Soft tissue modelling for haptic rendering in virtual environments

This paper focuses on the development of a haptic recording and modelling system. Currently being evaluated for multiple uses in surgery and manufacturing, this recording system evaluates haptic data captured via a robotic ann coupled with real time high-resolution load cell. This data is then analysed and validated against previous samples and a generated model before being logged for playback during simulation and training of a human operator. 3D models of point force interactions are created allowing unique visuals to be presented to a user. Primarily designed for the medical field, recorded results of soft tissue cutting have been presented.

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.

Recolonisation of lagoon of islands, Tasmania, by Baumea Arthrophylla: the first step in regeneration of a unique ecosystem?

Lagoon of Islands was a unique ecosystem. Damming the lagoon in 1964 caused the decline of the ecosystem, destroying the original vegetation and, eventually, rendering the lagoon eutrophic. While this took place the lagoon was colonised by a macrophyte not previously noticed in the lagoon. In an effort to restore acceptable water quality, restoration of macrophyte cover was encouraged by hydrological manipulation. Recent investigations have revealed that one of the original dominant macrophyte species is recolonising the lagoon, creating an alternative management option for the lagoon.

Import-associated translational inhibition: novel in vivo evidence for cotranslational protein import into dictyostelium discoideum mitochondria

To investigate protein import into the mitochondria of Dictyostelium discoideum, green fluorescent protein (GFP) was fused as a reporter protein either to variable lengths of the N-terminal region of chaperonin 60 (the first 23, 40, 80, 97, and 150 amino acids) or to the mitochondrial targeting sequence of DNA topoisomerase II. The fusion proteins were expressed in AX2 cells under the actin-15 promoter. Fluorescence images of GFP transformants confirmed that Dictyostelium chaperonin 60 is a mitochondrial protein. The level of the mitochondrially targeted GFP fusion proteins was unexpectedly much lower than the nontargeted (cytoplasmic) forms. The distinction between targeted and nontargeted protein activities was investigated at both the transcriptional and translational levels in vivo. We found that targeting GFP to the mitochondria results in reduced levels of the fusion protein even though transcription of the fusion gene and the stability of the protein are unaffected. [³⁵S]methionine labeling and GFP immunoprecipitation confirmed that mitochondrially targeted GFP is translated at much slower rates than nontargeted GFP. The results indicate a novel phenomenon, import-associated translational inhibition, whereby protein import into the mitochondria limits the rate of translation. The simplest explanation for this is that import of the GFP fusion proteins occurs cotranslationally, i.e., protein synthesis and import into mitochondria are coupled events. Consistent with cotranslational import, Northern analysis showed that the GFP mRNA is associated with isolated mitochondria. This association occurred regardless of whether the GFP was fused to a mitochondrial leader peptide. However, the presence of an import-competent leader peptide stabilized the mRNA-mitochondria association, rendering it more resistant to extensive EDTA washing. In contrast with GFP, the mRNA of another test protein, aequorin, did not associate with the mitochondria, and its translation was unaffected by import of the encoded polypeptide into the mitochondria.

Women, words, and work : a study of change and reconstruction in adult TESOL

My dissertation asserts that the discourses which at the present time construct the world of work for teachers in adult TESOL, are no longer adequate to represent the field in these new and rapidly changing times. For the last forty years the discourses that have constructed the field present a totalising, gender free, liberal humanist view of TESOL, rendering women's experience invisible, no longer speaking to or for women teachers who make up more than ninety percent of the teachers in Victorian adult TESOL programs (Cope & Kalantzis 1993, Brodkey 1991, Fine 1992, Peirce 1995). I begin by exploring the work of women teachers in adult TESOL, focusing on women teaching in the fast growing de-institutionalised settings of adult TESOL programs, which remain marginalised from the central programs in terms of administrative policy and practice. I report the findings of a series of projects undertaken by the teachers and the researcher by which new insights and understandings of teachers beliefs about their work and the changes which are currently reconstructing the field of adult language and literacy education in Australia, have been gained. I questions the discourses of applied linguistics which have for the past forty years constructed the field of adult TESOL in Australia and suggests that these lack a social theory (Candlin 1989). From the research findings I questions the possibility of continuing to work in the ways of the past, in the current climate of reconstruction of the field, rapid policy change and continued erosion of resources. I suggest that the previously loose system which held this field of work together, the ways of working, the understandings of practice, have in the light of these new times, been stretched to the limit and are in real danger of collapse. For the women working in TESOL this continued incursion of the systems into their work and the changes that have taken place, the denial of their ways of working, their local knowledge and gendered experiences, can be read against Habermas' concept of the colonisation of the lifeworld of language teaching (Habermas 1987).

