Extending support to customised multi-point haptic devices in CHAI3D

 CHAI3D is a widely accepted haptic SDK in the society because it is open-source and provides support to devices from different vendors. In many cases, CHAI3D and its related demos are used for benchmarking various haptic collision and rendering algorithms. However, CHAI3D is designed for off-the-shelf single-point haptic devices only, and it does not provide native support to customised multi-point haptic devices. In this paper, we aim to extend the existing CHAI3D framework and provide a standardized routine to support customised, single/multi-point haptic devices. Our extension aims at two issues: Intra-device communication and Inter-device communication. Therefore, our extension includes an HIP wrapper layer to concurrently handle multiple HIPs of a single device, and a communication layer to concurrently handle multiple position, orientation and force calculations of multiple haptic devices. Our extension runs on top of a custom-built 8-channel device controller, although other offthe shelf controllers can also be integrated easily. Our extension complies with the CHAI3D design framework and advanced provide inter-device communication capabilities for multi-device operations. With straightforward conversion routines, existing CHAI3D demos can be adapted to multi-point demos, supporting real-time parallel collision detection and force rendering.

Selective visuo-haptic rendering of heterogeneous objects in 'parallel universes'

 Haptic rendering of complex models is usually prohibitive due to its much higher update rate requirement compared to visual rendering. Previous works have tried to solve this issue by introducing local simulation or multi-rate simulation for the two pipelines. Although these works have improved the capacity of haptic rendering pipeline, they did not take into consideration the situation of heterogeneous objects in one scenario, where rigid objects and deformable objects coexist in one scenario and close to each other. In this paper, we propose a novel idea to support interactive visuo-haptic rendering of complex heterogeneous models. The idea incorporates different collision detection and response algorithms and have them seamlessly switched on and off on the fly, as the HIP travels in the scenario. The selection of rendered models is based on the hypothesis of “parallel universes”, where the transition of rendering one group of models to another is totally transparent to users. To facilitate this idea, we proposed a procedure to convert the traditional single universe scenario into a “multiverse” scenario, where the original models are grouped and split into each parallel universe, depending on the scenario rendering requirement rather than just locality. We also proposed to add simplified visual objects as background avatars in each parallel universe to visually maintain the original scenario while not overly increase the scenario complexity. We tested the proposed idea in a haptically-enabled needle thoracostomy training environment and the result demonstrates that our idea is able to substantially accelerate visuo-haptic rendering with complex heterogeneous scenario objects.

Multipoint haptic guidance for micrograsping systems

The ability to perform accurate micromanipulation offers wide-reaching benefits and is of increasing interest to researchers. Recent research into microgripper, microtweezer, and microforcep systems contributes toward accurate micrograsping and manipulation. Despite these efforts, achieving adequate operator control remains a distinct research challenge. Haptic interfaces interact with the human's haptic modality and offer the ability to enhance the operator's controllability of micromanipulation systems. Our previous work introduced single-point haptic guidance to assist the operator during intracellular microinjection. This paper extends the approach to propose multipoint haptic guidance for micrograsping tasks. Accurate micrograsping is valuable in many applications, including microassembly and biomanipulation. A multipoint haptic gripper facilitates haptic interaction, and haptic guidance assists the operator in controlling systems suitable for micrograsping. Force fields are used to guide the operator to suitable grasp points on micrometer-sized objects and consist of attractive and repulsive forces. The ability of the force field to effectively assist the operator in grasping the cell is evaluated using a virtual environment. Evaluation results demonstrate the ability of the approach to significantly reduce participants' average grasping error.

Coal - the black gold of economic growth in China: empirical evidence and the role of cleaner coal technologies in recent time

Coal comprises 70 per cent of China’s primary energy source and 80 per cent of China's electricity generation. This study investigates the long-run relationship between coal consumption-economic growth nexus considering both supply and demand side models in a multivariate framework over the period of 1978 and 2010. Our innovation in this paper is to include a coal-to-electricity efficiency indicator into the economic growth model ; and trade exposure in coal demand. Using Autoregressive Distributed Lag bounds testing approach, we find improvement in coal-to-efficiency indicator causes almost 35 per cent increase in real GDP in the long-run. The Toda-Yamamoto approach of causality test indicates unidirectional causality from coal consumption to economic growth; feedback effect both for coal-to-electricity efficiency indicator to economic growth and openness to coal consumption. For robustness check, using the generalised forecast error variance decomposition method we forecast the validity of causal relationships beyond the sample horizon. The paper suggests the role of advanced coal technologies will play a significant role along with other environmental and energy policies in maintaining sustainable economic growth in China .

Sky high, skin deep: dark technologies of mediation

Media has become responsive architecture. Intelligent media artefacts are now embedded into the very fabric of our existence; they have become the structure of society itself. Ubiquitous computing creates informational environments in which material structures of communication become alive with agency. McLuhan's light bulb is now everyware: [1] technology that mediates by its mere presence. Pervasive mediation, a combination of mobile networks and systems of material translation such as 3D printers and programmable matter--is our current regime of mediation.

