Insect based navigation and its applications to the autonomous control of mobile robots

Giving robots the ability to autonomously move around in various real-world environments has been a major goal of AI (artificial intelligence) for quite some time. To this end it is vital for robots to be able to perceive their surroundings in 3D; they must be able to estimate the range of obstacles in their path.

Animals navigate through various uncontrolled environments with seemingly little effort. Flying insects, especially, are quite adept at manoeuvring in complex, unpredictable and possibly hostile and hazardous environments.

In this paper it is shown that very simple motion cues, inspired by the visual navigation of flying insects, can be used to provide a mobile robot with the ability to successfully traverse a corridor environment. Equipping an autonomous mobile robot with the ability to successfully navigate real-word environments (in real-time) constitutes a major challenge for AI and robotics. It is in this area that insect based navigation has something to offer.

Insect inspired behaviours for the autonomous control of mobile robots

Animals navigate through various uncontrolled environments with seemingly little effort. Flying insects, especially, are quite adept at manoeuvring in complex, unpredictable and possibly hostile environments. Through both simulation and real-world experiments, we demonstrate the feasibility of equipping a mobile robot with the ability to navigate a corridor environment, in real time, using principles based on insect-based visual guidance. In particular we have used the bees’ navigational strategy of measuring object range in terms of image velocity. We have also shown the viability and usefulness of various other insect behaviours: (i) keeping walls equidistant, (ii) slowing down when approaching an object, (iii) regulating speed according to tunnel width, and (iv) using visual motion as a measure of distance travelled.

Node localization using mobile robots in delay-tolerant sensor networks

We present a novel scheme for node localization in a Delay-Tolerant Sensor Network (DTN). In a DTN, sensor devices are often organized in network clusters that may be mutually disconnected. Some mobile robots may be used to collect data from the network clusters. The key idea in our scheme is to use this robot to perform location estimation for the sensor nodes it passes based on the signal strength of the radio messages received from them. Thus, we eliminate the processing constraints of static sensor nodes and the need for static reference beacons. Our mathematical contribution is the use of a Robust Extended Kalman Filter (REKF)-based state estimator to solve the localization. Compared to the standard extended Kalman filter, REKF is computationally efficient and also more robust. Finally, we have implemented our localization scheme on a hybrid sensor network test bed and show that it can achieve node localization accuracy within 1m in a large indoor setting.

Biotic effects of climate change in urban environments: The case of the grey-headed flying-fox (Pteropus poliocephalus) in Melbourne, Australia

Urban climates are known to differ from those of the surrounding rural areas, as human activities in cities lead to changes in temperature, humidity and wind regimes. These changes can in turn affect the geographic distribution of species, the behaviour of animals and the phenology of plants. The grey-headed flying-fox (Pteropus poliocephalus) is a large, nomadic bat from eastern Australia that roosts in large colonies known as camps. Historically a warm temperate to tropical species, P. poliocephalus recently established a year-round camp in the Royal Botanic Gardens Melbourne. Using a bioclimatic analysis, we demonstrated that on the basis of long-term data, Melbourne does not fall within the climatic range of other P. poliocephalus camp sites in Australia. Melbourne is drier than other summer camps, and cooler and drier than other winter camps. The city also receives less radiation, in winter and annually, than the other summer and winter camps of P. poliocephalus. However, we found that temperatures in central Melbourne have been increasing since the 1950s, leading to warmer conditions and a reduction in the number of frosts. In addition, artificial watering of parks and gardens in the city may contribute the equivalent of 590 mm (95% CI: 450–720 mm) of extra rainfall per year. It appears that human activities have increased temperatures and effective precipitation in central Melbourne, creating a more suitable climate for camps of the grey-headed flying-fox. As demonstrated by this example, anthropogenic climate change is likely to complicate further the task of conserving biological diversity in urban environments.

Terminal approach navigation for autonomous robots in a sensory network

In this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.

Effect of six weeks of dura disc and mini-trampoline balance training on postural sway in athletes with functional ankle instability

Lateral ankle sprain (LAS) is one of the most common injuries incurred during sporting activities, and effective rehabilitation programs for this condition are challenging to develop. The purpose of this research was to compare the effect of 6 weeks of balance training on either a mini-trampoline or a dura disc on postural sway and to determine if the mini-trampoline or the dura disc is more effective in improving postural sway. Twenty subjects (11 men, 9 women) with a mean age of 25.4 ± 4.2 years were randomly allocated into a control group, a dura disc training (DT) group, or a mini-trampoline (MT) group. Subjects completed 6 weeks of balance training. Postural sway was measured by subjects performing a single limb stance on a force plate. The disbursement of the center of pressure was obtained from the force plate in the medial-lateral and the anterior-posterior sway path and was subsequently used for pretest and posttest analysis. After the 6-week training intervention, there was a significant (p < 0.05) difference in postural sway between pre- and posttesting for both the MT (pretest = 56.8 ± 20.5 mm, posttest = 33.3 ± 8.5 mm) and DT (pretest = 41.3 ± 2.6 mm, posttest = 27.2 ± 4.8 mm) groups. There was no significant (p > 0.05) difference detected for improvements between the MT and DT groups. These results indicate that not only is the mini-trampoline an effective tool for improving balance after LAS, but it is equally as effective as the dura disc.

