Distributed teams of air and ground robots have the potential to be very useful in a variety of application domains, and much work is being done to design distributed algorithms that produce useful behaviors. This thesis presents a set of distributed algorithms that operate under minimal human input for patrol and cordon tasks. The algorithms allow the team to surround and travel between objects of interest. Empirical analyses indicate that the surrounding behaviors are robust to variations on the shape of the object of interest, communication loss, and robot failures.

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This thesis explores the subject of Japanese colonial language education in Taiwan and assimilation between 1895 and 1945. It examines the overall nature of Japanese colonial rule in Taiwan through its colonial policies, followed by a review of the history of Japanese colonial language education in Taiwan, the investigation of the Japanese colonial position on language education and assimilation, the establishment of the implementation of Japanese language education in Taiwan in areas of teaching methodologies and textbook compilation, and the determination of the effects of Japanese language education on assimilation in Taiwan. The thesis further seeks to determine the link between a Taiwanese identity and the Taiwanese who were ruled and educated under Japanese colonial rule. The views of both the elite and common Taiwanese who lived through the colonial era are examined.The aim of this thesis is to test the hypothesis whether Japanese colonial education in Taiwan achieved assimilation among the Taiwanese as claimed by Japanese colonial authorities. Through the official facts and figures provided by Japanese colonial authorities, they seemed to prove a successful case of assimilation among the Taiwanese. However, through close scrutiny of these official facts and figures and reality backed up by the oral accounts of the Taiwanese and conscientious observations by the Japanese, it is found that the claims made by Japanese colonial authorities in the case of assimilation through Japanese language education are highly contestable. By interviewing those who experienced Japanese language education during the colonial period, further insights into the formation of post-colonial Taiwanese identities are gained. This study contributes to studies on Taiwans subsequent socio-linguistic developments in the post-colonial period.

Recent evidence in the road safety research literature indicates that skills in hazard perception, visual search and attention may be developing executive functions in young novice drivers before the age of 25 years, contributing to their unintentional risk taking behaviour and subsequent high crash rates. The present research aimed to investigate these skills, whether they are predictive of each other, and whether hazard perception can be improved through road commentary training. Twenty-two young novice drivers and eight experienced drivers were recruited as participants in this study. The experienced drivers performed significantly better than the novice drivers on the hazard detection task that was specifically designed for the study. Their visual search skills were also examined and compared using the Visual Search and Attention Test, with the experienced drivers performing significantly better than the novice drivers. Interestingly, a significant positive correlation was found between the scores of the participants on the hazard detection task and the Visual Search and Attention Test which may indicate that the hazard detection skills can be predicted. The novice driver group who received 12 trials of video based road commentary training significantly improved in their hazard detection skills, suggesting that video based road commentary could be an effective road safety intervention for young novice drivers and if developed into a more comprehensive programme, holds promise for future implementation into the New Zealand Graduated Driver Licensing System. The results also hold promise for future investigation into the use of the Visual Search and Attention Test as a predictor of hazard perception skills in novice drivers.

