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DOE OSTI2023

An ultrahigh-resolution E3SM land model simulation framework and its first application to the Seward Peninsula in Alaska

The availability of supercomputers and state-of-science datasets has made it possible to conduct large-scale land simulations at an ultrahigh-resolution. This study reported a computational framework for land surface simulation using the E3SM land model (ELM) at an unprecedented resolution (1 km x 1 km gridcell). The ultrahigh-resolution ELM (uELM) simulation framework includes three parts: (1) high-resolution atmospheric forcing and surface properties dataset generation, (2) massive gridcell-based simulation, and (3) large-scale simulation results analysis. Additionally, we implemented the uELM simulation framework and completed the first 1 km x 1 km terrestrial ecosystem simulation (from 1850 to 2014) over the Seward Peninsula in Alaska (78,000 km 2 ). The experiment contained two phases: a spin-up simulation and a transient simulation, and required five weeks of calculations using 320 cores in a 44-node Linux HPC computer. It created approximately 1.3 TB of data from the transient simulation alone (1850 - present). We selected sample results (monthly and daily simulation outputs) to illustrate the temporal and spatial variations of several variables in high-latitude Arctic ecosystems’ water, energy, and carbon cycles. At last, we summarized the lessons learned and proposed new developments for full-scale uELM simulations over the entire North American continent (approximately 22,000,000 km 2 ).

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2016

Simulation Credibility: Advances in Verification, Validation, and Uncertainty Quantification

Decision makers and other users of simulations need to know quantified simulation credibility to make simulation-based critical decisions and effectively use simulations, respectively. The credibility of a simulation is quantified by its accuracy in terms of uncertainty, and the responsibility of establishing credibility lies with the creator of the simulation. In this volume, we present some state-of-the-art philosophies, principles, and frameworks. The contributing authors involved in this publication have been dedicated to advancing simulation credibility. They detail and provide examples of key advances over the last 10 years in the processes used to quantify simulation credibility: verification, validation, and uncertainty quantification. The philosophies and assessment methods presented here are anticipated to be useful to other technical communities conducting continuum physics-based simulations; for example, issues related to the establishment of simulation credibility in the discipline of propulsion are discussed. We envision that simulation creators will find this volume very useful to guide and assist them in quantitatively conveying the credibility of their simulations.

Simulation Credibility↗

NASA NTRS2016

Modeling and Simulation of Phased Array Antennas to Support Next-Generation Satellite Design

Developing enhanced simulation capabilities has become a significant priority for the Space Communications and Navigation (SCaN) project at NASA as new space communications technologies are proposed to replace aging NASA communications assets, such as the Tracking and Data Relay Satellite System (TDRSS). When developing the architecture for these new space communications assets, it is important to develop updated modeling and simulation methodologies, such that competing architectures can be weighed against one another and the optimal path forward can be determined. There have been many simulation tools developed here at NASA for the simulation of single RF link budgets, or for the modeling and simulation of an entire network of spacecraft and their supporting SCaN network elements. However, the modeling capabilities are never fully complete and as new technologies are proposed, gaps are identified. One such gap is the ability to rapidly develop high fidelity simulation models of electronically steerable phased array systems. As future relay satellite architectures are proposed that include optical communications links, electronically steerable antennas will become more desirable due to the reduction in platform vibration introduced by mechanically steerable devices. In this research, we investigate how modeling of these antennas can be introduced into out overall simulation and modeling structure. The ultimate goal of this research is two-fold. First, to enable NASA engineers to model various proposed simulation architectures and determine which proposed architecture meets the given architectural requirements. Second, given a set of communications link requirements for a proposed satellite architecture, determine the optimal configuration for a phased array antenna. There is a variety of tools available that can be used to model phased array antennas. To meet our stated goals, the first objective of this research is to compare the subset of tools available to us, trading-off modeling fidelity of the tool with simulation performance. When comparing several proposed architectures, higher- fidelity modeling may be desirable, however, when iterating a proposed set of communication link requirements across ranges of phased array configuration parameters, the practicality of performance becomes a significant requirement. In either case, a minimum simulation - fidelity must be met, regardless of performance considerations, which will be discussed in this research. Given a suitable set of phased array modeling tools, this research then focuses on integration with current SCaN modeling and simulation tools. While properly modeling the antenna elements of a system are vital, this is only a small part of the end-to-end communication path between a satellite and the supporting ground station and/or relay satellite assets. To properly model a proposed simulation architecture, this toolset must be integrated with other commercial and government development tools, such that the overall architecture can be examined in terms of communications, reliability, and cost. In this research, integration with previously developed communication tools is investigated.

