Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode

This paper addresses the actuator failure compensation problem of non-linear fourwheel-steering mobile robots based on vehicle kinematics, undergoing both known and unknown failures causing degenerated steering performance or wheels stuck at some observable angles. Terminal sliding mode control technique is used to guarantee the tracking stability infinite time with the presence of actuator fault. Simulation results are given to illustrate the effectiveness of the proposed control scheme. © Institution of Engineers Australia 2012.

The slow wheels of requirements engineering research: responding to the challenge of societal change

Despite the significant Requirements Engineering (RE) research efforts over the past decade the research--industry gap still remains persistent.
Recent attempts by the RE research community to address this issue include cumulative knowledge studies to describe the current state of RE research and the establishment of a new conference dedicated to the comparative evaluation of RE.
This paper reports the state of RE research from 2001 to 2005. A taxonomy of RE literature is presented and a conceptual framework for
understanding the current state of RE is also described. The ensuing analysis shows that during the period 2001-2005 there was only an incremental development of RE research without any radical theoretical contributions to its body of knowledge. The paper also poses a challenge for the RE research community to respond to the dramatic changes in the
social and business world.

Provision of meals on wheels to the elderly : case studies in the era of local government reform

Australia’s ageing population is on the increase. It is predicted that by 2021 one quarter of Victoria’s elderly population will be aged 60 and over. Not only are people living longer, but they also wish to remain living in the community. The Home and Community Care (HACC) Program was established in 1985 to facilitate and assist the elderly and disabled to remain in their home. In Victoria around 51% of HACC funds are managed by local governments, a level of government that has recently undergone major reforms, which ultimately impacted on the manner in which services were provided. The HACC program funds Meals on Wheels, a service that provides meals for those elderly who no longer can prepare their own meals. The aim of this study was to assess the Meals on Wheels service provided by two Melbourne councils with different service philosophies. The study has four main components: (1) Menu analysis by food and variety; (2) Analysis of actual meals; (3) Clients assessment of Food Services; and (4) Client assessment of the organoleptic qualities of Meals on Wheels. Two Melbourne councils were chosen for their different approaches to service delivery. The City of South tendered out both meal production and delivery, while the City of North maintained its MOW service in-house. The case study method of research allowed for each council’s service to be assessed objectively and without comparison. Several methodologies were used for collecting data in this study. Menu analysis was carried out by comparing the MOW menus with the HACC menu planning guidelines together with general menu planning principles. Analysis of actual meals was in two stages. The weights of the meals were recorded and compared with the HACC recommended food serving portions and meal combinations over a five-day period were analysed for their nutrient contents. Face to face interviews were conducted with clients for their assessment of MOW and the assessment of the organoleptic qualities of the meals was carried out over a five-day period. The results concluded that both councils menus were based on sound menu planning principles, but did not conform with Home and Community Care menu planning guidelines fully and did not include a serve of bread, fruit and milk. The weight analysis of the meal combinations revealed some discrepancies between actual meals and Home and Community Care guidelines by not meeting the recommended serving sizes. Meal combinations generally met Home and Community Care standard for kilojoule and protein, but other nutrients, such as thiamin, riboflavin, magnesium, calcium and zinc were generally below the recommended levels for Meals On Wheels. The majority of study group lived alone and received four to five meals per week. Delivery times of meals, selective menus and food quality were issues raised by clients. Whilst the quality and variety of vegetables was raised by clients they generally rated the organoleptic qualities of the meals as satisfactory. This study examined the four components of the service. A simple method of evaluation the service was developed, which highlight discrepancies with HACC standards and encouraged the councils to set a customer satisfaction standard. A number of recommendations are made to ensure that meals are aesthetically pleasing, including a list of different methods for preparing vegetables. The provision of additional foods, such as a “snack pack” is recommended to improve the supply of essential nutrients that were below the Home and Community Care standards. Meals on Wheels is a vital support service for the elderly living in the community and as such should aim to provide a high quality service that meets the needs of its clients.

Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control

This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.

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.

The teacher educator as (re)negotiated professional : critical incidents in steering between state and market in Australia

A dominant discourse in western higher education circles is currently concerned— even obsessed—with the marketisation of knowledge as a commodity to be purchased and traded [Healy (1998); Poole (1998); Richardson (1998)]. These developments are broadly allied with managerial changes that some have called ‘steering at a distance’ [Kickert (1991); Marceav (1993)] whereby the control by the state of individual higher education workers is maintained and intensified at the same time that pressure is applied to 'wean' universities from government funding. This paper explores a different kind of 'steering', the kind that is being engaged by Australian teacher educators confronted by developing competitiveness in higher education. We argue that these changes compel teacher educators to (re)negotiate their professionalisms; to re-examine their attitudes towards, and values within, education and its practices as they (individually and collectively) steer new courses through the state and the market. We illustrate our argument by referring to three critical incidents in the professional lives of teacher educators located within a globalised, multi-campus and provincial Australian university, yet with important implications also for teacher educators outside Australia. We posit the (re)negotiated professionalisms manifested in those incidents as a few among several potential kinds of steering by Australian teacher educators.

