Automatically linking live experiences captured with a ubiquitous infrastructure

Ubiquitous computing aims at providing services to users in everyday environments such as the home. One research theme in this area is that of building capture and access applications which support information to be recorded ( captured) during a live experience toward automatically producing documents for review (accessed). The recording demands instrumented environments with devices such as microphones, cameras, sensors and electronic whiteboards. Since each experience is usually related to many others ( e. g. several meetings of a project), there is a demand for mechanisms supporting the automatic linking among documents relative to different experiences. In this paper we present original results relative to the integration of our previous efforts in the Infrastructure for Capturing, Accessing, Linking, Storing and Presenting information (CALiSP). Ubiquitous computing aims at providing services to users in everyday environments such as the home. One research theme in this area is that of building capture and access applications which support information to be recorded (captured) during a live experience toward automatically producing documents for review (accessed). The recording demands instrumented environments with devices such as microphones, cameras, sensors and electronic whiteboards. Since each experience is usually related to many others (e.g. several meetings of a project), there is a demand for mechanisms supporting the automatic linking among documents relative to different experiences. In this paper we present original results relative to the integration of our previous efforts in the Infrastructure for Capturing, Accessing, Linking, Storing and Presenting information (CALiSP).

Generating segmented meshes from textured color images

This paper presents a new framework for generating triangular meshes from textured color images. The proposed framework combines a texture classification technique, called W-operator, with Imesh, a method originally conceived to generate simplicial meshes from gray scale images. An extension of W-operators to handle textured color images is proposed, which employs a combination of RGB and HSV channels and Sequential Floating Forward Search guided by mean conditional entropy criterion to extract features from the training data. The W-operator is built into the local error estimation used by Imesh to choose the mesh vertices. Furthermore, the W-operator also enables to assign a label to the triangles during the mesh construction, thus allowing to obtain a segmented mesh at the end of the process. The presented results show that the combination of W-operators with Imesh gives rise to a texture classification-based triangle mesh generation framework that outperforms pixel based methods. Crown Copyright (C) 2009 Published by Elsevier Inc. All rights reserved.

Managing the requirements engineering process

Process management is a crucial issue in developing information or computer systems. Theories of software development process management suggest that the process should be supported and managed based on what the process really is. However, our learning from an action research study reveals that the requirements engineering (RE) process differs significantly from that which the current literature tends to describe. The process is not a systematic, smooth and incremental evolution of the requirements model, but involves occasional simplification and restructuring of the requirements model. This revised understanding of the RE process suggests a new challenge to both the academic and industrial communities, demanding new process management approaches. In this paper, we present our understanding of the RE process and its implications for process management.

The Requirements of Using Provenance in e-Science Experiments

In e-Science experiments, it is vital to record the experimental process for later use such as in interpreting results, verifying that the correct process took place or tracing where data came from. The process that led to some data is called the provenance of that data, and a provenance architecture is the software architecture for a system that will provide the necessary functionality to record, store and use process documentation. However, there has been little principled analysis of what is actually required of a provenance architecture, so it is impossible to determine the functionality they would ideally support. In this paper, we present use cases for a provenance architecture from current experiments in biology, chemistry, physics and computer science, and analyse the use cases to determine the technical requirements of a generic, technology and application-independent architecture. We propose an architecture that meets these requirements and evaluate a preliminary implementation by attempting to realise two of the use cases.

Managing the requirements engineering process

Process management is a crucial issue in developing information or computer systems. Theories of software development process management suggest that the process should be supported and managed based on what the process really is. However, our learning from an action research study reveals that the requirements engineering (RE) process differs significantly from what the current literature tends to describe. The process is not a systematic, smooth and incremental evolution of the requirements model, but involves occasional simplification and restructuring of the requirements model. This revised understanding of the RE process suggests a new challenge to both the academic and industrial communities, demanding new process management approaches. In this paper, we present our understanding of the RE process and its implications for process management.

Object oriented finite element analysis: a distributed approach to mesh generation

The object-oriented finite element method (OOFEM) has attracted the attention of many researchers. Compared with the traditional finite element method, OOFEM software has the advantages of maintenance and reuse. Moreover, it is easier to expand the architecture to a distributed one. In this paper, we introduce a distributed architecture of a object-oriented finite element preprocessor. A comparison between the distributed system and the centralised system shows that the former, presented in the paper, greatly improves the performance of mesh generation. Other finite element analysis modules could be expanded according to this architecture.

The artist and the computer : understanding the creative user

This paper is focused on understanding the creative computer user for the purposes of informing the design of future creativity support systems and related software. We present an investigation of a successful Australian artist, Jill Lewis, who paints on canvas. In particular, we highlight the interesting part that existing digital technology plays in her creative practice, and we identify and describe in detail two specific uses of this technology. We terml these uses "electronic collaging" and "media switching". We go on to attempt to relate this artist's creative process to two theoretical models of the creative process.

Fuzzy haptic augmentation for telerobotic stair climbing

Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments. The ability to explore dangerous environments from the safety of a remote location represents an important progression towards the preservation of human safety in the inevitable response to such a threat. While the benefits of removing physical human presence are clear, challenges associated with remote operation of a robotic system need to be addressed. Removing direct human presence from the robot's operating environment introduces telepresence as an important consideration in achieving the desired objective. The introduction of the haptic modality represents one approach towards improving operator performance subject to reduced telepresence. When operating in an urban environment, teleoperative stair climbing is not an uncommon scenario. This work investigates the operation of an articulated track mobile robot designed for ascending stairs under teleoperative control. In order to assist the teleoperator in improved navigational capabilities, a fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance.