Tradition in a free society : the fideism of Michael Polanyi and the rationalism of Karl Popper

Michael Polanyi and Karl Popper offer contrasting accounts of social tradition. Popper is steeped in the heritage of the Enlightenment, while Polanyi interweaves religious and diverse secular strands of thought. Explaining the liberal tradition, Polanyi features tacit knowledge of rules, standards, applications and interpretations being transmitted by “craftsmen” to “apprentices.” Each generation adopts the liberal tradition on “faith,” commits to creatively developing its art of knowledge-in-practice, and is drawn to the spiritual reality of ideal ends. Of particular interest to Popper is the rationality of social traditions. Likened by him to scientific theories, Popper’s traditions are criticizable and improvable, assisting agents to understand, and act in, the world as stable and predictable. Polanyi’s is the more informative rendering of tradition. Polanyi delves deeply into important areas where Popper only scratches their surface: the tacit dimension, transmission by way of apprenticeship, the meaning of tradition for those who participate in it, and the extent of its authority over them.

Applying fair intelligent congestion control in a hybrid QoS architecture for wireless environment

This simple and scalable Differentiated Services (DiffServ) QoS control model is acceptable for the core of the network. However, more explicit and stringent admission and reservation based QoS mechanisms are required in the wireless access segment of the network, where available resources are severely limited and the degree of traffic aggregation is not significant, thus rendering the DiffServ principles less effective. In this paper we present a suitable hybrid QoS architecture framework to address the problem. At the wireless access end, the local QoS mechanism is designed in the context of IEEE 802.11 WLAN with 802.11e QoS extensions. At the edge and over the DiffServ domain, the Fair Intelligent Congestion Control (FICC) algorithm is applied to provide fairness among traffic aggregates and control congestion at the bottleneck interface between the wireless link and the network core.

Sounding alien, touching the future : beyond the sonorous limit in science fiction film

In this paper I examine two particular aspects of sounding science fiction film: first, the ulterior, Othering sounds of the alien, whether it is creature, object, technology or environment; and second, the soundscape that accompanies or underscores the type of space travel that crosses temporal and spatial thresholds. In both instances of sounding science fiction film I suggest that human limits are reached and breached, leading to a deterritorialization of the self and a hearing that touches the future which is a moment of pure becoming. I focus on the womanly sonority of the alien to suggest that patriarchal and heterosexist sound devices can be ultimately corrupted. In the analysis of sounding space travel I suggest that science film can create a series of moments in which one experiences the double sublime. This spectacular rendering of a liquid chaos enables the viewer to experience the logic of sensation beyond bodily integrity. In this paper my over-arching position is one that hears in science fiction film the profound potential of a radical alterity that exists beyond the sonorous limit.

