Doctor of Philosophy

dissertationShape analysis is a well-established tool for processing surfaces. It is often a first step in performing tasks such as segmentation, symmetry detection, and finding correspondences between shapes. Shape analysis is traditionally employed on well-sampled surfaces where the geometry and topology is precisely known. When the form of the surface is that of a point cloud containing nonuniform sampling, noise, and incomplete measurements, traditional shape analysis methods perform poorly. Although one may first perform reconstruction on such a point cloud prior to performing shape analysis, if the geometry and topology is far from the true surface, then this can have an adverse impact on the subsequent analysis. Furthermore, for triangulated surfaces containing noise, thin sheets, and poorly shaped triangles, existing shape analysis methods can be highly unstable. This thesis explores methods of shape analysis applied directly to such defect-laden shapes. We first study the problem of surface reconstruction, in order to obtain a better understanding of the types of point clouds for which reconstruction methods contain difficulties. To this end, we have devised a benchmark for surface reconstruction, establishing a standard for measuring error in reconstruction. We then develop a new method for consistently orienting normals of such challenging point clouds by using a collection of harmonic functions, intrinsically defined on the point cloud. Next, we develop a new shape analysis tool which is tolerant to imperfections, by constructing distances directly on the point cloud defined as the likelihood of two points belonging to a mutually common medial ball, and apply this for segmentation and reconstruction. We extend this distance measure to define a diffusion process on the point cloud, tolerant to missing data, which is used for the purposes of matching incomplete shapes undergoing a nonrigid deformation. Lastly, we have developed an intrinsic method for multiresolution remeshing of a poor-quality triangulated surface via spectral bisection

A Physiological Signal Processing System for Optimal Engagement and Attention Detection.

In today’s high paced, hi-tech and high stress environment, with extended work hours, long to-do lists and neglected personal health, sleep deprivation has become common in modern culture. Coupled with these factors is the inherent repetitious and tedious nature of certain occupations and daily routines, which all add up to an undesirable fluctuation in individuals’ cognitive attention and capacity. Given certain critical professions, a momentary or prolonged lapse in attention level can be catastrophic and sometimes deadly. This research proposes to develop a real-time monitoring system which uses fundamental physiological signals such as the Electrocardiograph (ECG), to analyze and predict the presence or lack of cognitive attention in individuals during task execution. The primary focus of this study is to identify the correlation between fluctuating level of attention and its implications on the physiological parameters of the body. The system is designed using only those physiological signals that can be collected easily with small, wearable, portable and non-invasive monitors and thereby being able to predict well in advance, an individual’s potential loss of attention and ingression of sleepiness. Several advanced signal processing techniques have been implemented and investigated to derive multiple clandestine and informative features. These features are then applied to machine learning algorithms to produce classification models that are capable of differentiating between the cases of a person being attentive and the person not being attentive. Furthermore, Electroencephalograph (EEG) signals are also analyzed and classified for use as a benchmark for comparison with ECG analysis. For the study, ECG signals and EEG signals of volunteer subjects are acquired in a controlled experiment. The experiment is designed to inculcate and sustain cognitive attention for a period of time following which an attempt is made to reduce cognitive attention of volunteer subjects. The data acquired during the experiment is decomposed and analyzed for feature extraction and classification. The presented results show that to a fairly reasonable accuracy it is possible to detect the presence or lack of attention in individuals with just their ECG signal, especially in comparison with analysis done on EEG signals. The continual work of this research includes other physiological signals such as Galvanic Skin Response, Heat Flux, Skin Temperature and video based facial feature analysis

Algorithms for the reconstruction, analysis, repairing and enhancement of 3D urban models from multiple data sources

