Mawson the astrobiologist rover : towards automatic recognition of stromatolites

This work aims at developing a planetary rover capable of acting as an assistant astrobiologist: making a preliminary analysis of the collected visual images that will help to make better use of the scientists time by pointing out the most interesting pieces of data. This paper focuses on the problem of detecting and recognising particular types of stromatolites. Inspired by the processes actual astrobiologists go through in the field when identifying stromatolites, the processes we investigate focus on recognising characteristics associated with biogenicity. The extraction of these characteristics is based on the analysis of geometrical structure enhanced by passing the images of stromatolites into an edge-detection filter and its Fourier Transform, revealing typical spatial frequency patterns. The proposed analysis is performed on both simulated images of stromatolite structures and images of real stromatolites taken in the field by astrobiologists.

Decentralized voltage support in a Low Voltage feeder by droop based voltage controlled PVs

Voltage drop at network peak hours is a significant power quality problem in Low Voltage (LV) distribution feeders. Recently, voltage rise due to high penetration of Photovoltaic cells (PVs) has been creating a new power quality problem during noon periods. In this paper, a voltage control strategy is proposed for the household installed PVs to regulate the voltage along the LV feeder. For this purpose, each PV is controlled to exchange reactive power with the grid. A droop control method is utilized to coordinate the reactive power exchange of each PV. The proposed method is a decentralized local voltage support since it is based on only local measurements and does not require any communication with other PVs. The required converter and filter structure and control algorithms are proposed to ensure the dynamic performance of the system. The study focuses on 3-phase PVs. The network is studied at network peak and off-peak periods, separately. The efficacy of the proposed voltage support concept is verified through numerical and dynamic analyses with MATLAB and PSCAD/EMTDC.

Management [5th Asia-Pacific Edition]

The fifth edition of this text has been thoroughly updated, continuing its strong emphasis on the importance of the Asian region to contemporary Australian and New Zealand organisations. Many Asian case examples are featured to illustrate key management concepts, and these provide a useful basis for comparison with management practices in Australia and New Zealand. Numerous practical examples throughout the text highlight contemporary management issues, such as: •workplace diversity •sustainability •ethics/corporate social responsibility •the impact of technology •innovation in the workplace •globalisation •employee engagement •flexible working arrangements •work-life balance •generational issues in the workplace •skills shortages in various industries •the importance of effective employee recruitment and training •organisational culture •workforce flexibility and casualisation •the ‘24/7’ nature of contemporary communication technology, including social media •outsourcing Management, 5th Asia Pacific edition, has also retained the features that have made previous editions so popular with students and lecturers, including the Career Readiness Workbook activities at the end of the book, and the accompanying Interactive Study Guide with its vast array of multimedia resources.

Sensor Network Based AUV Localisation

The operation of Autonomous Underwater Vehicles (AUVs) within underwater sensor network fields provides an opportunity to reuse the network infrastructure for long baseline localisation of the AUV. Computationally efficient localisation can be accomplished using off-the-shelf hardware that is comparatively inexpensive and which could already be deployed in the environment for monitoring purposes. This paper describes the development of a particle filter based localisation system which is implemented onboard an AUV in real-time using ranging information obtained from an ad-hoc underwater sensor network. An experimental demonstration of this approach was conducted in a lake with results presented illustrating network communication and localisation performance.

GNSS ambiguity resolution with controllable failure rate for long baseline network RTK

Many large-scale GNSS CORS networks have been deployed around the world to support various commercial and scientific applications. To make use of these networks for real-time kinematic positioning services, one of the major challenges is the ambiguity resolution (AR) over long inter-station baselines in the presence of considerable atmosphere biases. Usually, the widelane ambiguities are fixed first, followed by the procedure of determination of the narrowlane ambiguity integers based on the ionosphere-free model in which the widelane integers are introduced as known quantities. This paper seeks to improve the AR performance over long baseline through efficient procedures for improved float solutions and ambiguity fixing. The contribution is threefold: (1) instead of using the ionosphere-free measurements, the absolute and/or relative ionospheric constraints are introduced in the ionosphere-constrained model to enhance the model strength, thus resulting in the better float solutions; (2) the realistic widelane ambiguity precision is estimated by capturing the multipath effects due to the observation complexity, leading to improvement of reliability of widelane AR; (3) for the narrowlane AR, the partial AR for a subset of ambiguities selected according to the successively increased elevation is applied. For fixing the scalar ambiguity, an error probability controllable rounding method is proposed. The established ionosphere-constrained model can be efficiently solved based on the sequential Kalman filter. It can be either reduced to some special models simply by adjusting the variances of ionospheric constraints, or extended with more parameters and constraints. The presented methodology is tested over seven baselines of around 100 km from USA CORS network. The results show that the new widelane AR scheme can obtain the 99.4 % successful fixing rate with 0.6 % failure rate; while the new rounding method of narrowlane AR can obtain the fix rate of 89 % with failure rate of 0.8 %. In summary, the AR reliability can be efficiently improved with rigorous controllable probability of incorrectly fixed ambiguities.

