Biomimicking natural nanopatterned topology by 3D laser lithography

Natural nanopatterned surfaces (nNPS) present on insect wings have demonstrated bactericidal activity [1, 2]. Fabricated nanopatterned surfaces (fNPS) derived by characterization of these wings have also shown superior bactericidal activity [2]. However bactericidal NPS topologies vary in both geometry and chemical characteristics of the individual features in different insects and fabricated surfaces, rendering it difficult to ascertain the optimum geometrical parameters underling bactericidal activity. This situation calls for the adaptation of new and emerging techniques, which are capable of fabricating and characterising comparable structures to nNPS from biocompatible materials. In this research, CAD drawn nNPS representing an area of 10 μm x10 μm was fabricated on a fused silica glass by Nanoscribe photonic professional GT 3D laser lithography system using two photon polymerization lithography. The glass was cleaned with acetone and isopropyl alcohol thrice and a drop of IP-DIP photoresist from Nanoscribe GmbH was cast onto the glass slide prior to patterning. Photosensitive IP-DIP resist was polymerized with high precision to make the surface nanopatterns using a 780 nm wavelength laser. Both moving-beam fixedsample (MBFS) and fixed-beam moving-sample (FBMS) fabrication approaches were tested during the fabrication process to determine the best approach for the precise fabrication of the required nanotopological pattern. Laser power was also optimized to fabricate the required fNPS, where this was changed from 3mW to 10mW to determine the optimum laser power for the polymerization of the photoresist for fabricating FNPS...

From vision to actions: Towards adaptive and autonomous humanoid robots

Although robotics research has seen advances over the last decades robots are still not in widespread use outside industrial applications. Yet a range of proposed scenarios have robots working together, helping and coexisting with humans in daily life. In all these a clear need to deal with a more unstructured, changing environment arises. I herein present a system that aims to overcome the limitations of highly complex robotic systems, in terms of autonomy and adaptation. The main focus of research is to investigate the use of visual feedback for improving reaching and grasping capabilities of complex robots. To facilitate this a combined integration of computer vision and machine learning techniques is employed. From a robot vision point of view the combination of domain knowledge from both imaging processing and machine learning techniques, can expand the capabilities of robots. I present a novel framework called Cartesian Genetic Programming for Image Processing (CGP-IP). CGP-IP can be trained to detect objects in the incoming camera streams and successfully demonstrated on many different problem domains. The approach requires only a few training images (it was tested with 5 to 10 images per experiment) is fast, scalable and robust yet requires very small training sets. Additionally, it can generate human readable programs that can be further customized and tuned. While CGP-IP is a supervised-learning technique, I show an integration on the iCub, that allows for the autonomous learning of object detection and identification. Finally this dissertation includes two proof-of-concepts that integrate the motion and action sides. First, reactive reaching and grasping is shown. It allows the robot to avoid obstacles detected in the visual stream, while reaching for the intended target object. Furthermore the integration enables us to use the robot in non-static environments, i.e. the reaching is adapted on-the- fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. The second integration highlights the capabilities of these frameworks, by improving the visual detection by performing object manipulation actions.

Critical Reappraisal Of Plasticity Index Of Soils

A fundamental approach, based on Gouy-Chapman theory of double layer, has been provided to micromechanistically interpret the plasticity index of soils and their relationship with liquid limit. The relationships between plasticity index and liquid limit, developed earlier, through statistical approaches and critical state concepts, have been reexamined. The statistical analysis of extensive published data has resulted in the relationship, IP = 0.74 (wL - 8). On comparison with other relationships in vogue the proposed equation has been found to give better agreement. From the reappraisal of critical state approaches consistent with the micromechanistic interpretation, the possible range of parameters have been computed and compared with those obtained by statistical means to enhance the credibility of the proposed relationship.

