Reconnaissance limnology of Tasmania VI. Biogeographical significance of physicochemical features of coastal lagoons of the islands of Bass Strait

The physicochemical attributes of 66 coastal dune lakes (lagoons) on islands of Bass Strait have been investigated. The full data set is available electronically. Here, selected environmental variables with known ecological significance are presented and, by reference to known sites of floristic richness in Tasmania, the lagoons most likely to harbour endemic freshwater algae are identified, as biogeographical stepping stones between the Tasmanian and mainland Australian microfloras.

A haptically enabled low-cost reconnaissance platform for law enforcement

Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis.

Reconnaissance limnology of Tasmania VII. Coastal lagoons of Bass Strait Islands, with reference to endemic microflora and microfauna

Coastal lagoons of the principal islands of Bass Strait, between Australia's mainland and Tasmania, were sampled in two summers. Many, particularly those of low to moderate salinity, contain relatively rich assemblages of microinvertebrates and some endemic Australian freshwater algae. Several species of testate amoebae and rotifers could not be referred to known morphotypes and are probably new species. The presence of certain species on islands of Bass Strait provides a link between populations in mainland Australia and others in Tasmania. Those lagoons are identified that, by virtue of catchments or buffer zones clothed in native vegetation, are favourable for the survival of a native and partly endemic microbiota.

Reconnaissance limnology of Tasmania VIII. Tasmanian coastal lagoons - epicentres of endemism in the Australian aquatic microbiota

Two clusters of coastal lagoons, one near Strahan on Tasmania's west coast, the other near St Helens on the north-east coast, are the prime known epicentres of novelty and endemism in the Australian freshwater algal flora. The algae inhabiting these acid, dystrophic lagoons have a very limited distribution. Other dystrophic lagoons may have one or two, but not all, of this suite of endemics. The Strahan dune lakes, especially Lake Garcia, also have the greatest microfaunal diversity yet recorded from any Tasmanian waterbody, including several endemic species. The St Helens sites are less rich in species of microfauna, perhaps because of climatic differences or perhaps because of less intensive sampling there, but they, too, contain endemic taxa. The lagoons in both areas lie outside the formal protection of national parks, but present land management does provide a measure of protection.

OzBot TM - Haptic augmentation of a teleoperated robotic platform for search and rescue operations

A continued increase in computing power, sensor capability, software functionality, immersive interfaces and hardware modularity has given robot designers seemingly endless potential in the area of mobile robotics.  While some mobile robotic system designers are focusing on expensive, full-featured platforms, developers are realising the advantages of emerging technology in providing small, low-cost mobile reconnaissance vehicles as expendable teleoperated robotic systems.  The OzBot^TM mobile reconnaissance platform presents one such system.  The design objectives of the OzBot^TM platform focus on the development of inexpensive, lightweight carry-case sized robots for search and rescue operations, law enforcement scenarios and hazardous environment inspection.  The incorporation of Haptic augmentation provides the teleoperator with improved task immersion for an outdoor search and rescue scenario.  Achieved in cooperation with law enforcement agencies within Australia, this paper discusses the performance of the first four revisions of the OzBot^TM platform.