Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

Does modifying the household food budget predict changes in the healthfulness of purchasing choices among low- and high-income women?

Food cost has a strong influence on food purchases and given that persons of low income often have more limited budgets, healthier foods may be overlooked in favour of more energy-dense lower-cost options. The aim of this study was to investigate whether modifications to the available household food budget led to changes in the healthfulness of food purchasing choices among women of low and high income. A quasi-experimental design was used which included a sample of 74 women (37 low-income women and 37 high-income women) who were selected on the basis of their household income and sent an itemised shopping list in order to calculate their typical weekly household shopping expenditure. The women were also asked to indicate those foods they would add to their list if they were given an additional 25% of their budget to spend on food and those foods they would remove if they were restricted by 25% of their budget. When asked what foods they would add with a larger household food budget, low-income women chose more foods from the ‘healthier’ categories whereas high-income women chose more foods from the less ‘healthier’ categories. However, making the budgets of low- and high-income women more ‘equivalent’ did not eradicate income differences in overall healthfulness of food purchasing choices. This study highlights the importance of cost when making food purchasing choices among low- and high-income groups. Public health strategies aimed at reducing income inequalities in diet might focus on promoting healthy diets that are low cost.

The impact of business outsourcing on corporate real estate in India

Driven by Western companies' requirements for efficiency and effectiveness, a trend towards outsourcing of business activities to India and other low-cost countries commenced in the early 1990s and has continued to grow at a surprisingly fast pace. In a relatively short timeframe India has become a global hub for back-office services, although the effect on the urban cities is yet to be fully comprehended. As American and European companies continue to relocate their information technology services and other back office works to the subcontinent, there has been a considerable flow-on effect on Indian corporate real estate. This paper addresses two key questions. Firstly, the factors important for Western companies' outsourcing of organisational activities to India, and secondly, the effect of business outsourcing on corporate real estate locational requirements in India. A survey of corporate real estate representatives in India and the UK was conducted with the results providing an insight into the present state and possible future direction of outsourcing for India. This research presents a unique insight into the impacts of Western business outsourcing on corporate real estate in India, and presents findings that are useful to both organisations seeking to relocate business activities to India and for property market analysts looking to understand drivers behind this sustained demand for Indian corporate real estate.

The emergence of battery electric vehicles : A NZ manufacturing opportunity?

Personal passenger transport faces several challenges in the coming decades: depletion of cheap oil reserves, increasing congestion, localised pollution, the need for reduced carbon emissions and the long term goal of sustainability. One way of solving some of these problems could be to introduce comfortable, energy efficient, battery electric vehicles.

Currently, hybrid vehicles have been presented as a means to reducing the transportation related oil demand. New developments in materials and technologies have made them, cleaner and safer as well as more fuel efficient. However, hybrids will only prolong the use of oil until alternatively fuelled vehicles are developed.

One long term alternative is the battery electric vehicle (BEV). A BEV designed to be light, aerodynamic with high efficiency drive train and latest battery technology would have a performance comparable to a typical internal combustion engine vehicle (ICEV). Recent developments in virtual engineering, rapid prototyping and advanced manufacturing might enable low-cost development of niche market BEV’s designed and built in New Zealand for export markets.

This work examines the collaborative development of a twin seat BEV using new materials and latest technologies by the University of Waikato’s Engineering Department and a group of NZ and foreign companies. The car will be used to research the potential of BEVs and will also compete in the Commuter Class of the World Solar Challenge in 2007.

The feasibility of a sustainable energy, driver-only electric commuter vehicle for New Zealand

This paper investigates whether low technology driver-only, battery electric commuter vehicles are feasible for New Zealand. Personal passenger transport faces several challenges in the coming decades: depletion of cheap oil reserves, increasing congestion, localised pollution, the need for reduced carbon emissions and the long term goal of sustainability. One way of solving some of these problems could be to introduce low cost, comfortable, energy efficient, driver-only electric vehicles. These would still give the driver a weatherproof, safe and comfortable means of commuting, but at a fraction of the energy and running costs of conventional petrol/diesel cars. To help assess their viability, the performance and energy use of the E-POD electric commuter vehicle is used as a benchmark. The work shows that such a vehicle could be made cheaply, using readily available technology with a range of 180km and a top speed of over 90km/h. The chassis could be made from natural fibre composite materials that might reduce significantly the embedded energy required for its manufacture. The electricity taken from the grid to charge the batteries could be replaced by electricity generated from grid connected photovoltaic panels mounted on the garage roof of the vehicle owner.