Phased Array↗

NASA NTRS2024

Characterization of NUW-LHT-5m, A Lunar Highland Simulant

A new simulant of the lunar highlands regolith, NUW-LHT-5M, was designed by NASA and manufactured by Washington Mills. The simulant was based on Apollo 16 data and is a member of the NU-LHT-series. NASA’s Marshall Space Flight Center and Johnson Space Center have already purchased 3 metric tons of the simulant for advanced engineering work. In support of engineering uses of the simulant, we provided measurements of the simulant including: mineral abundance and composition, liberation, X-ray fluorescence (XRF), ferrous iron, carbon, sulfur, 60 element inductively coupled plasma (ICP), loss on ignition, particle size, both 2D and 3D particle shape, specific surface area, shear, cohesion, internal friction, helium pycnometry, minimum index density, tap density, magnetic susceptibility, cryogenic and high temperature permittivity, visible and near-infrared (VNIR) and middle infra-red spectroscopy (MIR), differential scanning calorimetry (DSC), viscosity, thermal diffusivity, thermal conductivity, thermal gravimetric analysis (TGA), evolved gas analysis (EGA), and spark sintering. For the crystalline components the design of the simulant called for two rocks from the Stillwater Complex, Montana: 17.6 wt% norite, 37.7% anorthosite, and 4.7 wt% olivine from an unspecified commercial source. The other 40% of the simulant was a high calcium (An100), vesicular glass that Washington Mills made specifically for the simulant. Fabrication and quality control processes for both the glass and the simulant are described. Importantly, most of the graphs and tables presented herein provide values for both the new simulant and data for the older NASA mare simulant, JSC-1A. Finally, we discussed the current limitations of NUW-LT-5M and most other lunar regolith simulants to replicate the lunar material.

lunar regolith simulant↗

DOE OSTI2024

Parallel Simulation of Quantum Networks with Distributed Quantum State Management

Quantum network simulators offer the opportunity to cost-efficiently investigate potential avenues for building networks that scale with the number of users, communication distance, and application demands by simulating alternative hardware designs and control protocols. Several quantum network simulators have been recently developed with these goals in mind. As the size of the simulated networks increases, however, sequential execution becomes time-consuming. Parallel execution presents a suitable method for scalable simulations of large-scale quantum networks, but the unique attributes of quantum information create unexpected challenges. In this work, we identify requirements for parallel simulation of quantum networks and develop the first parallel discrete-event quantum network simulator by modifying the existing serial simulator SeQUeNCe. Our contributions include the design and development of a quantum state manager (QSM) that maintains shared quantum information distributed across multiple processes. We also optimize our parallel code by minimizing the overhead of the QSM and decreasing the amount of synchronization needed among processes. Using these techniques, we observe a speedup of 2 to 25 times when simulating a 1,024-node linear network topology using 2 to 128 processes. We also observe an efficiency greater than 0.5 for up to 32 processes in a linear network topology of the same size and with the same workload. We repeat this evaluation with a randomized workload on a caveman network. We also introduce several methods for partitioning networks by mapping them to different parallel simulation processes. We have released the parallel SeQUeNCe simulator as an open source tool alongside the existing sequential version.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2022

