Locally weighted learning methods for non-rigid robot control

This thesis develops a novel approach to robot control that learns to account for a robot's dynamic complexities while executing various control tasks using inspiration from biological sensorimotor control and machine learning. A robot that can learn its own control system can account for complex situations and adapt to changes in control conditions to maximise its performance and reliability in the real world. This research has developed two novel learning methods, with the aim of solving issues with learning control of non-rigid robots that incorporate additional dynamic complexities. The new learning control system was evaluated on a real three degree-of-freedom elastic joint robot arm with a number of experiments: initially validating the learning method and testing its ability to generalise to new tasks, then evaluating the system during a learning control task requiring continuous online model adaptation.

Creating good lives through computer games

In this chapter we aim to explore how videogames can lead to improvements in wellbeing. Following Keyes (2007) and Huppert and So (2012) we view wellbeing as a multidimensional concept with both hedonic and eudaimonic aspects. In this chapter we take a broad approach in terms of exploring the impact of videogames on the psychological, social, and physical components of wellbeing. We explore how videogames have been shown to have an impact in each of these domains. Although there is a great deal of evidence for the actual and potential positive impacts of videogames, there are many unanswered questions regarding the situations in which there is likely to be an impact of videogame play on wellbeing, as well as the aspects of wellbeing that are likely to be impacted by videogame play. We conclude the chapter by outlining the key questions for future research. Our focus in this chapter is on the positive influences of videogames. We do not explore research on contexts in which negative impacts are possible or subgroups for which videogames could cause harm. However, these questions are obviously important and we see balanced engagement with age-appropriate videogames as a key prerequisite for any of the wellbeing benefits discussed below.

Enhancements to dielectric response measurements of oil-paper insulation for online and offline applications

The research introduces a promising technique for monitoring the degradation status of oil-paper insulation systems of large power transformers in an online mode and innovative enhancements are also made on the existing offline measurements, which afford more direct understanding of the insulation degradation process. Further, these techniques benefit from a quick measurement owing to the chirp waveform signal application. The techniques are improved and developed on the basis of measuring the impedance response of insulation systems. The feasibility and validity of the techniques was supported by the extensive simulation works as well as experimental investigations.

Toward the adaptive generation of bespoke game content

In this chapter, we explore methods for automatically generating game content—and games themselves—adapted to individual players in order to improve their playing experience or achieve a desired effect. This goes beyond notions of mere replayability and involves modeling player needs to maximize their enjoyment, involvement, and interest in the game being played. We identify three main aspects of this process: generation of new content and rule sets, measurement of this content and the player, and adaptation of the game to change player experience. This process forms a feedback loop of constant refinement, as games are continually improved while being played. Framed within this methodology, we present an overview of our recent and ongoing research in this area. This is illustrated by a number of case studies that demonstrate these ideas in action over a variety of game types, including 3D action games, arcade games, platformers, board games, puzzles, and open-world games. We draw together some of the lessons learned from these projects to comment on the difficulties, the benefits, and the potential for personalized gaming via adaptive game design.

An internet of social things

The Internet of Things is a vision for a world of interconnected smart devices. We present an alternative vision based on a review of literature that emphasizes the importance and role of objects in social relations. We situate this work in relation to a conceptual understanding of objects and sociality, and note some methodological implications of a more object-centred sociality that may suggest design opportunities alongside the emerging Internet of Things.

Mobile phone use in Australian Indigenous communities : future pathways for HC14D

This paper collates recent research on mobile phone use in Indigenous communities in Australia. Its key finding is that mobile phones are heavily used in these communities, albeit in unique and unusual ways that may be difficult to comprehend beneath 'top-down' measurements. Rather than framing these uses as being compromises made in lieu of appropriate infrastructures or literacies, it is argued that HCI4D (Human-Computer Interaction for Development) would be better served by seriously plumbing into the information they reveal about how mobile phones are constructed and placed in these communities, and what these factors might reveal about local understandings of development and well-being. A consideration of these specific patterns of appropriation is necessary to push the field beyond top-down, rationalist approaches to development towards more flexible, creative solutions that build from local knowledge and competencies.

