Foot-targeting in reaching and grasping

Foot positioning was investigated when right-handed (Experiment One) and left handed adults (Experiment Two) stopped walking to grasp a stationary 70 mm ball at shoulder height. In both experiments centroid location formed by the toe and heel coordinates relative to the object was highly consistent within a target-location condition, demonstrating a foot-targeting phenomenon. Centroid location in the anterior-posterior direction was uninfluenced by grasping hand but the centroid shifted right for left hand grasps and left for right hand grasps. With the target either centrally located or on the same side as the dominant hand, foot positioning brought the grasping hand closer to the target in the medial-lateral direction. When the target object was aligned with the shoulder opposite the dominant hand both groups adopted foot positions to the left of the target. Thus, neither group adopted optimal foot position when the target was located opposite their dominant hand. Foot orientation angle relative to the target was also influenced by choice of grasping hand. Collectively, the findings demonstrate a close association between grasping hand and foot position when approaching to reach and grasp an object but also suggest that foot-dominance may influence medial-lateral centroid location.

Reconstruction of the refractive index profile of planar waveguides using ray tracing analysis

We propose a method for refractive index profiling based on measuring coordinates and angles of laser beams passing across the waveguide layer. Calculations are performed by solving an integral equation using new global optimization methods.

Vision based target tracking using robust linear filtering

The use of perspective projection in tracking a target from a video stream involves nonlinear observations. The target dynamics, however, are modeled in Cartesian coordinates and result in a linear system. In this paper we provide a robust version of a linear Kalman filter and perform a measurement conversion technique on the nonlinear optical measurements. We show that our linear robust filter significantly outperforms the Extended Kalman Filter. Moreover, we prove that the state estimation error is bounded in a probabilistic sense.

Identification of moving obstacles with pyramidal Lucas Kanade optical flow and k means clustering

This paper describes the methodology for identifying moving obstacles by obtaining a reliable and a sparse optical flow from image sequences. Given a sequence of images, basically we can detect two-types of on road vehicles, vehicles traveling in the opposite direction and vehicles traveling in the same direction. For both types, distinct feature points can be detected by Shi and Tomasi corner detector algorithm. Then pyramidal Lucas Kanade method for optical flow calculation is used to match the sparse feature set of one frame on the consecutive frame. By applying k means clustering on four component feature vector, which are to be the coordinates of the feature point and the two components of the optical flow, we can easily calculate the centroids of the clusters and the objects can be easily tracked. The vehicles traveling in the opposite direction produce a diverging vector field, while vehicles traveling in the same direction produce a converging vector field

Bureaucratic, corporate/market and network governance : shifting spaces for gender equity in education

Education as a field of policy, research and practice has been reconfigured over four decades by economic, social and cultural globalization in conjuncture with neoliberal policies premised upon markets and new managerialism. One effect has been shifting boundaries between, and understandings of what constitutes the public and the private with regard to the role of the state vis-á-vis the formation of gendered subjectivities and civil society and the gendering of public– private relations in and between family and work. Drawing on feminist readings of Bourdieu and critical policy sociology, I consider the implications of a move from bureaucratic educational governance framed by state welfarism to corporate or market governance framed by the post-welfare state, and consider whether particular constructions of globalization and corporate/market governance lead to network governance. Network governance, it is argued, is premised on new forms of sociality and institutional reconfigurations of knowledge-based economies and a spatialized state that coordinates rather than regulates multiple public– private providers. The question is how each mode of governance frames various possibilities and problems for gender equity in education.

A model of price discovery and market design : theory and empirical evidence

An essential function of derivative markets is price discovery. A model is proposed to incorporate a comprehensive dynamic interaction between price size coordinates of orders and trades. An example of application of the model and its effect on price discovery is discussed.

Measuring the summary informativeness of orders and trades

Improved preservation of order flow history from the automation of derivative trading platforms suggests that traders are potentially learning from the recent history of both order and trade parameters. Consequently, a model to measure price discovery should encapsulate the dynamic interaction between the price-size coordinates of orders and trades. The Hasbrouck (1991) model is extended to measure the summary informativeness of order size and trade size. The two models are used to test for price discovery improvements in the FTSE 100 index futures market from order flow consolidation post deletion of its E-mini counterpart. The informativeness of trades has declined sharply, while the informativeness of orders has risen significantly in the post deletion sample.