Over the last few years, there has been a notorious growth in the field of digitization of 3D buildings and urban environments. The substantial improvement of both scanning hardware and reconstruction algorithms has led to the development of representations of buildings and cities that can be remotely transmitted and inspected in real-time. Among the applications that implement these technologies are several GPS navigators and virtual globes such as Google Earth or the tools provided by the Institut Cartogràfic i Geològic de Catalunya. In particular, in this thesis, we conceptualize cities as a collection of individual buildings. Hence, we focus on the individual processing of one structure at a time, rather than on the larger-scale processing of urban environments. Nowadays, there is a wide diversity of digitization technologies, and the choice of the appropriate one is key for each particular application. Roughly, these techniques can be grouped around three main families: - Time-of-flight (terrestrial and aerial LiDAR). - Photogrammetry (street-level, satellite, and aerial imagery). - Human-edited vector data (cadastre and other map sources). Each of these has its advantages in terms of covered area, data quality, economic cost, and processing effort. Plane and car-mounted LiDAR devices are optimal for sweeping huge areas, but acquiring and calibrating such devices is not a trivial task. Moreover, the capturing process is done by scan lines, which need to be registered using GPS and inertial data. As an alternative, terrestrial LiDAR devices are more accessible but cover smaller areas, and their sampling strategy usually produces massive point clouds with over-represented plain regions. A more inexpensive option is street-level imagery. A dense set of images captured with a commodity camera can be fed to state-of-the-art multi-view stereo algorithms to produce realistic-enough reconstructions. One other advantage of this approach is capturing high-quality color data, whereas the geometric information is usually lacking. In this thesis, we analyze in-depth some of the shortcomings of these data-acquisition methods and propose new ways to overcome them. Mainly, we focus on the technologies that allow high-quality digitization of individual buildings. These are terrestrial LiDAR for geometric information and street-level imagery for color information. Our main goal is the processing and completion of detailed 3D urban representations. For this, we will work with multiple data sources and combine them when possible to produce models that can be inspected in real-time. Our research has focused on the following contributions: - Effective and feature-preserving simplification of massive point clouds. - Developing normal estimation algorithms explicitly designed for LiDAR data. - Low-stretch panoramic representation for point clouds. - Semantic analysis of street-level imagery for improved multi-view stereo reconstruction. - Color improvement through heuristic techniques and the registration of LiDAR and imagery data. - Efficient and faithful visualization of massive point clouds using image-based techniques.Durant els darrers anys, hi ha hagut un creixement notori en el camp de la digitalització d'edificis en 3D i entorns urbans. La millora substancial tant del maquinari d'escaneig com dels algorismes de reconstrucció ha portat al desenvolupament de representacions d'edificis i ciutats que es poden transmetre i inspeccionar remotament en temps real. Entre les aplicacions que implementen aquestes tecnologies hi ha diversos navegadors GPS i globus virtuals com Google Earth o les eines proporcionades per l'Institut Cartogràfic i Geològic de Catalunya. En particular, en aquesta tesi, conceptualitzem les ciutats com una col·lecció d'edificis individuals. Per tant, ens centrem en el processament individual d'una estructura a la vegada, en lloc del processament a gran escala d'entorns urbans. Avui en dia, hi ha una àmplia diversitat de tecnologies de digitalització i la selecció de l'adequada és clau per a cada aplicació particular. Aproximadament, aquestes tècniques es poden agrupar en tres famílies principals: - Temps de vol (LiDAR terrestre i aeri). - Fotogrametria (imatges a escala de carrer, de satèl·lit i aèries). - Dades vectorials editades per humans (cadastre i altres fonts de mapes). Cadascun d'ells presenta els seus avantatges en termes d'àrea coberta, qualitat de les dades, cost econòmic i esforç de processament. Els dispositius LiDAR muntats en avió i en cotxe són òptims per escombrar àrees enormes, però adquirir i calibrar aquests dispositius no és una tasca trivial. A més, el procés de captura es realitza mitjançant línies d'escaneig, que cal registrar mitjançant GPS i dades inercials. Com a alternativa, els dispositius terrestres de LiDAR són més accessibles, però cobreixen àrees més petites, i la seva estratègia de mostreig sol produir núvols de punts massius amb regions planes sobrerepresentades. Una opció més barata són les imatges a escala de carrer. Es pot fer servir un conjunt dens d'imatges capturades amb una càmera de qualitat mitjana per obtenir reconstruccions prou realistes mitjançant algorismes estèreo d'última generació per produir. Un altre avantatge d'aquest mètode és la captura de dades de color d'alta qualitat. Tanmateix, la informació geomètrica resultant sol ser de baixa qualitat. En aquesta tesi, analitzem en profunditat algunes de les mancances d'aquests mètodes d'adquisició de dades i proposem noves maneres de superar-les. Principalment, ens centrem en les tecnologies que permeten una digitalització d'alta qualitat d'edificis individuals. Es tracta de LiDAR terrestre per obtenir informació geomètrica i imatges a escala de carrer per obtenir informació sobre colors. El nostre objectiu principal és el processament i la millora de representacions urbanes 3D amb molt detall. Per a això, treballarem amb diverses fonts de dades i les combinarem quan sigui possible per produir models que es puguin inspeccionar en temps real. La nostra investigació s'ha centrat en les següents contribucions: - Simplificació eficaç de núvols de punts massius, preservant detalls d'alta resolució. - Desenvolupament d'algoritmes d'estimació normal dissenyats explícitament per a dades LiDAR. - Representació panoràmica de baixa distorsió per a núvols de punts. - Anàlisi semàntica d'imatges a escala de carrer per millorar la reconstrucció estèreo de façanes. - Millora del color mitjançant tècniques heurístiques i el registre de dades LiDAR i imatge. - Visualització eficient i fidel de núvols de punts massius mitjançant tècniques basades en imatges

