Automated control of a dragline using machine vision

The research described in this paper is directed toward increasing productivity of draglines through automation. In particular, it focuses on the swing-to-dump, dump, and return-to-dig phases of the dragline operational cycle by developing a swing automation system. In typical operation the dragline boom can be in motion for up to 80% of the total cycle time. This provides considerable scope for improving cycle time through automated or partially automated boom motion control. This paper describes machine vision based sensor technology and control algorithms under development to solve the problem of continuous real time bucket location and control. Incorporation of this capability into existing dragline control systems will then enable true automation of dragline swing and dump operations.

WebPut : Efficient web-based data imputation

In this paper, we present WebPut, a prototype system that adopts a novel web-based approach to the data imputation problem. Towards this, Webput utilizes the available information in an incomplete database in conjunction with the data consistency principle. Moreover, WebPut extends effective Information Extraction (IE) methods for the purpose of formulating web search queries that are capable of effectively retrieving missing values with high accuracy. WebPut employs a confidence-based scheme that efficiently leverages our suite of data imputation queries to automatically select the most effective imputation query for each missing value. A greedy iterative algorithm is also proposed to schedule the imputation order of the different missing values in a database, and in turn the issuing of their corresponding imputation queries, for improving the accuracy and efficiency of WebPut. Experiments based on several real-world data collections demonstrate that WebPut outperforms existing approaches.

Investigating subspace distances in semantic spaces

Semantic space models of word meaning derived from co-occurrence statistics within a corpus of documents, such as the Hyperspace Analogous to Language (HAL) model, have been proposed in the past. While word similarity can be computed using these models, it is not clear how semantic spaces derived from different sets of documents can be compared. In this paper, we focus on this problem, and we revisit the proposal of using semantic subspace distance measurements [1]. In particular, we outline the research questions that still need to be addressed to investigate and validate these distance measures. Then, we describe our plans for future research.

Re/membering Pedagogical Spaces

Educational spaces across the world largely continue to be designed with little variance from the traditional industrial classroom model, and pedagogies seem stuck somewhere between the Sage-on-the-Stage, lecture-dominated paradigm, and the Guide-on-the-Side, in which the instructor acts primarily as an aide watching, encouraging, and monitoring students working on projects individually or in groups. Rather than “reinventing the wheel,” the authors argue for an academic environment based on the British coffee house or French café of the 18th and 19th centuries. Not only should this 21st-century classroom offer an innovative melding of space and technology but also introduce a new pedagogical model. The Meddler-in-the-Middle model repositions the teacher and students as co-facilitators in the creation and use of knowledge in an environment where bodies move seamlessly in and out of collegial collaborations filled with free-to-fail open debate.

Dragline automation

Draglines are used extensively for overburden stripping in Australian open cut coal mines. This paper outlines the design of a computer control system to implement an automated swing cycle on a production dragline. Subsystems and sensors have been developed to satisfy the constraints imposed by the task, the harsh operating environment and the mines production requirements.

Sensors and control for mining robotics

This paper discusses some of the sensing technologies and control approaches available for guiding robot manipulators for a class of underground mining tasks including drilling jumbos, bolting arms, shotcreters or explosive chargers. Data acquired with such sensors, in the laboratory and underground, is presented.

Mixture models of nucleotide sequence evolution that account for heterogeneity in the substitution process across sites and across lineages

