Placing sensors for area coverage in a complex environment by a team of robots

Existing solutions to carrier-based sensor placement by a single robot in a bounded unknown Region of Interest (ROI) do not guarantee full area coverage or termination. We propose a novel localized algorithm, named Back-Tracking Deployment (BTD). To construct a full coverage solution over the ROI, mobile robots (carriers) carry static sensors as payloads and drop them at the visited empty vertices of a virtual square, triangular, or hexagonal grid. A single robot will move in a predefined order of directional preference until a dead end is reached. Then it back-tracks to the nearest sensor adjacent to an empty vertex (an "entrance" to an unexplored/uncovered area) and resumes regular forward movement and sensor dropping from there. To save movement steps, the back-tracking is carried out along a locally identified shortcut. We extend the algorithm to support multiple robots that move independently and asynchronously. Once a robot reaches a dead end, it will back-track, giving preference to its own path. Otherwise, it will take over the back-track path of another robot by consulting with neighboring sensors. We prove that BTD terminates within finite time and produces full coverage when no (sensor or robot) failures occur. We also describe an approach to tolerate failures and an approach to balance workload among robots. We then evaluate BTD in comparison with the only competing algorithms SLD [Chang et al. 2009a] and LRV [Batalin and Sukhatme 2004] through simulation. In a specific failure-free scenario, SLD covers only 40-50% of the ROI, whereas BTD covers it in full. BTD involves significantly (80%) less robot moves and messages than LRV.

Adult education and radical habitus in an environmental campaign: learning in the coal seam gas protests in Australia

Summary: This paper examines the adult learning dimensions of protestors as they participate in a campaign to stop coal seam gas exploration in Gippsland in Central Victoria, Australia. On a global level, the imposition of coal seam gas exploration by governments and mining companies has been the trigger for movements of resistance from environmental groups. They are concerned about the impact of mining on their land, food and water supplies. In central Gippsland a group of ‘circumstantial activists’ comprised of farmers, tree changers and other local residents are campaigning against coal seam gas exploration. This unlikely coalition of environmental action groups has made effective use of a variety of community education strategies. This paper commences by outlining some of the key literature on learning and activism drawing on the education tradition of adult learning. We then draw on key concepts from Bourdieu’s writing on ‘habitus’ and ‘field’ to analyse the data from this research. We outline some of the learning practices of activists; through their involvement in this campaign, and the knowledge and skills they gain as they develop a feel for the game of protest. We argue circumstantial activists learn both formally and informally in the social environment of campaigning. Of particular interest is the role of more experienced activists from Friends of the Earth (FOE), a non-government organisation (NGO), as they pass on knowledge, experience, tactics and strategies to the novice and less experienced activists in this community campaign. We explore some of the contradictions of the protestors’ identification as activists using Bourdieu’s concepts of ‘doxa’ and ‘Ilusio’. The paper concludes by arguing learning in activism is a rich tradition of adult education and practice. However, Bourdieu’s writing on field and habitus makes an added contribution to interpreting the learning that occurs in the social space of a campaign or social movement.

Olfactory signalling in an avian species complex: the crimson rosella

 Through behavioural experiments, I discovered that crimson rosellas could discriminate between species, subspecies and sexes based on odour alone. Chemical analysis revealed that plumage odour differed between subspecies, season, sex and age. Finally, I found that putative mammalian competitors and predators of the species could detect the plumage odour.

Sensor placement and measurement of wind for water quality studies in urban reservoirs

We study the water quality in an urban district, where the surface wind distribution is an essential input but undergoes high spatial and temporal variations due to the impact of surrounding buildings. In this work, we develop an optimal sensor placement scheme to measure the wind distribution over a large urban reservoir using a limited number of wind sensors. Unlike existing solutions that assume Gaussian process of target phenomena, this study measures the wind that inherently exhibits strong non-Gaussian yearly distribution. By leveraging the local monsoon characteristics of wind, we segment a year into different monsoon seasons that follow a unique distribution respectively. We also use computational fluid dynamics to learn the spatial correlation of wind. The output of sensor placement is a set of the most informative locations to deploy the wind sensors, based on the readings of which we can accurately predict the wind over the entire reservoir in real time. Ten wind sensors are deployed. The in-field measurement results of more than 3 months suggest that the proposed sensor placement and spatial prediction scheme provides accurate wind measurement that outperforms the state-of-the-art Gaussian model based on interpolation-based approaches.