Outdoor flight testing of a pole inspection UAV incorporating high-speed vision

We present a pole inspection system for outdoor environments comprising a high-speed camera on a vertical take-off and landing (VTOL) aerial platform. The pole inspection task requires a vehicle to fly close to a structure while maintaining a fixed stand-off distance from it. Typical GPS errors make GPS-based navigation unsuitable for this task however. When flying outdoors a vehicle is also affected by aerodynamics disturbances such as wind gusts, so the onboard controller must be robust to these disturbances in order to maintain the stand-off distance. Two problems must therefor be addressed: fast and accurate state estimation without GPS, and the design of a robust controller. We resolve these problems by a) performing visual + inertial relative state estimation and b) using a robust line tracker and a nested controller design. Our state estimation exploits high-speed camera images (100Hz) and 70Hz IMU data fused in an Extended Kalman Filter (EKF). We demonstrate results from outdoor experiments for pole-relative hovering, and pole circumnavigation where the operator provides only yaw commands. Lastly, we show results for image-based 3D reconstruction and texture mapping of a pole to demonstrate the usefulness for inspection tasks.

Indexing without spam

The presence of spam in a document ranking is a major issue for Web search engines. Common approaches that cope with spam remove from the document rankings those pages that are likely to contain spam. These approaches are implemented as post-retrieval processes, that filter out spam pages only after documents have been retrieved with respect to a user’s query. In this paper we suggest to remove spam pages at indexing time, therefore obtaining a pruned index that is virtually “spam-free”. We investigate the benefits of this approach from three points of view: indexing time, index size, and retrieval performances. Not surprisingly, we found that the strategy decreases both the time required by the indexing process and the space required for storing the index. Surprisingly instead, we found that by considering a spam-pruned version of a collection’s index, no difference in retrieval performance is found when compared to that obtained by traditional post-retrieval spam filtering approaches.

Security evaluation of Rakaposhi Stream Cipher

Rakaposhi is a synchronous stream cipher, which uses three main components: a non-linear feedback shift register (NLFSR), a dynamic linear feedback shift register (DLFSR) and a non-linear filtering function (NLF). NLFSR consists of 128 bits and is initialised by the secret key K. DLFSR holds 192 bits and is initialised by an initial vector (IV). NLF takes 8-bit inputs and returns a single output bit. The work identifies weaknesses and properties of the cipher. The main observation is that the initialisation procedure has the so-called sliding property. The property can be used to launch distinguishing and key recovery attacks. The distinguisher needs four observations of the related (K,IV) pairs. The key recovery algorithm allows to discover the secret key K after observing 29 pairs of (K,IV). Based on the proposed related-key attack, the number of related (K,IV) pairs is 2(128 + 192)/4 pairs. Further the cipher is studied when the registers enter short cycles. When NLFSR is set to all ones, then the cipher degenerates to a linear feedback shift register with a non-linear filter. Consequently, the initial state (and Secret Key and IV) can be recovered with complexity 263.87. If DLFSR is set to all zeros, then NLF reduces to a low non-linearity filter function. As the result, the cipher is insecure allowing the adversary to distinguish it from a random cipher after 217 observations of keystream bits. There is also the key recovery algorithm that allows to find the secret key with complexity 2 54.

Extensions of the cube attack based on low degree annihilators

At Crypto 2008, Shamir introduced a new algebraic attack called the cube attack, which allows us to solve black-box polynomials if we are able to tweak the inputs by varying an initialization vector. In a stream cipher setting where the filter function is known, we can extend it to the cube attack with annihilators: By applying the cube attack to Boolean functions for which we can find low-degree multiples (equivalently annihilators), the attack complexity can be improved. When the size of the filter function is smaller than the LFSR, we can improve the attack complexity further by considering a sliding window version of the cube attack with annihilators. Finally, we extend the cube attack to vectorial Boolean functions by finding implicit relations with low-degree polynomials.

