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Issue No.03  JulySeptember (2010 vol.3)
pp: 211223
Ramin Mafi , McMaster University, Hamilton
Shahin Sirouspour , McMaster University, Hamilton
Behzad Mahdavikhah , McMaster University, Hamilton
Brian Moody , Advance Micro Devices, Markham
Kaveh Elizeh , Gennum Corporation, Burlington
Adam B. Kinsman , McMaster University, Hamilton
Nicola Nicolici , McMaster University, Hamilton
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TOH.2009.50
ABSTRACT
Realtime simulation of haptic interaction with deformable objects is computationally demanding. In particular in finiteelement (FE) based analysis of such interactions, a large system of equations must be solved at an update rate of 1001,000 Hz for simulation fidelity and stability. A new hardwarebased parallel implementation of a Preconditioned Conjugate Gradient (PCG) algorithm is proposed for solving the linear systems of equations arising from FEbased deformation models. Concurrent utilization of a large number of fixedpoint computing units on a FieldProgrammable Gate Array (FPGA) device yields a very fast solution to these equations. Quantization and overflow errors in the fixedpoint implementation of the iterative solver are minimized through dynamic scaling and preconditioning. Numerical accuracy of the solution, the architecture design, and issues pertaining to the degree of parallelism and scalability of the architecture are discussed in detail. The implementation of the solver on an Altera EP3SE110 FPGA device has enabled realtime simulation of threedimensional linear elastic deformation models with 1,500 nodes at an update rate of up to 2,500 Hz.
INDEX TERMS
Object deformation, haptics, finite element method, realtime simulation, parallel computing, hardware acceleration, FPGA.
CITATION
Ramin Mafi, Shahin Sirouspour, Behzad Mahdavikhah, Brian Moody, Kaveh Elizeh, Adam B. Kinsman, Nicola Nicolici, "A Parallel Computing Platform for RealTime Haptic Interaction with Deformable Bodies", IEEE Transactions on Haptics, vol.3, no. 3, pp. 211223, JulySeptember 2010, doi:10.1109/TOH.2009.50
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