An adjustable force field for multiple robot mission and path planning

Mission and path planning for multiple robots in dynamic environments is required when multiple mobile robots or unmanned vehicles are used for geographically distributed tasks. Assigning tasks and paths for robots for cooperatively accomplishing a mission of reaching to number of target points are addressed in this paper. The methodology that is proposed is based on using an adjustable force field which is suitable for dynamic environment. From the force field analysis, the decisions to assign tasks for each robot are then made. The force field is also used to plan a collision free path for each robot. Adjustable weights for the force field model are proposed to satisfy the constraints of the motion. In this research, the constraints are the cooperation of the robots, the precedence between the targets and between robots, and the discrimination between different obstacles. Two simulations for mission and path planning in 2D and 3D dynamic spaces with multiple robots are presented based on the proposed adjustable force filed. The result of the mission and path planning for three robots cooperatively doing eight target points are shown.

Gender inequality and education : changing local/global relations in a ‘post colonial’ world and the implications for feminist research

This article explores the relationship between education reform and gender equity, both within and between nation states. Utilising feminist critical policy analysis and post-colonial theory, it examines how education reform over the past decade has impacted on gender equity, and how educational reform is itself gendered. It considers the nature of gender restructuring; maps significant shifts in gender equity policy in the wider context of educational and social inequality debates; and through an analysis of recent research on gender identity, schooling and leadership argues that gender can no longer be privileged when identifying and responding to educational inequality. Key assumptions underpinning how social change and education reform delivers equity are questioned, concluding with feminist theorising about how social justice may inform equity policy and practice in culturally diverse educational contexts.

Post-colonial states, ethnic minorities and separatist conflicts : case studies from Southeast and South Asia

Post-colonial states in the Asian region have frequently been subject to political tensions derived from their multi-ethnic make-up and, what some have argued to be, the failure of states to adequately represent the interests of their ethnic minorities. This article will look at examples of where states in Asia have failed to adequately represent or otherwise incorporate their ethnic minorities as full and equal citizens. It also considers the range of responses to such perceived or actual state failure in adequately incorporating all citizens, including inter-ethnic and racial violence and separatist conflict. The article will conclude by considering conceptual and actual models of state organization intended to resolve racial and ethnic tensions in the Asian region.

The case of children's literature : colonial or anti-colonial?

Since Jacqueline Rose published The Case of Peter Pan in 1984, scholars in the field of children’s literature have taken up a rhetorical stance which treats child readers as colonised, and children’s books as a colonising site. This article takes issue with Rose’s rhetoric of colonisation and its deployment by scholars, arguing that it is tainted by logical and ethical flaws. Rather, children’s literature can be a site of decolonisation which revisions the hierarchies of value promoted through colonisation and its aftermath by adopting what Bill Ashcroft refers to as tactics of interpolation. To illustrate how decolonising strategies work in children’s texts, the article considers several alphabet books by Indigenous author-illustrators from Canada and Australia, arguing that these texts for very young children interpolate colonial discourses by valorising minority languages and by attributing to English words meanings produced within Indigenous cultures.

A mystery to the medical world : Florence Nightingale, Rosendo Salvado and the risk of civilisation

In 1860 Florence Nightingale conducted a study on the mortality rates of indigenous children attending native colonial schools across the British Empire. Her study was driven by the question: ‘Can we civilise the natives without killing them?’ One colonial school that participated in the survey was New Norcia Benedictine mission in Western Australia. When Rosendo Salvado, the mission’s superintendent, responded, he drew on his daily encounters with the Yuat people, his statistics on the mission residents and his Benedictine philosophy of civilisation and conversion of colonised peoples. The correspondence between Salvado and Nightingale took place in the climate of intense debates about Aboriginal health, colonisation and extinction in Britain and the colonies. While many settlers and colonial observers understood Aboriginal depopulation to be the result of either the vices and diseases of unprincipled Europeans or an unstoppable destiny, whether Divine Providence or natural selection, Nightingale and Salvado shared a belief in practical solutions to what they understood to be a practical problem. Their collaboration is an example of the humanitarian opposition to the racial pessimism of Social Darwinism. They both sought to use the recently influential intellectual discipline of social statistics to support their conviction that Aborigines, if patiently and carefully handled, would survive the admittedly risky process of civilisation.

Our natives and wild blacks : enumeration as a statistical dimension of sovereignty in colonial Western Australia

This paper investigates the Western Australian colonial authorities' attempts at defining and categorising a "politically relevant" Aboriginal population from first settlement in 1829 until 1850. Studies of colonial enumeration allow us to understand how colonial authorities viewed the spaces and boundaries of settlement and beyond, and who would be included as part of the community inhabiting that space. Enumeration of Aboriginal people in this period mirrored the Western Australian colonial authorities' conception of their sovereignty: the territory which they could effectively control was not the entire western third of the continent, as the map dictated, but rather the surveyed country, within the "limits of settlement." While other studies of colonial census making reveal enumeration as an instrument of control, this paper identifies colonial census making about Indigenous Western Australians in this period as an instance of state incapacity to govern and control. While "control" was the colonial authorities' key objective in their enumerations, the census reports reveal their inability to know the Aboriginal population.

Mission fulfilment : the role of the non-profit arts board

This research explores the complexity of establishing mission fulfilment through the performance of non-profit arts boards (NP AB). Since the early 1990s, the non-profit literature has only sporadically focussed on the concept of how board performance contributes to mission fulfilment in the broader non-profit sector. Consequently, in both the empirical and normative literatures there is a dearth of understanding of how the nonprofit arts board performance fulfils the organisation's mission. The lack of exploration is problematic for theory development in contextualising non-profit arts board performance contribution to mission fulfilment. Although research has been undertaken in various areas-such as effective and ineffective board performance practices of non-profit organisations, board performance measurement indicators within the arts sector, and mission fulfilment as a result of non-profit organisational effectiveness-research from an extensive literature search did not reveal empirical evidence of the relationship between board performance and mission fulfilment of non-profit arts boards. Against this background, the research issue for the thesis is: How does board performance contribute to mission fulfilment by the non-profit arts organisation?

Understanding pentecostal motivations for undertaking community development in South East Asia : evidence of an expanded understanding of holistic mission

A shift has been observed in the activities of by Western-based, pentecostal mission organisations in mainland South East Asia. Where once these mission organisations avoided formal community development programs as a distraction to their understanding of mission, the funding for and implementation of such programs has increased dramatically in recent times. This shift in focus is best understood by considering motivations and changing pentecostal perceptions of mission. The research is based on new primary data collected through interviews with long-term and senior pentecostal mission practitioners engaging in development projects in mainland South East Asia. It explores their motivations for engaging in community development, and in particular the extent to which community development programs are seen as a strategy for proselytisation as compared the extent to which they are conducted out of other humanitarian motivations. Analysis of this data challenges preconceived notions of proselytisation being the primary motive of pentecostal mission agencies, and demonstrates a more holistic idea of mission.