16043357
Six-degree-of-freedom haptic display using localized contact computations
We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the penetration depth (PD) is estimated in the contact neighborhood between each pair of decomposed convex pieces, using a new incremental method based on local optimization. Given the computed PD values, multiple contacts near a local region are clustered together to further speed up contact force determination. We have implemented these algorithms and applied them to complex contact scenarios consisting of multiple contacts.
8273317
A video-based rendering acceleration algorithm for interactive walkthroughs
We present a new approach for faster rendering of large synthetic environments using video-based representations. We decompose the large environment into cells and pre-compute video based impostors using MPEG compression to represent sets of objects that are far from each cell. At runtime, we decode the MPEG streams and use rendering algorithms that provide nearly constant-time random access to any frame. The resulting system has been implemented and used for an interactive walkthrough of a model of a house with 260,000 polygons and realistic lighting and textures. It is able to render this model at 16 frames per second (an eightfold improvement over simpler algorithms) on average on a Pentium II PC with an off-the-shelf graphics card.
7639620
Stable and responsive six-degree-of-freedom haptic manipulation using implicit integration
In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive 6-degree-of-freedom haptic rendering of complex polygonal models.
9041268
Modeling ice dynamics as a thin-film Stefan problem
Large, 3D ice formations such as icicles exhibit a high degree of geometric and optical complexity. Modeling these features by hand can be a daunting task, so we present a novel physically-based algorithm for simulating this phenomenon. Solidification is usually posed as a so-called 'Stefan problem', but the problem in its classic form is inappropriate for simulating the ice typically found in a winter scene. We instead use the 'thin-film' variant of the Stefan problem to derive velocity equations for a level set simulation. However, due to the scales involved in the problem, even an adaptive grid level set solver is still insufficient to track the tip of an icicle. Therefore, we derive an analytical solution for the icicle tip and use it to correct the level set simulation. The results appear to be in agreement with experimental data. We also present a physically-based technique for modeling ripples along the ice surface that alleviates the need to explicitly track small-scale geometry. To our knowledge, our approach is the most complete model available, and produces complex visual phenomena that no previous method has been able to capture.
15734500
Fast Animation of Lightning Using an Adaptive Mesh
We present a fast method for simulating, animating, and rendering lightning using adaptive grids. The "dielectric breakdown model" is an elegant algorithm for electrical pattern formation that we extend to enable animation of lightning. The simulation can be slow, particularly in 3D, because it involves solving a large Poisson problem. Losasso et al. recently proposed an octree data structure for simulating water and smoke, and we show that this discretization can be applied to the problem of lightning simulation as well. However, implementing the incomplete Cholesky conjugate gradient (ICCG) solver for this problem can be daunting, so we provide an extensive discussion of implementation issues. ICCG solvers can usually be accelerated using "Eisenstat's trick," but the trick cannot be directly applied to the adaptive case. Fortunately, we show that an "almost incomplete Cholesky" factorization can be computed so that Eisenstat's trick can still be used. We then present a fast rendering method based on convolution that is competitive with Monte Carlo ray tracing but orders of magnitude faster, and we also show how to further improve the visual results using jittering
206451107
Sensation-Preserving Haptic Rendering
Most human-computer interactive systems focus primarily on the graphical rendering of visual information and, to a lesser extent, on the display of auditory information. Haptic interfaces have the potential to increase the quality of human-computer interaction by accommodating the sense of touch. They provide an attractive augmentation to visual display and enhance the level of understanding of complex data sets. A haptic rendering system generates contact or restoring forces to prevent penetration into the virtual objects and create a sense of touch. The system computes contact forces by first detecting if a collision or penetration has occurred. Then, the system determines the (projected) contact points on the model surface. Finally, it computes restoring forces based on the amount of penetration. Researchers have recently investigated the problem of rendering the contact forces and torques between 3D virtual objects. This problem is known as six-degrees-of-freedom (6-DOF) haptic rendering, as the computed output includes both 3-DOF forces and 3-DOF torques. This article presents an overview of our work in this area. We suggest different approximation methods based on the principle of preserving the dominant perceptual factors in haptic exploration.
