Image-based visual navigation for mobile robots

We introduce a new image-based visual navigation algorithm that allows the Cartesian velocity of a robot to be defined with respect to a set of visually observed features corresponding to previously unseen and unmapped world points. The technique is well suited to mobile robot tasks such as moving along a road or flying over the ground. We describe the algorithm in general form and present detailed simulation results for an aerial robot scenario using a spherical camera and a wide angle perspective camera, and present experimental results for a mobile ground robot.

Inclusion, schools and anti-discrimination law : parents' experiences and inclusion

With the increasing enrolment of students with disabilities in primary schools and the enactment of legislative protections for students with disabilities in Disability Discrimination legislation and the Disability Standards for Education, this study examines the experiences of parents of students with disabilities in Queensland State schools. This study is concerned with the experiences that parents of children with disabilities have in relation to the concept and processes of inclusive classroom practice within the primary school. The experiences of parents in large metropolitan schools in Queensland, Australia are analysed in light of current anti-discrimination legislation operating within Australia. Data were collected using a mixed methodology in which 50 parents from nine large metropolitan Queensland State schools responded to a Parent Questionnaire about their experiences in their child’s school. This was followed by two focus groups with a total of six parents who described their experiences in their child’s school. Together the qualitative and quantitative information complemented the other to provide a unique perspective on the impact of anti-discrimination legislation. The findings from the study suggest that parents and their children continue to be discriminated against and that the legislation and associated standards have not eliminated this discrimination. Recommendations are made in the final chapter that propose an inclusive schooling framework for students with disabilities. This intends to ensure not only compliance with the ‘spirit’ of Anti-Discrimination legislation and the Disability Standards, but also a means by which schools may evolve to become inclusive and embracing of difference as part of overall richness of schools as opposed to deficiency.

Financial Markets, Institutions and Money [3rd ed.]

"The financial system is a key influencer of the health and efficiency of an economy. The role of the financial system is to gather money from people and businesses that currently have more money than they need and transfer it to those that can use it for either business or consumer expenditures. This flow of funds through financial markets and institutions in the Australian economy is huge (in the billions of dollars), affecting business profits, the rate of inflation, interest rates and the production of goods and services. In general, the larger the flow of funds and the more efficient the financial system, the greater the economic output and welfare in the economy. It is not possible to have a modern, complex economy such as that in Australia, without an efficient and sound financial system. The global financial crisis (GFC) of late 2007–09 (and the ensuing European debt crisis), where the global financial market was on the brink of collapse with only significant government intervention stopping a catastrophic global failure of the market, illustrated the importance of the financial system. Financial Markets, Institutions and Money 3rd edition introduces students to the financial system, its operations, and participants. The text offers a fresh, succinct analysis of the financial markets and discusses how the many participants in the financial system interrelate. This includes coverage of regulators, regulations and the role of the Reserve Bank of Australia, that ensure the system’s smooth running, which is essential to a modern economy. The text has been significantly revised to take into account changes in the financial world."---publisher website Table of Contents 1. The financial system - an overview 2. The Monetary Authorities 3. The Reserve Bank of Australia and interest rates 4. The level of interest rates 5. Mathematics of finance 6. Bond Prices and interest rate risk 7. The Structure of Interest Rates 8. Money Markets 9. Bond Markets 10. Equity Markets

Empirical modelling of rolling shutter effect

We propose and evaluate a novel methodology to identify the rolling shutter parameters of a real camera. We also present a model for the geometric distortion introduced when a moving camera with a rolling shutter views a scene. Unlike previous work this model allows for arbitrary camera motion, including accelerations, is exact rather than a linearization and allows for arbitrary camera projection models, for example fisheye or panoramic. We show the significance of the errors introduced by a rolling shutter for typical robot vision problems such as structure from motion, visual odometry and pose estimation.

