Towards an efficient haptic rendering using data-driven modeling

This thesis focuses on the optimisation of haptic rendering of interactions with deformable models. The research demonstrated that data-driven techniques can produce a real-time, accurate and complex simulation experience. Applications include, but not limited to, virtual training, rapid prototyping, virtual presence, and entertainment.

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.

Enhancing audio-haptic enabled novel dental training platform performance

Existing haptic and non-haptic dental simulators do not eliminate the problem of hand instability while using the haptic devices for training purpose. This paper reports an audio-haptic dental training platform, which uses a Hand Stability System to reduce the effect of nervousness and hand instability for trainee dental students. Maintaining the ease of implementation, application customizability and the cost factor, the proposed platform increases the training efficiency by enhancing the immersive haptic experience with hand stability. This haptic platform includes multiple angle viewing techniques, audio feedback and session recording for after action review. Trials using this preliminary platform reduced the effect of human nervousness and hand instability due to the customized design.

Design, development, and evaluation of a pinch-grasp haptic interface

Interaction with virtual or teleoperated environments requires contact with objects on a multipoint level. We describe the design of a pinch--grasp hand interface device for use as a grasping mechanism to complement haptic interfaces. To preserve a suitable level of transparency for human--computer interaction, this novel interface is designed for high-resolution contact forces, while centered around a lightweight structure. This functionality renders the device scalable and adaptable to a wide range of haptic interface structures and force level requirements. We present an optimal configuration for a pinch--grasp interface, which produces bidirectional forces to an operator's fingers and a rotational force to the wrist through a cable drive system. The device is characterized for use on a commercial haptic interface through demonstration of sustained peak performance and also workspace utilization. The dynamic performance of the pinch--grasp interface is experimentally determined, and the frequency response is identified to illustrate its contact force resolution.

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.

Non-uniform sparsity in rapid compressive sensing MRI

Magnetic Resonance Imaging (MRI) is one of the prominent medical imaging techniques. This process is time-consuming and can take several minutes to acquire one image. The aim of this research is to reduce the imaging process time of MRI. This issue is addressed by reducing the number of acquired measurements using theory of Compressive Sensing (CS). Compressive Sensing exploits sparsity in MR images. Randomly under sampled k-space generates incoherent noise which can be handled using a nonlinear image reconstruction method. In this paper, a new framework is presented based on the idea to exploit non-uniform nature of sparsity in MR images, where local sparsity constrains were used instead of traditional global constraint, to further reduce the sample set. Experimental results and comparison with CS using global constraint are demonstrated.

Human performance measures for interactive haptic-audio-visual interfaces

Virtual reality and simulation are becoming increasingly important in modern society and it is essential to improve our understanding of system usability and efficacy from the users’ perspective. This paper introduces a novel evaluation method designed to assess human user capability when undertaking technical and procedural training using virtual training systems. The evaluation method falls under the user-centred design and evaluation paradigm and draws on theories of cognitive, skillbased and affective learning outcomes. The method focuses on user interaction with haptic-audio-visual interfaces and the complexities related to variability in users’ performance, and the adoption and acceptance of the technologies. A large scale user study focusing on object assembly training tasks involving selecting, rotating, releasing, inserting and manipulating 3D objects was performed. The study demonstrated the advantages of the method in obtaining valuable multimodal information for accurate and comprehensive evaluation of virtual training system efficacy. The study investigated how well users learn, perform, adapt to and perceive the virtual training. The results of the study revealed valuable aspects of the design and evaluation of virtual training systems contributing to an improved understanding of more usable virtual training systems.

A framework for visual and haptic collaboration in shared virtual spaces

We propose a framework for visual and haptic collaboration in X3D/VRML shared virtual spaces. In this 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 consider shared objects defined as virtual object with their visual and physical properties rendered synchronously on each client computer. We introduce virtual tools which are shared objects associated with interactive and haptic devices. We implemented the proposed ideas as a server-client framework with a dedicated viewer. We discuss two implementation frameworks based on the strong and thin server concepts.

Mobile phone sensing systems : a survey

Mobile phone sensing is an emerging area of interest for researchers as smart phones are becoming the core communication device in people's everyday lives. Sensor enabled mobile phones or smart phones are hovering to be at the center of a next revolution in social networks, green applications, global environmental monitoring, personal and community healthcare, sensor augmented gaming, virtual reality and smart transportation systems. More and more organizations and people are discovering how mobile phones can be used for social impact, including how to use mobile technology for environmental protection, sensing, and to leverage just-in-time information to make our movements and actions more environmentally friendly. In this paper we have described comprehensively all those systems which are using smart phones and mobile phone sensors for humans good will and better human phone interaction.

Detecting patterns of change in benthic habitats by acoustic remote sensing

Changes in benthic habitats occur as a result of natural variation or human-induced processes. It is important to understand natural fine-scale inter-annual patterns of change to separate these signals from patterns of long-term change. Describing change from an acoustic remote sensing standpoint has been facilitated by the recent availability of full coverage swath acoustic datasets, but is limited by cost pressures associated with multiple surveys of the same area. We studied the use of landscape transition analysis as a means to differentiate seemingly random patterns of habitat change from systematic signals of habitat transition at a shallow (10 to 50 m depth) 18 km2 site on the temperate Australian continental shelf in 2006 and 2007. Supervised classifications for each year were accomplished using inde pendently collected highresolution swath acoustic and video reference data. Of the 4 representative biotic clas ses considered, signals of directional systematic changes occurred be tween a kelp-dominated class, a sessile invertebrate-dominated class and a mixed class of kelp and sessile invertebrates. We provide a detailed analysis of the components of the traditional change detection cross tabulation matrix, allowing identification of the strongest signals of systematic habitat transitions. Iden tifying patterns of habitat change is an important first step toward understanding the processes that drive them.

Mood sensing from social media texts and its applications

We present a large-scale mood analysis in social media texts. We organise the paper in three parts: (1) addressing the problem of feature selection and classification of mood in blogosphere, (2) we extract global mood patterns at different level of aggregation from a large-scale data set of approximately 18 millions documents (3) and finally, we extract mood trajectory for an egocentric user and study how it can be used to detect subtle emotion signals in a user-centric manner, supporting discovery of hyper-groups of communities based on sentiment information. For mood classification, two feature sets proposed in psychology are used, showing that these features are efficient, do not require a training phase and yield classification results comparable to state of the art, supervised feature selection schemes, on mood patterns, empirical results for mood organisation in the blogosphere are provided, analogous to the structure of human emotion proposed independently in the psychology literature, and on community structure discovery, sentiment-based approach can yield useful insights into community formation.