33339608
Almost Optimal Solutions for Bin Coloring Problems
In this paper we study two interesting bin coloring problems: Minimum Bin Coloring Problem (MinBC) and Online Maximum Bin Coloring Problem (OMaxBC), motivated from several applications in networking. For the MinBC problem, we first show that it is NP-complete, and then present two near linear time approximation algorithms to achieve almost optimal solutions, i.e., no more than OPT+2 and OPT+1 respectively, where OPT is the optimal solution. For the OMaxBC problem, we first introduce a deterministic 2-competitive greedy algorithm, and then give lower bounds for any deterministic and randomized (against adaptive offline adversary) online algorithms. The lower bounds show that our deterministic algorithm achieves the best possible competitive ratio.
205481590
Fast and simple algorithms to count the number of vertex covers in an interval graph
This study provides the following fast and simple algorithms for an interval graph: (1) an algorithm for counting the number of vertex covers, and (2) an algorithm for counting the number of minimal vertex covers.
2903221
Algorithms for clique-independent sets on subclasses of circular-arc graphs
A circular-arc graph is the intersection graph of arcs on a circle. A Helly circular-arc graph is a circular-arc graph admitting a model whose arcs satisfy the Helly property. A clique-independent set of a graph is a set of pairwise disjoint cliques of the graph. It is NP-hard to compute the maximum cardinality of a clique-independent set for a general graph. In the present paper, we propose polynomial time algorithms for finding the maximum cardinality and weight of a clique-independent set of a 3K2-free CA graph. Also, we apply the algorithms to the special case of an HCA graph. The complexity of the proposed algorithm for the cardinality problem in HCA graphs is O(n). This represents an improvement over the existing algorithm by Guruswami and Pandu Rangan, whose complexity is O(n2). These algorithms suppose that an HCA model of the graph is given.
28156768
A VLSI implementation of the blowfish encryption/decryption algorithm
We propose an efficient hardware architecture for the Blowfish algorithm [1]. The speed is up to 4 bit/clock, which is 9 times faster than a Pentium. By applying operator-rescheduling method, the critical path delay is improved by 21.7%. We have successfully implemented it using Compass cell library targeted at a 0.6 μm TSMC SPTM CMOS process. The die size is 5.7x6.1 mm and the maximum frequency is 50MHz.
16198203
On Semantics of Reactive Rule-Based Systems
In this paper we address special issues which arise when the rule-based programming paradigm is emlployed in development of reactive real-time systems. We begin by presenting a rule-based language which has emerged while developing intelligent cruise control systems. We describe a naive operational semantics based on an an implemented inference engine, and explain why the semantics is not appropriate in safety-critical real-time contexts. We then deene a number of correct-ness criteria ensuring termination, consistency and determinism, based on a formal declarative semantics. However, the declarative semantics is non-constructive. In order to be able to build an implementation satisfying the correctness criteria, two alternative approaches are proposed. Both approaches build upon static checks of a rule-based program. In the rst approach some correctness criteria are met by accepting only stratiied programs after the static checks. In the second approach we accept programs which are correct with respect to a constructive semantics. For both approaches we present the analysis methods and soundness results with respect to the desired declarative semantics. Abstract In this paper we address special issues which arise when the rule-based programming paradigm is emlployed in development of reactive real-time systems. We begin by presenting a rule-based language which has emerged while developing intelligent cruise control systems. We describe a naive operational semantics based on an an implemented inference engine, and explain why the semantics is not appropriate in safety-critical real-time contexts. We then deene a number of correct-ness criteria ensuring termination, consistency and determinism, based on a formal declarative semantics. However, the declarative semantics is non-constructive. In order to be able to build an implementation satisfying the correctness criteria, two alternative approaches are proposed. Both approaches build upon static checks of a rule-based program. In the rst approach some correctness criteria are met by accepting only stratiied programs after the static checks. In the second approach we accept programs which are correct with respect to a constructive semantics. For both approaches we present the analysis methods and soundness results with respect to the desired declarative semantics.