Wireless haptic rendering for mobile platforms

Computer haptics has so far been performed on a personal computer (PC). Off the shelf haptic devices provide only PC interfaces and software drivers for control and communication. The new wave of high capable tablet PCs and high end smart phones introduced new platforms for haptic applications. The major problem was to communicate wirelessly to provide user convenience and support mobility which is an essential feature for these platforms. In this paper we provide a wireless layered communication protocol and a hardware setup that enables off the shelf haptic devices to communicate wirelessly with a mobile device. The layers in the protocol enable the change of any hardware components without affecting the data flow. However, the adoption of the wireless interface instead of the wired one comes with the price of speed. Haptic refresh loops require a relatively high refresh rate of 1000 Hz compared to graphics loop which require between 30 and 60 only. An interpolation algorithm was demonstrated to compensate the latency and secure a stable user experience. The introduced setup was tested against portable environments and the users could perform similar functionalities to what are available on a wired setup to a PC.

Automatic deformation transfer for data-driven haptic rendering

This paper addresses a major challenge in datadriven haptic modeling of deformable objects. Data-driven modelling is done for specific objects and is difficult to generalize for nearly isometric objects that have similarities in semantics or topology. This limitation prevents the wide use of the data-driven modeling techniques when compared with parametric methods such as finite element methods. The proposed solution is to incorporate deformation transfer methods when processing similar instances. The contributions of this work are focused on the novel automatic shape correspondence method that overcomes the problems of symmetry and semantics presence requirement. The results shows that the proposed algorithm can efficiently calculate the correspondence and transfer deformations for a range of similar 3D objects.

Spinoza/space/speed/sublime: Problems of philosophy and politics in the post-colonial fiction of Gerald Murnane

This article takes account of the ‘spontaneity’ of the post-colonial fiction of Gerald Murnane within the ‘dominating space’ of the philosophy of Spinoza. My use of Paul Carter’s terms here is strategic. The compact of fiction and philosophy in Murnane corresponds with the relationship of spontaneity to the dominating organization of desire in Carter’s rendering of an Aboriginal hunter. Carter’s phrase “‘a figure at once spontaneous and wholly dominated by the space of his desire’” worries Ken Gelder and Jane M. Jacobs, who suggest that it subjugates the formation of Aboriginal desire (incorporating spontaneity) to impulses of imperialism. The captivating immanence of Spinoza’s philosophy in Murnane’s fiction, which I will demonstrate with various examples, puts pressure on the fiction to occupy the same space as the space of the philosophy. Here is a clue to why Murnane’s post-colonial thematics have been little explored by critics with an interest in post-colonial politics. The desire of Spinoza’s philosophy creates a spatial textuality within which the spontaneity of Murnane’s fiction, to the degree that it maximizes or fills the philosophy, is minimized in its political effects. That is to say, the fiction shifts politics into an external space of what Roland Barthes calls “resistance or condemnation”. However, the different speeds (or timings) of Murnane and Spinoza, within the one space, mitigate this resistance of the outside, at least in respect of certain circumstances of post-coloniality. It is especially productive, I suggest, to engage Carter’s representation of an Aboriginal hunter through the compact of coincidental spaces and differential speeds created by Murnane’s fiction in Spinoza’s philosophy. This produces a ceaseless activation of desire and domination, evidenced in Murnane’s short story ‘Land Deal’, and indexed by a post-Romantic sublime. What limits the value of Murnane’s fiction in most contexts of post-colonial politics, is precisely what makes it useful in the matter of Carter’s Aboriginal hunter.

Mothering siblings: Diaspora, desire and identity in American born confused Desi

In this essay we consider the construction of cultural identity, motherhood and the family in ABCD, a film of the Indian diaspora that had its world premiere at the 2001 London Film Festival. This film reads family, apparently within familiar narrative structures such as the U.S.-immigrant story, as portrayed in films like Goodbye, Columbus and My Big Fat Greek Wedding, and the "leaving home" story, as classically portrayed in Pride and Prejudice, where a young person needs to escape from her clueless family. The irritating presence of the mother in the film, and the quickness with which her two children appear to make life-determining decisions following her death, seem to invite discussions of plot and character organized around ideas of individual development, self-improvement and understanding. This is the territory of the desire plot, an account of family history captured for the twentieth century by Freudian-Lacanian readings which position sexual desire within the unconscious history of familial fantasies, understood as vertical and Oedipal. In this territory, mothers and old ladies become, as Mary Jacobus memorably phrased it, little more than "the waste products" of a system in which marriageable women are objects of exchange between men (142) and a mother's death would be expected to grease the wheels of narrative. Identity and narrative are inextricably linked here: a certain understanding of narrative as developmental and teleological paves the way for an understanding of identity as either/or. There are problems, however, in trying to read ABCD as a bildüngsroman structured by what Susan Freidman calls "the temporal plots of the family romance, its repetitions and discontents" (137), rendering the "Indian" characteristics of the plot unreadable, and the apparently self-defeating nature of the characters' choices and behavior, rather pointless. A central [End Page 16] difficulty is that the film both responds to and resists readings based on the Oedipal model of the bildüngsroman with its focus on linear development through time.

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.

Estimating capability index in multivariate processes using bootstrap sequential sampling procedures

Capability indices in both univariate and multivariate processes are extensively employed in quality control to assess the quality status of production batches before their release for operational use. It is traditionally a measure of the ratio of the allowable process spread and the actual spread. In this paper, we will adopt a bootstrap and sequential sampling procedures to determine the optimal sample size for estimating a multivariate capability index introduced by Pearns et. al. [12]. Bootstrap techniques have the distinct advantage of placing very minimum requirement on the distributions of the underlying quality characteristics, thereby rendering them more relevant under a wide variety of situations. Finally, we provide several numerical examples where the sequential sampling procedures are evaluated and compared.