ASPIRES: Airport Shuttle Planning and Improved Routing Event-driven Simulation

Most of the existing traffic simulation packages require significant calibration work to be able to reflect reality. To evaluate special operations including emerging technologies, a microscopic simulation that tracks detailed interactions of all the elements of the traffic systems is usually needed. This type of simulation is usually computationally demanding. This work developed an Airport Shuttle Planning and Improved Routing Event-driven Simulation (ASPIRES) package to simulate and evaluate current, potential, and future airport shuttle operations. Here, the simulation was driven by data and thus did not require much calibration effort. The discrete-event simulation nature of ASPIRES makes the simulation computationally efficient. Simulating 1 day of shuttle operations takes less than 2s. The study site of this work is the Dallas/Fort Worth International Airport in the U.S. The shuttle service that connects the five terminals of the airport and the rental car center was studied. Travel times, dwell times, and passenger arrivals were simulated using empirical distributions derived mainly from real data to capture the stochastic nature of the rental car center shuttle bus operations. Data on bus miles traveled, bus energy consumption, passenger wait times, and passengers left behind at stops were collected to study the trade-off between energy use and passenger experience. Electric bus and on-demand bus operations were also included. The simulation outputs can show passengers statistics at terminals, shuttles statistics, and charging station statistics. ASPIRES cannot be used to model a generic traffic system but is well-suited for fleet systems.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2021

Assessment of a Detailed Biomass Pyrolysis Kinetic Scheme in Multiscale Simulations of a Single-Particle Pyrolyzer and a Pilot-Scale Entrained Flow Pyrolyzer

A detailed biomass pyrolysis kinetic scheme was assessed in the multiscale simulations of a single-particle pyrolyzer with slow pyrolysis and a pilot-scale entrained flow pyrolyzer with fast pyrolysis. The detailed kinetic scheme of biomass pyrolysis developed by the CRECK group consists of 32 reactions and 58 species. A multiscale simulation model was developed, where the CRECK kinetics was employed to simulate biomass pyrolysis reactions, a one-dimensional particle model was utilized to simulate the intraparticle transport phenomena, and the particle-in-cell (PIC) model was employed to simulate the hydrodynamics. The multiscale model was first applied to simulate a single-particle pyrolysis experiment. The simulation with nonisothermal particles matched the experimental data better than the simulation with isothermal particles. Then the multiscale model was applied to simulate the pilot-scale entrained flow pyrolyzer. In this case, the simulation with isothermal particles matched the experimental data better than the simulation with nonisothermal particles. The reason for this difference might be that the kinetics itself already partially included the intraparticle transport effect as it was fitted using both TGA data (slow pyrolysis of small size biomass) and fluidized bed data (fast pyrolysis of relatively large size biomass). This study provides some insights into biomass pyrolysis kinetics development and pyrolyzer multiscale simulation for a future study.

09 BIOMASS FUELS↗

DOE OSTI2019

A comparison of explosion energies for simulated and observed core-collapse supernovae

ABSTRACT There are now 20 multidimensional core-collapse supernova (CCSN) simulations that explode. However, these simulations have explosion energies that are a few times 1050 erg, not 1051 erg. In this manuscript, we compare the inferred explosion energies of these simulations and observations of 40 SN IIP. Assuming a lognormal distribution, the mean explosion energy for these observations is $\mu _{\rm obs} = -0.23^{+0.08}_{-0.12}$ ($\log _{10}(E/10^{51}\, {\rm erg})$) and the width is $\sigma _{\rm obs} = 0.52^{+0.09}_{-0.08}$. Only three CCSN codes have sufficient simulations to compare with observations: CHIMERA, CoCoNuT-FMT, and FORNAX. Currently, FORNAX has the largest sample of simulations. The two-dimensional FORNAX simulations show a correlation between explosion energy and progenitor mass, ranging from linear to quadratic, Esim ∝ M1 − 2; this correlation is consistent with inferences from observations. In addition, we infer the ratio of the observed-to-simulated explosion energies, Δ = log10(Eobs/Esim). For the CHIMERA set, Δ = 0.25 ± 0.07; for CoCoNuT-FMT, Δ = 0.49 ± 0.07; for FORNAX2D, Δ = 0.62 ± 0.06, and for FORNAX3D, Δ = 0.85 ± 0.07. On average, the simulations are less energetic than inferred energies from observations (Δ ≈ 0.6), but we also note that the variation among the simulations [max(Δ) − min(Δ) ≈ 0.6] is as large as this average offset. This suggests that further improvements to the simulations could resolve the discrepancy. Furthermore, both the simulations and observations are heavily biased. In this preliminary comparison, we model these biases, but to more reliably compare the explosion energies, we recommend strategies to unbias both the simulations and observations.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2018

Coupling Visualization, Simulation, and Deep Learning for Ensemble Steering of Complex Energy Models