Programmer friendly and efficient distributed shared memory integrated into a distributed operating system

Distributed Shared Memory (DSM) provides programmers with a shared memory environment in systems where memory is not physically shared. Clusters of Workstations (COWs), an often untapped source of computing power, are characterised by a very low cost/performance ratio. The combination of Clusters of Workstations (COWs) with DSM provides an environment in which the programmer can use the well known approaches and methods of programming for physically shared memory systems and parallel processing can be carried out to make full use of the computing power and cost advantages of the COW. The aim of this research is to synthesise and develop a distributed shared memory system as an integral part of an operating system in order to provide application programmers with a convenient environment in which the development and execution of parallel applications can be done easily and efficiently, and which does this in a transparent manner. Furthermore, in order to satisfy our challenging design requirements we want to demonstrate that the operating system into which the DSM system is integrated should be a distributed operating system. In this thesis a study into the synthesis of a DSM system within a microkernel and client-server based distributed operating system which uses both strict and weak consistency models, with a write-invalidate and write-update based approach for consistency maintenance is reported. Furthermore a unique automatic initialisation system which allows the programmer to start the parallel execution of a group of processes with a single library call is reported. The number and location of these processes are determined by the operating system based on system load information. The DSM system proposed has a novel approach in that it provides programmers with a complete programming environment in which they are easily able to develop and run their code or indeed run existing shared memory code. A set of demanding DSM system design requirements are presented and the incentives for the placement of the DSM system with a distributed operating system and in particular in the memory management server have been reported. The new DSM system concentrated on an event-driven set of cooperating and distributed entities, and a detailed description of the events and reactions to these events that make up the operation of the DSM system is then presented. This is followed by a pseudocode form of the detailed design of the main modules and activities of the primitives used in the proposed DSM system. Quantitative results of performance tests and qualitative results showing the ease of programming and use of the RHODOS DSM system are reported. A study of five different application is given and the results of tests carried out on these applications together with a discussion of the results are given. A discussion of how RHODOS’ DSM allows programmers to write shared memory code in an easy to use and familiar environment and a comparative evaluation of RHODOS DSM with other DSM systems is presented. In particular, the ease of use and transparency of the DSM system have been demonstrated through the description of the ease with which a moderately inexperienced undergraduate programmer was able to convert, write and run applications for the testing of the DSM system. Furthermore, the description of the tests performed using physically shared memory shows that the latter is indistinguishable from distributed shared memory; this is further evidence that the DSM system is fully transparent. This study clearly demonstrates that the aim of the research has been achieved; it is possible to develop a programmer friendly and efficient DSM system fully integrated within a distributed operating system. It is clear from this research that client-server and microkernel based distributed operating system integrated DSM makes shared memory operations transparent and almost completely removes the involvement of the programmer beyond classical activities needed to deal with shared memory. The conclusion can be drawn that DSM, when implemented within a client-server and microkernel based distributed operating system, is one of the most encouraging approaches to parallel processing since it guarantees performance improvements with minimal programmer involvement.

Instructional strategies integrating cognitive style construct : a meta-knowledge processing model