Fathers with highly demanding partners and offspring in a semidesert environment: energetic aspects of the breeding system of Monteiro's Hornbills (Tockus monteiri) in Namibia

Molting females of Monteiro's Hornbills (Tockus monteiri) seal themselves in nest cavities to breed until chicks are about half grown. To gain insight into the chronology of energy requirements of the Monteiro's Hornbill family unit in relation to this peculiar breeding strategy, we measured a number of ecological, physiological, and environmental variables during the Monteiro's Hornbill's breeding season. Those measurements included rates of energy expenditure of female Monteiro's Hornbills while in the nest cavity, characterizing their thermal environment, timing of egg laying, molt, hatching and fledging of chicks, as well as measuring clutch size and chick growth. Temperatures within the nest box varied between 12 and 39°C and did not affect the female energy expenditure. Female body mass and energy expenditure averaged 319 g and 5 W, respectively, at the start of concealment and decreased by on average 1.1 g day -1 and 0.05 W day -1 during at least the first 30 days of the 52-58 day concealment period. Clutch size varied between 1 and 8 and averaged 4.1 eggs, with eggs averaging only 66% of the mass predicted for a bird of this size. Over the range of chick ages at which the female might leave the nest, the predicted energy requirements for maintenance and tissue growth for a Monteiro's Hornbill chick increase sharply from 1.2 W at age 8 to 3.0 W at age 25. Reduction of the female energy requirement with time, the relatively low growth rate and therewith low energy requirements of Monteiro's Hornbill chicks, and an appropriate timing of the female's exodus from the nest cavity all aid in containing peak energy demands to levels that are sustainable for the food provisioning male.

Cholinesterase Research Outreach Project (CROP): measuring cholinesterase activity and pesticide use in an agricultural community

BACKGROUND: Australian farmers and their workers are exposed to a wide variety of pesticides. Organophosphate (OP) insecticides are a widely used class of pesticide used for animal husbandry practices (Naphthalophos for sheep dipping, jetting and drench), crop production for pest control (Dimethoate) and in public health (Maldison for head lice). Acute poisonings with this class of insecticide are reported among agricultural workers and children around the globe, due to the inhibition of acetylcholinesterase (AChE). Less is known about chronic exposures. Regular monitoring of erythrocyte AChE will enable farmers to identify potential exposure to organophosphate insecticides and take action to reduce exposures and improve their health and safety practices. This study aims to assess and improve the integration of AChE monitoring into routine point of care health clinics, and provide farming and non-farming people with a link between their AChE activity and their household chemical and agrichemical use. METHODS/DESIGN: The research will target individuals who work on mixed farming enterprises and routinely using OPs (n = 50) and non-farmers (n = 30). Baseline data are collected regarding demographic, health conditions and behaviours, Kessler 10 (K10) scores, chemical use and personal protection. Baseline anthropometric measures include height, weight, hip and waist circumference, body fat analysis and, biochemical analysis of fasted total serum cholesterol, triglycerides, low-density cholesterol (LDL), high-density cholesterol (HDL) and blood glucose. Analysis of erythrocyte cholinesterase (EAChE) activity is also conducted using a finger prick test. Testing of EAChE is then repeated in all participants every 3 weeks for a maximum of three times over a period 10 weeks. Participants are provided with full feedback and counselling about their EAChE activity after each reading and a detailed summary provided to all participants at the completion of the study. Data will be analysed using repeated measures within a general linear model. DISCUSSION: This work will provide an evidence base and recommendations for the integration of EAChE monitoring into Australian rural health clinics, leading to research which will further quantify pesticide exposure both on the farm and in the home, highlighting the importance of sustaining and providing a safe work and home environment for farming communities. TRIAL REGISTRATION: ACTRN12613001256763.