Rendering optimisations for stylised sketching

We present work that specifically pertains to the rendering stage of stylised, non-photorealistic sketching. While a substantial body of work has been published on geometric optimisations, surface topologies, space-algorithms and natural media simulation, rendering-specific issues are rarely discussed in-depth even though they are often acknowledged. We investigate the most common stylised sketching approaches and identify possible rendering optimisations. In particular, we define uncertainty-functions, which are used to describe a human-error component, discuss how these pertain to geometric perturbation and textured silhouette sketching and explain how they can be cached to improve performance. Temporal coherence, which poses a problem for textured silhouette sketching, is addressed by means of an easily computed visibility-function. Lastly, we produce an effective yet surprisingly simple solution to seamless hatching, which commonly presents a large computational overhead, by using 3-D textures in a novel fashion. All our optimisations are cost-effective, easy to implement and work in conjunction with most existing algorithms.

Super-realistic rendering using real-time tweening

The realism of contemporary computer graphics (and especially Virtual Reality {VR}) is limited by the great computational cost of rendering objects of appropriate complexity with convincing lighting and surface effects. We introduce a framework that allows rendering of objects in true photographic quality using tweening. The simple but effective design of our system allows us not only to perform the necessary operations in real-time on standard hardware, but also achieve other effects like morphing. Furthermore, it is shown how our system can be gainfully employed in non-VR contexts like extreme low-bandwidth video-conferencing and others.

Modelling and rendering techniques for African hairstyles

We develop or enhance hair modelling and rendering techniques to produce three different forms of hair commonly found in African hairstyles. The forms of hair are natural curly hair, straightened hair, and braids or twists of hair.

We use an implicit model, implemented as a series of textured layers to represent curly hair. Straightened hair is represented explicitly, and modelled by defining and replicating a few control hairs. Braids and twists are implemented as textured generalized cylinders.

A synthesis of existing hair illumination models is used as a basis for an African hair illumination model. Parameter values to match African hair characteristics are discussed.

A number of complete African hairstyles are shown, demonstrating that the techniques can be used to model and render African hair successfully.

Function-based approach to mixed haptic effects rendering

Commonly, surface and solid haptic effects are defined in such a way that they hardly can be rendered together. We propose a method for defining mixed haptic effects including surface, solid, and force fields. These haptic effects can be applied to virtual scenes containing various objects, including polygon meshes, point clouds, impostors, and layered textures, voxel models as well as function-based shapes. Accordingly, we propose a way how to identify location of the haptic tool in such virtual scenes as well as consistently and seamlessly determine haptic effects when the haptic tool moves in the scenes with objects having different sizes, locations, and mutual penetrations. To provide for an efficient and flexible rendering of haptic effects, we propose to concurrently use explicit, implicit and parametric functions, and algorithmic procedures.

Function-based single and dual point haptic interaction in Cyberworlds

Polygon and point based models dominate virtual reality. These models also affect haptic rendering algorithms, which are often based on collision with polygons. With application to dual point haptic devices for operations like grasping, complex polygon and point based models will make the collision detection procedure slow. This results in the system not able to achieve interactivity for force rendering. To solve this issue, we use mathematical functions to define and implement geometry (curves, surfaces and solid objects), visual appearance (3D colours and geometric textures) and various tangible physical properties (elasticity, friction, viscosity, and force fields). The function definitions are given as analytical formulas (explicit, implicit and parametric), function scripts and procedures. We proposed an algorithm for haptic rendering of virtual scenes including mutually penetrating objects with different sizes and arbitrary location of the observer without a prior knowledge of the scene to be rendered. The algorithm is based on casting multiple haptic rendering rays from the Haptic Interaction Point (HIP), and it builds a stack to keep track on all colliding objects with the HIP. The algorithm uses collision detection based on implicit function representation of the object surfaces. The proposed approach allows us to be flexible when choosing the actual rendering platform, while it can also be easily adopted for dual point haptic collision detection as well as force and torque rendering. The function-defined objects and parts constituting them can be used together with other common definitions of virtual objects such as polygon meshes, point sets, voxel volumes, etc. We implemented an extension of X3D and VRML as well as several standalone application examples to validate the proposed methodology. Experiments show that our concern about fast, accurate rendering as well as compact representation could be fulfilled in various application scenarios and on both single and dual point haptic devices.