Industrial Policy and Structural Change Sustainability. Theories and Practices in the Contemporary International Context

The collection of six papers presented in this thesis focuses on selective industrial policy, here conceptualized as public interventions governing the process of structural change affecting contemporary production systems towards desired societal goals. In particular, the papers have explored, both from a theoretical and an empirical angle, how contemporary real-world industrial policy practices can ensure that such structural transformations are economically and socially sustainable. Specifically, the research contends that, within the current debate on industrial policy, new conceptual framework and analytical tools oriented towards a structural change sustainability should emerge and be discussed to support policymakers in governing socio-economic transformation towards desired societal goals, while mitigating the rise of government failures. This collection of papers is structured as follows: The first paper (“Industry 4.0 policy from a sociotechnical perspective: the case of German competence centers”) explores how the German policy initiative “Mittelstand 4.0: digital production and work processes” has enabled across SMEs a complex sociotechnical transition characterized by dynamic interactions between human actors, institutions and technologies. Empirical insights on Industry 4.0 policy design and implementation are presented. The second paper (“Structural Change and Industrialization in Ethiopia: Lessons from the Agro-Industrial Parks Initiative”) analyses the process of the design and implementation of the Ethiopian Integrated Agro-Industrial Parks Initiative, targeting a structural transformation of the agricultural sector. The article highlights how a change in the political regime occurred in 2018 opened a window of opportunity for new stakeholders to enter the phase of policy implementation and thus partially correct the policy trajectory, departing from its dirigiste, top-down approach and shifting towards a multi-stakeholder and participatory initiative. The third paper (“Local public spending, electoral consensus, and sustainable structural change”) explores the idea that, to govern structural change in a sustainable way, policy initiatives should reconcile juxtaposed interests, to avoid the exacerbation of tensions and system’s collapse. Specifically, the paper contends that local public spending represents a channel through which reconciling such juxtaposing interests. The results yield implications for policymakers to garner the electoral consensus they need for governing structural change in a sustainable way. The fourth paper (“Do informal institutions matter for the economic resilience of European regions? A study of the post-2008 shock”) has explored the relationship between informal institutions and “resilience” across EU regions in the years following the 2008 Great Recession. Policy implications have been drawn from the results and discussed. The fifth paper (“Conceptualizing and measuring “industry resilience”: composite indicators for post-shock industrial policy decision-making”) deals with the question: can resilience be a relevant concept also for industrial policy? Theoretically, we frame postshock industry resilience as a conceptual framework shedding light on how different sectors react to unforeseen shocks and thus enabling policymakers to craft industrial initiative to encourage structural change sustainability. Methodologically, we develop a composite indicator allowing to visualize and compare sectoral performances dynamically and we apply it to the US post-2008 shock. The sixth paper (“Does Industry Resilience matter for post-shock Industrial Policy? A focus on tourism related industries”) fine tunes the composite indicators-based methodology and applies it to the Italian case, showing to what extent sectors have reacted heterogeneously to the 2008 shock.La raccolta di sei articoli presentati in questa tesi si occupa di politiche industriali selettive, concettualizzate come interventi pubblici di governo dei processi di cambiamento strutturale dei sistemi produttivi verso obiettivi sociali desiderati. In particolare, i contributi hanno esplorato, sia da un punto di vista teorico che empirico, come le pratiche di politica industriale contemporanee possano garantire che tali trasformazioni strutturali siano economicamente e socialmente sostenibili. In particolare, la ricerca sostiene che, nell'ambito dell'attuale dibattito sulla politica industriale, dovrebbero emergere ed essere discussi nuovi strumenti concettuali e analitici orientati alla sostenibilità dei cambiamenti strutturali, per supportare i decisori politici nel governare le trasformazioni socio-economiche verso gli obiettivi sociali desiderati, mitigando al contempo l'aumento dei fallimenti di governo. Questa raccolta di articoli è strutturata come segue: Il primo articolo (“Industry 4.0 policy from a sociotechnical perspective: the case of German competence centers”) esplora come l'iniziativa politica tedesca "Mittelstand 4.0" abbia consentito alle PMI una complessa transizione sociotecnica caratterizzata da interazioni dinamiche tra persone, istituzioni e tecnologie. Vengono presentati spunti empirici sulla progettazione e sull'attuazione delle politiche per Industria 4.0. Il secondo articolo (“Structural Change and Industrialization in Ethiopia: Lessons from the Agro-Industrial Parks Initiative”) analizza il processo messa a punto di una rete di parchi agroindustriali in Etiopia, finalizzati alla trasformazione strutturale del settore agricolo. L'articolo evidenzia come il cambio di regime politico avvenuto nel 2018 abbia consentito l'ingresso di nuovi stakeholder nella fase di implementazione della politica e quindi per correggere parzialmente la traiettoria dell’intervento, allontanandosi dall’ approccio dirigista e top-down diventando invece una iniziativa partecipativa e multi-stakeholder. Il terzo articolo (“Local public spending, electoral consensus, and sustainable structural change”) esplora l'idea che, per governare il cambiamento strutturale in modo sostenibile, le iniziative politiche dovrebbero conciliare interessi contrapposti, per evitare l'esasperazione delle tensioni e il collasso del sistema. In particolare, il contributo sostiene che la spesa pubblica locale rappresenti un canale attraverso cui conciliare tali interessi contrapposti. I risultati producono implicazioni per i decisori politici che si debbono preoccupare di ottenere il consenso elettorale necessario per governare il cambiamento strutturale in modo sostenibile. Il quarto articolo ("Do informal institutions matter for the economic resilience of European regions? A study of the post-2008 shock") esplora la relazione tra istituzioni informali e "resilienza" nelle regioni dell'UE negli anni successivi alla Grande Recessione del 2008. Il quinto articolo ("Conceptualizing and measuring "industry resilience": composite indicators for post-shock industrial policy decision-making") sviluppa il concetto di resilienza industriale post-shock. Concetto che consente di fare luce sulla eterogeneità con cui i diversi settori reagiscono agli shock imprevisti, consentendo così ai decisori politici di elaborare iniziative industriali per incoraggiare la sostenibilità dei cambiamenti strutturali. Dal punto di vista metodologico, viene sviluppato un indicatore composito che consente di visualizzare e confrontare le performance settoriali in modo dinamico e lo applichiamo agli Stati Uniti dopo lo shock del 2008. Il sesto articolo ("Does Industry Resilience matter for post-shock Industrial Policy? A focus on tourism related industries") mette a punto la metodologia basata su indicatori compositi e la applica al caso italiano, mostrando in che misura i settori hanno reagito in modo eterogeneo allo shock del 2008

