Agoraphilic navigation algorithm in dynamic environment

This thesis presents a novel Agoraphilic (free space attraction [FSA])-based navigation algorithm. This new algorithm is capable of undertaking local path planning for robot navigation in static and dynamic environments with the presence of a moving goal. The proposed algorithm eliminates the common weaknesses of the existing navigation approaches when operating in unknown dynamic environments while using the modified Agoraphilic concept. The Agoraphilic Navigation Algorithm in Dynamic Environment (ANADE) presented in this thesis does not look for obstacles (problems) to avoid; rather, it looks for free space (solutions) to follow. Therefore, this algorithm is also a human-like optimistic navigation algorithm. The proposed algorithm creates a set of Free Space Forces (FSFs) based on the current and future growing free space around the robot. These Free Space Forces are focused towards the current and future locations of a moving goal and finally generate a single attractive force. This attractive force pulls the robot through current free space towards the future growing free space leading to the goal. The new free space concept allows the ANADE to overcome many common problems of navigation algorithms. Several versions of the ANADE have been developed throughout this research to overcome the main limitation of the original Agoraphilic algorithm and address the common weaknesses of the existing navigation approaches. The ANADE I uses an object tracking method to identify the states (locations) of moving objects accurately. The ANADE II uses a dynamic obstacle prediction methodology to identify the robot’s future environments. In the ANADE III, a novel controller based on fuzzy logic was developed and combined with the new FSA concept to provide optimal navigational solutions at a low computational cost. In the ANADE III, the effectiveness of the ANADE II was further improved by incorporating the velocity vectors of the moving objects into decision-making. In the ANADE IV, a self-tuning system was successfully applied to the ANADE III to take advantage of the performances of free space attraction-based navigation algorithms. The proposed final version of the algorithm (ANADE V) comprises nine main modules. These modules are repeatedly used to create the robot’s driving force, which pulls the robot towards the goal (moving or static). An obstacle tracking module is used to identify the time-varying free spaces by tracking the moving objects. Further, a tracking system is also used to track the moving goal. The capacity of the ANADE was strengthened further by obstacle and goal path prediction modules. Future location prediction allowed the algorithm to make decisions by considering future environments around the robot. This is further supported by a self-tuning, machine learning–based controller designed to efficiently account for the inherent high uncertainties in the robot’s operational environment at a reduced computational cost. Experimental and simulation-based tests were conducted under dynamic environments to validate the algorithm. Further, the ANADE was benchmarked against other recently developed navigation algorithms. Those tests were focused on the behaviour of the algorithm under challenging environments with moving and static obstacles and goals. Further, the test results demonstrate that the ANADE is successful in navigating robots under unknown, dynamically cluttered environments.Doctor of Philosoph

Studies on interactions of Sarco/Endoplasmic Reticulum Ca2+-ATPase (SERCA) with anti apoptotic protein Bcl-2.

Bcl-2 regulates apoptosis by controlling luminal Ca2+ concentration of endoplasmic reticulum (ER). Dremina et al. reported that Bcl-2 interacts with SERCA, the Ca2+ pump in SR/ER membrane, causing inactivation and translocation. This work reports the characteristics of the SERCA/Bcl-2 interactions using wild type and three mutants, G145E, S24C/C158S and S205C/C158S, of the truncated protein, Bcl-2Δ21. Protein cross-linking, Ca2+-ATPase activity assay, Sucrose Density Gradient fractionation, immunoprecipitation and the fusion protein binding assay are the approaches used. Results reveal that the two proteins can interact with both 1:1 and 2:1 (Bcl-2Δ21: SERCA) molar ratios. The hydrophobic groove of Bcl-2Δ21 is involved in the interactions. The BH1 domain of Bcl-2Δ21 interacts with the ATP binding domain of SERCA. The G145E mutant is a loss-of-function whereas the two Cys-mutants are gain-of-function on SERCA inactivation and translocation. Therefore the conserved residue G145 is a critical hot spot for the Bcl-2Δ21-mediated inactivation and translocation of SERCA

Parents' Imprisonment and its Effects on their Children

This research concerns parents’ long-term imprisonment and its effect on their children. As per the 1978 Constitution of Sri Lanka, suspects are supposed to have committed an offense. In that sense, they are accepted as innocent people until proven guilty. Thus, the main purpose of this investigation is to identify the situations regarding the children of suspects who are being imprisoned for a long time in Sri Lankan prisons and forward suggestions for minimizing the effects upon them. The research question of the study is, what are the problems faced by the suspects’ children during the imprisonment of their parents? Using the Quota sampling method, 178 residents of Welikada Prison who were imprisoned for more than one year were selected from the Colombo District as the sample. Fifty-four (imprisonment) prison inmates’ families of 30 male detainees and 24 female detainees were selected for this study. Mix data analysis including qualitative and quantitative has been used for the data analysis. The research indicates that the detainees’ children are faced with several issues such as a lack of educational needs, and absence of safety, and further they undergo various mental disorders during the entire period. As suggestions, external factors can be encouraged at the institutional level to maintain a strong relationship between the suspect and their family members, especially with the children. Strengthening communication between them would ensure a good relationship. Also, the government authorities should implement special aid programs for such families to cater to their financial, educational, and social needs and provide vocational training for their children. DOI: http://doi.org/10.31357/fhss/vjhss.v08i01.0