The pirate of Karoussades

A travel memoir about the village of Karoussades, Corfu. When Liam and I caught the overnight ferry to Corfu we didn't have money for food, and my shoes had opened at the seams. Our last lira had been spent on a carton of Lucky Strike, which had been stolen by the time we docked the next day. In the haze of a Greek morning we were ushered into a minivan by the owner of the Karousades Camp Ground, who said there was work in the north of the island. Your best chance was with the Pirate. He took a little getting used to, but you were sure to get something...

How should regulators deal with entrenched company executives?

The regulatory framework for corporate governance, both in Australia and internationally, shifts between rules based regimes and principles based approach. The rules based regimes are typified by legislation that imposes mandated compliance based rules, such as the Sarbanes Oxley Act. Other regimes, such as Australia’s CLERP 9 and the ASX Corporate Governance Council’s principles, have opted for a disclosure approach. This paper examines these approaches in the context of the non-binding vote rule, which arguably combines aspects of both. The study’s methodology empirically considers evidence relating to actual voting patterns as well as case study examples of the non-binding vote’s effectiveness. Significantly, our analyses show that from its inception, the non-binding vote was effective in motivating management to change the remuneration package to one they perceived as more acceptable to shareholders and that the non-binding vote is an effective regime to manage CEO remuneration (and by extension) executive remuneration.

Online hidden Markov model parameter estimation and minimax robust quickest change detection in uncertain stochastic processes

Stochastic (or random) processes are inherent to numerous fields of human endeavour including engineering, science, and business and finance. This thesis presents multiple novel methods for quickly detecting and estimating uncertainties in several important classes of stochastic processes. The significance of these novel methods is demonstrated by employing them to detect aircraft manoeuvres in video signals in the important application of autonomous mid-air collision avoidance.

Photo-​induced proton coupled electron transfer from a benzophenone 'antenna' to an isoindoline nitroxide

The current study reports the synthesis and properties of a novel isoindoline nitroxide contg. a benzophenone chromophore fused into the carbon framework. When exposed to UV light, rather than undergoing traditional benzophenone photochem. pathways, the presence of the nitroxide enables an energy transfer process whereby the nitroxide enters an excited state which induces an efficient hydrogen atom transfer from unactivated alkanes.

Exact solutions of coupled multispecies linear reaction–diffusion equations on a uniformly growing domain

Embryonic development involves diffusion and proliferation of cells, as well as diffusion and reaction of molecules, within growing tissues. Mathematical models of these processes often involve reaction–diffusion equations on growing domains that have been primarily studied using approximate numerical solutions. Recently, we have shown how to obtain an exact solution to a single, uncoupled, linear reaction–diffusion equation on a growing domain, 0 < x < L(t), where L(t) is the domain length. The present work is an extension of our previous study, and we illustrate how to solve a system of coupled reaction–diffusion equations on a growing domain. This system of equations can be used to study the spatial and temporal distributions of different generations of cells within a population that diffuses and proliferates within a growing tissue. The exact solution is obtained by applying an uncoupling transformation, and the uncoupled equations are solved separately before applying the inverse uncoupling transformation to give the coupled solution. We present several example calculations to illustrate different types of behaviour. The first example calculation corresponds to a situation where the initially–confined population diffuses sufficiently slowly that it is unable to reach the moving boundary at x = L(t). In contrast, the second example calculation corresponds to a situation where the initially–confined population is able to overcome the domain growth and reach the moving boundary at x = L(t). In its basic format, the uncoupling transformation at first appears to be restricted to deal only with the case where each generation of cells has a distinct proliferation rate. However, we also demonstrate how the uncoupling transformation can be used when each generation has the same proliferation rate by evaluating the exact solutions as an appropriate limit.