Highlights from the tennis Australia heritage collections : mini-exhibition in the player cafe, Rod Laver Arena

Summary : This 'mini-exhibition' arose as an opportunity to showcase recent acquisitions as well as established holdings of significant items of tennis related heritage within the Tennis Australia Heritage Collections. In general, the Collections have two main strengths, and the mini-exhibition was designed to communicate these. The first strength is the ability to show the evolution of tennis technology and practices over time, from the beginnings of modern tennis in the 1860s, to today. This evolution is a result of tennis being influenced by changes in the wider world, such as the Industrial Revolution. The second strength of the Collections is in showing the impact and influence of tennis on society. Many items in the Collections are evidence of the immense and enduring popularity of the sport across the world. The Collections contain many beautiful, rare and fascinating items of decorative arts, fashion, literature and social history which feature tennis as a motif. These items show the reverse influence - the deep impression tennis has made outside of the sport itself.  This mini-exhibition focuses on these two themes. Some displays focus on the first theme. They demonstrate the evolution of tennis racquets, tennis balls, instructional publications and other tennis related equipment over the past century and a half. Other displays focus on the second theme. There are cases which examine tennis' influence upon global popular culture, in board games, fashion and decorative arts from around the world.  The mini-exhibition includes items from the U.s, U.K., Germany, France, Austria, Japan and Australia, demonstrating the global phenomenon that tennis quickly became, and showcasing the international scope of the Collections.  Each case contains text panels listing the objects and their specifications, and panels providing contextual information about the display. The miniexhibition is expected to be on display until November 2009. A case-bycase breakdown of objects, with images and a layout map follows.

Multiple mini-interview : how long is long enough?

Objectives The multiple mini-interview (MMI) overcomes the limitations of the traditional panel interview by multiple sampling to provide improved objectivity and reliability. Reliability of the MMI is affected by number of stations; however, there are few data reporting the influence of interview duration on MMI outcome and reliability. We aimed to determine whether MMI stations can be shortened without affecting applicant rankings or compromising test reliability.
Methods A total of 175 applicants were interviewed and assessed at 10 8-minute stations. Applicants were scored once after 8 minutes at five control stations and twice after 5 minutes and 8 minutes at five experimental stations. Scores at 5 and 8 minutes were compared using t-tests and correlation coefficients. Rankings of applicants based on 5- and 8-minute scores were compared using Spearman's rank order coefficient. The reliability of the MMI was examined for 5- and 8-minute scores using generalisability theory.
Results Mean scores at 5 minutes were lower than mean scores at 8 minutes. Cumulative scores at 5 minutes were also lower. There were highly significant correlations between 5- and 8-minute scores at all experimental stations (0.82–0.91; P < 0.01) and between the cumulative scores at 5 and 8 minutes (0.92; P < 0.01). There was a strong correlation between applicant rankings based on cumulative 5- and 8-minute scores (Spearman's rank order coefficient 0.92). Reliability was not affected.
Conclusions Reducing the duration of MMI stations from 8 to 5 minutes conserves resources with minimal effect on applicant ranking and test reliability.

So flat, so cute! Robots, superflatness and asian architectural futures

Many depictions of urban futures have a distinctly Asian flavour. There have been numerous visions of highly technological futures whose environments extrapolate present societies into futures technically, culturally and politically dominated by China or Japan, Such futures are portrayed as both exciting and threatening, to the point that the Japanese academic and cultural critic Toshiya Ueno used the term ‘Techno-Orientalism’ to describe the phenomenon. Nevertheless, whether Western interest is Orientalist or not, Asian architects are also increasingly looking to their own contemporary and future cultures for inspiration. This paper will discuss two manifestations of this. The first is Thai architect Sumet Jumsai’s Bank of Asia. Unlike contemporaneous English hightech buildings, with their coldly mechanistic representation of ducts and struts, Jumsai’s Bank of Asia, takes on the anthropomorphic character of Japanese scifi robots. It is endearing, friendly, even cute. The second example is what might be termed superflat architecture, from the term coined by the artist Takashi Murakami to describe an aesthetic of intrinsic flatness, eliminating depth in favour of skin and surface. The emergence of Techno-Cute and Superflat architecture suggest contemporary Asian architectural sensibilities that neither derive their aesthetic qualities solely from tradition nor from Western Modernism or Postmodernism.

Simulation of underwater robots using MS Robot Studio©

One stage in designing the control for underwater robot swarms is to confirm the control algorithms via simulation. To perform the simulation Microsoftpsilas Robotic Studiocopy was chosen. The problem with this simulator and others like it is that it is set up for land-based robots only. This paper explores one possible way to get around this limitation. This solution cannot only work for underwater vehicles but aerial vehicles as well.