Reliable, cloud-based communication for multi-robot systems

In contrast to single robotic agent, multi-robot systems are highly dependent on reliable communication. Robots have to synchronize tasks or to share poses and sensor readings with other agents, especially for co-operative mapping task where local sensor readings are incorporated into a global map. The drawback of existing communication frameworks is that most are based on a central component which has to be constantly within reach. Additionally, they do not prevent data loss between robots if a failure occurs in the communication link. During a distributed mapping task, loss of data is critical because it will corrupt the global map. In this work, we propose a cloud-based publish/subscribe mechanism which enables reliable communication between agents during a cooperative mission using the Data Distribution Service (DDS) as a transport layer. The usability of our approach is verified by several experiments taking into account complete temporary communication loss.

Evaluating unmanned aircraft systems for deployment in plant biosecurity

This report provides a qualitative evaluation of Unmanned Aircraft Systems (UAS) and on-board sensor technology for use in plant biosecurity in the Australian context. The more general term UAS describes both the Unmanned Aerial Vehicle (UAV) and all supporting components required to operate it. This may include a ground station, operator or pilot, and a launch and recovery device for example. The focus is to identify how and under what circumstances UAS may be useful for plant biosecurity. This can be used to help guide future decisions regarding investment in UAS for plant biosecurity.

Cooperative diversity for performance enhancement of vehicular ad hoc networks

This project was a step forward in introducing suitable cooperative diversity transmission techniques for vehicle to vehicle communications. The contributions are intended to aid in the successful implementation of future vehicular safety and autonomous controlling systems. Several protocols were introduced for vehicles to communicate effectively without losing connectivity. This study investigated novel protocols in terms of diversity-multiplexing trade-off and outage for a range of potential vehicular safety and infotainment applications.

Analysis of complex molecular systems: The impact of multivariate analysis for resolving the interactions of small molecules with biopolymers - a review

This review is focused on the impact of chemometrics for resolving data sets collected from investigations of the interactions of small molecules with biopolymers. These samples have been analyzed with various instrumental techniques, such as fluorescence, ultraviolet–visible spectroscopy, and voltammetry. The impact of two powerful and demonstrably useful multivariate methods for resolution of complex data—multivariate curve resolution–alternating least squares (MCR–ALS) and parallel factor analysis (PARAFAC)—is highlighted through analysis of applications involving the interactions of small molecules with the biopolymers, serum albumin, and deoxyribonucleic acid. The outcomes illustrated that significant information extracted by the chemometric methods was unattainable by simple, univariate data analysis. In addition, although the techniques used to collect data were confined to ultraviolet–visible spectroscopy, fluorescence spectroscopy, circular dichroism, and voltammetry, data profiles produced by other techniques may also be processed. Topics considered including binding sites and modes, cooperative and competitive small molecule binding, kinetics, and thermodynamics of ligand binding, and the folding and unfolding of biopolymers. Applications of the MCR–ALS and PARAFAC methods reviewed were primarily published between 2008 and 2013.

Security issues for future intelligent transport systems

Cooperative Intelligent Transportation Systems (C-ITS) allow in-vehicle systems, and ultimately the driver, to enhance their awareness of their surroundings by enabling communication between vehicles and road infrastructure. C-ITS are widely considered as the next major step in driving assistance systems, aiming at increasing safety, comfort and mobility for drivers. However, any communicating systems are subjected to security threats. A key component for providing secure communications at a large scale is a Public Key Infrastructure (PKI). Due to the safety-critical nature of Vehicle-to-Vehicle (V2V) communications, a C-ITS PKI has functional, performance and scalability requirements that differ from traditional non-automotive environments. This paper identifies and defines the key functional and security requirements for C-ITS PKI systems and analyses proposed C-ITS PKI standards against these requirements. In particular, the proposed US and European C-ITS PKI systems are identified as being too complex and not scalable. The paper also highlights various privacy, security and scalability concerns that should be considered for a secure C-ITS PKI solution in the Australian transport landscape.

Learning Optimal Discriminant Functions through a Cooperative Game of Automata

The problem of learning correct decision rules to minimize the probability of misclassification is a long-standing problem of supervised learning in pattern recognition. The problem of learning such optimal discriminant functions is considered for the class of problems where the statistical properties of the pattern classes are completely unknown. The problem is posed as a game with common payoff played by a team of mutually cooperating learning automata. This essentially results in a probabilistic search through the space of classifiers. The approach is inherently capable of learning discriminant functions that are nonlinear in their parameters also. A learning algorithm is presented for the team and convergence is established. It is proved that the team can obtain the optimal classifier to an arbitrary approximation. Simulation results with a few examples are presented where the team learns the optimal classifier.