Driver verification based on handgrip recognition on steering wheel

This paper presents a novel driver verification algorithm based on the recognition of handgrip patterns on steering wheel. A pressure sensitive mat mounted on a steering wheel is employed to collect a series of pressure images exerted by the hands of the drivers who intend to start the vehicle. Then, feature extraction from those images is carried out through two major steps: Quad-Tree-based multi-resolution decomposition on the images and Principle Component Analysis (PCA)-based dimension reduction, followed by implementing a likelihood-ratio classifier to distinguish drivers into known or unknown ones. The experimental results obtained in this study show that the mean acceptance rates of 78.15% and 78.22% for the trained subjects and the mean rejection rates of 93.92% and 90.93% to the un-trained ones are achieved in two trials, respectively. It can be concluded that the driver verification approach based on the handgrip recognition on steering wheel is promising and will be further explored in the near future.

"Tomorrow's car" : Deakin Universities new cross vehicle that combines the best of 2 worlds

Motorbike riders are 34-times more likely to die in a crash compared to car drivers per km travelled (1). Such safety risks together with special skill requirements for the driver and much lower comfort compared to normal cars are the main reasons why motorbikes represent only a fraction of all vehicle sales in developed countries. Deakin University is developing a revolutionary cross-over fun vehicle with ultra low fuel consumption and emissions. This new vehicle generation combines the best of two worlds: the fun to drive, low cost, and small size of a scooter together with the safety, comfort and easiness to operate of a car. The result is a vehicle that is more fuel efficient than most cars or even scooters.

Various tilting cross over vehicles have been presented over the last decade that were trying to automate the tilting control of narrow vehicles to make them safer. Examples of these concepts are the Carver, Clever and in some way also the MP3 scooter from Piaggio. The problem with fully enclosed concepts like the Carver or Clever is that they require very complex and therefore also expensive tilting control systems so that the vehicles are not price competitive compared to low cost micro cars or even normal small cars. The MP3 on the other hand comes with a tilting control system which is only semi automatic so that typical car advantages - comprehensive safety features like crush zones, roll over protection, air bags, safety belts or comfort features like full weather protection including heating and cooling – can not be provided.

Deakin’s approach is quite different to the above mentioned concepts. The requirements were derived based on two different investigations: The first step was a critical evaluation of social trends and the second step was an in-depth benchmarking study of existing concepts which identified the typical strengths and weaknesses of these concepts. In a critical next step a new concept was created that addresses most of the weaknesses of existing tilting three-wheelers in a holistic approach by setting clear priority rankings for the vehicle targets, based on current trends. The priorities were set in the following order: Safety, Affordability, Fun and Efficiency (SAFE).

The key feature that enables an enclosed tilting vehicle is a fully automatic tilting control system. With an automatic tilting control system the driver does not need to put the feet on the ground to balance the vehicle when he stops, so the vehicle can be built with a full enclosure. This allows the implementation of typical car like safety features (seat belts, roll over structure, crush zones, air bags). The SafeRide™ tilting control system is a passive system that involves the driver’s balancing sense in its feedback control system. The vehicle has typical scooter like steering characteristics, where the steering is initiated through countersteering. Another safety critical design feature is the crush zone between the two front wheels which is not possible with only one front wheel or with the powertrain positioned between the front wheels, as the powertrain can’t absorb a lot of energy due to its structural stiffness and density. The passive tilting control system is quite simple and therefore makes the vehicle very affordable, an important factor for successful commercialisation.

Another advantage of integrating the human balancing senses in the feedback control of the tilting system is that the system kicks in slightly after the human balancing reacts. In some instances that can generate the typical adrenalin thrill known from riding a bike. This fun factor is quite common with many trend sports like mountain biking, surfing, roller-skating, snowboarding, or skateboarding. Some of these sports have seen very rapid growth only a short time after they have been invented. Utilising the human balancing system during driving also makes the vehicle safer as the adrenalin is produced after reaching a semi-stable driving condition that is controlled by the vehicles tilting control system, but before the vehicle reaches an unstable driving condition that can not be controlled by the vehicle but only (eventually) by the driver – if he has got the required driving skill and if he is alert enough.