Owning the new economy: A guide to intellectual property management for Australia's clean technology sector

Australia's history of developing and managing the intellectual property rights of domestic innovations is – at best – mixed. The relevant immaturity of Australia's public sector commercialisation infrastructure has, over recent decades, been the subject of both stinging academic commentary and not insubstantial juridical disbelief. That said, improvements have been observed, and increasingly, private sector involvement in public sector innovation has allowed for a deepening refinement of domestic approaches to IP retention and ongoing management. Rather than a bare critique of Australia's IP management track-record, or a call for specific law reform, this manual engages at a more practical level some of the foundational questions that ought be asked by entities involved in the 'cleantech' industries. Beginning simply at what is IP and why it matters, this manual examines the models of IP management available to market participants around the world. The process of IP management is defined and assessed through a commercial lens; assessing the 'pros' and 'cons' of each management choice with a view to equipping the reader to determine which approach may be best adapted to their given clean tech project. The manual concludes with a brief survey of alternative models of Intellectual Property management, including relevant examples from overseas and prominent suggestions arising out of the academic discourse. It appears inevitable that the global warming challenge will prompt specific legislative, regulatory and multi-lateral responses by nation states, however, the ultimate form of any such response remains a highly contested political and social issue. Accordingly, the structure of this manual, and the discussion points raised herein, seek introduce the reader to some of the more contentious debates occurring around the world at the intersection between IP and climate change.

The distribution and spread of citrus canker in Emerald, Australia

Citrus canker is a disease of citrus and closely related species, caused by the bacterium Xanthomonas citri subsp. citri. This disease, previously exotic to Australia, was detected on a single farm [infested premise-1, (IP1). IP is the terminology used in official biosecurity protocols to describe a locality at which an exotic plant pest has been confirmed or is presumed to exist. IP are numbered sequentially as they are detected] in Emerald, Queensland in July 2004. During the following 10 months the disease was subsequently detected on two other farms (IP2 and IP3) within the same area and studies indicated the disease first occurred on IP1 and spread to IP2 and IP3. The oldest, naturally infected plant tissue observed on any of these farms indicated the disease was present on IP1 for several months before detection and established on IP2 and IP3 during the second quarter (i.e. autumn) 2004. Transect studies on some IP1 blocks showed disease incidences ranged between 52 and 100% (trees infected). This contrasted to very low disease incidence, less than 4% of trees within a block, on IP2 and IP3. The mechanisms proposed for disease spread within blocks include weather-assisted dispersal of the bacterium (e.g. wind-driven rain) and movement of contaminated farm equipment, in particular by pivot irrigator towers via mechanical damage in combination with abundant water. Spread between blocks on IP2 was attributed to movement of contaminated farm equipment and/or people. Epidemiology results suggest: (i) successive surveillance rounds increase the likelihood of disease detection; (ii) surveillance sensitivity is affected by tree size; and (iii) individual destruction zones (for the purpose of eradication) could be determined using disease incidence and severity data rather than a predefined set area.

Cynodon dactylon Green Couch Grass, Bermuda Grass 'JT1'

Spontaneous mutation or chance seedling: discovered in the mid-1990s as a superior plant growing in a commercial field of “Common” Cynodon dactylon on Jimboomba Turf Company’s farm at Jimboomba in south-east Queensland. Selection criteria: vigorous lateral spread, high shoot density and turf quality, low inflorescence numbers, and darker green colour. In 1999 after observing the superior turf performance of this mutant plant as a small patch within a much larger paddock of “Common”, vegetative material was taken and propagated in clean ground elsewhere on the farm for multiplication and further trials in a variety of turf situations in south-east Queensland. Propagation: vegetative. Breeder: Lynn Davidson, Jimboomba, QLD. PBR Certificate Number 2640, Application Number 2002/282, granted 24 February 2005.

Cynodon transvaalensis x Cynodon dactylon Hybrid Green Couch Grass, Hybrid Bermuda Grass 'MS-Supreme'

Ploidy: triploid interspecific hybrid (3n = 27 chromosomes). Plant: habit prostrate, creeping, type mat-forming, height very short, longevity perennial, spreading laterally by stolons and rhizomes. Stolon: compound nodes with up to 3 leaves, internode length very short, internode thickness very thin, colour grey-brown (RHS N199A) when exposed to sunlight. Culms: length very short. Leaf blade: shape linear-triangular, length short, width narrow, colour dark green (RHS 137B). Ligule: dense row of short white hairs. Inflorescence: digitate with 3(-4) very short spicate racemes, peduncle very short. (All RHS colour chart numbers refer to 2001 edition.) PBR Certificate Number 2641, Application Number 2002/305, granted 24 February 2005.