IPM in the transgenic era: a review of the challenges from emerging pests in Australian cotton systems

The Cotton Catchment Communities Cooperative Research Centre began during a period of rapid uptake of Bollgard II® cotton, which contains genes to express two Bt proteins that control the primary pests of cotton in Australia, Helicoverpa armigera and H. punctigera. The dramatic uptake of this technology presumably resulted in strong selection pressure for resistance in Helicoverpa spp. against the Bt proteins. The discovery of higher than expected levels of resistance in both species against one of the proteins in Bollgard II® cotton (Cry2Ab) led to significant re-evaluation of the resistance management plan developed for this technology, which was a core area of research for the Cotton CRC. The uptake of Bollgard II® cotton also led to a substantial decline in pesticide applications against Helicoverpa spp. (from 10–14 to 0–3 applications per season). The low spray environment allowed some pests not controlled by the Bt proteins to emerge as more significant pests, especially sucking species such as Creontiades dilutus and Nezara viridula. A range of other minor pests have also sporadically arisen as problems. Lack of knowledge and experience with these pests created uncertainty and encouraged insecticide use, which threatened to undermine the gains made with Bollgard II® cotton. Here we chronicle the achievements of the Cotton CRC in providing the industry with new knowledge and management strategies for these pests.

Can sustainable cotton production systems be developed for tropical northern Australia?

This article reviews research coordinated by the Australian Cotton Cooperative Research Centre (CRC) that investigated production issues for irrigated cotton at five targeted sites in tropical northern Australia, north of 21°S from Broome in Western Australia to the Burdekin in Queensland. The biotic and abiotic issues for cotton production were investigated with the aim of defining the potential limitations and, where appropriate, building a sustainable technical foundation for a future industry if it were to follow. Key lessons from the Cotton CRC research effort were: (1) limitations thought to be associated with cotton production in northern Australia can be overcome by developing a deep understanding of biotic and environmental constraints, then tailoring and validating production practices; and (2) transplanting of southern farming practices without consideration of local pest, soil and climatic factors is unlikely to succeed. Two grower guides were published which synthesised the research for new growers into a rational blueprint for sustainable cotton production in each region. In addition to crop production and environmental impact issues, the project identified the following as key elements needed to establish new cropping regions in tropical Australia: rigorous quantification of suitable land and sustainable water yields; support from governments; a long-term funding model for locally based research; the inclusion of traditional owners; and development of human capacity.

Social organization of household finance: Understanding artful financial systems in the home

In this paper we discuss results of a field study focused on understanding the ways money and financial issues are handled within family settings. Families develop ‘systems’ or methods through which they coordinate and manage their everyday financial activities. Through an analysis of our fieldwork data collected from fifteen families, we provide several examples of such systems, highlighting their qualities and illustrating how such systems come to support the handling of financial activities in the home. Our results show that these systems are developed with a careful consideration of familial values, relationships and routines; and incorporate the use of physical and digital tools. Consequently, we suggest that design should consider the use and non-use of technology when supporting household financial management, taking into account the richness of families’ existing organically formed practices surrounding financial systems. Finally, our findings point to the fact that financial management in the domestic setting is socially organized and is closely connected to supporting everyday household activities.

Cooperative game play with avatars and agents: Differences in brain activity and the experience of play

The current study sought to identify the impact of whether teammates in a cooperative videogame were controlled by other humans (avatars) or by the game (agents). The impact on player experience was explored through both subjective questionnaire measures and brain wave activity measurement (electroencephalography). Play with human teammates was associated with a greater sense of relatedness, but less competence and flow than play with other computer-controlled teammates. In terms of brain activity, play with human teammates was associated with greater activity in the alpha, theta and beta power bands than play with computer-controlled teammates. Overall, the results suggest that play with human teammates involves greater cognitive activity in terms of 'mentalising' than play with computer-controlled teammates. Additionally, the associations between subjective measures of player experience and brain activity are described. Limitations of the current study are identified and key directions for future research are discussed.

Biologically Inspired Cooperative Routing for Wireless Mobile Sensor Networks

Biological systems present remarkable adaptation, reliability, and robustness in various environments, even under hostility. Most of them are controlled by the individuals in a distributed and self-organized way. These biological mechanisms provide useful resources for designing the dynamical and adaptive routing schemes of wireless mobile sensor networks, in which the individual nodes should ideally operate without central control. This paper investigates crucial biologically inspired mechanisms and the associated techniques for resolving routing in wireless sensor networks, including Ant-based and genetic approaches. Furthermore, the principal contributions of this paper are as follows. We present a mathematical theory of the biological computations in the context of sensor networks; we further present a generalized routing framework in sensor networks by diffusing different modes of biological computations using Ant-based and genetic approaches; finally, an overview of several emerging research directions are addressed within the new biologically computational framework.