Beyond online preprints : formalization of open initiatives in China

A growing number of online journals and academic platforms are adopting light peer review or 'publish then filter' models of scholarly communication. These approaches have the advantage of enabling instant exchanges of knowledge between academics and are part of a wider search for alternatives to traditional peer review and certification processes in scholarly publishing. However, establishing credibility and identifying the correct balance between communication and scholarly rigour remains an important challenge for digital communication platforms targeting academic communities. This paper looks at a highly influential, government-backed, open publishing platform in China: Science Paper Online, which is using transparent post-publication peer-review processes to encourage innovation and address systemic problems in China's traditional academic publishing system. There can be little doubt that the Chinese academic publishing landscape differs in important ways from counterparts in the United States and Western Europe. However, this article suggests that developments in China also provide important lessons about the potential of digital technology and government policy to facilitate a large-scale shift towards more open and networked models of scholarly communication.

Fast re-parameterisation of Gaussian mixture models for robotics applications

Autonomous navigation and picture compilation tasks require robust feature descriptions or models. Given the non Gaussian nature of sensor observations, it will be shown that Gaussian mixture models provide a general probabilistic representation allowing analytical solutions to the update and prediction operations in the general Bayesian filtering problem. Each operation in the Bayesian filter for Gaussian mixture models multiplicatively increases the number of parameters in the representation leading to the need for a re-parameterisation step. A computationally efficient re-parameterisation step will be demonstrated resulting in a compact and accurate estimate of the true distribution.

First full-scale trials of pebble matrix filtration

Protecting slow sand filters from high turbidity waters by pre-treatment using Pebble Matrix Filtration (PMF) has been studied in the laboratory at University College London followed by pilot field trials in Papua New Guinea and Serbia. Subsequently, the construction of two full-scale PMF units, one out of concrete (4.8m x4.8m x 3.0m high) and the other using pre-cast Ferro-cement panels (900mm x 1600mm x 20mm thick) with an effective diameter of 4.7m and 3m height, and the combined effective plan area of 40 m2 was completed to protect an existing Slow Sand Filter system at the National Water Supply Drainage Board (NWSDB) in Sri Lanka. Although the plant was completed in April 2008 due to some major repairs to address some leaks and other construction defects in both filters, monitoring was intermittent until November 2008. The results on the plant performance are presented here along with some of the construction problems encountered during the project.

Kalman filtering for positioning and heading control of ships and offshore rigs

In this article, we have described the main components of a ship motion-control system and two particular motion-control problems that require wave filtering, namely, dynamic positioning and heading autopilot. Then, we discussed the models commonly used for vessel response and showed how these models are used for Kalman filter design. We also briefly discussed parameter and noise covariance estimation, which are used for filter tuning. To illustrate the performance, a case study based on numerical simulations for a ship autopilot was considered. The material discussed in this article conforms to modern commercially available ship motion-control systems. Most of the vessels operating in the offshore industry worldwide use Kalman filters for velocity estimation and wave filtering. Thus, the article provides an up-to-date tutorial and overview of Kalman-filter-based wave filtering.

Handmade clay balls and recycled crush glass as alternative media in water filtration

For many years materials such as quarried sand, anthracite, and granular activated carbon have been the principal media-products traditionally used in water and wastewater filtration plants. Pebble Matrix Filtration (PMF) is a novel non-chemical, sustainable pre-treatment method of protecting Slow Sand Filters (SSF) from high turbidity during heavy monsoon periods. PMF uses sand and pebbles as the filter media and the sustainability of this new technology might depend on availability and supply of pebbles and sand, both finite resources. In many countries there are two principal methods of obtaining pebbles and sand, namely dredging from rivers and beaches, and due to the scarcity of these resources in some countries the cost of pebbles is often 4-5 times higher than that of sand. In search for an alternative medium to pebbles after some preliminary laboratory tests conducted in Colombo-Sri Lanka, Poznan-Poland and Cambridge-UK, a 100-year-old brick factory near Sudbury, Suffolk, has produced hand-made clay pebbles satisfying the PMF quality requirements. As an alternative to sand, crushed recycled glass from a UK supplier was used and the PMF system was operated together with hand-made clay balls in the laboratory for high turbidity removal effectively. The results of laboratory experiments with alternative media are presented in this paper. There are potential opportunities for recycled crushed glass and clay ball manufacturing processes in some countries where they can be used as filter media.

Baidu’s perfect paradox : free speech and the right to censor

China’s biggest search engine has a constitutional right to filter its search results, a US court found last month. But that’s just the start of the story. Eight New York-based pro-democracy activists sued Baidu Inc in 2011, seeking damages because Baidu prevents their work from showing up in search results. Baidu follows Chinese law that requires it to censor politically sensitive results. But in what the plaintiffs’ lawyer has dubbed a “perfect paradox”, US District Judge Jesse Furman has dismissed the challenge, explaining that to hold Baidu liable for its decisions to censor pro-democracy content would itself infringe the right to free speech.