Instructional objectives to core-gameplay : a serious game design technique

This paper explores a gap within the serious game design research. That gap is the ambiguity surrounding the process of aligning the instructional objectives of serious games with their core-gameplay i.e. the moment-to-moment activity that is the core of player interaction. A core-gameplay focused design framework is proposed that can work alongside existing, more broadly focused serious games design frameworks. The framework utilises an inquiry-based approach that allows the serious game designer to use key questions as a means to clearly outline instructional objectives with the core-gameplay. The use of this design framework is considered in the context of a small section of gameplay from an educational game currently in development. This demonstration of the framework brings shows how instructional objectives can be embedded into a serious games core-gameplay.

TriggerSync: A time synchronisation tool

This paper presents a framework for synchronising multiple triggered sensors with respect to a local clock using standard computing hardware. Providing sensor measurements with accurate and meaningful timestamps is important for many sensor fusion, state estimation and control applications. Accurately synchronising sensor timestamps can be performed with specialised hardware, however, performing sensor synchronisation using standard computing hardware and non-real-time operating systems is difficult due to inaccurate and temperature sensitive clocks, variable communication delays and operating system scheduling delays. Results show the ability of our framework to estimate time offsets to sub-millisecond accuracy. We also demonstrate how synchronising timestamps with our framework results in a tenfold reduction in image stabilisation error for a vehicle driving on rough terrain. The source code will be released as an open source tool for time synchronisation in ROS.

A subexponential construction of graph coloring for multiparty computation

We show the first deterministic construction of an unconditionally secure multiparty computation (MPC) protocol in the passive adversarial model over black-box non-Abelian groups which is both optimal (secure against an adversary who possesses any t

Low probability differentials and the cryptanalysis of full-round CLEFIA-128

So far, low probability differentials for the key schedule of block ciphers have been used as a straightforward proof of security against related-key differential analysis. To achieve resistance, it is believed that for cipher with k-bit key it suffices the upper bound on the probability to be 2− k . Surprisingly, we show that this reasonable assumption is incorrect, and the probability should be (much) lower than 2− k . Our counter example is a related-key differential analysis of the well established block cipher CLEFIA-128. We show that although the key schedule of CLEFIA-128 prevents differentials with a probability higher than 2− 128, the linear part of the key schedule that produces the round keys, and the Feistel structure of the cipher, allow to exploit particularly chosen differentials with a probability as low as 2− 128. CLEFIA-128 has 214 such differentials, which translate to 214 pairs of weak keys. The probability of each differential is too low, but the weak keys have a special structure which allows with a divide-and-conquer approach to gain an advantage of 27 over generic analysis. We exploit the advantage and give a membership test for the weak-key class and provide analysis of the hashing modes. The proposed analysis has been tested with computer experiments on small-scale variants of CLEFIA-128. Our results do not threaten the practical use of CLEFIA.

ICEPOLE: High-speed, hardware-oriented authenticated encryption

This paper introduces our dedicated authenticated encryption scheme ICEPOLE. ICEPOLE is a high-speed hardware-oriented scheme, suitable for high-throughput network nodes or generally any environment where specialized hardware (such as FPGAs or ASICs) can be used to provide high data processing rates. ICEPOLE-128 (the primary ICEPOLE variant) is very fast. On the modern FPGA device Virtex 6, a basic iterative architecture of ICEPOLE reaches 41 Gbits/s, which is over 10 times faster than the equivalent implementation of AES-128-GCM. The throughput-to-area ratio is also substantially better when compared to AES-128-GCM. We have carefully examined the security of the algorithm through a range of cryptanalytic techniques and our findings indicate that ICEPOLE offers high security level.