We describe a new framework that allows users to explore and steer ensembles of energy systems simulations by coupling multiple energy models and interactive visualization through a dataflow API. Through the visual interface, users can interactively explore complex parameter spaces populated by hundreds, or thousands, of simulation runs and interactively spawn new simulations to 'fill in' regions of interest in the parameter space. The computational and visualization capabilities reside within a general-purpose dataflow architecture for connecting producers of multidimensional timeseries data, such as energy simulations, with consumers of that data, whether they be visualizations, statistical analyses, or datastores. Fast computation and agile dataflow can enhance the engagement with energy simulations, allowing users to populate the parameter space in real time. However, many energy simulations are far too slow to provide an interactive response. To support interactive feedback, we are creating reduced-form simulations developed through machine learning techniques, which provide statistically sound estimates of the results of the full simulations at a fraction of the computational cost. These reduced-form simulations have response times on the order of seconds, suitable for real-time human-in-the-loop design and analysis. The approximation methods apply to a wide range of computational models, including supply-chain models, electric power grid simulations, and building models. Such reduced-form representations do not replace or re-implement existing simulations, but instead supplement them by enabling rapid scenario design and exploration for large ensembles of simulations. The improved understanding, facilitated by the reduced-form models, dataflow API, and visualization tools, allows researchers to better allocate computational resources to capture informative relationships within the system as well as provide a low-cost method for validating and quality-checking large-scale modeling efforts.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Rapid Simulation of Unconventional Reservoirs by Multidomain Multiresolution Modeling Based on the Diffusive Time of Flight

Summary The fast marching method (FMM)-based rapid flow simulation has been shown to accelerate simulation efficiency by orders of magnitude by transforming 3D simulation to equivalent 1D simulation using the concept of the “diffusive time of flight” (DTOF). However, the 1D transformation does not directly apply to multiwell problems. In this paper, we propose a novel DTOF-based multidomain multiresolution discretization scheme to accelerate multiwell simulation of unconventional reservoirs. Our method formulates multiwell simulation problems based on the DTOF which displays the pressure front propagation in unconventional reservoirs. The DTOF contours are used to partition the reservoir into local and shared domains. A local domain is where the flow is dominated by a single well, and the shared domain is where the fluid flow is influenced by multiple wells. The DTOF contours expand independently in local domains and interfere in the shared domain. After the partitioning, each domain is discretized using a multiresolution scheme whereby the original 3D fine mesh is preserved near the wells to account for detailed physics including gravity, and the rest of the domain is discretized into 1D mesh based on the DTOF contours to alleviate the simulation workload. The power and efficacy of our approach are demonstrated using synthetic and field-scale simulation models with different degrees of geologic and well-completion complexity. The simulation results, number of active cells, and computation time for the proposed discretization scheme are compared with the original high-fidelity 3D model for each case. The results show that the proposed method is suitable for multiwell simulation problems in unconventional reservoirs and can accelerate flow simulations by orders of magnitude with minimal loss of accuracy. The novelty of this work is the creation of DTOF-derived multiresolution discretization with local and shared domains to simplify and accelerate the calculation of subsurface flow problems, especially in unconventional reservoirs. Our workflow can be easily interfaced with commercial simulators, making it suitable for large-scale field applications.

Engineering↗

NASA NTRS1982

Research through simulation

The design of the computer operating system at Langley Research Center allows for concurrent support of time-critical simulations and background analytical computing on the same machine. Signal path interconnections between computing hardware and flight simulation hardware is provided to allow up to six simulation programs to be in operation at one time. Capabilities and research applications are discussed for the: (1) differential maneuvering simulator; (2) visual motion simulator; (3) terminal configured vehicle simulator; (4) general aviation aircraft simulator; (5) general purpose fixed based simulator; (6) transport simulator; (7) digital fly by wire simulator; (8) general purpose fighter simulator; and (9) the roll-up cockpit. The visual landing display system and graphics display system are described and their simulator support applications are listed.

