Nonlinear simulation model for radio frequency (RF) waves in fusion plasmas has been developed and verified using fully kinetic ion and drift kinetic electron. Ion cyclotron motion in the toroidal geometry is implemented using Boris push in the Boozer coordinates. Linear dispersion relation and nonlinear particle trapping are verified for the lower hybrid (LH) wave and ion Bernstein wave (IBW). Parametric decay instability is observed where a large amplitude pump wave decays into an IBW sideband and an ion cyclotron quasimode (ICQM). The ICQM induces an ion perpendicular heating with a heating rate proportional to the pump wave intensity.
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