Bilateral haptic teleoperation of an articulated track mobile robot

Teleoperation has been used in many applications, allowing a human operator to remotely control a robotic system in order to perform a particular task. Recently haptic teleoperation has focused mainly on improving performance in remote manipulation tasks, however the haptic approach offers similar advantages for teleoperative control of the motion of a mobile robot. This paper describes a prototype system designed to facilitate haptic teleoperation of an all-terrain, articulated track mobile robot. This system utilizes a multi-modal user interface intended to improve operator immersion, reduce operator overload and improve teleoperative task performance. The system architecture facilitates implementation of an application-specific haptic augmentation algorithm in order to improve operator performance in challenging real-world tasks. The contributions of this work can be categorized as the custom mobile platform, teleoperator interface and haptic augmentation strategy.

Tracking the nomadic life of the educational researcher :- what future for feminist public intellectual(s) and/in the performative postmodern university

Is the idea of the liberal university dead, has the post modern university any chance of being emancipatory, has the theory practice divide merely collapsed in an era of 'new knowledge work', or has the university just become one aspect of market state and global capitalism. Knowledge based economies simultaneously locate universities as central to the commodification and management of knowledge while the legitimacy of the university and the academic as knowledge producers is challenged by post modernist, feminist, postcolonial and indigenous claims within a wider trend towards the 'democratisation of knowledge' and a new educational instrumentalism and opportunism. What becomes of the educational researcher, and indeed for their professional organizations, in this changing socio political and economic scenario? Is our role one of policy service or policy critique, technical expert or public intellectual? In particular what place is there for feminist public intellectuals in a socalled era of post feminism and public-/private convergence? The paper draws on recent debates around the nature of knowledge based societies, trends in relations between policy and educational research, and draws upon feminist and critical perspectives to mount a case for the importance of the postmodern university and the public intellectual.

Banding and radio-tracking juvenile powerful owls in Melbourne, Victoria : trials and tribulations

The Powerful Owl (Ninox strenua) is Australia's largest owl. Considering their large size they are a very cryptic species, with limited sexual dimorphism, silent fight and a highly camouflaged presence amongst secluded canopy vegetation. These features enable Powerful Owl presence to often go unnoticed and even for the trained eye, extremely difficult to study. Our research has focused on monitoring the behaviour of individual Powerful Owls in urban Melbourne, Australia.
The leg banding of Powerful Owls is a somewhat contentious issue in Australia and here we report on the suitability of different types of legs bands placed on the tarsus of juvenile Powerful Owls. There has been some debate over the band size that should be used and the consequent effects bands may pose for the owls as they mature. We also investigate the usefulness of bands as a technique to identify Powerful Owls once they have dispersed from the natal territory.
Radio-tracking juvenile Powerful Owls was also undertaken during this study, primarily to determine individual behaviour from post fledging until dispersal. This is the first study in Australia to attempt radio-tracking juvenile Powerful Owls and the results from this research highlight behavioural characteristics, mortality rates post fledging and dispersal movements for the twelve months post fledging.
Overall we found that aluminium legs bands are a useful tool for individual identification of juvenile Powerful Owls post fledgling, however, their presence is somewhat difficult to determine on mature adults as the tarsus feathers tend to cover the band and make vision from the ground difficult. Aluminium leg bands are also useful as an identification tool for deceased birds. Leather leg bands are more suitable than aluminium bands when attaching radio-transmitters as these provide more flexibility and can be removed by the owl if they become irritating.
Radio-tracking juvenile Powerful Owls provided invaluable information relating to juvenile behaviour and movements, showing that juveniles actually remain in territories adjacent to their natal territory for the twelve months post fledging. This information is vital for the successful conservation of this species, particularly in relation to habitat conservation and home-range modelling.