Zoysia japonica, Zoysia Grass 'Palisades'

Open-pollination: originated as a chance seedling from Z44 (maternal clonal parent), obtained from Beltsville MD in 1981, with an unknown pollen source from a zoysia grass germplasm field nursery at the Texas Agricultural Experiment Station in Dallas. ‘Palisades’ was selected over the parent Z44 on the basis of its lower tendency to produce thatch, its excellent lateral growth habit and its superior mowing qualities. ‘Palisades’ has been vegetatively propagated, and is uniform in growth expression. No seedling establishment from ‘Palisades’ has been noticed in either greenhouse or field studies. Selection criteria: rapid regrowth and spread by, and/or from, stolons and rhizomes; turf colour and density; tolerance to low mowing; winter hardiness; shade tolerance; low water use requirements. Propagation: vegetative. Breeder: Milton C. Engelke, Dallas, USA. PBR Certificate Number 2594, Application Number 2001/199, granted 26 October 2004.

Cynodon transvaalensis x Cynodon dactylon, Hybrid Green Couch Grass, Hybrid Bermuda Grass 'TL2'

Spontaneous mutation: In 1996, vegetative material (later designated ‘TL2’) taken from a disease resistant mutant plant on the fifteenth green at Novotel Palm Cove resort course near Cairns was included an on-going program of selection and testing of promising ‘Tifgreen’ mutants by Tropical Lawns Pty Ltd. Selection criteria: healthy vigorous growth during the tropical wet season, dense fine-textured appearance under close mowing, and dark green leaves. In subsequent trials, ‘TL2’ was identified as the outstanding plant among selections of mutant ‘Tifgreen’ genotypes from other north Queensland sites in terms of colour, texture and density for greens use. Propagation: vegetative. Breeder: Terry Anderlini, Gordonvale, QLD. PBR Certificate Number 2639, Application Number 2002/268, granted 24 February 2005.

Cynodon dactylon, Green Couch Grass 'TL1'

Chance seedling: observed in about 1989 as a distinctly coarser textured, densely matting, darker green mutant bermuda grass plant growing among the hybrid ‘Tifgreen’ on the eighth green at the Townsville Golf Course. Although ‘TL1’ was selected from a sward of the hybrid Bermuda grass ‘Tifgreen’, its inflorescence structure (4, not 3, racemes per inflorescence), agronomic attributes (e.g. its tolerance to certain herbicides), and its DNA profile are consistent with a chance seedling of Cynodon dactylon rather than a mutant plant of hybrid (C. dactylon x transvaalensis) origin. Selection criteria: exceptionally short stolon internodes resulting in an extremely tight knit stolon mat under close (c. 5-6 mm) but not very close (c. 3-4 mm) mowing; very deep, strong rhizome system; very dark green colour; tolerates shade better than other Australian bermuda grass varieties of common knowledge (except for ‘Plateau’A); and remains low growing under heavy tropical cloud cover even after 6-8 months. Designated ‘TL1’ by Tropical Lawns Pty Ltd and trialed successfully during the late 1990s and early 2000s in high wear situations (e.g. golf tees) in north Queensland. Propagation: vegetative. Breeder: Barry McDonagh, Townsville, QLD. PBR Certificate Number 2638, Application Number 2002/267, granted 24 February 2005.

Cynodon dactylon, Green Couch Grass 'Oz-E-Green'

Spontaneous mutation or chance seedling: discovered in 2001 as a superior plant growing among “Common” green couch on the breeder’s turf farm at Berries Road, Childers. A selected piece of sod was removed and broken into vegetative sprigs to propagate a larger area of this variety elsewhere on the breeder’s property. The original plant has now been multiplied vegetatively three times without showing any discernible off types. Selection criteria: dense prostrate habit and limited inflorescence production (giving a low mowing requirement), high turf quality, dark green colour. Propagation: vegetative. Breeder: Robert William Morrow, Childers, QLD. PBR Certificate Number 2844, Application Number 2004/035, granted 22 August 2005.