Copeland, J. L.↗

NASA NTRS1988

Using a simulation assistant in modeling manufacturing systems

Numerous simulation languages exist for modeling discrete event processes, and are now ported to microcomputers. Graphic and animation capabilities were added to many of these languages to assist the users build models and evaluate the simulation results. With all these languages and added features, the user is still plagued with learning the simulation language. Futhermore, the time to construct and then to validate the simulation model is always greater than originally anticipated. One approach to minimize the time requirement is to use pre-defined macros that describe various common processes or operations in a system. The development of a simulation assistant for modeling discrete event manufacturing processes is presented. A simulation assistant is defined as an interactive intelligent software tool that assists the modeler in writing a simulation program by translating the modeler's symbolic description of the problem and then automatically generating the corresponding simulation code. The simulation assistant is discussed with emphasis on an overview of the simulation assistant, the elements of the assistant, and the five manufacturing simulation generators. A typical manufacturing system will be modeled using the simulation assistant and the advantages and disadvantages discussed.

Schroer, Bernard J.↗

NASA NTRS2000

Hierarchical Statistical 3D ' Atomistic' Simulation of Decanano MOSFETs: Drift-Diffusion, Hydrodynamic and Quantum Mechanical Approaches

When MOSFETs are scaled to deep submicron dimensions the discreteness and randomness of the dopant charges in the channel region introduces significant fluctuations in the device characteristics. This effect, predicted 20 year ago, has been confirmed experimentally and in simulation studies. The impact of the fluctuations on the functionality, yield, and reliability of the corresponding systems shifts the paradigm of the numerical device simulation. It becomes insufficient to simulate only one device representing one macroscopical design in a continuous charge approximation. An ensemble of macroscopically identical but microscopically different devices has to be characterized by simulation of statistically significant samples. The aims of the numerical simulations shift from predicting the characteristics of a single device with continuous doping towards estimating the mean values and the standard deviations of basic design parameters such as threshold voltage, subthreshold slope, transconductance, drive current, etc. for the whole ensemble of 'atomistically' different devices in the system. It has to be pointed out that even the mean values obtained from 'atomistic' simulations are not identical to the values obtained from continuous doping simulations. In this paper we present a hierarchical approach to the 'atomistic' simulation of aggressively scaled decanano MOSFETs. A full scale 3D drift-diffusion'atomostic' simulation approach is first described and used for verification of the more economical, but also more restricted, options. To reduce the processor time and memory requirements at high drain voltage we have developed a self-consistent option based on a thin slab solution of the current continuity equation only in the channel region. This is coupled to the Poisson's equation solution in the whole simulation domain in the Gummel iteration cycles. The accuracy of this approach is investigated in comparison with the full self-consistent solution. At low drain voltage only single solution of the nonlinear Poisson equation is sufficient to extract the current with satisfactory accuracy. A pilot version of a hydrodynamic 'atomistic' simulator has been developed in order to study the effect of the nonequilibrium, non local transport in decanano MOSFETs on the random dopant induced current fluctuations. For the first time we have also applied the density gradient approach in 3D to investigate the effect of the quantum confinement on the threshold voltage fluctuations. The developed 'atomistic' simulation techniques have been applied to study various fluctuation resistant MOSFET architectures including epitaxial and delta doped devices.

Asenov, Asen↗

NASA NTRS2006

Simulation of Shallow Cumuli and Their Transition to Deep Convective Clouds by Cloud-resolving Models with Different Third-order Turbulence Closures

The abilities of cloud-resolving models (CRMs) with the double-Gaussian based and the single-Gaussian based third-order closures (TOCs) to simulate the shallow cumuli and their transition to deep convective clouds are compared in this study. The single-Gaussian based TOC is fully prognostic (FP), while the double-Gaussian based TOC is partially prognostic (PP). The latter only predicts three important third-order moments while the former predicts all the thirdorder moments. A shallow cumulus case is simulated by single-column versions of the FP and PP TOC models. The PP TOC improves the simulation of shallow cumulus greatly over the FP TOC by producing more realistic cloud structures. Large differences between the FP and PP TOC simulations appear in the cloud layer of the second- and third-order moments, which are related mainly to the underestimate of the cloud height in the FP TOC simulation. Sensitivity experiments and analysis of probability density functions (PDFs) used in the TOCs show that both the turbulence-scale condensation and higher-order moments are important to realistic simulations of the boundary-layer shallow cumuli. A shallow to deep convective cloud transition case is also simulated by the 2-D versions of the FP and PP TOC models. Both CRMs can capture the transition from the shallow cumuli to deep convective clouds. The PP simulations produce more and deeper shallow cumuli than the FP simulations, but the FP simulations produce larger and wider convective clouds than the PP simulations. The temporal evolutions of cloud and precipitation are closely related to the turbulent transport, the cold pool and the cloud-scale circulation. The large amount of turbulent mixing associated with the shallow cumuli slows down the increase of the convective available potential energy and inhibits the early transition to deep convective clouds in the PP simulation. When the deep convective clouds fully develop and the precipitation is produced, the cold pools produced by the evaporation of the precipitation are not favorable to the formation of shallow cumuli.

