Apprehending butterflies and flying beauties : bringing magical realism to ground

[No Abstract]

Cooperative hunting by distributed mobile robots based on local interaction

This paper proposes a distributed control approach called local interactions with local coordinate systems (LILCS)to multirobot hunting tasks in unknown environments, where a team of mobile robots hunts a target called evader, which will actively try to escape with a safety strategy. This robust approach can cope with accumulative errors of wheels and imperfect communication networks. Computer simulations show the validity of the proposed approach.

Formation of networked mobile robots

This thesis presents a novel approach for controlling a robotic swarm to generate a geometric pattern described by a given contour, and a suitable communication scheme which enables the robots to communicate with each other as an all-to-all network.

Mobility and vision for mobile robots in non-deterministic, competitive environments

Develops an award winning design for an omnidirectional mobile robot that is both lightweight and extremely maneuverable. Two methods of robot vision, one using rotating lasers and a second using color video cameras were also developed and the merits of both explored.

A robust set-valued state estimation approach to the problem of vision based SLAM for mobile robots

The problem of visual simultaneous localization and mapping (SLAM) is examined in this paper using ideas and algorithms from robust control and estimation theory. Using a stereo-vision based sensor, a nonlinear measurement model is derived which leads to nonlinear measurements of the landmark coordinates along with optical flow based measurements of the relative robot-landmark velocity. Using a novel analytical measurement transformation, the nonlinear SLAM problem is converted into the linear filter is guaranteed stable and the ALAM state estimation error is bounded within an ellipsoidal set. No similar results are available for the commonly employed extended Kalman filter which is known to exhibit divergent and inconsistency characteristics in practice.

Flying the coop : why is the move out of home proving unsustainable?

Changing social trends indicate that more young Australians are electing to live at home longer. Residing in the parental home is the most common mode of living for those aged in their 20s, with recent data indicating more than 30 per cent decisively remain in this arrangement with their parents.

While there are obviously still those who decide to move out, this housing arrangement seems to be proving unsustainable; many young adults are returning home to reside with their parents after time spent on their own in a trend increasingly referred to as the ‘boomerang’ effect.

This paper reviews the available literature on young adults’ living arrangements, identifying those factors implicated both in the leaving home process and the likelihood a young adult will return home after previously moving out. In highlighting how much of this earlier research has relied on the use of statistical methods, the paper aims to justify the need for the proposed study- a contemporary exploration of generation Y Australians’ experiences of home returning.

The study, guided by an ecological theoretical perspective, will utilise a qualitative methodology to investigate the reasons why young adults are experiencing difficulty sustaining their move to independent living. In-depth interviews will be conducted in Melbourne with young adults aged between 20 and 30 years who currently reside in the parental home after living independently for four months or more. It is anticipated the study sample will include both males and females who are currently engaged in, or have previously completed, tertiary study.

These interviews will be analysed and through the emergent themes, will provide a clearer insight into the ‘boomerang’ generation- a group of young adults who will become increasingly more common in light of the current uncertainty surrounding finances, employment and housing markets. The implications of this research will therefore be significant for those concerned with the future housing decisions of Australian society.

Optimization-based formation of autonomous mobile robots

The formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new asynchronous, memoryless (oblivious) algorithm to the formation problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and the target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate systems. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.

Consensus control for a system of underwater swarm robots

The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.

The shirt-cuff flying cylinder.

The key aspects and ways in which a model of a shirt-cuff flying cylinder is made is discussed. An unbreakable model of the same can be made using slices of a plastic soft-drink bottle.

Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control

This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.

Exhaled air temperature as a function of ambient temperature in flying and resting ducks

Exhaled air temperature (T exh) has a paramount effect on respiratory water loss during flight. For migratory birds, low T exh potentially reduces water loss and increases flight range. However, only three studies provide empirical data on T exh during flight. The aim of this study was to record T exh of birds during rest and flight at a range of controlled ambient temperatures (T amb). One wigeon and two teal flew a total of 20 times in a wind tunnel at T amb ranging from 1° to 24°C. T exh during flight did not differ between the two species and was strongly correlated with T amb (T exh=1.036 T amb + 13.426; R²=0.58). In addition, body temperature had a weak positive effect on T exh. At a given T amb, T exh was about 5°C higher during flight than at rest.

Formation control of weak autonomous robots

Formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate system. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.