3D Spatial Data Infrastructures for web-based Visualization

In this thesis, concepts for developing Spatial Data Infrastructures with an emphasis on visualizing 3D landscape and city models in distributed environments are discussed. Spatial Data Infrastructures are important for public authorities in order to perform tasks on a daily basis, and serve as research topic in geo-informatics. Joint initiatives at national and international level exist for harmonizing procedures and technologies. Interoperability is an important aspect in this context - as enabling technology for sharing, distributing, and connecting geospatial data and services. The Open Geospatial Consortium is the main driver for developing international standards in this sector and includes government agencies, universities and private companies in a consensus process. 3D city models are becoming increasingly popular not only in desktop Virtual Reality applications but also for being used in professional purposes by public authorities. Spatial Data Infrastructures focus so far on the storage and exchange of 3D building and elevation data. For efficient streaming and visualization of spatial 3D data in distributed network environments such as the internet, concepts from the area of real time 3D Computer Graphics must be applied and combined with Geographic Information Systems (GIS). For example, scene graph data structures are commonly used for creating complex and dynamic 3D environments for computer games and Virtual Reality applications, but have not been introduced in GIS so far. In this thesis, several aspects of how to create interoperable and service-based environments for 3D spatial data are addressed. These aspects are covered by publications in journals and conference proceedings. The introductory chapter provides a logic succession from geometrical operations for processing raw data, to data integration patterns, to system designs of single components, to service interface descriptions and workflows, and finally to an architecture of a complete distributed service network. Digital Elevation Models are very important in 3D geo-visualization systems. Data structures, methods and processes are described for making them available in service based infrastructures. A specific mesh reduction method is used for generating lower levels of detail from very large point data sets. An integration technique is presented that allows the combination with 2D GIS data such as roads and land use areas. This approach allows using another optimization technique that greatly improves the usability for immersive 3D applications such as pedestrian navigation: flattening road and water surfaces. It is a geometric operation, which uses data structures and algorithms found in numerical simulation software implementing Finite Element Methods. 3D Routing is presented as a typical application scenario for detailed 3D city models. Specific problems such as bridges, overpasses and multilevel networks are addressed and possible solutions described. The integration of routing capabilities in service infrastructures can be accomplished with standards of the Open Geospatial Consortium. An additional service is described for creating 3D networks and for generating 3D routes on the fly. Visualization of indoor routes requires different representation techniques. As server interface for providing access to all 3D data, the Web 3D Service has been used and further developed. Integrating and handling scene graph data is described in order to create rich virtual environments. Coordinate transformations of scene graphs are described in detail, which is an important aspect for ensuring interoperability between systems using different spatial reference systems. The Web 3D Service plays a central part in nearly all experiments that have been carried out. It does not only provide the means for interactive web-visualizations, but also for performing further analyses, accessing detailed feature information, and for automatic content discovery. OpenStreetMap and other worldwide available datasets are used for developing a complete architecture demonstrating the scalability of 3D Spatial Data Infrastructures. Its suitability for creating 3D city models is analyzed, according to requirements set by international standards. A full virtual globe system has been developed based on OpenStreetMap including data processing, database storage, web streaming and a visualization client. Results are discussed and compared to similar approaches within geo-informatics research, clarifying in which application scenarios and under which requirements the approaches in this thesis can be applied

Novel Bidirectional Body - Machine Interface to Control Upper Limb Prosthesis

