标题： 基于块间GPU同步的不可伸长弹性杆的大规模并行实现 显示英文标题

标题： Massively-Parallel Implementation of Inextensible Elastic Rods Using Inter-block GPU Synchronization

摘要： 一种弹性杆是一种能够承受大范围整体变形的长而细的物体，即使局部应变很小。 Cosserat杆是一种具有定向中心线的非线性弹性杆，这使得可以对弯曲、拉伸和扭转变形进行建模。 它可以用于基于物理的计算机模拟线、电线、绳索，以及柔性手术器械，如导管、导丝或缝线。 我们展示了原始CoRdE模型以及我们不可伸长变体的大规模并行实现。 通过取代CUDA可扩展编程模型并使用块间同步，我们成功地在单个内核启动中模拟多个物理时间步，利用所有GPU的流式多处理器。 在某些约束条件下，这导致计算时间几乎保持恒定，无论模拟的Cosserat元素数量如何。 当每个内核启动执行10个时间步时，我们对原始可伸长CoRdE的实现快了x40.0倍。 在一些测试中，我们不可伸长的CoRdE修改的GPU实现相对于相应的CPU版本平均快了x15.11倍。 在心血管应用中模拟导管/导丝对（2x512个Cosserat元素）实现了13.5倍的性能提升，能够在触觉交互速率（0.5-1kHz）下实现准确的实时模拟。 显示英文摘要

摘要： An elastic rod is a long and thin body able to sustain large global deformations, even if local strains are small. The Cosserat rod is a non-linear elastic rod with an oriented centreline, which enables modelling of bending, stretching and twisting deformations. It can be used for physically-based computer simulation of threads, wires, ropes, as well as flexible surgical instruments such as catheters, guidewires or sutures. We present a massively-parallel implementation of the original CoRdE model as well as our inextensible variation. By superseding the CUDA Scalable Programming Model and using inter-block synchronization, we managed to simulate multiple physics time-steps per single kernel launch utilizing all the GPU's streaming multiprocessors. Under some constraints, this results in nearly constant computation time, regardless of the number of Cosserat elements simulated. When executing 10 time-steps per single kernel launch, our implementation of the original, extensible CoRdE was x40.0 faster. In a number of tests, the GPU implementation of our inextensible CoRdE modification achieved an average speed-up of x15.11 over the corresponding CPU version. Simulating a catheter/guidewire pair (2x512 Cosserat elements) in a cardiovascular application resulted in a 13.5 fold performance boost, enabling for accurate real-time simulation at haptic interactive rates (0.5-1kHz).