspects of the remote sensing process while relatively few have studied their interrelations. A motivation for studying these interrelationships has arisen with the advent of highly sophisticated configurable sensors as part of the Earth Observing System (EOS) proposed by NASA for the 1990's. Two approaches to investigating remote sensing systems are developed. In one approach, detailed models of the scene, the sensor, and the processing aspects of the system are implemented in a discrete simulation. This approach is useful in creating simulated images with desired characteristics for use in sensor or processing algorithm development. A less complete, but computationally simpler method based on a parametric model of the system is also developed. In this analytical model the various informational classes are parameterized by their spectral mean vector and covariance matrix. These class statistics are modified by models for the atmosphere, the sensor, and processing algorithms and an estimate made of the resulting classification accuracy among the informational classes. Application of these models is made to the study of the proposed High Resolution Imaging Spectrometer (HRIS). The interrelationships among observational conditions, sensor effects, and processing choices are investigated with several interesting results.

Kerekes, John Paul↗

NASA NTRS1988

Materials selection for long life in LEO: A critical evaluation of atomic oxygen testing with thermal atom systems

The use of thermal atom test methods as a materials selection and screening technique for low-Earth orbit (LEO) spacecraft is critically evaluated. The chemistry and physics of thermal atom environments are compared with the LEO environment. The relative reactivities of a number of materials determined to be in thermal atom environments are compared to those observed in LEO and in high quality LEO simulations. Reaction efficiencies measured in a new type of thermal atom apparatus are one-hundredth to one-thousandth those observed in LEO, and many materials showing nearly identical reactivities in LEO show relative reactivities differing by as much as a factor of 8 in thermal atom systems. A simple phenomenological kinetic model for the reaction of oxygen atoms with organic materials can be used to explain the differences in reactivity in different environments. Certain specific thermal test environments can be used as reliable materials screening tools. Using thermal atom methods to predict material lifetime in LEO requires direct calibration of the method against LEO data or high quality simulation data for each material.

Koontz, S. L.↗

NASA NTRS1998

Polar Wind Measurements with TIDE/PSI and HYDRA on the Polar Spacecraft

The Thermal Ion Dynamics Experiment (TIDE) on the POLAR spacecraft has allowed sampling of the three-dimensional ion distributions with excellent energy, angular, and mass resolution. The companion Plasma Source Instrument, when operated, allows sufficient diminution of the electric potential to observe the polar wind at very high altitudes. In this presentation, we will describe the results of polar wind characteristics H+, He+, and 0+ as observed by TIDE at 5000 km and 8 RE altitudes. The relationship of the polar wind parameters with the solar zenith angle and with the day-night distance in the Solar Magnetic coordinate system will also be presented. We will compare these measurements with recent simulations of the photoelectron-driven polar wind using a couple fluid-semikinetic model. In addition, we will compare these polar wind observations with low-energy electrons sampled by the HYDRA experiment on POLAR to examine possible effects of the polar rain and photoelectrons and hopefully explain the large ion outflow velocity variations at POLAR apogee.

Su, Y. J.↗

NASA NTRS1973

High temperature antenna development for space shuttle, volume 1

Design concepts for high temperature flush mounted Space Shuttle Orbiter antenna systems are discussed. The design concepts include antenna systems for VHF, L-band, S-band, C-band and Ku-band frequencies. The S-band antenna system design was completed and test hardware fabricated. It was then subjected to electrical and thermal testing to establish design requirements and determine reuse capabilities. The thermal tests consisted of applying ten high temperature cycles simulating the Orbiter entry heating environment in an arc tunnel plasma facility and observing the temperature distributions. Radiation pattern and impedance measurements before and after high temperature exposure were used to evaluated the antenna systems performance. Alternate window design concepts are considered. Layout drawings, supported by thermal and strength analyses, are given for each of the antenna system designs. The results of the electrical and thermal testing of the S-band antenna system are given.

Kuhlman, E. A.↗

NASA NTRS2023

Modeling and Simulation of the Angel Upper Limb Offload Device: Branching Into New Methods

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.

L B Nilsson↗

NASA NTRS2023

Modeling and Simulation of The Angel Upper Limb Offload Device: Branching into New Methods

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.

