A self-localization system uses both of a global search apparatus, which is based on grid-based Markov localization, and a local search apparatus, which uses an extended Kalman filter. A first bus connection communicates data from the computer system to the integrated graphics subsystem. The data line includes a lower conductive layer, an intermediate conductive layer, and an upper conductive layer. The system further includes modifying the haptic effect definition based on the received spatialization data.