Analytical model of reactive transport processes with spatially variable coefficients

Analytical solutions of partial differential equation (PDE) models describing reactive transport phenomena in saturated porous media are often used as screening tools to provide insight into contaminant fate and transport processes. While many practical modelling scenarios involve spatially variable coefficients, such as spatially variable flow velocity, v(x), or spatially variable decay rate, k(x), most analytical models deal with constant coefficients. Here we present a framework for constructing exact solutions of PDE models of reactive transport. Our approach is relevant for advection-dominant problems, and is based on a regular perturbation technique. We present a description of the solution technique for a range of one-dimensional scenarios involving constant and variable coefficients, and we show that the solutions compare well with numerical approximations. Our general approach applies to a range of initial conditions and various forms of v(x) and k(x). Instead of simply documenting specific solutions for particular cases, we present a symbolic worksheet, as supplementary material, which enables the solution to be evaluated for different choices of the initial condition, v(x) and k(x). We also discuss how the technique generalizes to apply to models of coupled multispecies reactive transport as well as higher dimensional problems.

RF plasma polymerised thin films from natural resources

Plasma polymerisation is an effective tool for fabrication of thin films from volatile organic monomers. RF plasma assisted deposition is used for one-step, chemical-free polymerisation of nonsynthetic materials derived directly from agricultural produces. By varying the deposition parameters, especially the input RF power, the film properties can be tailored for a range of uses, including electronics or biomedical applications. The fabricated thin films are optically transparent with refractive index close to that of glass. Given the diversity of essential oils, this paper compares the chemical and physical properties of thin films fabricated from several commercially exploited essential oils and their components. It is interesting to note that some of the properties can be tailored for various applications even though the chemical structure of the derived polymer is very similar. The obtained material properties also show that the synthesised materials are suitable as encapsulating layers for biodegradable implantable metals.

Plasma polymerised thin films for flexible electronic applications

The significant advancement and growth of organic and flexible electronic applications demand materials with enhanced properties. This paper reports the fabrication of a nonsynthetic polymer thin film using radio frequency plasma polymerisation of 3,7-dimethyl-1,6-octadien-3-ol. The fabricated optically transparent thin film exhibited refractive index of approximately 1.55 at 500 nm and rate of deposition was estimated to be 40 nm/min. The surface morphology and chemical properties of the thin films were also reported in this paper. The optical band gap of the material is around 2.8 eV. The force of adhesion and Young's modulus of the linalool polymer thin films were measured using force-displacement curves obtained from a scanning probe microscope. The friction coefficient of linalool polymer thin films was measured using the nanoscratch test. The calculated Young's modulus increased linearly with increase in input power while the friction coefficient decreased.

Materials and methods for encapsulation of OPV: A review

Amongst alternative energy sources, photovoltaics hold a considerable promise for it is a plentiful, easily accessible and renewable source of power. Yet, the overall cost of generating electricity using the most advanced silicon based solar cells remains high compared to both traditional and other renewable power generation approaches. Organic thin film photovoltaics are an emerging economically competitive photovoltaic technology that combines manufacturing adaptability, low-cost processing and a lightweight, flexible device end-product. At present, however, commercial use of organic photovoltaics is hindered by low conversion efficiency and poor overall stability of the devices. Encapsulation with high barrier performance materials and structures is one of the key ways to address these issues and improve device lifetime. This paper will briefly outline the current understanding of the major degradation mechanisms, their interrelation and the internal and external factors that initiate these processes. Then, the paper will provide an overview of currently available encapsulant materials, their utility in limiting chemical (water vapor and oxygen penetration) and mechanical degradation within individual layers and device as a whole, and potential drawbacks to their application in organic photovoltaic devices.

Expected Performance of the ATLAS Experiment - Detector, Trigger and Physics

A detailed study is presented of the expected performance of the ATLAS detector. The reconstruction of tracks, leptons, photons, missing energy and jets is investigated, together with the performance of b-tagging and the trigger. The physics potential for a variety of interesting physics processes, within the Standard Model and beyond, is examined. The study comprises a series of notes based on simulations of the detector and physics processes, with particular emphasis given to the data expected from the first years of operation of the LHC at CERN.