Efficiency superior to most cars and scooters is achieved by the aerodynamics of a fully enclosed body structure in combination with the small frontal area of a typical scooter and the droplet shape enabled by the relatively wide front with 2 wheels and the very narrow tail with only one rear wheel. The passive tilting system also contributes to the extreme efficiency as the system only draws some small electrical power for the electronic control unit. Another feature is a low cost exhaust energy recovery system which is discussed in another paper.

Pedestrian steering behaviour modelling within the built environment

Prediction of pedestrians’ steering behaviours within the built environments under normal and non-panic situations is useful for a wide range of applications, which include social science, psychology, architecture, and computer graphics. The main focus is on prediction of the pedestrian walking paths and the influences from the surrounding environment from the engineering point of view.

Biotechnology and governance in Australia and Sweden: path dependency or instutional convergence?

The development of new generic technologies occurs within traditional structures of industry-government interaction, but also unleashes a process of 'creative destruction' generating new institutional patterns. This article, focusing on biotechnology, describes and compares policy processes and institutional arrangements in Australia and Sweden. The Swedish biotechnology sector displays a pattern of fragmentation and relatively weak state steering. Australia, by contrast, has implemented a set of comparatively coordinated regulatory and other measures to foster the growth of biotechnology. This observation contradicts the characterisation of Sweden as a 'strong state' economy, and challenges the depiction of Australia as lacking in state steering capacity. The relative open-endedness of the search in these countries for a mode of regulation of biotechnology suggests that the role of the state in economic restructuring today is fundamentally distinct from that of earlier periods.

Equity-focused health impact assessment framework

Background to the Development of the Equity-Focused HIA Framework
The equity focused health impact assessment (EFHIA) framework arises out of a two year research project funded for the most part by the Australian Government’s Public Health Education Research Program (PHERP) Innovations Grants (Round 2) scheme. This project had as its primary objective the development of a framework for health inequalities impact assessment, subsequently renamed equity focused health impact assessment. A partnership between the University of Newcastle, Deakin University and the University of New South Wales (the Project Management Steering Committee) received the funding and the Australasian Collaboration for Health Equity Impact Assessment (ACHEIA) was formed to undertake appropriate background research and to develop, pilot test, modify and disseminate the framework. The work commenced in September 2002 and concluded in October 2004. Part of the funding included a capacity building workshop in August 2004. ACT Health and the Division of Medicine at the John Hunter Hospital, Newcastle, also provided financial support for the project. The August 2004 Workshop was supported by NSW Health. All participants and organisations involved in the project gave extensive in-kind support.
The aims of the workshop were to bring together an international collaboration of multidisciplinary investigators, public health experts, and key senior health managers working in national, state and local settings, to inform the further development of the framework and to provide training in its application. The initial goals of the project were to work collaboratively to develop a strategic framework to assess the health inequalities of public health-related policies, plans, strategies, decisions, programs and services. The EFHIA framework as presented at the August workshop was developed through:
1. an extensive review of the relevant literature
2. formal and informal consultation with members of ACHEIA (the international
reference group), members of the Project Management Steering Committee and
other relevant experts; and
3. testing of the draft EFHIA framework with the 5 case study partners – who applied the draft framework in a range of health settings (see
Acknowledgements).
The result of this work has been the development of an equity focused health impact assessment framework that can be used to determine the unanticipated and systemic health inequities that may exist within the decision making processes or activities of a range of organisations and sectors. The EFHIA framework provides one approach that can be used to assist decision makers to put equity and health on their agenda in a more obvious and systematic way. The framework represents a ‘moment in time’ rather than a definitive statement or ‘toolkit’ on the best way to proceed. Further practice, refinement and adjustment will be needed over many years to consolidate both HIA and EFHIA. As well as this guide to the framework, additional outputs from the project team include:
- A literature review
- A position paper
- A report on the five case studies
- An evaluation report.
With the consent of the Australian Government, a monograph will be made available to workshop participants at the end of October which contains the framework and the appropriate background papers.

The community takes action : the Carlton residents association.

Since its streets first came to life with a clatter of hooves and rumble of carriage wheels, Carlton has become well known for its diverse ethnic and social character. From the bourgeoisie in the elegant terraces of Drummond Street to the street urchins and prostitutes of a once-seedy Bouverie Street, from student radicals at the University of Melbourne to the tailors and restaurateurs of Lygon, its residents have made the suburb an exciting and distinctive quarter of Melbourne.

Some of the city's greatest political and social controversies were played out here, including the eight-hour-day campaign of the 1850s and the Carlton Association's fight against the Housing Commission in the 1960s. Carlton's passion overflows onto the football field in support of one of Victoria's most successful football clubs.

A celebration of one of the most fascinating suburbs in Melbourne, Carlton: A History richly evokes the vibrant and colourful character of Carlton, today and yesterday.