Tham khảo tài liệu 'advances in haptics part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 352 Advances in Haptics As shown above polynomial as well as the RBF interpolation can be explored in the on-line phase of the scheme to approximate the actual configuration in real-time using the precomputed data. In the following section some details concerning the implementation and evaluation of the algorithms presented before are given. Evaluation and Discussion In our prototype implementation both the scheduler and pool of the solvers were implemented in C programming language. The communication between the remote processes was provided by Message-Passing Interface MPICH implementation ver. communicating over sockets . The configurations represented by the various deformation of the object were using using GetFEM an open-source FEM library. The solution of the linearized system computed in each iteration of the Newton-Raphson method was performed by MUMPS linear solver see et al. 2000 . Further the force interpolator was implemented for the interpolation techniques presented in section . The interpolation of the forces was stably running at a frequency of 1 000 Hz on a workstation equipped with 2 X Dual Core AMD Opteron 285 processor. Similarly precomputed nodal displacements were utilized by shape interpolator computing the actual deformation of the body for the visualization purposes running at 25 Hz. The experiments evaluated in the next part of this section were performed on 3D model of human liver obtained from the INRIA repositories. The model was meshed by TetGEN mesh generation tool resulting in two meshes with 1777 elements 501 nodes and 10280 elements 2011 nodes respectively. The real length of the model was about 22 cm. We use both Mooney-Rivlin and StVenant-Kirchhoff material laws in the case of Mooney-Rivlin the incompressibility conditions were imposed by mixed formulation. Extensive testing has been performed to validate the approach based on the precomputation of the configuration spaces. The evaluation can be divided