Wearing a sports compression garment on the performance of visuomotor tracking following eccentric exercise : a pilot study

Clinical compression garments have been shown to improve functional control in patients with motor impairments, however, investigation in functional control has not been observed whilst wearing sports compression garments. This pilot study assessed motor control changes in the bicep brachii muscle following a bout of eccentric exercise designed to induce delayed onset muscle soreness for intervals up to 14 days after exercise. Eight male participants performed 35 maximal isokinetic eccentric extensions at 90° s−1. Participants where then randomly divided into one of two groups to perform a one-dimensional elbow flexion/extension visuomotor tracking task; one group wore a sports compression garment during the task, the other acted as control (no garment). The group who wore the compression garment performed the tracking task significantly better immediately post-exercise, and at days 1, 2 and 3 post-exercise (p ≤ 0.05). Non-significant but large and moderate effects sizes (ES), in tracking, were found between the two groups on day 5 (ES = 1.3) and day 7 (ES = 0.7), respectively. Further research is necessary to elucidate these preliminary findings, however, the results suggest that the wearing of sports compression garments post-eccentric exercise has a positive effect on functional motor control.

Decentralized and robust target tracking with sensor networks

In this paper we address the problem of decentralized and robust linear filtering for target tracking using networks of (radar) sensors taking nonlinear range and bearing measurements. The algorithm introduced in this paper permits efficient data fusion from multiple sensors through a summation style fusion architecture. Moreover, we prove that the state estimation error for the linear filtering algorithm is bounded.

Visual tracking of vehicles using multiresolution analysis and neural network

This paper describes the procedure for detection and tracking of a vehicle from an on-road image sequence taken by a monocular video capturing device in real time. The main objective of such a visual tracking system is to closely follow objects in each frame of a video stream, such that the object position as well as other geometric information are always known. In the tracking system described, the video capturing device is also moving. It is a challenge to detect and track a moving vehicle under a constantly changing environment coupled to real time video processing. The system suggested is robust to implement under different illuminating conditions by using the monocular video capturing device. The vehicle tracking algorithm is one of the most important modules in an autonomous vehicle system, not only it should be very accurate but also must have the safety of other vehicles, pedestrians, and the moving vehicle itself. In order to achieve this an algorithm of multi resolution technique based on Haar basis functions were used for the wavelet transform, where a combination of classification was carried out with the multilayer feed forward neural network. The classification is done in a reduced dimensional space, where principle component analysis (PCA) dimensional reduction technique has been applied to make the classification process much more efficient. The results show the effectiveness of the proposed methodology.

Position estimation and tracking of an autonomous mobile sensor using received signal strength

In this paper, an algorithm for approximating the path of a moving autonomous mobile sensor with an unknown position location using Received Signal Strength (RSS) measurements is proposed. Using a Least Squares (LS) estimation method as an input, a Maximum-Likelihood (ML) approach is used to determine the location of the unknown mobile sensor. For the mobile sensor case, as the sensor changes position the characteristics of the RSS measurements also change; therefore the proposed method adapts the RSS measurement model by dynamically changing the pass loss value alpha to aid in position estimation. Secondly, a Recursive Least-Squares (RLS) algorithm is used to estimate the path of a moving mobile sensor using the Maximum-Likelihood position estimation as an input. The performance of the proposed algorithm is evaluated via simulation and it is shown that this method can accurately determine the position of the mobile sensor, and can efficiently track the position of the mobile sensor during motion.

Robust finite-time consensus tracking algorithm for multirobot systems

This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control of multirobot systems with input disturbances. Simulation results are presented to validate the analysis.

Developing the textual turn : tracking the grammar of research case records

During action research projects a great deal of written material is produced. Some of this is data generated about the project, some about the process of the research and some is reflective writing about the researcher(s). In this article I propose that a deliberate focus on the tracking of texts might be helpful in action research, particularly if the inquiry is working within significant constraints. Working with a range of documents and informed by the work of Dorothy Smith on the texting of ruling relations, I show how a multiagency project based in one school slipped away from its original community development goals into a more 'professional service' model. I also show how the project was able to resist partially the requirement by the funding body to use a rational strategic planning model through the production of taped conversations and meta-analytic papers. Although this is a single case, I contend that this example points to the potential utility of an explicit focus on the textual practices of action research.

On the geometry of localization, tracking and navigation

The thesis characterizes the geometry of certain localization, tracking and navigation problems. For instance, the potential localization performance of certain multi-sensor systems is measurably linked to the relative sensor-target geometry. Additionally, several optimal and robust algorithms for localization and tracking are designed which exploit the underlying geometry of the problem considered.