Haptic virtual reality training environment for micro-robotic cell injection

Micro-robotic cell injection is typically performed manually by a trainedbio-operator, and success rates are often low. To enhance bio-operator performance during real-time cell injection, our earlier work introduced a haptically-enabled micro-robotic cell injection system. The system employed haptic virtual fixtures to provide haptic guidance according to articular performance metrics. This paper extends the work by replicating the system within a virtual reality (VR) environment for bio-operator training. Using the virtual environment, the bio-operator is able to control the virtual injection process in the same way they would with the physical haptic micro-robotic cell injection system, while benefiting from the enhanced visualisation capabilities offered by the 3D VR environment. The system is achieved using cost-effective components offering training at much lower cost than using the physical system.

Additive manufacturing technologies : 3D printing, rapid prototyping, and direct digital manufacturing

This book covers in detail the various aspects of joining materials to form parts. A conceptual overview of rapid prototyping and layered manufacturing is given, beginning with the fundamentals so that readers can get up to speed quickly. Unusual and emerging applications such as micro-scale manufacturing, medical applications, aerospace, and rapid manufacturing are also discussed. This book provides a comprehensive overview of rapid prototyping technologies as well as support technologies such as software systems, vacuum casting, investment casting, plating, infiltration and other systems. This book also: Reflects recent developments and trends and adheres to the ASTM, SI, and other standards Includes chapters on automotive technology, aerospace technology and low-cost AM technologies Provides a broad range of technical questions to ensure comprehensive understanding of the concepts covered.

Haptic technology for micro-robotic cell injection training systems — a review

Currently, the micro-robotic cell injection procedure is performed manually by expert human bio-operators. In order to be proficient at the task, lengthy and expensive dedicated training is required. As such, effective specialized training systems for this procedure can prove highly beneficial. This paper presents a comprehensive review of haptic technology relevant to cell injection training and discusses the feasibility of developing such training systems, providing researchers with an inclusive resource enabling the application of the presented approaches, or extension and advancement of the work. A brief explanation of cell injection and the challenges associated with the procedure are first presented. Important skills, such as accuracy, trajectory, speed and applied force, which need to be mastered by the bio-operator in order to achieve successful injection, are then discussed. Then an overview of various types of haptic feedback, devices and approaches is presented. This is followed by discussion on the approaches to cell modeling. Discussion of the application of haptics to skills training across various fields and haptically-enabled virtual training systems evaluation are then presented. Finally, given the findings of the review, this paper concludes that a haptically-enabled virtual cell injection training system is feasible and recommendations are made to developers of such systems.

Examining customer evaluations across different self-service technologies

Purpose – This study aims to examine the influence of different self-service technologies (SSTs) on customer satisfaction with and continued usage of SSTs. Specifically, it compares an interactive voice response (IVR) SST and an online SST from the same provider to assess how to manage these parallel SSTs.

Design/methodology/approach – A tracking study was used, beginning with a survey of n = 957 SST users to test a model pertaining to SST satisfaction across IVR and online SSTs. These SST users were then tracked over 12 months. The association between customer satisfaction with and continued usage of the SSTs was examined using behavioural data from the service provider.

Findings – While the overall model was found to be valid across both types of SSTs, perceptions of factors including ease of use, perceived control and reliability differed for IVR and online SSTs. Satisfaction with SSTs is linked with users’ continued use of SSTs, but is not a barrier to users’ adoption of newer SST forms.

Research limitations/implications – Highlighting the rapid developments in this field, a new SST was introduced by the provider to respondents during the 12-month tracking period, thus complicating the results. Further studies could include the customer purpose for using SSTs as a variable.

Practical implications – The findings offer support for organisations offering a suite of SSTs, even if they serve the same purpose. Customers evaluate SST types differently, and even satisfied SST users switch to different SSTs when they become available. Allowing customers to choose the SST that best suits them appears to be good practice.

Originality/value – This study develops a comprehensive model of customer SST satisfaction that is used to undertake a comparison of two different types of SSTs, which has been missing from prior research.

Applying inverse just-noticeable-differences of velocity to position data for haptic data reduction

ust-Noticeable-Differences (JND) as a dead-band in perceptual analysis has been widely used for more than a decade. This technique has been employed for data reduction in hap tic data transmission systems by several researchers. In fact, researchers use two different JND coefficients that are JNDV and JNDF for velocity and force data respectively. For position data, they usually rely on the resolution of hap tic display device to omit data that are unperceivable to human. In this paper, pruning undesirable position data that are produced by the vibration of the device or subject and/or noise in transmission line is addressed. It is shown that using inverse JNDV for position data can prune undesirable position data. Comparison of the results of the proposed method in this paper with several well known filters and some available methods proposed by other researchers is performed. It is shown that combination of JNDV could provide lower error with desirable curve smoothness, and as little as possible computation effort and complexity. It also has been shown that this method reduces much more data rather than using forward-JNDV.

Big data related technologies, challenges and future prospects

Big data is the large or complex data that exceed the processing capacity of conventional data processing systems. This book provides a big picture in this broad research area, covering all the phases of its value chains. The authors have attempted to survey most of the relevant technologies in each phrase of big data. The book is recommended for readers interested in advanced research in big data, also for industry practitioners who are interested in building big data applications. If the reader is not with necessary technical background, complementary readings may be needed.