Bicycle commuting and exposure to air pollution: A questionnaire-based investigation of perceptions, symptoms and risk management strategies

Background An increase in bicycle commuting participation may improve public health and traffic congestion in cities. Information on air pollution exposure (such as perception, symptoms and risk management) contributes to the responsible promotion of bicycle commuting participation. Methods To determine perceptions, symptoms and willingness for specific exposure risk management strategies of exposure to air pollution, a questionnaire-based cross-sectional investigation was conducted with adult bicycle commuters (n = 153; age = 41 ± 11 yr; 28% female). Results Frequency of acute respiratory signs and symptoms are positively-associated with in- and post-commute compared to pre-commute time periods (p < 0.05); greater positive-association is with respiratory disorder compared to healthy, and female compared to male, participants. The perception (although not signs or symptoms) of in-commute exposure to air pollution is positive-associated with the estimated level of in-commute proximity to motorised traffic. The majority of participants indicated a willingness (which varied with health status and gender) to adopt risk management strategies (with certain practical features) if shown to be appropriate and effective. Conclusions While acute signs and symptoms of air pollution exposure are indicated with bicycle commuting, and more so in susceptible individuals, there is willingness to manage exposure risk by adopting effective strategies with desirable features.

Investigation into chemistry of new particle formation and growth in subtropical urban environment

The role of different chemical compounds, particularly organics, involved in the new particle formation (NPF) and its consequent growth are not fully understood. Therefore, this study was conducted to investigate the chemistry of aerosol particles during NPF events in an urban subtropical environment. Aerosol chemical composition was measured along with particle number size distribution (PNSD) and several other air quality parameters at five sites across an urban subtropical environment. An Aerodyne compact Time-of-Flight Aerosol Mass Spectrometer (c-TOF-AMS) and a TSI Scanning Mobility Particle Sizer (SMPS) measured aerosol chemical composition and PNSD, respectively. Five NPF events, with growth rates in the range 3.3-4.6 nm, were detected at two sites. The NPF events happened on relatively warmer days with lower humidity and higher solar radiation. Temporal percent fractions of nitrate, sulphate, ammonium and organics were modelled using the Generalised Additive Model (GAM), with a basis of penalised spline. Percent fractions of organics increased after the NPF events, while the mass fraction of ammonium and sulphate decreased. This uncovered the important role of organics in the growth of newly formed particles. Three organic markers, factors f43, f44 and f57, were calculated and the f44 vs f43 trends were compared between nucleation and non-nucleation days. f44 vs f43 followed a different pattern on nucleation days compared to non-nucleation days, whereby f43 decreased for vehicle emission generated particles, while both f44 and f43 decreased for NPF generated particles. It was found for the first time that vehicle generated and newly formed particles cluster in different locations on f44 vs f43 plot and this finding can be used as a tool for source apportionment of measured particles.

Gaming well: Links between videogames and flourishing mental health

This paper is a review of the state of play of research linking videogaming and flourishing, and explores the role of videogames and technology to improve mental health and well-being. Its purpose is to develop understandings about the positive intersection of gaming and well-being, to document evidence regarding links between videogames and positive mental health, and to provide guidelines for use by other researchers as they design and use tools and games to improve mental health and well-being. Using Huppert's (Huppert and So, 2013) proposition that to flourish is more than the absence of mental disorder but rather a combination of feeling good and functioning effectively, resulting in high levels of mental well-being, and Seligman's (Seligman, 2011) PERMA theory of well-being, the paper identifies strengths in existing games that generate positive affect, positive functioning, and positive social functioning, contributing to, and supporting mental health and well-being.

The edge of glory: the relationship between metacritic scores and player experience

This study sought to examine how measures of player experience used in videogame research relate to Metacritic Professional and User scores. In total, 573 participants completed an online survey, where they responded the Player Experience of Need Satisfaction (PENS) and the Game Experience Questionnaire (GEQ) in relation to their current favourite videogame. Correlations among the data indicate an overlap between the player experience constructs and the factors informing Metacritic scores. Additionally, differences emerged in the ways professionals and users appear to allocate game ratings. However, the data also provide clear evidence that Metacritic scores do not reflect the full complexity of player experience and may be misleading in some cases.