The Cooperative Research Centre for Living with Autism (Autism CRC) conceptual model to promote mental health for adolescents with ASD

Despite an increased risk of mental health problems in adolescents with Autism Spectrum Disorder (ASD), there is limited research on effective prevention approaches for this population. Funded by the Cooperative Research Centre for Living with Autism, a theoretically and empirically supported school-based preventative model has been developed to alter the negative trajectory and promote wellbeing and positive mental health in adolescents with ASD. This conceptual paper provides the rationale, theoretical, empirical and methodological framework of a multilayered intervention targeting the school, parents, and adolescents on the spectrum. Two important interrelated protective factors have been identified in community adolescent samples, namely the sense of belonging (connectedness) to school, and the capacity for self and affect regulation in the face of stress (i.e., resilience). We describe how a confluence of theories from social psychology, developmental psychology and family systems theory, along with empirical evidence (including emerging neurobiological evidence) supports the interrelationships between these protective factors and many indices of wellbeing. However, the characteristics of ASD (including social and communication difficulties, and frequently difficulties with changes and transitions, and diminished optimism and self-esteem) impair access to these vital protective factors. The paper describes how evidenced-based interventions at the school level for promoting inclusive schools (using the Index for Inclusion), and interventions for adolescents and parents to promote resilience and belonging (using the Resourceful Adolescent Program (RAP)), are adapted and integrated for adolescents with ASD. This multisite proof of concept study will confirm whether this multilevel school-based intervention is promising, feasible and sustainable.

ICI-ISI mitigation in cooperative SFBC-OFDM with carrier frequency offset

Synchronization issues pose a big challenge in cooperative communications. The benefits of cooperative diversity could be easily undone by improper synchronization. The problem arises because it would be difficult, from a complexity perspective, for multiple transmitting nodes to synchronize to a single receiver. For OFDM based systems, loss of performance due to imperfect carrier synchronization is severe, since it results in inter-carrier interference (ICI). The use of space-time/space-frequency codes from orthogonal designs are attractive for cooperative encoding. But orthogonal designs suffer from inter-symbol interference (ISI) due to the violation of quasi-static assumption, which can arise due to frequency- or time-selectivity of the channel. In this paper, we are concerned with combating the effects of i) ICI induced by carrier frequency offsets (CFO), and ii) ISI induced by frequency selectivity of the channel, in a cooperative communication scheme using space-frequency block coded (SFBC) OFDM. Specifically, we present an iterative interference cancellation (IC) algorithm to combat the ISI and ICI effects. The proposed algorithm could be applied to any orthogonal or quasi-orthogonal designs in cooperative SFBC OFDM schemes.

Voluntary Energy Harvesting Relays and Selection in Cooperative Wireless Networks

The use of energy harvesting (EH) nodes as cooperative relays is a promising and emerging solution in wireless systems such as wireless sensor networks. It harnesses the spatial diversity of a multi-relay network and addresses the vexing problem of a relay's batteries getting drained in forwarding information to the destination. We consider a cooperative system in which EH nodes volunteer to serve as amplify-and-forward relays whenever they have sufficient energy for transmission. For a general class of stationary and ergodic EH processes, we introduce the notion of energy constrained and energy unconstrained relays and analytically characterize the symbol error rate of the system. Further insight is gained by an asymptotic analysis that considers the cases where the signal-to-noise-ratio or the number of relays is large. Our analysis quantifies how the energy usage at an EH relay and, consequently, its availability for relaying, depends not only on the relay's energy harvesting process, but also on its transmit power setting and the other relays in the system. The optimal static transmit power setting at the EH relays is also determined. Altogether, our results demonstrate how a system that uses EH relays differs in significant ways from one that uses conventional cooperative relays.

Queued Cooperative Wireless Networks With Rateless Codes

Cooperative communication using rateless codes, in which the source transmits an infinite number of parity bits to the destination until the receipt of an acknowledgment, has recently attracted considerable interest. It provides a natural and efficient mechanism for accumulating mutual information from multiple transmitting relays. We develop an analysis of queued cooperative relay systems that combines the communication-theoretic transmission aspects of cooperative communication using rateless codes over Rayleigh fading channels with the queuing-theoretic aspects associated with buffering messages at the relays. Relay cooperation combined with queuing reduces the message transmission times and also helps distribute the traffic load in the network, which improves throughput significantly.