Stenotaphrum secundatum, Buffalo Grass 'Sir James'

Spontaneous mutation: discovered in February 2001 as a superior plant growing among “Common” buffalo grass growing on the breeder’s property at Saltash in the Hunter Valley (NSW). The selected material has smaller (finer) leaves and showed better growth and colour than the parent variety with minimal inputs (water, fertiliser) under stressful climatic conditions. Subsequently, it also showed better leaf colour retention than the parent variety during winter. A vegetative plug taken from the original plant has now undergone four subsequent vegetative divisions to expand the original material for performance trials in NSW and Queensland without showing any discernible off types. Main selection criteria: winter colour retention, small leaves, low fertiliser requirement. Propagation: vegetative. Breeder: Brent Redman, Maitland North, NSW. PBR Certificate Number 2715, Application Number 2002/283, granted 18 March 2005.

Cynodon dactylon, Green Couch Grass, Bermuda Grass 'Grand Prix'

‘Grand Prix’ is a selection from a cross between ‘Wintergreen’ and ‘Couch 5’ (also designated C5). ‘Couch 5’ was a selection from an earlier series of crosses by the breeder between ‘Wintergreen’ and a number of Cynodon dactylon accessions, which were collected by the breeder from the Mornington Peninsula area of Victoria between 1986 and 1990. C5 was an experimental breeding line, and was not subsequently reserved as vegetative germplasm. Living material of C5 is no longer in existence. Following the crossing of ‘Couch 5’ and ‘Wintergreen’ in 1998, the resultant seed was germinated on moist blotting paper. Individual seedlings, a total of 150 in number, were planted into 150mm pots and these plants observed during 1998 and 1999. During the summer of 1999-2000, the majority of the seedling plants were culled on the basis of their shoot density, leaf texture, internode length, and colour. In the spring of 2000, the remaining 20 potted seedlings were planted individually into 4m2 plots at the Evergreen Turf farm at Pakenham (Victoria), and allowed to expand fully across these plots. The final selection of Seedling 12 (later designated DN12) in late 2002 was based on shoot density, leaf colour, turf quality, and reduced thatch accumulation as expressed in these plots. Propagation: the original plant has been multiplied through four (4) vegetative expansions prior to PBR application without showing any discernible off types. Breeder: David Nickson, Frankston, VIC. PBR Certificate Number 3133, Application Number 2005/291, granted 12 September 2006.

Cynodon dactylon, Green Couch Grass, Bermuda Grass 'Winter Gem'

‘Winter Gem’ is a selection from a cross between ‘Wintergreen’ and Couch 5 (also designated C5). Couch 5 was a selection from an earlier series of crosses by the breeder between ‘Wintergreen’ and a number of Cynodon dactylon accessions, which were collected by the breeder from the Mornington Peninsula area of Victoria between 1986 and 1990. C5 was an experimental breeding line, and was not subsequently reserved as vegetative germplasm. Living material of C5 is no longer in existence. Following the crossing of Couch 5 and ‘Wintergreen’ in 1998, the resultant seed was germinated on moist blotting paper. Individual seedlings, a total of 150 in number, were planted into 150mm pots and these plants observed during 1998 and 1999. During the summer of 1999-2000, the majority of the seedling plants were culled on the basis of their shoot density, leaf texture, internode length, and colour. In the spring of 2000, the remaining 20 potted seedlings were planted individually into 4m2 plots at the Evergreen Turf farm at Pakenham (Victoria), and allowed to expand fully across these plots. The final selection of Seedling 9 (later designated DN9) in late 2002 was based on shoot density, leaf texture, and retention of winter colour as expressed in these plots. Propagation: The original plant had been multiplied through four (4) vegetative expansions prior to PBR application without showing any discernible off types. Breeder: David Nickson, Frankston, VIC. PBR Certificate Number 3132, Application Number 2005/290, granted 11 September 2006.

Cynodon transvaalensis x Cynodon dactylon, Hybrid Green Couch Grass, Hybrid Bermuda Grass 'P18'

‘P18’ was first produced in 1992 and is a mutant genotype obtained from a hybrid Bermudagrass line believed to be ‘Tifdwarf’, which was grown in a greenhouse owned by H&H Seed Company in Yuma, Arizona. ‘P18’ was selected for its extremely fine leaf texture, its high shoot density under close mowing, its rapid growth rate, and its uniform dark green colour, and was subsequently evaluated for these traits and characteristics. Propagation: vegetative. Breeder: Howard E. Kaewer, Eden Prairie, MN, USA. PBR Application Number 2007/179, Certificate Number 3567, granted 13 August 2007.