Objective. The journey of a bionic prosthetic user is characterized by the opportunities and limitations involved in adopting a device (the prosthesis) that should enable activities of daily living (ADL). Within this context, experiencing a bionic hand as a functional (and, possibly, embodied) limb constitutes the premise for mitigating the risk of its abandonment through the continuous use of the device. To achieve such a result, different aspects must be considered for making the artificial limb an effective support for carrying out ADLs. Among them, intuitive and robust control is fundamental to improving amputees’ quality of life using upper limb prostheses. Still, as artificial proprioception is essential to perceive the prosthesis movement without constant visual attention, a good control framework may not be enough to restore practical functionality to the limb. To overcome this, bidirectional communication between the user and the prosthesis has been recently introduced and is a requirement of utmost importance in developing prosthetic hands. Indeed, closing the control loop between the user and a prosthesis by providing artificial sensory feedback is a fundamental step towards the complete restoration of the lost sensory-motor functions. Within my PhD work, I proposed the development of a more controllable and sensitive human-like hand prosthesis, i.e., the Hannes prosthetic hand, to improve its usability and effectiveness. Approach. To achieve the objectives of this thesis work, I developed a modular and scalable software and firmware architecture to control the Hannes prosthetic multi-Degree of Freedom (DoF) system and to fit all users’ needs (hand aperture, wrist rotation, and wrist flexion in different combinations). On top of this, I developed several Pattern Recognition (PR) algorithms to translate electromyographic (EMG) activity into complex movements. However, stability and repeatability were still unmet requirements in multi-DoF upper limb systems; hence, I started by investigating different strategies to produce a more robust control. To do this, EMG signals were collected from trans-radial amputees using an array of up to six sensors placed over the skin. Secondly, I developed a vibrotactile system to implement haptic feedback to restore proprioception and create a bidirectional connection between the user and the prosthesis. Similarly, I implemented an object stiffness detection to restore tactile sensation able to connect the user with the external word. This closed-loop control between EMG and vibration feedback is essential to implementing a Bidirectional Body - Machine Interface to impact amputees’ daily life strongly. For each of these three activities: (i) implementation of robust pattern recognition control algorithms, (ii) restoration of proprioception, and (iii) restoration of the feeling of the grasped object's stiffness, I performed a study where data from healthy subjects and amputees was collected, in order to demonstrate the efficacy and usability of my implementations. In each study, I evaluated both the algorithms and the subjects’ ability to use the prosthesis by means of the F1Score parameter (offline) and the Target Achievement Control test-TAC (online). With this test, I analyzed the error rate, path efficiency, and time efficiency in completing different tasks. Main results. Among the several tested methods for Pattern Recognition, the Non-Linear Logistic Regression (NLR) resulted to be the best algorithm in terms of F1Score (99%, robustness), whereas the minimum number of electrodes needed for its functioning was determined to be 4 in the conducted offline analyses. Further, I demonstrated that its low computational burden allowed its implementation and integration on a microcontroller running at a sampling frequency of 300Hz (efficiency). Finally, the online implementation allowed the subject to simultaneously control the Hannes prosthesis DoFs, in a bioinspired and human-like way. In addition, I performed further tests with the same NLR-based control by endowing it with closed-loop proprioceptive feedback. In this scenario, the results achieved during the TAC test obtained an error rate of 15% and a path efficiency of 60% in experiments where no sources of information were available (no visual and no audio feedback). Such results demonstrated an improvement in the controllability of the system with an impact on user experience. Significance. The obtained results confirmed the hypothesis of improving robustness and efficiency of a prosthetic control thanks to of the implemented closed-loop approach. The bidirectional communication between the user and the prosthesis is capable to restore the loss of sensory functionality, with promising implications on direct translation in the clinical practice