The Role of Mediation Board in Solving Minor Disputes

This study explored the role of the Mediation Board as a mediator in resolving minor disputes. According to the Ministry of Justice, many Mediation Board activities have been performed in the past few years in Sri Lanka. Even though there are several mediation boards in the country, most Sri Lankans are still waiting in the judiciary process to get immediate solutions to their issues. Thus, the study addressed the main research questions: What are the processes employed by the mediation board to solve disputes? What kind of improvement should be suggested for an effective mediation process? The general objective is to identify the role and process of the mediation board, identify the problems faced by the mediation board, and make suggestions to improve the mediation board(s) for a better mediation process. The research was based on the Colombo district: The Purposive Sampling Method was utilized to select the research areas from urban, suburban, and rural. The data were obtained from interviews and observations as primary sources and journal articles and related books as secondary sources. Data analysis was carried out using MS Excel for quantitative data and manual data entry for qualitative data. According to the findings, it was revealed that the contribution of the Mediation Board in the rural category was higher than in the suburban and urban areas. It can be concluded that more than 50% of the disputes presented to the Mediation Board (Hanwella, Kaduwela, and Maharagama) are resolved efficiently in a very short period of time. The same procedure has been practiced by all three mediation boards. There are several shortages of both human and physical resources. Appointing experienced young and responsible middle-aged personnel for the mediation boards will help to enhance the efficiency of the service. Furthermore, it is also crucial to provide knowledge concerning the process of mediation and Mediation Boards at the community level and school level. DOI: http://doi.org/10.31357/fhss/vjhss.v07i02.1

HOW ORGANISATIONAL CULTURE WITHIN AUSTRALIA’S DEPARTMENT OF HOME AFFAIRS AFFECTS COMPLIANCE WITH THE REFUGEE CONVENTION-A METHODOLOGICAL CONTRIBUTION TO THE LEGAL RESEARCH TRADITION

This paper describes and analyses the suitability of an auto-ethnographic approach as a data collection method for a legal research study. The present study centred on current Australian asylum and refugee decision-making process and the application of procedural fairness (PF) in complying with 1951 Refugee Convention (RC) and the 1967 Protocol by the Department of Home Affairs (DHA). The researcher uses qualitative research methods for this study and developed an approach using his own experience in the industry as a Migration Lawyer for data collection. In the methodology, he will argue the importance, ethical considerations and relevance of this method as a worthwhile research practice to investigate the visa decision-making process of the DHA. The study aims to gain insight into the complexity and realities of the current DHA asylum and refugee decision-making process and the researcher primarily argues that if Australia claims it supports and protects asylum seekers and refuges and respects human rights, Australia should do so consistently with international human rights standards. However, it is pointed out in the literature that the DHA has issues within its organisational culture (OC); these, the researcher suggests, may impact upon its PF and decision-making of the DHA.Use of auto-ethnographic methods are very rare in legal research studies and by using this method the researcher is making a methodological contribution to the body of knowledge of law, as no similar study carried out in socio-legal studies in the past relating to the Australian Migration industry. This paper specifically discusses about various steps of preparation used by the researcher to overcome obstacles and challenges he faced in the use of his own experience by being an ‘insider’ in researching industry and its implementation in legal research.&nbsp

Machine learning-based agoraphilic navigation algorithm for use in dynamic environments with a moving goal

This paper presents a novel development of a new machine learning-based control system for the Agoraphilic (free-space attraction) concept of navigating robots in unknown dynamic environments with a moving goal. Furthermore, this paper presents a new methodology to generate training and testing datasets to develop a machine learning-based module to improve the performances of Agoraphilic algorithms. The new algorithm presented in this paper utilises the free-space attraction (Agoraphilic) concept to safely navigate a mobile robot in a dynamically cluttered environment with a moving goal. The algorithm uses tracking and prediction strategies to estimate the position and velocity vectors of detected moving obstacles and the goal. This predictive methodology enables the algorithm to identify and incorporate potential future growing free-space passages towards the moving goal. This is supported by the new machine learning-based controller designed specifically to efficiently account for the high uncertainties inherent in the robot’s operational environment with a moving goal at a reduced computational cost. This paper also includes comparative and experimental results to demonstrate the improvements of the algorithm after introducing the machine learning technique. The presented experiments demonstrated the success of the algorithm in navigating robots in dynamic environments with the challenge of a moving goal

A novel optimistic local path planner : agoraphilic navigation algorithm in dynamic environment

This paper presents a novel local path planning algorithm developed based on the new free space attraction (Agoraphilic) concept. The proposed algorithm is capable of navigating robots in unknown static, as well as dynamically cluttered environments. Unlike the other navigation algorithms, the proposed algorithm takes the optimistic approach of the navigation problem. It does not look for problems to avoid, but rather for solutions to follow. This human-like decision-making behaviour distinguishes the new algorithm from all the other navigation algorithms. Furthermore, the new algorithm utilises newly developed tracking and prediction algorithms, to safely navigate mobile robots. This is further supported by a fuzzy logic controller designed to efficiently account for the inherent high uncertainties in the robot’s operational environment at a reduced computational cost. This paper also includes physical experimental results combined with bench-marking against other recent methods. The reported results verify the algorithm’s successful advantages in navigating robots in both static and dynamic environments. © 2022 by the authors

The Impact of Incarceration and Treatment on Substance Use in High-Risk Longitudinal Samples: Persistent and Interrupted Users

The present research was conducted to examine the association between environmental context and cannabis use in a high-risk, selected sample of adolescents that were participants in a multi-wave longitudinal study: Genetics of Antisocial Drug Dependence (GADD) (n = 1,165). The following study assessed whether certain restrictive conditions, such as incarceration and treatment, interrupted patterns of regular cannabis users that were separated into specific use trajectory classes. Results indicate a statistically significant difference between trajectory classes regarding the context of incarceration. The mean values for each restrictive condition also support the trajectory shapes of each class. These results suggest that environmental context is imperative to accurately understand and assess an individual&rsquo;s substance use behavior.</p