Teacher knowledge, child interest and parent expectation: Factors influencing multicultural programs in an early childhood setting

© 2015, Early Childhood Australia Inc. All rights reserved. MULTICULTURAL CURRICULA/PROGRAMS assume an important role within a cultural approach to learning and teaching in early childhood education in New Zealand. Te Whariki, the national early childhood curriculum framework of New Zealand, is an emancipatory and socially constructive document that emphasises equity, social justice and the important position of culture in children's learning and development. In practice this means developing early childhood programs that are sensitive and responsive to the needs and interests of children and families of minority cultures. Drawing on a critical social constructivist framework, this study of one early childhood centre in New Zealand identifies the features of its multicultural curriculum. The paper argues that a devotion to supporting children of minority cultures has persisted in the curriculum, but there is a reliance on mainstream pedagogy focused on children's learning within the centre environment and teachers' subjective knowledge about children's needs.

Population, behavioural and physiological responses of an urban population of black swans to an intense annual noise event

Wild animals in urban environments are exposed to a broad range of human activities that have the potential to disturb their life history and behaviour. Wildlife responses to disturbance can range from emigration to modified behaviour, or elevated stress, but these responses are rarely evaluated in concert. We simultaneously examined population, behavioural and hormonal responses of an urban population of black swans Cygnus atratus before, during and after an annual disturbance event involving large crowds and intense noise, the Australian Formula One Grand Prix. Black swan population numbers were lowest one week before the event and rose gradually over the course of the study, peaking after the event, suggesting that the disturbance does not trigger mass emigration. We also found no difference in the proportion of time spent on key behaviours such as locomotion, foraging, resting or self-maintenance over the course of the study. However, basal and capture stress-induced corticosterone levels showed significant variation, consistent with a modest physiological response. Basal plasma corticosterone levels were highest before the event and decreased over the course of the study. Capture-induced stress levels peaked during the Grand Prix and then also declined over the remainder of the study. Our results suggest that even intensely noisy and apparently disruptive events may have relatively low measurable short-term impact on population numbers, behaviour or physiology in urban populations with apparently high tolerance to anthropogenic disturbance. Nevertheless, the potential long-term impact of such disturbance on reproductive success, individual fitness and population health will need to be carefully evaluated.

Students and staff perceptions of project/design based learning in an engineering curriculum

This paper focuses on the students and staff perceptions of project/design-based learning in an engineering curriculum. Engineering at Deakin University has used project/design based learning as one of its engineering learning principles for further development in learning and teaching. It is required to improve the learning and teaching process as a holistic approach from the perspective of students’ and staff over the entire degree program. Engaging students are an important aspect of the project/design based learning model which it helps students to be self-directed active learners. A project/design based learning environment helps a curriculum to practice career related skills for students, such as practical learning, problem solving, collaborative teamwork, innovative creative designs, active learning, and engagement with real-world assignments. The focus of this paper is to analyse the impact of project/design-based learning in an engineering curriculum. From the quantitative and qualitative analysis performed, the results are analysed and presented from a students’ and staff perspective about project/design based learning within the curriculum. This paper is also concerned with enhancing staff and students engagement through project/design based learning. The feedback was sought from students on project/design-based learning. Additional feedback is also needed from staff members who teach and perform research in engineering design. The survey results shows more than 50% of students and 75% of staff views on project/design based learning proven that the impact of project/design based learning is helps to enhance of student and staff interaction in the School of Engineering at Deakin University.

Data mining analysis of an urban tunnel pressure drop based on CFD data

An accurate estimation of pressure drop due to vehicles inside an urban tunnel plays a pivotal role in tunnel ventilation issue. The main aim of the present study is to utilize computational intelligence technique for predicting pressure drop due to cars in traffic congestion in urban tunnels. A supervised feed forward back propagation neural network is utilized to estimate this pressure drop. The performance of the proposed network structure is examined on the dataset achieved from Computational Fluid Dynamic (CFD) simulation. The input data includes 2 variables, tunnel velocity and tunnel length, which are to be imported to the corresponding algorithm in order to predict presure drop. 10-fold Cross validation technique is utilized for three data mining methods, namely: multi-layer perceptron algorithm, support vector machine regression, and linear regression. A comparison is to be made to show the most accurate results. Simulation results illustrate that the Multi-layer perceptron algorithm is able to accurately estimate the pressure drop.