Sustainability in design: now! Challenges and opportunities for design research, education and practice in the XXI century

Copyright @ 2010 Greenleaf PublicationsLeNS project funded by the Asia Link Programme, EuropeAid, European Commission

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Urban Re-Industrialization

Urban re-industrialisation could be seen as a method of increasing business effectiveness in the context of a politically stimulated ‘green economy’; it could also be seen as a nostalgic mutation of a creative-class concept, focused on 3D printing, ‘boutique manufacturing’ and crafts. These two notions place urban re-industrialisation within the context of the current neoliberal economic regime and urban development based on property and land speculation. Could urban re-industrialisation be a more radical idea? Could urban re-industrialization be imagined as a progressive socio-political and economic project, aimed at creating an inclusive and democratic society based on cooperation and a symbiosis that goes way beyond the current model of a neoliberal city? In January 2012, against the backdrop of the 2008 financial crisis, Krzysztof Nawratek published a text in opposition to the fantasy of a ‘cappuccino city,’ arguing that the post-industrial city is a fiction, and that it should be replaced by ‘Industrial City 2.0.’ Industrial City 2.0 is an attempt to see a post-socialist and post-industrial city from another perspective, a kind of negative of the modernist industrial city. If, for logistical reasons and because of a concern for the health of residents, modernism tried to separate different functions from each other (mainly industry from residential areas), Industrial City 2.0 is based on the ideas of coexistence, proximity, and synergy. The essays collected here envision the possibilities (as well as the possible perils) of such a scheme

Envisioning Global LGBT Human Rights

Envisioning Global LGBT Human Rights: (Neo)colonialism, Neoliberalism, Resistance and Hope is an outcome of a five-year international collaboration among partners that share a common legacy of British colonial laws that criminalise same-sex intimacy and gender identity/expression. The project sought to facilitate learning from each other and to create outcomes that would advance knowledge and social justice. The project was unique, combining research and writing with participatory documentary filmmaking. This visionary politics infuses the pages of the anthology. The chapters are bursting with invaluable first hand insights from leading activists at the forefront of some of the most fiercely fought battlegrounds of contemporary sexual politics in India, the Caribbean and Africa. As well, authors from Canada, Botswana and Kenya examine key turning points in the advancement of SOGI issues at the United Nations, and provide critical insights on LGBT asylum in Canada. Authors also speak to a need to reorient and decolonise queer studies, and turn a critical gaze northwards from the Global South. It is a book for activists and academics in a range of disciplines from postcolonial and sexualities studies to filmmaking, as well as for policy-makers and practitioners committed to envisioning, and working for, a better future