Molecular phylogenetic studies of homologous sequences of nucleotides often assume that the underlying evolutionary process was globally stationary, reversible, and homogeneous (SRH), and that a model of evolution with one or more site-specific and time-reversible rate matrices (e.g., the GTR rate matrix) is enough to accurately model the evolution of data over the whole tree. However, an increasing body of data suggests that evolution under these conditions is an exception, rather than the norm. To address this issue, several non-SRH models of molecular evolution have been proposed, but they either ignore heterogeneity in the substitution process across sites (HAS) or assume it can be modeled accurately using the distribution. As an alternative to these models of evolution, we introduce a family of mixture models that approximate HAS without the assumption of an underlying predefined statistical distribution. This family of mixture models is combined with non-SRH models of evolution that account for heterogeneity in the substitution process across lineages (HAL). We also present two algorithms for searching model space and identifying an optimal model of evolution that is less likely to over- or underparameterize the data. The performance of the two new algorithms was evaluated using alignments of nucleotides with 10 000 sites simulated under complex non-SRH conditions on a 25-tipped tree. The algorithms were found to be very successful, identifying the correct HAL model with a 75% success rate (the average success rate for assigning rate matrices to the tree's 48 edges was 99.25%) and, for the correct HAL model, identifying the correct HAS model with a 98% success rate. Finally, parameter estimates obtained under the correct HAL-HAS model were found to be accurate and precise. The merits of our new algorithms were illustrated with an analysis of 42 337 second codon sites extracted from a concatenation of 106 alignments of orthologous genes encoded by the nuclear genomes of Saccharomyces cerevisiae, S. paradoxus, S. mikatae, S. kudriavzevii, S. castellii, S. kluyveri, S. bayanus, and Candida albicans. Our results show that second codon sites in the ancestral genome of these species contained 49.1% invariable sites, 39.6% variable sites belonging to one rate category (V1), and 11.3% variable sites belonging to a second rate category (V2). The ancestral nucleotide content was found to differ markedly across these three sets of sites, and the evolutionary processes operating at the variable sites were found to be non-SRH and best modeled by a combination of eight edge-specific rate matrices (four for V1 and four for V2). The number of substitutions per site at the variable sites also differed markedly, with sites belonging to V1 evolving slower than those belonging to V2 along the lineages separating the seven species of Saccharomyces. Finally, sites belonging to V1 appeared to have ceased evolving along the lineages separating S. cerevisiae, S. paradoxus, S. mikatae, S. kudriavzevii, and S. bayanus, implying that they might have become so selectively constrained that they could be considered invariable sites in these species.

Best use modelling for sustainable Australia sports field surfaces

The Best Use Modelling for Sustainable Australian Sports Field Surfaces project has achieved significant success. The project has attracted participation from councils throughout Australia, with in excess of 300 sports fields evaluated from 18 councils to date. An important project component is the derivation of a recommended standard procedure for specifying the performance of playing surfaces. An associated step has been to establish recommended playing surface performance standards for community level sports fields. The derived modelling also provides information on the expected usage and associated costs of different sports surface development options. This is expected to assist the Australian turf production industry through demonstrating to councils that cost effective natural turf options exist that can meet higher usage expectation (as a viable alternative to synthetic turf). A web-accessed data base system will be made available to councils from January 2010 on (reference to www.passturf.com). This system will enable participating councils to record and analyse field performance over time. The system is considered world-leading, and will help keep the Australian parks industry to the international forefront. Tools developed as part of the project offer councils the opportunity to internally assess the performance of their current sports field provision, to identify any deficiencies and to determine the best corrective measure if any deficiency is identified. This is expected to offer community benefits to both sports facility providers and facility user groups. In turn this will aid the provision of affordable community access to safe and good quality playing surfaces. Tools and associated information material will be made available to councils throughout Australia by the end of this year, via the Parks and Leisure Aust. web site. The Best Use Modelling Project is work in progress. On-going input will be needed to ensure the web-accessed database software is as user friendly as possible, new performance testing data will need to be inputted, and tools provided to participating councils updated. Through the support of HAL there is now a well-structured, nationally-supported system in place for benchmarking playing surfaces and for assisting councils to optimise their resource allocation to sports field upgrade or maintenance work.

Gottschalk children at swim club forming a pyramid; Hannover, Germany.

Seated on grass Kurt Godshaw; left to right Walter, Freddy, Ursula; seated on ball Hal Godshaw

Gottschalk children at swim club forming a pyramid; Hannover, Germany.

Seated on grass Kurt Godshaw; left to right Walter, Freddy, Ursula; seated on ball Hal Godshaw

Reproduction of cover illustration of the book "Kinder-Turnen in Haus" by Fritz Strube. Sports

The drawing is modeled after Elizabeth Gottschalk (later Krakauer)

Fritz Gottschalk and his children boating on a mountain lake; Titisee, Germany.

From left to right: Ursula, Walter, Hal, Kurt, Fritz, and Elizabeth Gottschalk; the lake is probably the Titisee near the Swiss border in the Black Forest, Germany

Therese Godshaw's nee Molling 70th birthday party at the Krakauer home; Boston Portraits Family

Left to right behind table: John Krakauer, Donald, Michael and Robert Godshaw (Children of Hal and Anne), Grandma Therese Godshaw nee Molling, Julius Pick (Grandfather of Robert, Michael and Donald). In front of table: Wendy and Gerry Godshaw (children of Kurt and Edith.

Gottschalk family in the park; Hannover, Germany. Portraits Family

Left to right: Therese Godshaw (Gottschalk) nee Molling, Walter, Freddy, Grandmother Henriette Gottschalk nee Rothschild, Ursula, Hal and Kurt