Title :
Hardware-based parallel computing for real-time haptic rendering of deformable objects
Author :
Mafi, R. ; Sirouspour, S. ; Moody, B. ; Mahdavikhah, B. ; Elizeh, K. ; Kinsman, A. ; Nicolici, N. ; Fotoohi, M. ; Madill, D.
Author_Institution :
Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, ON
Abstract :
In this work, a new hardware-based parallel implementation of the iterative conjugate gradient (CG) algorithm for solving such systems of equations is proposed. Fixed point computations are employed to optimize hardware resource usage and to increase parallelism. The proposed implementation adaptively adjusts to variations in the dynamic range of data operands in order to enhance computation accuracy and avoid divergence due to overflow and quantization errors.
Keywords :
conjugate gradient methods; iterative methods; parallel processing; rendering (computer graphics); fixed point computations; hardware-based parallel computing; iterative conjugate gradient algorithm; object deformation; quantization errors; real-time haptic rendering; Computational modeling; Deformable models; Field programmable gate arrays; Haptic interfaces; Mathematical model; Real time systems; Solid modeling;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651242
