Haptically simulating soft tissue using spherical voxel and reactive agents

This thesis describes technology developed by the author enabling trainee surgeons to perform needle insertion procedures with force feedback (haptics) on a virtual patient. Addition of the sense of touch to medical simulation is arguably the most important step forward in the evolution of haptic technology to this day.

Ozbot and haptics : remote surveillance to physical presence

This paper reports on robotic and haptic technologies and capabilities developed for the law enforcement and defence community within Australia by the Centre for Intelligent Systems Research (CISR). The OzBot series of small and medium surveillance robots have been designed in Australia and evaluated by law enforcement and defence personnel to determine suitability and ruggedness in a variety of environments. Using custom developed digital electronics and featuring expandable data busses including RS485, I2C, RS232, video and Ethernet, the robots can be directly connected to many off the shelf payloads such as gas sensors, x-ray sources and camera systems including thermal and night vision. Differentiating the OzBot platform from its peers is its ability to be integrated directly with haptic technology or the 'haptic bubble' developed by CISR. Haptic interfaces allow an operator to physically 'feel' remote environments through position-force control and experience realistic force feedback. By adding the capability to remotely grasp an object, feel its weight, texture and other physical properties in real-time from the remote ground control unit, an operator's situational awareness is greatly improved through Haptic augmentation in an environment where remote-system feedback is often limited.

A haptically enabled CAN-based steering wheel controller

As the portable entertainment and mobility technologies migrate into the car, driver distraction has become recognized as a major factor in road crashes around the world. To help alert drivers to their distraction, active safety technologies such as lane departure warning systems and collision avoidance systems are being implemented. One issue with the implementation of yet another technology into the vehicle is how to cut through the competing demands of the mobile phone, navigation systems and other technologies. Haptic alerts present just such a method that may enable the system to short-circuit the normal auditory or visual communication channels. This paper presents a low cost haptic steering wheel controller that has been designed developed and tested and may be used as a communication device by a lane departure, collision avoidance, or other type of safety system.

Western consumers' understanding of carbon offsets and its relationship to behavior

Purpose – The purpose of this paper is to examine Western consumers’ levels of general environmental knowledge and specific knowledge related to carbon offsets and the relationships between specific types of environmental knowledge and consumers’ related behaviors.

Design/methodology/approach – The study surveyed consumers from Australia (n ¼ 345) and the USA (n ¼ 340) who were sourced through national online panels. The analysis looks at differences between knowledge and behaviors, both across the samples as well as whether there are differences between consumers with high and low levels of environmental and carbon offset knowledge, and whether demographics impact on knowledge levels.

Findings – The results found that consumers had higher levels of general knowledge than carbon offset knowledge and the two types of knowledge were not related. ANOVA results considering country differences and demographic factors found that general knowledge was affected by education, age and gender, with carbon knowledge being affected by education. Environmental behavior was affected by age and gender as well, and no demographic factors influenced carbon-related behavior. Respondent’s location (i.e. USA or Australia) did not influence knowledge or behaviors, but interacted with education in regard to carbon knowledge and behavior.

Social implications – This research suggests that consumers are not acting on their carbon knowledge, which may be due to the debate surrounding carbon issues and/or because the information is based on complex scientific foundations, which the average consumer may have difficulty grasping, regardless of country.

Originality/value – This is one of the first pieces of academic research to explore consumers’ understanding of carbon-related information and how this knowledge impacts behavior. It also proposes a measure for evaluating carbon offset knowledge, which could be used to broaden environmental knowledge assessments.

Circle: orbital commutation

In exercising vision we employ strategies to perceive space and to distinguish the objects of attention. Some processes however remain invisible to us; how we process binocular vision; and how we resolve vision in motion. This work images invisible motion perspective. Revelation of invisible mechanisms of vision exposes the haptic qualities of sight and their contribution to proprioception and ʻaffordanceʼ. Figuring the ʻvortex of visionʼ also releases symbolic and metaphoric potentials. This innovative outcome of practical research develops imagery which depicts relative movement in space using the principles of motion perspective (Herschel) and optic flow (J. J. Gibson); the locative awareness of volumes in space through the dimensions of time and space presented in 2D imagery. The mural scale (3.5 metres) work presented in 'Circle', a group show of work around the idea of 'the circle' curated by Melinda Capp is derived from a large production of digital photographs made in the London Underground. In this work, the circle is associated with the orbit of the commuter which bends around the twin poles of home and employment, work and rest, circulating in an ellipse around the Ideal Life. Each traveller's path is a braid woven through gyrations of force and resistance. Optic flow, emulated with the rotating lens, tracing the moving subject, makes this visible.