This work extends recent research in the development of a number of direct search methods in nonlinear integer programming. The various algorithms use an extension of the well-known FORTRAN MINOS code of Murtagh and Saunders as a starting point. MINOS is capable of solving quite large problems in which the objective function is nonlinear and the constraints linear. The original MINOS code has been extended in various ways by Murtagh, Saunders and co-workers since the original 1978 landmark paper. Extensions have dealt with methods to handle both nonlinear constraints, most notably MINOS/AUGMENTED and integer requirements on a subset of the variables(MINTO). The starting point for the present thesis is the MINTO code of Murtagh. MINTO is a direct descendant of MINOS in that it extends the capabilities to general nonlinear constraints and integer restrictions. The overriding goal for the work described in this thesis is to obtain a good integer-feasible or near-integer-feasible solution to the general NLIP problem while trying to avoid or at least minimize the use of the ubiquitous branch-and-bound techniques. In general, we assume a small number of nonlinearities and a small number of integer variables.Some initial ideas motivating the present work are summarised in an invited paper presented by Murtagh at the 1989 CTAC (Computational Techniques and Applications) conference in Brisbane, Australia. The approach discussed there was to start a direct search procedure at the solution of the continuous relaxation of a nonlinear mixed-integer problem by first removing integer variables from the simplex basis, then adjusting integer-infeasible superbasic variables, and finally checking for local optimality by trial unit steps in the integers. This may be followed by a reoptimization with the latest point as the starting point, but integer variables held fixed. We describe ideas for the further development of Murtagh’s direct search method. Both the old and new approaches aim to attain an integer-feasible solution from an initially relaxed (continuous) solution. Techniques such as branch-and-bound or Scarf’s neighbourhood search [84] may then be used to obtain a locally optimal solution. The present range of direct search methods differs significantly to that described by Murtagh, both in heuristics used and major and minor steps of the procedures. Chapter 5 summarizes Murtagh’s original approach while Chapter 6 describes the new methods in detail.Afeature of the new approach is that some degree of user-interaction (MINTO/INTERACTIVE) has been provided, so that a skilled user can "drive" the solution towards optimality if this is desired. Alternatively the code can still be run in "automatic" mode, where one of five available direct search methods may be specified in the customary SPECS file. A selection of nonlinear integer programming problems taken from the literature has been solved and the results are presented here in the latter chapters. Further, anewcommunications network topology and allocation model devised by Berry and Sugden has been successfully solved by the direct search methods presented herein. The results are discussed in Chapter 14, where the approach is compared with the branch-and-bound heuristic.

All practical text search systems use inverted indexes to quickly resolve user queries. Offline index construction algorithms, where queries are not accepted during construction, have been the subject of much prior research. As a result, current techniques can invert virtually unlimited amounts of text in limited main memory, making efficient use of both time and disk space. However, these algorithms assume that the collection does not change during the use of the index. This thesis examines the task of index maintenance, the problem of adapting an inverted index to reflect changes in the collection it describes. Existing approaches to index maintenance are discussed, including proposed optimisations. We present analysis and empirical evidence suggesting that existing maintenance algorithms either scale poorly to large collections, or significantly degrade query resolution speed. In addition, we propose a new strategy for index maintenance that trades a strictly controlled amount of querying efficiency for greatly increased maintenance speed and scalability. Analysis and empirical results are presented that show that this new algorithm is a useful trade-off between indexing and querying efficiency. In scenarios described in Chapter 7, the use of the new maintenance algorithm reduces the time required to construct an index to under one sixth of the time taken by algorithms that maintain contiguous inverted lists. In addition to work on index maintenance, we present a new technique for accumulator pruning during ranked query evaluation, as well as providing evidence that existing approaches are unsatisfactory for collections of large size. Accumulator pruning is a key problem in both querying efficiency and overall text search system efficiency. Existing approaches either fail to bound the memory footprint required for query evaluation, or suffer loss of retrieval accuracy. In contrast, the new pruning algorithm can be used to limit the memory footprint of ranked query evaluation, and in our experiments gives retrieval accuracy not worse than previous alternatives. The results presented in this thesis are validated with robust experiments, which utilise collections of significant size, containing real data, and tested using appropriate numbers of real queries. The techniques presented in this thesis allow information retrieval applications to efficiently index and search changing collections, a task that has been historically problematic.

World Wide Web search engines process millions of queries per day from users all over the world. Efficient query evaluation is achieved through the use of an inverted index, where, for each word in the collection the index maintains a list of the documents in which the word occurs. Query processing may also require access to document specific statistics, such as document length; access to word statistics, such as the number of unique documents in which a word occurs; and collection specific statistics, such as the number of documents in the collection. The index maintains individual data structures for each these sources of information, and repeatedly accesses each to process a query. A by-product of a web search engine is a list of all queries entered into the engine: a query log. Analyses of query logs have shown repetition of query terms in the requests made to the search system. In this work we explore techniques that take advantage of the repetition of user queries to improve the accuracy or efficiency of text search. We introduce an index organisation scheme that favours those documents that are most frequently requested by users and show that, in combination with early termination heuristics, query processing time can be dramatically reduced without reducing the accuracy of the search results. We examine the stability of such an ordering and show that an index based on as little as 100,000 training queries can support at least 20 million requests. We show the correlation between frequently accessed documents and relevance, and attempt to exploit the demonstrated relationship to improve search effectiveness. Finally, we deconstruct the search process to show that query time redundancy can be exploited at various levels of the search process. We develop a model that illustrates the improvements that can be achieved in query processing time by caching different components of a search system. This model is then validated by simulation using a document collection and query log. Results on our test data show that a well-designed cache can reduce disk activity by more than 30%, with a cache that is one tenth the size of the collection.