Historical fictions : the historical novel in Australia during the 1930s and 1940s

The thesis examines historical novels written in Australia during the 1930s and 1940s, providing close readings of Xavier Herbert's Caprocornia, Miles Franklin's All That Swagger, M. Barnard Eldershaw's Tomorrow and Tomorrow and Tomorrow, Katherine Susannah Prichard's goldfields trilogy, and Eleanor Dark's The Timeless Land. No attempt has been made at encyclopaedic completeness. The organising principle behind the study relates, instead, to the question of the status of the historical novel as a genre. The thesis considers the importance of genre in literary theory, and reflects on the construction of Australian literary history, which in the post-war period has consistently involved a debunking of historical fiction. In the first chapter, various approaches to historical fiction are considered, special attention being paid to Lukacs's The Historical Novel. This leads on to an examination of Marxist approaches to literature, including Frederic Jameson's The Political Unconscious, in order to establish some of the coordinates of the subsequent analysis. While Lukacs's study represents an inadequate theoretical basis for an examination of the historical novel, his popular frontism suggests a useful context for an examination of historical fiction written in Australia during the 'thirties and 'forties, raising the question of the relationship between literature and ideology during this period. The thesis, however, embraces a wider ideological spectrum than the Popular Front, including P.R. Stephensen's 'Australia First' Movement, as well as Katherine Susannah Prichard's communism. The next two chapters are devoted to a consideration of Capricornia and All That Swagger, novels P. R. Stephensen praised in the columns of The Publicist for being 'authentically Australian'. The thesis is generally concerned with the question of the relationship between Australian nationalism and literary production, a concern which is taken up in the following chapter, where Tomorrow and Tomorrow and Tomorrow and Prichard's goldfields trilogy are examined in connection with the Popular Front. Eleanor Dark's development as a writer forms the subject matterof the concluding chapters of this study, when the significance of the historical novel for writers of her generation is established through considering the importance of the historical novel within her oevre.

Common structural basis for central nervous system drug design

The main theme of this thesis is that there is a common structural basis for drugs acting on the central nervous system (CNS), and that this concept may be used to design new CNS-active drugs which have greater specificity and hence less side-effects. To develop these ideas, the biological basis of how drugs modify CMS neurotransmission is described, and illustrated using dopaminergic pathways. An account is then given of the use of physicochemical concepts in contemporary drug design. The complete conformational analysis of several antipsychotic drugs is used to illustrate some of these techniques in the development of a model for antipsychotic drug action. After reviewing current structure-activity studies in several classes of CNS drugs (antipsychotics, anti-depressants, stimulants, hal1ucinogens, anticonvulsants and analgesics), a hypothesis for a common structural basis of CNS drug action is proposed- This is based on a topographical comparison of the X-ray structures of eight representative CNS-active drugs, and consists of three parts: 1.there is a common structural basis for the activity of many different CNS-active drug classes; 2. an aromatic ring and a nitrogen atom are the primary binding groups whose topographical arrangement is fundamental to the activity of these drug classes; 3. the nature and placement of secondary binding determines different classes of CNS drug activity. A four-Point model for this common structural basis is then defined using 14- CNS-active drug structures that include the original eight used in proposing the hypothesis. The coordinates of this model are: R1 (0. 3.5, 0), R2 (0, -3.5, O), N (4.8. -0.3, 1.4), and R3 (6.3, 1.3, 0), where R1 and R2 represent the point locations of a hydrophobic interaction of the common aromatic ring with a receptor, and R3 locates the receptor point for a hydrogen bond involving the common nitrogen, N. Extended structures were used to define the receptor points R1, R2 and R3, and the complete conformational space of each of the 14 molecules was considered. It is then shoun that the model may be used to predict whether a given structure is likely to show CNS activity: a search over 1,000 entries in the current Merck Index shows a high probability (82%) of CNS activity in compounds fitting the structural model. Analysis of CNS neurotransmitters and neuropeptides shows that these fit the common model well. Based on the available evidence supporting chemical evolution, protein evolution, and the evolution of neurotransmitter functions, it is surmised that the aromatic ring/nitrogen atom pharmacophore proposed in the common model supports the idea of the evolution of CNS receptors and their neurotransmitters, possibly from an aromatic amine or acety1cho1ine acting as a primaeval communicating molecule. The third point in the hypothesis trilogy is then addressed. The extensive conformation-activity analyses that have resulted in well-defined models for five separate CNS drug classes are used to map out the locations of secondary binding groups relative to the common model for anti-psychotics, antidepressants, analgesics, anticholinergics, and anticonvulsants. With this information, and knowledge derived from receptor-binding data, it is postulated that drugs having specified activity could be designed. In order to generate novel structures having a high probability of CNS-activity, a process of drug design is described in which known CNS structures are superimposed topographically using the common model as a template. Atoms regarded as superfluous may be selectively deleted and the required secondary binding groups added in predicted locations to give novel structures. It is concluded that this process provides the basis for the rational design of new lead compounds which could further be optimized for potent and specific CNS activity.

