A haptically enabled low-cost reconnaissance platform for law enforcement

Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis.

Reconnaissance limnology of Tasmania VII. Coastal lagoons of Bass Strait Islands, with reference to endemic microflora and microfauna

Coastal lagoons of the principal islands of Bass Strait, between Australia's mainland and Tasmania, were sampled in two summers. Many, particularly those of low to moderate salinity, contain relatively rich assemblages of microinvertebrates and some endemic Australian freshwater algae. Several species of testate amoebae and rotifers could not be referred to known morphotypes and are probably new species. The presence of certain species on islands of Bass Strait provides a link between populations in mainland Australia and others in Tasmania. Those lagoons are identified that, by virtue of catchments or buffer zones clothed in native vegetation, are favourable for the survival of a native and partly endemic microbiota.

Reconnaissance limnology of Tasmania VIII. Tasmanian coastal lagoons - epicentres of endemism in the Australian aquatic microbiota

Two clusters of coastal lagoons, one near Strahan on Tasmania's west coast, the other near St Helens on the north-east coast, are the prime known epicentres of novelty and endemism in the Australian freshwater algal flora. The algae inhabiting these acid, dystrophic lagoons have a very limited distribution. Other dystrophic lagoons may have one or two, but not all, of this suite of endemics. The Strahan dune lakes, especially Lake Garcia, also have the greatest microfaunal diversity yet recorded from any Tasmanian waterbody, including several endemic species. The St Helens sites are less rich in species of microfauna, perhaps because of climatic differences or perhaps because of less intensive sampling there, but they, too, contain endemic taxa. The lagoons in both areas lie outside the formal protection of national parks, but present land management does provide a measure of protection.

Mesoproterozoic rapakivi granites of the Rondonia Tin Province, southwestern border of the Amazonian craton, Brazil - I. Reconnaissance U-Pb geochronology and regional implications

Rapakivi granites and associated mafic and ultramafic rocks in the Rondonia Tin Province, southwestern Amazonian craton, Brazil were emplaced during six discrete episodes of magmatism between ca 1600 and 970 Ma. The seven rapakivi granite suites emplaced at this time were the Serra da Providencia Intrusive Suite (U-Pb ages between 1606 and 1532 Ma); Santo Antonio Intrusive Suite(U-Pb age 1406 Ma), Teotonio Intrusive Suite (U-Pb age 1387 Ma); Alto Candeias Intrusive Suite (U-Pb ages between 1346 and 1338 Ma); Sao Lourenco-Caripunas Intrusive Suite (U-Pb ages between 1314 and 1309 Ma); Santa Clara Intrusive Suite (U-Pb ages between 1082 and 1074 Ma); and Younger Granites of Rondonia (U-Pb ages between 998 and 974 Ma). The Serra da Providencia Intrusive Suite intruded the Paleoproterozoic (1.80 to 1.70 Ga) Rio Negro-Juruena crust whereas the other suites were emplaced into the 1.50 to 1.30 Ga Rondonia-San Ignacio crust. Their intrusion was contemporaneous with orogenic activity in other parts of the southwestern Amazonian craton, except for the oldest, Serra da Providencia Intrusive Suite. Orogenic events coeval with emplacement of the Serra da Providencia Intrusive Suite are not clearly recognized in the region. The Santo Antonio, Teotonio, Alto Candeias and Sao Lourenco-Caripunas Intrusive Suites are interpreted to represent extensional anorogenic magmatism associated with the terminal stages of the Rondonian-San Ignacio orogeny. At least the Sao Lourenco-Caripunas rapakivi granites and coeval intra-continental rift sedimentary rocks may, in contrast, represent the products of extensional tectonics and rifting preceding the Sunsas/Aguapei orogeny (1.25 to 1.0 Ga). The two youngest rapakivi suites, the Santa Clara Intrusive Suite and Younger Granites of Rondonia, seemingly represent inboard magmatism in the Rondonian-San Ignacio Province during a younger episode of reworking in the Rio Negro-Juruena Province during the waning stages of the collisional 1.1 to 1.0 Ga Sunsas/Aguapei orogeny. The six intra-plate rapakivi granite episodes in the southwestern part of the Amazonian craton form three broad periods of anorogenic magmatism that have age-correlative events composed of similar rocks and geologic environments in eastern Laurentia and Baltica, although the exact timing of magmatism appears slightly different. Recognition of lithologic and chronological correlations between various cratons provide important constraints to models explaining the interplay between rapakivi granite magmatism and deep crustal evolution of an early Mesoproterozoic supercontinent. They are, furthermore, important to plate tectonic models for the assembly, dispersal and reassembly of Amazonia, Laurentia and Baltica in the Mesoproterozoic and Neoproterozoic. (C) 1999 Elsevier B.V. B.V. All rights reserved.

Reconnaissance au Cameroun au travers de la culture urbaine ou "Hein Père" de Stanley Enow.

Hip Hip camerounais cesse d'etre une tribune où se guillotine vainement un gouvernement insensible depuis des ans. L'introduction de ''hein pere'' au travers le MIC de Stanley Enow vient rendre hommage à la jeunesse camerounaise et au Cameroun. Finis les portraits sombres d'une jeunesse oubliée par les pouvoirs publics. Ils sont fiers et et le chantent. Ils sont high malgré tout et compte bien y rester. Ce single exhibite la grandeur du Cameroun, des acteurs de la culture et de la jeunesse infatigable, qui avec ce concept ''onesthighpere'' se hisse au plus haut point.

Reconnaissance survey of Galveston Bay sediments for selective nonresidual trace metals

The nonresidual concentrations of five trace metals were determined for 322 sediments that were the product of a systematic sampling program of the entire Galveston Bay system. The nonresidual component of the trace metal concentration (e.g. that fraction of the metals that can be relatively easily removed from the sediments without complete destruction of the sediment particle) was considered to be more indicative of the anthropogenic metal pollution that has impacted the Galveston Bay ecosystem.^ For spatial analysis of the metal concentrations, the Galveston Bay system was divided into nine bay-areas, based on easily definable geological and geographical characteristics. Isopleth mapping analyses of these metal concentrations indicated a direct relationship with the $<$63$\mu$m fraction of the sediment (%FINE) in all of the bay areas. Covariate regression analyses indicated that position of the sediment within the Galveston Bay system (e.g. bay-area) was a better predictor of metal concentration than %FINE. Analysis of variance of the metals versus the bay-areas indicated that the five metals maintained a relatively constant order and magnitude of concentration for all the bay-areas.^ The major shipping channels of the Galveston Bay system, with their associated vessels and transported materials, are a likely source of metal pollution. However, these channels were not depositional corridors of high metal concentration. All metal concentration highs were found to be located away from the channels and associated with %FINE highs in the deeper portions of the bay-areas.^ Disturbance of the sediments, by the proposed widening and deepening of these channels, is not predicted to remobilize the trace metals. A more likely adverse effect on the health of the Galveston Bay ecosystem would come from the increase in turbidity of the water due to the dredging and in an extension of the salt water wedge farther north into the bay system. ^

Le principe de reconnaissance mutuelle dans la libre prestation de services = The principle of mutual recognition in the free provision of services. Research Papers in Law 2/2009

No abstract.