One of the applications where the use of robots can be beneficial is Wilderness Search and Rescue (WiSAR), which involves the search for a possibly mobile but non-trackable lost person (i.e., the target) in wilderness environments. A mobile target implies that the search area grows continuously and potentially without bound. This fact, combined with the presence of typically rugged, varying terrain and the possibility of inclement weather, poses a considerable challenge to human Search and Rescue (SAR) personnel with respect to the time and effort required to perform the search and the danger entailed to the searchers. Mobile robots can be advantageous in WiSAR due to their ability to provide consistent performance without getting tired and their lower susceptibility to harsh weather conditions compared to humans. Thus, a coordinated team of robots that can assist human SAR personnel by autonomously performing searches in WiSAR scenarios would be of great value. However, to date, a suitable multi-robot coordination methodology for autonomous search that can satisfactorily address the issues relevant to WiSAR is lacking. The objective of this Dissertation is, thus, to develop a methodology that can autonomously coordinate the search strategy of a multi-robot team in wilderness environments to locate a moving target that is neither continuously nor intermittently observed during the search process. Three issues in particular are addressed: (i) target-location prediction, (ii) robot deployment, and (iii) robot-path planning. The corresponding solution approaches devised to address these issues incorporate the influence of varying terrain that may contain a priori known and unknown obstacles, and deal with unique target physiology and psychology as well as found clues left behind by the target. The solution methods for these three tasks work seamlessly together resulting in a tractable MRC methodology for autonomous robotic WiSAR. Comprehensive simulations have been performed that validate the overall proposed methodology. Moreover, the tangible benefits provided by this methodology were further revealed through its comparison with an alternative search method.

Thesis (M.S.)--Ohio University, June, 2004. / Title from PDF t.p. Includes bibliographical references (leaves 98-100).

Thesis (M.F.A.)--Rochester Institute of Technology, 1995. / Typescript. Bibliography: leaf 51.

Thesis (M.S.)--Brigham Young University. Dept. of Computer Science, 2008. / Includes bibliographical references (p. 101-107).

There has been great interest in the use of small robotic helicopter vehicles over the last few years. Although there are regulatory issues involved in flying these that are still to be solved, they have the potential to provide a practical mobile aerial platform for a small fraction of the cost of a conventional manned helicopter. One potential class of applications for these is in searching for people, and this thesis explores a new generation of cameras which are suitable for this purpose. We propose HeatTrack, a novel algorithm to detect and track people in aerial imagery taken from a combined infrared/visible camera rig. A Local Binary Patterns (LBP) detector finds silhouettes in the infrared image which are used guide the search in the visible light image, and a Kalman filter combines information from both modalities in order to track a person more accurately than if only a single modality were available. We introduce a method for matching the thermal signature of a person to their corresponding patch in the visible modality, and show that this is more accurate than traditional homography-based matching. Furthermore, we propose a method for cancelling out camera motion which allows us to estimate a velocity for the person, and this helps in determining the location of a person in subsequent frames. HeatTrack demonstrates several advantages over tracking in the visible domain only, particularly in cases where the person shows up clearly in infrared. By narrowing down the search to the warmer parts of a scene, the detection of a person is faster than if the whole image were searched. The use of two imaging modalities instead of one makes the system more robust to occlusion; this, in combination with estimation of the velocity of a person, enables tracking even when information is lacking in either modality. To the best of our knowledge, this is the first published algorithm for tracking people in aerial imagery using a combined infrared/visible camera setup.

Search-and -rescue (SAR) teams spend days and sometimes weeks in the field following a disaster. After completing their assigned mission, handlers and canines return to base, potentially bringing contaminated material with them. There were 3 objectives for this study; (1) the effects of cleanser and equipment materials on the efficiency of decontamination protocols, (2) the effects of improved treatments on the efficiency of decontamination protocols and (3) the use of field kits and improved training on decontamination techniques in the field. In the first study, straps (n = 54) were cut from biothane, leather and nylon. Straps were washed with three kinds of cleansers; Dawn dishwashing detergent, Johnson and Johnson’s Head-to-toe baby wash and Simple Green. In addition, three different types of treatments: 5-minute soak (A), double 5-minute soak (B) and a 3-minute soak with a 2-minute agitation (C). In the second study, straps (n = 40) of leather and nylon were utilized. Unlike the previous study, only Dawn dishwashing detergent and Johnson and Johnson’s Head-To-Toe-Baby Wash were selected as cleansers for decontamination. In addition, improved treatments (PW or SK) were created and utilized to further decontaminant the straps. The finally part of the study utilized canine teams (n = 10), composed of canine and handlers and were randomly assigned to one of two groups. Groups were structured as follows: TRAINED (n = 5) received 30-minutes of interactive training (using the illustrated guide contained in the kit) on proper utilization of equipment provided; UNTRAINED (n = 5) received the same field kit and an illustrated guide with no interactive training. An oil-based pseudocontaminant (GloGerm®) was topically applied to the straps in the first two studies and then to four anatomic sites on the canine participants: cranial neck, between the shoulder blades, left medial hindlimb and hind left paw in the last study. Pre- and post-images were taken of the straps and at the four anatomical locations prior to and following decontamination. Images were analyzed via two methods 1) categorical scores; 2) measured fluorescent reduction. Categorical scores were assigned, using two blinded reviewers (Venable et. al., 2017). The categorical scores were allotted as follows: 0 = <24% contaminant reduction; 1 = 25-50% contaminant reduction; 2 = 51-75% contaminant reduction; and 3 = >76% contaminant reduction (Lee et al., 2014). No score discrepancies >1 were observed between reviewers. Score data were analyzed using SAS version 9.4 (SAS Institute Inc., Cary, NC), as a Chi Square with PROC FREQ and measurement data were analyzed using PROC ANOVA. Results in the first study indicate that material (P = .2331), cleanser (P = .2156) and treatment (P = .9139) had no effect on contaminant reduction. However, when treatments were improved in the second study, power wash was more effective at contaminant reduction (P = .0004). In addition, material was also determined to have an effect on decontamination (P = .0135). Although, the kind of cleanser used had no effect (P = .3564). Additionally, in the last study, TRAINED handlers were more effective at contamination reduction (P = .0093) as compared to their UNTRAINED counterparts. The initial results indicate that no combination of material, cleanser or treatment had any effect on reducing the oil-based contaminants. Nevertheless, with improved treatments there is a potential to more thoroughly decontaminate the collars and leashes. In addition, study three indicates that handlers, when properly trained, can achieve reduction of oil-based contaminants with a basic field kit and a garden hose. These data have implications for management of canines in the field that may be exposed to unknown substances and require timely decontamination.