When the logics of the world collapse – Žižek with and against Arendt on 'totalitarianism'

Despite Žižek's polemical attacks on Hannah Arendt, their writings on totalitarianism share significant similarities. Žižek's Lacanian analysis of the distortion of the elementary symbolic coordinates of human sociability in Stalinism refines Arendt's controversial account of the role of ideologies in totalitarian regimes; it brings to the political field an account of subjectivity and its relation to language derived from (Lacanian) psychoanalysis. Reading Žižek's analyses of Stalinist and fascist ideologies preserves – by psychoanalytically reframing – the radical philosophical register of Arendt's understanding of twentieth-century totalitarian regimes as attempting the systematic destruction of ‘world’ – the in-between public space of shared political human experience and action. Žižek's psychoanalytic framework allows us to address the tendency in Arendt's Origins of Totalitarianism to conflate fascism and Stalinism and also to question the motives for these regimes’ political and ontological violences.

Roadian – Wordian (Guadalupian, Middle Permian) global palaeobiogeography of brachiopods

A database of 4471 Roadian–Wordian (Guadalupian, Middle Permian) occurrences of 381 brachiopod genera in 44 different operational geographical units (stations) was analyzed by both Q-mode and R-mode quantitative methods. Four distinct brachiopod biogeographical realms and nine provinces, and 11 brachiopod associations are recognized. The Boreal Realm in the Northern Hemisphere includes the Verkolyman Province in the northern and northeastern Siberian Platform and the eastern European Province in the Ural seaway between the European and Siberian platforms. Both provinces are characterized by containing typical Boreal cold-water brachiopod associations. The Gondwanan Realm in the south also includes two provinces. The Austrazean Province in eastern Australia and New Zealand is probably the most stable province throughout the Permian and characterized by typical Gondwanan brachiopod associations. The Westralian Province centered in Western Australia is also characterized by typical Gondwanan brachiopods, but also demonstrates biogeographical links with the Tethyan stations. The Palaeoequatorial Realm located mainly in the palaeotropical zone contains highly diverse and abundant brachiopod faunas. Two regions/subrealms and four provinces are recognized within this realm. The North America Subrealm contains a distinct Grandian Province characterized by many endemic brachiopod genera and a few coldwater genera. East-central Alaska and Yukon Territory may constitute another brachiopod province. All the stations in the Tethyan Ocean (both Palaeotethys and Neotethys) constitute a distinct Asian–Tethyan Region/ Subrealm and incorporate three different provinces. The Cathaysian Province is comprised of the stations in South China and its surrounding terranes/blocks and a few stations in the northern and western margin of the Palaeotethys. Two transitional provinces (Sino–Mongolian–Japanese Province and Cimmerian Province) in the northern and southern temperate zones are also recognizable. The brachiopod fauna from the Mino Belt in Japan is well distinguished from those from other regions, and is hence assigned to the palaeoceanic Panthalassan Realm. Principal coordinates analysis and minimum spanning tree analysis suggest that a latitude-related thermal gradient was the major control for the palaeobiogeography of Roadian–Wordian global brachiopod faunas and for the latitudinal of pattern of decreasing brachiopod generic diversities from the equator to the poles. In addition, geographic separation and oceanic currents may also have played some role in the spatial distribution of brachiopods during Roadian–Wordian times.

Vision-based target tracking and surveillance with robust set-valued state estimation

Tracking a target from a video stream (or a sequence of image frames) involves nonlinear measurements in Cartesian coordinates. However, the target dynamics, modeled in Cartesian coordinates, result in a linear system. We present a robust linear filter based on an analytical nonlinear to linear measurement conversion algorithm. Using ideas from robust control theory, a rigorous theoretical analysis is given which guarantees that the state estimation error for the filter is bounded, i.e., a measure against filter divergence is obtained. In fact, an ellipsoidal set-valued estimate is obtained which is guaranteed to contain the true target location with an arbitrarily high probability. The algorithm is particularly suited to visual surveillance and tracking applications involving targets moving on a plane.

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.

The development of a national salt reduction strategy for Australia

Excess dietary salt is a well established cause of high blood pressure and vascular disease. National and international bodies recommend a significant reduction in population salt intakes on the basis of strong evidence for health gains that population salt reduction strategies could achieve. The Australian Division of World Action on Salt and Health (AWASH) coordinates the Drop the Salt! campaign in Australia. This aims to reduce the average amount of salt consumed by Australians to six grams per day over five years through three main implementation strategies targeting the food industry, the media and government. This strategy has the potential to achieve a rapid and significant reduction in dietary salt consumption in Australia. With industry and government engagement, this promises to be a highly effective, low cost option for preventing chronic disease.

A method for stereo-vision-based tracking for robotic applications

Vision-based tracking of an object using perspective projection inherently results in non-linear measurement equations in the Cartesian coordinates. The underlying object kinematics can be modelled by a linear system. In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations.We then design a robust linear filter around the converted measurement system. The state estimation error of the proposed filter is bounded and we provide a rigorous theoretical analysis of this result. The performance of the robust filter developed in this paper is demonstrated via computer simulation and via practical experimentation using a robotic manipulator as a target. The proposed filter is shown to outperform the extended Kalman filter (EKF).