Computational aspects of the numerical solution of SDEs

In the last 30 to 40 years, many researchers have combined to build the knowledge base of theory and solution techniques that can be applied to the case of differential equations which include the effects of noise. This class of ``noisy'' differential equations is now known as stochastic differential equations (SDEs). Markov diffusion processes are included within the field of SDEs through the drift and diffusion components of the Itô form of an SDE. When these drift and diffusion components are moderately smooth functions, then the processes' transition probability densities satisfy the Fokker-Planck-Kolmogorov (FPK) equation -- an ordinary partial differential equation (PDE). Thus there is a mathematical inter-relationship that allows solutions of SDEs to be determined from the solution of a noise free differential equation which has been extensively studied since the 1920s. The main numerical solution technique employed to solve the FPK equation is the classical Finite Element Method (FEM). The FEM is of particular importance to engineers when used to solve FPK systems that describe noisy oscillators. The FEM is a powerful tool but is limited in that it is cumbersome when applied to multidimensional systems and can lead to large and complex matrix systems with their inherent solution and storage problems. I show in this thesis that the stochastic Taylor series (TS) based time discretisation approach to the solution of SDEs is an efficient and accurate technique that provides transition and steady state solutions to the associated FPK equation. The TS approach to the solution of SDEs has certain advantages over the classical techniques. These advantages include their ability to effectively tackle stiff systems, their simplicity of derivation and their ease of implementation and re-use. Unlike the FEM approach, which is difficult to apply in even only two dimensions, the simplicity of the TS approach is independant of the dimension of the system under investigation. Their main disadvantage, that of requiring a large number of simulations and the associated CPU requirements, is countered by their underlying structure which makes them perfectly suited for use on the now prevalent parallel or distributed processing systems. In summary, l will compare the TS solution of SDEs to the solution of the associated FPK equations using the classical FEM technique. One, two and three dimensional FPK systems that describe noisy oscillators have been chosen for the analysis. As higher dimensional FPK systems are rarely mentioned in the literature, the TS approach will be extended to essentially infinite dimensional systems through the solution of stochastic PDEs. In making these comparisons, the advantages of modern computing tools such as computer algebra systems and simulation software, when used as an adjunct to the solution of SDEs or their associated FPK equations, are demonstrated.

Haptic mobility control for teleoperated rovers

Future missions involving human and robotic systems co-resident on the lunar surface may call for rovers to be teleoperated from the safety of pressurized habitats or vehicles. An approach is presented that emphasizes human-level judgment and intuition in the total control of a rover’s mobility actions. This is facilitated through human-robotic haptics interaction. The concept of a haptics cone control surface is presented, which provides a teleoperator with a means to intuitively determine the velocities he/she is commanding to control rover motion. The teleoperator is also provided with real-time, tasks-relevant haptic augmentation indicating suggestive control actions concerning the desired mobility objective. Utility of the approach for teleoperated control of steep terrain traversal is demonstrated in simulation.

Searching Baxter's URDF robot joint and link tree for active serial chains

Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.

GUITAR: An ontology-based automated requirements analysis tool

Combining goal-oriented and use case modeling has been proven to be an effective method in requirements elicitation and elaboration. However, current requirements engineering approaches generally lack reliable support for automated analysis of such modeled artifacts. To address this problem, we have developed GUITAR, a tool which delivers automated detection of incorrectness, incompleteness and inconsistency between artifacts. GUITAR is based on our goal-use case integration meta-model and ontologies of domain knowledge and semantics. GUITAR also provides comprehensive explanations for detected problems and can suggest resolution alternatives.

A taxonomy and mapping of computer-based critiquing tools

Critics have emerged in recent times as a specific tool feature to support users in computer-mediated tasks. These computer-supported critics provide proactive guidelines or suggestions for improvement to designs, code, and other digital artifacts. The concept of a critic has been adopted in various domains, including medical, programming, software engineering, design sketching, and others. Critics have been shown to be an effective mechanism for providing feedback to users. We propose a new critic taxonomy based on extensive review of the critic literature. The groups and elements of our critic taxonomy are presented and explained collectively with examples, including the mapping of 13 existing critic tools, predominantly for software engineering and programming education tasks to the taxonomy. We believe this critic taxonomy will assist others in identifying, categorizing, developing, and deploying computer-supported critics in a range of domains.

Countering Improvised explosive devices through a multi-point haptic teleoperation system

Improvised Explosive Devices (IEDs) are reported as the number one cause of injury and death for allied troops in the current theater of operation. Current stand-off technologies for Counter IED (CIED) tasks rely on robotic platforms that have not improved in capability over the past decade to combat the ever increasing threat of IEDs. While they provide operational capability, the effectiveness of these platforms is limited. This is because they primarily utilise video and audio feedback, and require extensive training and specialist operators. Recent operational experience has demonstrated the need for robotic systems that are highly capable, yet easily operable for high fidelity manipulation. Force feedback provides an operator with more intuitive control of a robotic system. This sense of touch allows an operator to obtain a sense of feel from a stand-off location of what the robot touches or grasps through a human-robot interface. This paper reports the design and development of a Haptically-Enabled Counter IED robotic system that was funded by the Australian Defence Force. The presented work focuses on the design methodology for the system, and provides the results of the manipulator analysis and trial outcomes.