Fruiting bodies

Driver verification based on handgrip recognition on steering wheel

This paper presents a novel driver verification algorithm based on the recognition of handgrip patterns on steering wheel. A pressure sensitive mat mounted on a steering wheel is employed to collect a series of pressure images exerted by the hands of the drivers who intend to start the vehicle. Then, feature extraction from those images is carried out through two major steps: Quad-Tree-based multi-resolution decomposition on the images and Principle Component Analysis (PCA)-based dimension reduction, followed by implementing a likelihood-ratio classifier to distinguish drivers into known or unknown ones. The experimental results obtained in this study show that the mean acceptance rates of 78.15% and 78.22% for the trained subjects and the mean rejection rates of 93.92% and 90.93% to the un-trained ones are achieved in two trials, respectively. It can be concluded that the driver verification approach based on the handgrip recognition on steering wheel is promising and will be further explored in the near future.

Misconceptions about density of decimals : insights from Indonesian pre-service teachers’ work

Extensive studies have documented various difficulties with, and misconceptions about, decimal numeration across different levels of education. This paper reports on pre-service teachers’ misconceptions about the density of decimals. Written test data from 140 Indonesian pre-service teachers, observation of group and classroom discussions provided evidence of pre-service teachers’ difficulties in grasping the density notion of decimals. This research was situated in a teacher education university in Yogyakarta, Indonesia. Incorrect analogies resulting from over generalization of knowledge about whole numbers and fractions were identified. Teaching ideas to resolve these difficulties and challenges in resolving pre-service teachers’ misconceptions are discussed. Evidence from this research indicates that it is possible to remove misconceptions about density of decimals.

Augmented optometry training simulator with multi-point haptics

Training of optometrists is traditionally achieved under close supervision of peers and superiors. With the rapid advancement in technology, medical procedures are performed more efficiently and effectively, resulting in faster recovery times and less trauma to the patient. However, application of this technology has made it difficult to effectively demonstrate and teach these manual skills as the education is now a combination of not only the medical procedure but also the use of the technology. In this paper we propose to increase the training capabilities of optometry students through haptically-enabled single-point and multi-point training tools as well as augmented reality techniques. Haptics technology allows a human to touch and feel virtual computer models as though they are real. Through physical connection to the operator, haptic devices are considered to be personal robots that are capable of improving the human-computer interaction with a virtual environment. These devices have played an increasing role in developing expertise, reducing instances of medical error and reducing training costs. A haptically-enabled virtual training environment, integrated with an optometry slit lamp instrument can be used to teach cognitive and manual skills while the system tracks the performance of each individual. These interactions would ideally replicate every aspect of the real procedure, consequently preparing the trainee for every possible scenario, without risking the health of a real patient.

Next generation robotic counter IED technology : A step change in capability

Improvised Explosive Devices (IEDs) are reported as the number one cause of injury and death for allied troops in the current theater of operation. Deakin University’s Centre for Intelligent Systems Research (CISR) is working on next-generation technology to combat the threat. In 2006 CISR was awarded funding through the Capability and Technology Demonstrator (CTD) Program managed by the Australian Defence Force. The objective was to investigate the use of haptics or force feedback technology for Counter-IED (CIED) tasks. Over the past six years, engineers from CISR have worked alongside Defence stakeholders to develop a series of robotic platforms designed to immerse a soldier in the remote environment. Utilising a natural user interface, haptic force feedback and stereovision, the technology has undergone initial trials in Sydney, Canberra, Woomera and at the CISR testing facility in Geelong, Australia. The technology has proved popular among operators allowing them increased fidelity and manipulation speed while significantly reducing required training. CISR has a history of rapidly delivering technology to meet the needs of police and law enforcement in Australia. The OzBot™ series of robots developed in conjunction with the Victorian Police is currently in service and used extensively for hostage negotiation and first responder roles. The CISR robotics group works on technologies that reduce operator fatigue, minimise training liability and maintenance. Over 55 engineers develop simulation environments for increased training availability and continuous improvement to the current range of mobile platforms, including communications range, payload, manipulator reach and capability. This paper describes a number of the technologies, methods and systems developed by CISR for IED neutralisation, with the aim to increasing military awareness of Australian capability.

