Toward the development of interactive virtual dissection with haptic feedback

Traditional, hands-on dissection of an animal is common practice in many classrooms to aid in the study of anatomy and biology. More specifically, virtual dissection environments have been developed making it possible to study the inner workings of animals without cutting them up. In this paper, we present a novel virtual reality dissection simulator, where a user can dissect an animal (i.e. frog) and its organs using a 3D force feedback haptic device. The simulator uses force feedback as part of a multimodal cue to provide guidance and performance feedback to the user. This paper highlights methodologies which are used for addressing some of the key challenges involved in designing and developing simulators, such as: modelling and mechanics of deformation, collision detection between multiple deformable bodies, and haptic feedback.     

Interactive multi-modal suturing

We present a mechanics-based interactive multi-modal environment designed as part of a serious gaming platform. The specific objectives are to teach basic suturing and knotting techniques for simple skin or soft tissue wound closure. The pre-wound suturing target, skin, or deformable tissue is modeled as a modified mass-spring system. The suturing material is designed as a mechanics-based deformable linear object. Tools involved in a typical suturing procedures are also simulated. Collision management modules between the soft tissue and the needle, the soft tissue and the suture are analyzed. In addition to modeling the interactive environment of a typical suturing procedure, basics of the modeling approaches on the evaluation of a stitch formed by the user are also discussed. For example, if needle insertion points are too close from each other or to the edge of the wound, when the suture is pulled, the suture will tear the soft tissue instead of suturing the incision together. Experiment results show that our simulator can run on a standard personal computer and allow users to perform different suturing patterns with smooth graphics and haptic feedback.     

An improved algorithm for layout design in cellular manufacturing systems

Layout has a significant role on the efficiency of manufacturing systems, but it has not received attention of researchers in comparison to cell formation in cellular manufacturing systems. In this paper, a mathematical model for facility layout in a cellular manufacturing system is proposed that minimizes both inter-cell and intra-cell material handling costs. A variant of simulated annealing algorithm is developed to solve the model. The developed algorithm produces solutions with better quality and less computation time in comparison with the benchmarked algorithm. The superiority of the algorithm in computation time is considerable especially when the size of the problem increases.     

An efficient optimal algorithm for the quantity discount problem in material requirement planning

An optimal algorithm based on branch-and-bound approach is presented in this paper to determine lot sizes for a single item in material requirement planning environments with deterministic time-phased demand and constant ordering cost with zero lead time, where all-units discounts are available from vendors and backlog is not permitted. On the basis of the proven properties of optimal order policy, a tree-search procedure is presented to construct the sequence of optimal orders. Some useful fathom rules have been proven, which make the algorithm very efficient. To compare the performance of this algorithm with the other existing optimal algorithms, an experimental design with various environments has been developed. Experimental results show that the performance of our optimal algorithm is much better than the performance of other existing optimal algorithms. Considering computational time as the performance measure, this algorithm is considered the best among the existing optimal algorithms for real problems with large dimensions (i.e. large number of periods and discount levels).     

Slippage control in soft finger grasping and manipulation

Handling objects with robotic soft fingers without considering the odds of slippage are not realistic. Grasping and manipulation algorithms have to be tested under such conditions for evaluating their robustness. In this paper, a dynamic analysis of rigid object manipulation with slippage control is studied using a two-link finger with soft hemispherical tip. Dependency on contact forces applied by a soft finger while grasping a rigid object is examined experimentally. A power-law model combined with a linear viscous damper is used to model the elastic behavior and damping effect of the soft tip, respectively. In order to obtain precise dynamic equations governing the system, two second-order differential equations with variable coefficients have been designed to describe the different possible states of the contact forces accordingly. A controller is designed based on the rigid fingertip model using the concept of feedback linearization for each phase of the system dynamics. Numerical simulations are used to evaluate the performance of the controller. The results reveal that the designed controller shows acceptable performance for both soft and rigid finger manipulation in reducing and canceling slippage. Furthermore, simulations indicate that the applied force in the soft finger manipulation is considerably less than the rigid “one.”.     