L B Nilsson↗

NASA NTRS1981

Laser shadowgraph and schlieren studies of gravity-related flow during solidification

Shadowgraph and schlieren techniques were used to observe gravity-related flow arising during solidification. The purpose of these studies was to elucidate the results of previous low gravity solidification experiments. Shadowgraph and schlieren techniques were selected as most suitable for operation in the anticipated experimental environment. A laser shadowgraph/schlieren system was built and flown on KC-135 low gravity simulation flights. A solution of ammonium chloride and water was cooled during the experiment, causing solidification. Growth plumes in the solution were observed and photographed using shadowgraph and schlieren techniques. Results are presented and related to previous work.

Owen, R. B.↗

NASA NTRS2014

3D Radiative Transfer in Eta Carinae: Application of the SimpleX Algorithm to 3D SPH Simulations of Binary Colliding Winds

Eta Carinae is an ideal astrophysical laboratory for studying massive binary interactions and evolution, and stellar wind-wind collisions. Recent three-dimensional (3D) simulations set the stage for understanding the highly complex 3D flows in eta Car. Observations of different broad high- and low-ionization forbidden emission lines provide an excellent tool to constrain the orientation of the system, the primary's mass-loss rate, and the ionizing flux of the hot secondary. In this work we present the first steps towards generating synthetic observations to compare with available and future HST/STIS data. We present initial results from full 3D radiative transfer simulations of the interacting winds in eta Car.We use the SimpleX algorithm to post-process the output from 3D SPH simulations and obtain the ionization fractions of hydrogen and helium assuming three different mass-loss rates for the primary star. The resultant ionization maps of both species constrain the regions where the observed forbidden emission lines can form. Including collisional ionization is necessary to achieve a better description of the ionization states, especially in the areas shielded from the secondary's radiation. We find that reducing the primary's mass-loss rate increases the volume of ionized gas, creating larger areas where the forbidden emission lines can form.We conclude that post processing 3D SPH data with SimpleX is a viable tool to create ionization maps for eta Car.

Eta Carinae↗

NASA NTRS2014

3D Radiative Transfer in Eta Carinae: Application of the SimpleX Algorithm to 3D SPH Simulations of Binary Colliding Winds

Eta Carinae is an ideal astrophysical laboratory for studying massive binary interactions and evolution, and stellar wind-wind collisions. Recent three-dimensional (3D) simulations set the stage for understanding the highly complex 3D flows in Eta Car. Observations of different broad high- and low-ionization forbidden emission lines provide an excellent tool to constrain the orientation of the system, the primary's mass-loss rate, and the ionizing flux of the hot secondary. In this work we present the first steps towards generating synthetic observations to compare with available and future HST/STIS data. We present initial results from full 3D radiative transfer simulations of the interacting winds in Eta Car. We use the SimpleX algorithm to post-process the output from 3D SPH simulations and obtain the ionization fractions of hydrogen and helium assuming three different mass-loss rates for the primary star. The resultant ionization maps of both species constrain the regions where the observed forbidden emission lines can form. Including collisional ionization is necessary to achieve a better description of the ionization states, especially in the areas shielded from the secondary's radiation. We find that reducing the primary's mass-loss rate increases the volume of ionized gas, creating larger areas where the forbidden emission lines can form. We conclude that post processing 3D SPH data with SimpleX is a viable tool to create ionization maps for Eta Car.