Collaboration in 3D shared spaces using X3D and VRML

We propose a framework for visual and haptic collaboration in 3D shared virtual spaces. Virtual objects can de declared as shared objects which visual and physical properties are rendered synchronously on each client computer. We introduce virtual tools which are shared objects associated with interactive and haptic devices. We implement the proposed ideas as new pilot versions of BS Collaborate server and BS Contact VRML/X3D viewer. In our collaborative framework, two pipelines-visual and haptic-complement each other to provide a simple and efficient solution to problem requiring collaboration in shared virtual spaces on the Web. We discuss two implementation frameworks based on the strong and thin server concepts.

Racialised bodies encounter the city: 'long grassers' and asylum seekers in Darwin

The visibility of bodies of colour in public space can engender responses of anxiety, insecurity and discomfort in cities with white majority cultures. Such embodied responses that privilege the invisibility of whiteness have effects if they mark Aboriginal people and asylum seekers who arrive by boat as ‘out of place’ in public spaces of Australian cities. Drawing on fieldwork conducted in Darwin, I argue, however, that such white spaces are interrupted by habits of touch, multi-sensory events that contribute to fleshy moments of belonging for these racialised bodies that experience dispossession and displacement. Such belonging emerges from the intertwining fleshiness of bodies in a world where we affect and are affected by other bodies and things.

The paper explores two events held in public spaces of suburban Darwin, a weekly painting activity at a beach reserve that engages ‘Long Grassers’, Aboriginal people who live in open spaces, and a cooking session at a community centre that welcomes asylum-seeker families from a detention centre. Felix Ravaisson's philosophy of habit as virtue and spontaneous practice is a starting point for thinking about how haptic knowledges can provide a nuanced understanding of belonging, encounter and ethical engagement in a racially diverse white settler city.

Integrating kinect and haptics for interactive STEM education in local and distributed environments

Skill shortage is a realistic social problem that Australia is currently facing, especially in the fields of Science, Technology, Engineering and Mathematics (STEM). Various approaches have been proposed to soften this issue. By now the most successful approach is to attract pre-university youth and university freshmen into those fields before they make a decision on future subjects by introducing them with interactive, modifiable and inspiring virtual environments, which incorporates most essential knowledge of STEM. We propose to design a comprehensive virtual reality platform with immersive interactions, pluggable components and flexible configurations. It also involves haptics, motion capture and gesture recognition, and could be deployed in both local and distributed environments. The platform utilizes off the shelf low cost haptics and motion capture products, however the fidelity can be maintained at a good level. The proposed platform has been implemented with different configurations and has been tested on a group of users. Preliminary test results show that the interactivity, flexibility and fidelity of the platform are highly appreciated by users. User surveys also indicate that the proposed platform could help pre-university students and university freshmen build an overview of various aspects of STEM education. Besides, users are also positive on the fact that the platform enabled them to identify the challenges for higher education in STEM by providing them opportunities to interactively modify system configurations and instantly experience the corresponding results both visually and haptically.

Optometry training simulation with augmented reality and haptics

Optometry is an essential health care profession that has existed for many centuries and is still evolving. However, the training approaches for optometrists are not yet on par with the latest technological evolution. The traditional supervisor-student training mode could not provide good immersion and repeatability, while most existing vision-based computer-assisted simulations provide even worse immersion on screens. In this paper, we propose an effective system for optometry training simulation with two major components: augmented reality and haptics. These components are integrated with the actual slit lamp and are able to greatly enhance the immersion for typical optometry training tasks such as foreign body removal. Medical doctors are also involved in suggesting configurations and validating visual and haptic rendering results. Preliminary user studies show very positive feedbacks from optometry students.