Cheng, Anning↗

NASA NTRS2008

Simulating Avionics Upgrades to the Space Shuttles

Cockpit Avionics Prototyping Environment (CAPE) is a computer program that simulates the functions of proposed upgraded avionics for a space shuttle. In CAPE, pre-existing space-shuttle-simulation programs are merged with a commercial-off-the-shelf (COTS) display-development program, yielding a package of software that enables high-fi46 NASA Tech Briefs, September 2008 delity simulation while making it possible to rapidly change avionic displays and the underlying model algorithms. The pre-existing simulation programs are Shuttle Engineering Simulation, Shuttle Engineering Simulation II, Interactive Control and Docking Simulation, and Shuttle Mission Simulator playback. The COTS program Virtual Application Prototyping System (VAPS) not only enables the development of displays but also makes it possible to move data about, capture and process events, and connect to a simulation. VAPS also enables the user to write code in the C or C++ programming language and compile that code into the end-product simulation software. As many as ten different avionic-upgrade ideas can be incorporated in a single compilation and, thus, tested in a single simulation run. CAPE can be run in conjunction with any or all of four simulations, each representing a different phase of a space-shuttle flight.

Deger, Daniel↗

NASA NTRS2009

A Process for Comparing Dynamics of Distributed Space Systems Simulations

The paper describes a process that was developed for comparing the primary orbital dynamics behavior between space systems distributed simulations. This process is used to characterize and understand the fundamental fidelities and compatibilities of the modeling of orbital dynamics between spacecraft simulations. This is required for high-latency distributed simulations such as NASA s Integrated Mission Simulation and must be understood when reporting results from simulation executions. This paper presents 10 principal comparison tests along with their rationale and examples of the results. The Integrated Mission Simulation (IMSim) (formerly know as the Distributed Space Exploration Simulation (DSES)) is a NASA research and development project focusing on the technologies and processes that are related to the collaborative simulation of complex space systems involved in the exploration of our solar system. Currently, the NASA centers that are actively participating in the IMSim project are the Ames Research Center, the Jet Propulsion Laboratory (JPL), the Johnson Space Center (JSC), the Kennedy Space Center, the Langley Research Center and the Marshall Space Flight Center. In concept, each center participating in IMSim has its own set of simulation models and environment(s). These simulation tools are used to build the various simulation products that are used for scientific investigation, engineering analysis, system design, training, planning, operations and more. Working individually, these production simulations provide important data to various NASA projects.

Cures, Edwin Z.↗

NASA NTRS2006

Multi-Platform Avionics Simulator

Multi-Platform Avionics Simulator (MPAvSim) is a software library for development of simulations of avionic hardware. MPAvSim facilitates simulation of interactions between flight software and such avionic peripheral equipment as telecommunication devices, thrusters, pyrotechnic devices, motor controllers, and scientific instruments. MPAvSim focuses on the behavior of avionics as seen by flight software, rather than on performing high-fidelity simulations of dynamics. However, MPAvSim is easily integrable with other programs that do perform such simulations. MPAvSim makes it possible to do real-time partial hardware- in-the-loop simulations. An MPAvSim simulation consists of execution chains (see figure) represented by flow graphs of models, defined here as stateless procedures that do some work. During a simulation, MPAvSim walks the execution chain, running each model in turn. Using MPAvSim, flight software can be run against a spacecraft that is all simulation, all hardware, or part hardware and part simulation. With respect to a specific piece of hardware, either the hardware itself or its simulation can be plugged in without affecting the rest of the system. Thus, flight software can be tested before hardware is available, and as items of hardware become available, they can be substituted for their simulations, with minimal disruption.

Clark, Micah↗

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↗