Federated information retrieval is a technique for searching multiple text collections simultaneously. Queries are submitted to a subset of collections that are most likely to return relevant answers. The results returned by selected collections are integrated and merged into a single list. Federated search is preferred over centralized search alternatives in many environments. For example, commercial search engines such as Google cannot index uncrawlable hidden web collections; federated information retrieval systems can search the contents of hidden web collections without crawling. In enterprise environments, where each organization maintains an independent search engine, federated search techniques can provide parallel search over multiple collections. There are three major challenges in federated search. For each query, a subset of collections that are most likely to return relevant documents are selected. This creates the collection selection problem. To be able to select suitable collections, federated information retrieval systems acquire some knowledge about the contents of each collection, creating the collection representation problem. The results returned from the selected collections are merged before the final presentation to the user. This final step is the result merging problem. In this thesis, we propose new approaches for each of these problems. Our suggested methods, for collection representation, collection selection, and result merging, outperform state-of-the-art techniques in most cases. We also propose novel methods for estimating the number of documents in collections, and for pruning unnecessary information from collection representations sets. Although management of document duplication has been cited as one of the major problems in federated search, prior research in this area often assumes that collections are free of overlap. We investigate the effectiveness of federated search on overlapped collections, and propose new methods for maximizing the number of distinct relevant documents in the final merged results. In summary, this thesis introduces several new contributions to the field of federated information retrieval, including practical solutions to some historically unsolved problems in federated search, such as document duplication management. We test our techniques on multiple testbeds that simulate both hidden web and enterprise search environments.

A common problem in vision research is explaining how humans perceive a coherent, detailed and stable world despite the fact that the eyes make constant, jumpy movements and the fact that only a small part of the visual field can be resolved in detail at any one time. This is essentially a problem of integration over time - how successive views of the visual world can be used to create the impression of a continuous and stable environment. A common way of studying this problem is to use complete visual scenes as stimuli and present a changed scene after a disruption such as an eye movement or a blank screen. It is found in these studies that observers have great difficulty detecting changes made during a disruption, even though these changes are immediately and easily detectable when the disruption is removed. These results have highlighted the importance of motion cues in tracking changes to the environment, but also reveal the limited nature of the internal representation. Change blindness studies are interesting as demonstrations but can be difficult to interpret as they are usually applied to complex, naturalistic scenes. More traditional studies of scene analysis, such as visual search, are more abstract in their formulation, but offer more controlled stimulus conditions. In a typical visual search task, observers are presented with an array of objects against a uniform background and are required to report on the presence or absence of a target object that is differentiable from the other objects in some way. More recently, scene analysis has been investigated by combining change blindness and visual search in the `visual search for change' paradigm, in which observers must search for a target object defined by a change over two presentations of the set of objects. The experiments of this thesis investigate change blindness using the visual search for change paradigm, but also use principles of design from psychophysical experiments, dealing with detection and discrimination of basic visual qualities such as colour, speed, size, orientation and spatial frequency. This allows the experiments to precisely examine the role of these different features in the change blindness process. More specifically, the experiments are designed to look at the capacity of visual short-term memory for different visual features, by examining the retention of this information across the temporal gaps in the change blindness experiments. The nature and fidelity of representations in visual short-term memory is also investigated by manipulating (i) the manner in which featural information is distributed across space and objects, (ii) the time for which the information is available, (iii) the manner in which observers must respond to that information. Results point to a model in which humans analyse objects in a scene at the level of features/attributes rather than at a pictorial/object level. Results also point to the fact that the working representations which humans retain during visual exploration are similarly feature- rather than object-based. In conclusion the thesis proposes a model of scene analysis in which attention and vSTM capacity limits are used to explain the results from a more information theoretic standpoint.