Blind spatial unmixing of multispectral images: New methods combining sparse component analysis,clustering and non-negativity constraints

Remote sensing has become an unavoidable tool for better managing our environment, generally by realizing maps of land cover using classification techniques. Traditional classification techniques assign only one class (e.g., water, soil, grass) to each pixel of remote sensing images. However, the area covered by one pixel contains more than one surface component and results in the mixture of these surface components. In such situations, classical classification is not acceptable for many major applications, such as environmental monitoring, agriculture, mineral exploration and mining, etc. Most methods proposed for treating this problem have been developed for hyperspectral images. On the contrary, there are very few automatic techniques suited to multispectral images. In this paper, we propose new unsupervised spatial methods (called 2D-Corr-NLS and 2D-Corr-NMF) in order to unmix each pixel of a multispectral image for better recognizing the surface components constituting the observed scene. These methods are related to the blind source separation (BSS) problem, and are based on sparse component analysis (SCA), clustering and non-negativity constraints. Our approach consists in first identifying the mixing matrix involved in this BSS problem, by using the first stage of a spatial correlation-based SCA method with very limited source sparsity constraints, combined with clustering. Non-negative least squares (NLS) or non-negative matrix factorization (NMF) methods are then used to extract spatial sources. An important advantage of our proposed methods is their applicability to the possibly globally underdetermined, but locally (over)determined BSS model in multispectral remote sensing images. Experiments based on realistic synthetic mixtures and real multispectral images collected by the Landsat ETM+ and the Formosat-2 sensors are performed to evaluate the performance of the proposed approach. We also show that our methods significantly outperform the sequential maximum angle convex cone (SMACC) method.     

Resistorless floating immittance function simulators employing current controlled conveyors and a grounded capacitor

In this paper, new floating immittance function simulators employing second-generation current controlled conveyors are proposed. The first four of the presented circuits employ only a single grounded capacitor as passive component and can realize either a negative or a positive floating inductor or capacitor. The last two of the proposed circuits do not employ passive components and can realize either negative or positive floating resistances. All of the proposed circuits do not require passive element matching. As an application, a third-order butterworth filter is realized using the proposed positive floating inductance simulator. SPICE simulation results and large signal behavior of the filter are included.     

Simulation of interconnect inductive impact in the presence of process variations in 90 nm and beyond

The on-chip inductive impact on signal integrity has been a problem for designs in deep-submicrometer technologies. The inductive impact increases the clock skew, max timing, and noise of bus signals. In this letter, circuit simulations using silicon-validated macromodels show that there is a significant inductive impact on the signal max timing (/spl sim/ 10% pushout versus RC delay) and noise (/spl sim/2/spl times/RC noise). In nanometer technologies, process variations have become a concern. Results show that device and interconnect process variations add /spl sim/ 3% to the RLC max-timing impact. However, their impact on the RLC signal noise is not appreciable. Finally, inductive impact in 65- and 45-nm technologies is investigated, which indicates that the inductance impact will not diminish as technology scales.     

Micro-engineered first wall tungsten armor for high average power laser fusion energy systems

The high average power laser program is developing an inertial fusion energy demonstration power reactor with a solid first wall chamber. The first wall (FW) will be subject to high energy density radiation and high doses of high energy helium implantation. Tungsten has been identified as the candidate material for a FW armor. The fundamental concern is long term thermo-mechanical survivability of the armor against the effects of high temperature pulsed operation and exfoliation due to the retention of implanted helium. Even if a solid tungsten armor coating would survive the high temperature cyclic operation with minimal failure, the high helium implantation and retention would result in unacceptable material loss rates. Micro-engineered materials, such as castellated structures, plasma sprayed nano-porous coatings and refractory foams are suggested as a first wall armor material to address these fundamental concerns. A micro-engineered FW armor would have to be designed with specific geometric features that tolerate high cyclic heating loads and recycle most of the implanted helium without any significant failure. Micro-engineered materials are briefly reviewed. In particular, plasma-sprayed nano-porous tungsten and tungsten foams are assessed for their potential to accommodate inertial fusion specific loads. Tests show that nano-porous plasma spray coatings can be manufactured with high permeability to helium gas, while retaining relatively high thermal conductivities. Tungsten foams where shown to be able to overcome thermo-mechanical loads by cell rotation and deformation. Helium implantation tests have shown, that pulsed implantation and heating releases significant levels of implanted helium. Helium implantation and release from tungsten was modeled using an expanded kinetic rate theory, to include the effects of pulsed implantations and thermal cycles. Although, significant challenges remain micro-engineered materials are shown to constitute potential candidate FW armor materials.     

Sep: A Fixed Degree Regular Network for Massively Parallel Systems

We propose a family of regular Cayley network graphs of degree three based on permutation groups for design of massively parallel systems. These graphs are shown to be based on the shuffle exchange operations, to have logarithmic diameter in the number of vertices, and to be maximally fault tolerant. We investigate different algebraic properties of these networks (including fault tolerance) and propose a simple routing algorithm. These graphs are shown to be able to efficiently simulate or embed other permutation group based graphs; thus they seem to be very attractive for VLSI implementation and for applications requiring bounded number of I/O ports as well as to run existing applications for other permutation group based network architectures.