The overarching goal of this dissertation was to evaluate the contextual components of instructional strategies for the acquisition of complex programming concepts. A meta-knowledge processing model is proposed, on the basis of the research findings, thereby facilitating the selection of media treatment for electronic courseware. When implemented, this model extends the work of Smith (1998), as a front-end methodology, for his glass-box interpreter called Bradman, for teaching novice programmers. Technology now provides the means to produce individualized instructional packages with relative ease. Multimedia and Web courseware development accentuate a highly graphical (or visual) approach to instructional formats. Typically, little consideration is given to the effectiveness of screen-based visual stimuli, and curiously, students are expected to be visually literate, despite the complexity of human-computer interaction. Visual literacy is much harder for some people to acquire than for others! (see Chapter Four: Conditions-of-the-Learner) An innovative research programme was devised to investigate the interactive effect of instructional strategies, enhanced with text-plus-textual metaphors or text-plus-graphical metaphors, and cognitive style, on the acquisition of a special category of abstract (process) programming concept. This type of concept was chosen to focus on the role of analogic knowledge involved in computer programming. The results are discussed within the context of the internal/external exchange process, drawing on Ritchey's (1980) concepts of within-item and between-item encoding elaborations. The methodology developed for the doctoral project integrates earlier research knowledge in a novel, interdisciplinary, conceptual framework, including: from instructional science in the USA, for the concept learning models; British cognitive psychology and human memory research, for defining the cognitive style construct; and Australian educational research, to provide the measurement tools for instructional outcomes. The experimental design consisted of a screening test to determine cognitive style, a pretest to determine prior domain knowledge in abstract programming knowledge elements, the instruction period, and a post-test to measure improved performance. This research design provides a three-level discovery process to articulate: 1) the fusion of strategic knowledge required by the novice learner for dealing with contexts within instructional strategies 2) acquisition of knowledge using measurable instructional outcome and learner characteristics 3) knowledge of the innate environmental factors which influence the instructional outcomes This research has successfully identified the interactive effect of instructional strategy, within an individual's cognitive style construct, in their acquisition of complex programming concepts. However, the significance of the three-level discovery process lies in the scope of the methodology to inform the design of a meta-knowledge processing model for instructional science. Firstly, the British cognitive style testing procedure, is a low cost, user friendly, computer application that effectively measures an individual's position on the two cognitive style continua (Riding & Cheema,1991). Secondly, the QUEST Interactive Test Analysis System (Izard,1995), allows for a probabilistic determination of an individual's knowledge level, relative to other participants, and relative to test-item difficulties. Test-items can be related to skill levels, and consequently, can be used by instructional scientists to measure knowledge acquisition. Finally, an Effect Size Analysis (Cohen,1977) allows for a direct comparison between treatment groups, giving a statistical measurement of how large an effect the independent variables have on the dependent outcomes. Combined with QUEST's hierarchical positioning of participants, this tool can assist in identifying preferred learning conditions for the evaluation of treatment groups. By combining these three assessment analysis tools into instructional research, a computerized learning shell, customised for individuals' cognitive constructs can be created (McKay & Garner,1999). While this approach has widespread application, individual researchers/trainers would nonetheless, need to validate with an extensive pilot study programme (McKay,1999a; McKay,1999b), the interactive effects within their specific learning domain. Furthermore, the instructional material does not need to be limited to a textual/graphical comparison, but could be applied to any two or more instructional treatments of any kind. For instance: a structured versus exploratory strategy. The possibilities and combinations are believed to be endless, provided the focus is maintained on linking of the front-end identification of cognitive style with an improved performance outcome. My in-depth analysis provides a better understanding of the interactive effects of the cognitive style construct and instructional format on the acquisition of abstract concepts, involving spatial relations and logical reasoning. In providing the basis for a meta-knowledge processing model, this research is expected to be of interest to educators, cognitive psychologists, communications engineers and computer scientists specialising in computer-human interactions.

Sustainable living environment for urban low-income households in Malaysia : key factors for maintenance

Urbanisation is predicted to continuously increase every year. Demand for urban shelter will rise and hence this will force governments to act, within their capability, to provide affordable housing in order to maintain social and economic stability. Some industrialized countries have demonstrated full state support from planning and implementation through to continuing maintenance in order to create and sustain a healthy living environment for urban low-in-come households. For developing countries, this might be more difficult. Ensuring adequate maintenance to provide housing quality over the long term is proving even more problematic than simply providing housing. The question is how housing in developing countries can be made sustainable in order to provide a better living environment in the long term. This study focuses on key issues of residential living environments for urban low-cost housing in Malaysia in relation to housing maintenance management. Drawing from extensive primary research and a series of interviews, this exploratory study identifies factors that must be considered by policy makers in order to provide a decent and sustainable living environment for the urban lower-income group. The outcome suggests that current systems of maintenance management - offsetting maintenance to developers or the housing communities themselves, is not working well. The government may need to continue to support low cost housing through maintenance in order to prevent deterioration of accommodation that could become future slums.

Quickstep

Quickstep✹ is a novel technology for composite materials manufacturing. Characterisation of carbon fibre reinforced polymer composites cured both conventionally and with the low cost Quickstep process revealed a higher glass transition temperature, enhanced fracture toughness and better impact resistance for the Quickstep composite laminates.

