Section: New Software and Platforms

Model Order Reduction Plugin for SOFA

Keywords: Model Order Reduction - Sofa - Finite element modelling

Scientific Description: This plugin allows speed-up of SOFA simulations by providing tools to create a reduced version of the SOFA simulation that runs at much higher rates but remains accurate. Starting with a snapshot of the object deformations on a high-dimensional Finite Element mesh, Proper Orthogonal Decomposition (POD) is used to compute a reduced basis of small dimension representing correctly all the possible deformations of the object. The original system describing the object motion is then greatly reduced. To keep numerical efficiency, a hyper-reduction method is used to speed-up the construction of the reduced system.

Functional Description: This plugin allows to dramatically reduce computational time in mechanical simulation in the SOFA framework. A reduced simulation, of much smaller dimension but still accurate is created in an automatic way by the plugin. Building the reduced model may take time, but this operation is made once only. The user can then benefit from a reduced and interactive version of his/her simulation without significant loss of accuracy.

Release Functional Description: This is the first version of the plugin.

News Of The Year: Publication using this plugin accepted dans IEEE Transactions on Robotics

• Participants: Olivier Goury, Félix Vanneste, Christian Duriez and Eulalie Coevoet

• Contact: Olivier Goury

• Publication: Fast, generic and reliable control and simulation of soft robots using model order reduction

• URL: https://project.inria.fr/modelorderreduction/