D. Litt. et Phil. / This research focuses on the development of a short term action centered clinical personological treatment programme for adult emergency rescue workers who developed secondary traumatic stress disorder (STSD)/compassion fatigue and co-morbid symptoms of burnout as a result of exposure to critical incidents. A programme, comprising three sessions, was developed incorporating previously tested cognitive behavioural techniques with clinical personological theory as well as newly developed behavioural techniques tailored to the cross cultural South African context. The need for the study arose out of the lack of scientific validated data regarding the treatment of STSD/compassion fatigue among emergency rescue workers as well as the need for a cost-effective treatment programme that would address the serious need of emergency rescue workers in South Africa who for the most part need to make do without any employee wellbeing programmes. The effects of STSD/compassion fatigue are often as debilitating as that of PTSD. It hampers the sufferer unable to operate as well as they previously did. As a result they may present with lower productivity at work as well as various psycho-social problems and be at risk of substance abuse. This ultimately has a negative impact on the victims of trauma they are responsible for rescuing. Various theoretical models are discussed on the etiology of STSD/compassion fatigue, including the constructivist development al theory by McCann and Pearlman (1990) as well as Valent’s (2003) bio-social theory on survival strategies. Treatment approaches are investigated and critiqued, including, the accelerated recovery program (ARP) as developed by Gentry, Baranowsky and Dunning (2003) under the direction of Figley (2003) for the treatment and prevention of compassion fatigue, critical incident stress debriefing as first formally described by Mitchell in 1983 for the treatment of acute traumatic stress reactions, as well as Saakvitne and Pearlman’s (1992) constructivist self-developmental treatment program for vicarious traumatization, based on the constructivist self development al theory developed by McCann and Pearlman (1990). The theories and therapies underlying the intervention programme include various cognitive behavioural and personological principles to offer a person specific practical solutions for their personality type and psychological needs. The hypotheses were formulated with regard to significant improvement of symptoms of STSD/compassion fatigue as result of the intervention programme. The co-morbid symptoms of burnout are also evaluated for a decrease, without significantly reducing their capacity for compassion satisfaction. A test re- test quasi-experimental analysis with two independent groups was required, in order to determine whether there will be a statistically meaning full reduction in the prevalence of symptoms of secondary traumatic stress disorder (STSD)/compassion fatigue and the co-morbid symptoms of burnout amongst emergency rescue staff who had been instructed in an Action Centred Personological Treatment Plan. In an effort to attain spatial and temporal control a sample population was selected with a cluster sampling method from the greater Gauteng emergency rescue staff. They included paramedics, fire fighters and ambulance staff. The specific municipality had been incorporated into a greater Gauteng metropolis in the past two years. Potential subjects for both the experimental and control group were obtained through drawing personnel files, using random sampling. A sample of 17 participants was included in the intervention group and 17 participants were included in a non-intervention group. This was representative of 80% of the total population group of emergency rescue staff in this particular municipality. Existing psychometric assessment instruments were utilised to generate data for the experimental analysis. The measurement instruments included, the Millon inventory of personality styles (MIPS) to customise a cognitive behavioural treatment programme, the Compassion fatigue and satisfaction questionnaire to verify symptoms of STSD/compassion fatigue and burnout, and the British Columbia burnout questionnaire to confirm symptoms of burnout. The quantitative data was supported by information gathered from a clinical social history questionnaire. This information was used as part of the discussion of the results as a means to enhance the former descriptive results. The action centred personological treatment programme proved to be effective in the treatment of symptoms of STSD/compassion fatigue and burnout without significantly reducing the candidates’ potential for compassion satisfaction.

No abstract available Copyright / Dissertation (LLM)--University of Pretoria, 2012. / Mercantile Law / unrestricted

Business rescue is still in its infancy stage in South Africa, with the introduction of Chapter 6 of the Companies Act 71 in 2008 that took effect in mid-2011. To date the success rate has been dismal and value has been eroded as many companies opt to file for business rescue, but shouldn’t. The objective of this research is to determine glaring attributes that would require extensive consideration before filing for business rescue. These facets should be considered in the pre-assessment stage and should be given the due respect to ensure the organisation has a fighting chance at survival. Business rescue is becoming a tarnished industry within South Africa as a few business rescue practitioners are enriching themselves at the expense of the unexperienced creditors to this new piece of legislation that is designed to help facilitate a turnaround, whilst under the protection of the legal system. This in turn, will help to preserve, not only ailing businesses and their communal value, but the mere jobs of each individual within these distressed ventures. South Africa has struggled from a growth perspective for the past few years and with the help of legislation, and a thorough pre-assessment, ailing and distressed businesses may be saved. / Dissertation (MBA)--University of Pretoria, 2014. / zkgibs2015 / Gordon Institute of Business Science (GIBS) / Unrestricted

No description available.