Design, fabrication and evaluation of universal polymerase chain reaction devices

Novel and low cost PCR devices were developed to perform rapid polymerase chain reaction based diagnostics for infectious diseases. The main advantages of using these devices are that it can perform multi sample and also multiplexing of DNA samples woth low sample volume compared to the conventional PCR devices.

Australian higher education institutions transforming the future of teaching and learning through 3D virtual worlds

What are educators‟ motivations for using virtual worlds with their students? Are they using them to support the teaching of professions and if this is the case, do they introduce virtual worlds into the curriculum to develop and/or expand students' professional learning networks? Are they using virtual worlds to transform their teaching and learning? In  recognition of the exciting opportunities that virtual worlds present for higher education, the DEHub Virtual Worlds Working Group was formed. It is made up of Australian university academics who are investigating the role that virtual worlds will play in the future of education and actively implementing the technology within their own teaching practice and  curricula. This paper presents a typology for teaching and learning in 3D virtual worlds and applies the typology to a series of case studies based on the ways in which academics and their institutions are exploiting the power of virtual worlds for diverse purposes ranging from business scenarios and virtual excursions to role-play, experimentation and language development. The case studies offer insight into the ways in which institutions are transforming their teaching for an unknown future through innovative teaching and learning in virtual worlds. The paper demonstrates how virtual worlds enable low cost alternatives to existing pedagogies as well as creating opportunities for rich, immersive and authentic activities that would otherwise not be feasible or maybe not even be possible. Through the use of virtual worlds, teaching and learning can be transformed to cater for an unknown future.

A RFID architecture framework for global supply chain applications

RFID technology promises to revolutionize supply chains and usher in a new era of cost savings, efficiency and business intelligence. The use of low cost RFID devices in supply chain management systems has been increasing dramatically. While a lot of research has been carried out in trying to make a completely RFID enabled global supply chain a reality there still remains a number of hurdles to be surmounted before that vision can be realized. In this paper, we analyze the specific requirements of a RFID enabled global supply chain. Then we develop and present a RFID architecture that is optimized for developing global supply chain applications but is also fully compatible with the currently used RFID architectures. Finally we do a comparative analysis of our framework with the current RFID architecture standard showing our framework has a number of significant advantages over it.

Solar thermal drying of canarium indicum nuts

Many situations exist in rural areas of developing countries where the help of simple technology can make substantial positive impacts on living conditions, finance, and in this case; sustainability. In the Melanesia region, there are numerous areas identified as needing improvement, including indigenous food preservation which will be addressed with a proposed solar thermal solution utilizing locally available materials as much as possible for low cost local construction. The current knowledge of the drying requirements for the product chosen in this study is quite limited. However, it is believed that solar thermal drying might be feasible for the remote sunny regions as in Melanesia. This paper describes the processes involved in determining the drying parameters of the Canarium indicum nut, and the proposed solar dryer designs that have been considered for the particular environmental conditions and product specifications. Through the selection process, a mixed mode, low-tunnel solar dryer was chosen as the best match to satisfy the different parameters.

Enhanced RFID mutual authentication scheme based on shared secret information

RFID is a revolutionary remote technology which has many useful implications. Large scale implementation of RFID is seeking 100% information privacy and untraceability, for users and organizations, which is suitable for low cost RFID tag (Class1). To protect users and organization we are proposing an enhanced RFID mutual authentication scheme. In this protocol we use authentication based on shared unique parameters as a method to protect privacy. This protocol will be capable of handling forward and backward security, rouge reader better than existing protocols. In our new scheme we involved RFID reader’s hardware ID in addition to other shared secret information which uses hash to protect users and industries privacy. Moreover, we used LAMED as our PRNG (Pseudorandom Number Generator) which is faster and take less computational power.

A haptically enabled CAN-based steering wheel controller

As the portable entertainment and mobility technologies migrate into the car, driver distraction has become recognized as a major factor in road crashes around the world. To help alert drivers to their distraction, active safety technologies such as lane departure warning systems and collision avoidance systems are being implemented. One issue with the implementation of yet another technology into the vehicle is how to cut through the competing demands of the mobile phone, navigation systems and other technologies. Haptic alerts present just such a method that may enable the system to short-circuit the normal auditory or visual communication channels. This paper presents a low cost haptic steering wheel controller that has been designed developed and tested and may be used as a communication device by a lane departure, collision avoidance, or other type of safety system.