3D radiative transfer simulations↗

NASA NTRS2019

Soil Moisture Data Assimilation

Accurate knowledge of soil moisture at the continental scale is important for improving predictions of weather, agricultural productivity and natural hazards, but observations of soil moisture at such scales are limited to indirect measurements, either obtained through satellite remote sensing or from meteorological networks. Land surface models simulate soil moisture processes, using observation-based meteorological forcing data, and auxiliary information about soil, terrain and vegetation characteristics. Enhanced estimates of soil moisture and other land surface variables, along with their uncertainty, can be obtained by assimilating observations of soil moisture into land surface models. These assimilation results are of direct relevance for the initialization of hydro-meteorological ensemble forecasting systems. The success of the assimilation depends on the choice of the assimilation technique, the nature of the model and the assimilated observations, and, most importantly, the characterization of model and observation error. Systematic differences between satellite-based microwave observations or satellite-retrieved soil moisture and their simulated counterparts require special attention. Other challenges include inferring root-zone soil moisture information from observations that pertain to a shallow surface soil layer, propagating information to unobserved areas and downscaling of coarse information to finer-scale soil moisture estimates. This chapter summarizes state-of-the-art solutions to these issues with conceptual data assimilation examples, using techniques ranging from simplified optimal interpolation to spatial ensemble Kalman filtering. In addition, operational soil moisture assimilation systems are discussed that support numerical weather prediction at ECMWF and provide value-added soil moisture products for the NASA Soil Moisture Active Passive mission.

radar backscatter↗

NASA NTRS1992

Midlatitude weather systems on Mars: Is there a hemispheric asymmetry?

The Viking Lander meteorology observations confirmed that midlatitude weather systems are present in the Northern Hemisphere of Mars during the autumn, winter, and early spring. These systems have properties consistent with a development through baroclinic instability of the wintertime zonal-mean circulation. It is known that the weather systems must be of importance for the zonal-mean circulation by virtue of their heat and momentum transports. Observations show that they are associated with dust raising, and they must be involved in the transport of dust; the weather systems almost certainly must act to produce significant water transports as well. Recent simulations with the ARC Mars General Circulation Model (GCM) show that the heat transports by the weather system (and by the zonal-mean circulation) during northern winter can be very substantial: large enough to significantly reduce the CO2 condensation at polar latitudes. This could be largely responsible for the observed early spring halt in the north polar cap recession and for the presence of westerly winds near the cap edge during this season.

Barnes, J. R.↗

NASA NTRS2003

Simulation System for Training in Laparoscopic Surgery

A computer-based simulation system creates a visual and haptic virtual environment for training a medical practitioner in laparoscopic surgery. Heretofore, it has been common practice to perform training in partial laparoscopic surgical procedures by use of a laparoscopic training box that encloses a pair of laparoscopic tools, objects to be manipulated by the tools, and an endoscopic video camera. However, the surgical procedures simulated by use of a training box are usually poor imitations of the actual ones. The present computer-based system improves training by presenting a more realistic simulated environment to the trainee. The system includes a computer monitor that displays a real-time image of the affected interior region of the patient, showing laparoscopic instruments interacting with organs and tissues, as would be viewed by use of an endoscopic video camera and displayed to a surgeon during a laparoscopic operation. The system also includes laparoscopic tools that the trainee manipulates while observing the image on the computer monitor (see figure). The instrumentation on the tools consists of (1) position and orientation sensors that provide input data for the simulation and (2) actuators that provide force feedback to simulate the contact forces between the tools and tissues. The simulation software includes components that model the geometries of surgical tools, components that model the geometries and physical behaviors of soft tissues, and components that detect collisions between them. Using the measured positions and orientations of the tools, the software detects whether they are in contact with tissues. In the event of contact, the deformations of the tissues and contact forces are computed by use of the geometric and physical models. The image on the computer screen shows tissues deformed accordingly, while the actuators apply the corresponding forces to the distal ends of the tools. For the purpose of demonstration, the system has been set up to simulate the insertion of a flexible catheter in a bile duct. [As thus configured, the system can also be used to simulate other endoscopic procedures (e.g., bronchoscopy and colonoscopy) that include the insertion of flexible tubes into flexible ducts.] A hybrid approach has been followed in developing the software for real-time simulation of the visual and haptic interactions (1) between forceps and the catheter, (2) between the forceps and the duct, and (3) between the catheter and the duct. The deformations of the duct are simulated by finite-element and modalanalysis procedures, using only the most significant vibration modes of the duct for computing deformations and interaction forces. The catheter is modeled as a set of virtual particles uniformly distributed along the center line of the catheter and connected to each other via linear and torsional springs and damping elements. The interactions between the forceps and the duct as well as the catheter are simulated by use of a ray-based haptic-interaction- simulating technique in which the forceps are modeled as connected line segments.

Basdogan, Cagatay↗