Pala kakusta : tulonjaon oikeudenmukaisuus modernissa poliittisessa filosofiassa

Pro gradu -tutkielmani käsittelee tulonjaon oikeudenmukaisuuteen liittyviä kysymyksiä viime vuosikymmenien poliittisessa filosofiassa. Työni tutkimuskohteena ovat erilaiset distribuutiomallit ja redistribuution oikeutus. Lähtökohtanani työssäni toimi John Rawlsin aloittama keskustelu distributiivisesta oikeudenmukaisuudesta. Rawlsin teos A Theory of Justice (1971) toimi modernin tulonjaon oikeudenmukaisuus-keskustelun lähtölaukauksena. Rawlsin näkemyksien pääkommentaattoreina työssäni toimivat G.A Cohen, Robert Nozick, Michael Walzer, Thomas Nagel, Liam Murphy ja Thomas Pogge. Tutkimukseni tarkoituksena on tutkia yhteiskunnallisen tulonjaon oikeudenmukaisuutta. Käsittelen kysymyksiä siitä kuinka yhteiskunnalliset hyvät tulisi jakaa ja millaisia tulisi olla niiden rakenteellisten ratkaisujen, jotka mahdollistavat oikeudenmukai- sen yhteiskunnan. Toinen tärkeä kysymys työssäni on, kuinka voimme oikeuttaa jo kertaalleen jaetun uudelleenjakamisen eli redistribuution, ilman että kajoamme yksilöiden perusoikeuksiin. Tutkin työssäni distribuutioon ja redistribuutioon liittyvien näkemysten suhdetta niihin arvoihin, joita länsimaiset liberalismiin ja demokratiaan sitoutuneet yhteiskunnat korostavat, kuten ihmisten perusoikeudet, riittävä toimeentulo ja vapaus. Millaisilla tulonjakoon liittyvillä keinolla voimme päästä lähemmäksi kyseisten arvoja toteutumista yhteiskunnissamme? Tällöin kuvaan astuu myös kysymys lähtökohtien ja lopputuloksen oikeudenmukaisuuden merkityksestä. Voimmeko muutella toteutettua distribuutiota redistribuution avulla, jos emme saa aikaan niitä tuloksia, joita olimme toivoneet? Työni lopussa kysyn: jos toteamme, että meidän tulisi pyrkiä kohti oikeudenmukaisempaa tulonjakoa kansallisvaltioiden sisällä, niin miten tämän tulisi vaikuttaa näkemyksiimme kansainvälisestä tulonjaosta? Tutkimuksessani selvisi, että on vaikea löytää moraalisia perusteita sille, miksi yhteiskunnissamme ei tulisi pyrkiä kohti tasa- arvoisempaa tulonjakoa. Markkinoiden vapautta ja absoluuttisia omistusoikeuksia korostavilla näkemyksillä ei ole moraalisesti kestäviä perusteita, minkä vuoksi niihin vetoaminen ei ole riittävä syy olla puuttumatta tulonjakoon oikeudenmukaisuuden näkökulmasta. Länsimaisissa yhteiskunnissa arvopohjanamme ovat ihmis- ja kansalaisoikeudet. Samoin on linjattu, että yhteis- kuntaan kuuluu alueita, jotka eivät toimi markkinapohjaisesti. Yhteiskunnan puuttuminen tulonjakoon ei itsessään loukkaa kenenkään perusoikeuksia Redistribuutio on osa samaa prosessia kuin distribuutio. Mitään distribuutiota on vaikea pitää abso- luuttisena, eikä mikään distribuutio pysy muuttumattomana. Näin ollen redistribuutio jatkaa samaa oikeudenmukaisen jaon pyrkimystä, mikä ilmeni aikaisemmassa jaossa. Asioiden uudelleenjakaminen hyvästä syystä ei ole itsessään moraalisesti kestämätöntä. Verotusta on vaikea pitää moraalisena ongelmana, sillä verotus linkittyy yhteiskunnissamme samaan rakenteeseen kuin omistusoikeudet. Näin ollen samalla kun yhteiskunta takaa omistusoikeudet, se varaa myös oikeuden puuttua tulonjakoon.