title: Using absolute metric maps to close cycles in a topological map

authors: Jefferies, Margaret E.

subjects: cognitive mapping

abstract: In simultaneous localisation and mapping (SLAM) the correspondence problem, specifically detecting cycles, is one of the most difficult challenges for an autonomous mobile robot. In this paper we show how significant cycles in a topological map can be identified with a companion absolute global metric map. A tight coupling of the basic unit of representation in the two maps is the key to the method. Each local space visited is represented, with its own frame of reference, as a node in the topological map. In the global absolute metric map these local space representations from the topological map are described within a single global frame of reference. The method exploits the overlap which occurs when duplicate representations are computed from different vantage points for the same local space. The representations need not be exactly aligned and can thus tolerate a limited amount of accumulated error. We show how false positive overlaps which are the result of a misaligned map, can be discounted.

text: Using absolute metric maps to close cycles in a topological map In simultaneous localisation and mapping (SLAM) the correspondence problem, specifically detecting cycles, is one of the most difficult challenges for an autonomous mobile robot. In this paper we show how significant cycles in a topological map can be identified with a companion absolute global metric map. A tight coupling of the basic unit of representation in the two maps is the key to the method. Each local space visited is represented, with its own frame of reference, as a node in the topological map. In the global absolute metric map these local space representations from the topological map are described within a single global frame of reference. The method exploits the overlap which occurs when duplicate representations are computed from different vantage points for the same local space. The representations need not be exactly aligned and can thus tolerate a limited amount of accumulated error. We show how false positive overlaps which are the result of a misaligned map, can be discounted.

year: 2005

title: Urgent need for protection of New Zealand’s coastal landscape

authors: Healy, Terry R.

subjects: coastal landscape protection

abstract: Alarm bells for protection of coastal landscape should be well and truly ringing! This is exemplified by the great rush toward “life-style block” subdivision of large coastal tracts (simply glance at the “NZ Herald” Real Estate section), and recent cases such as the University of Auckland’s hedonistic attempt to sell prime coastal land on the scenic Coromandel coastline for development. Coastal landscape protection is already embedded in the Resource Management Act, and most explicitly stated under S6 (“Matters of National Importance”). S6a refers to “preservation of the natural character of the coastal environment” – which implicitly includes landscape - and
S6b “the protection of outstanding natural features and landscapes from inappropriate subdivision….”. Unfortunately landscape protection is rarely considered seriously as a major impediment to new sub-divisional developments along areas of largely undeveloped coast. There are compelling reasons for protection of coastal landscape. These include (i) reduction in long term economic return from tourism from ribbon development along the coast, (ii) huge increases in the cost of supplying infrastructure (roading, electricity, water supply, sewage disposal) to remote coastal wild and scenic locations – which the entire community contributes major cost for rather than the select few beneficiaries at the end of the line; and (iii) the improved infrastructure amenities, facilities and economic benefits possible from concentration of capital development into nucleated coastal settlements. But the major problem is the creeping ribbon development along the coast – leading to significant irreversible impact on the “vistas of nature” – especially along the scenic coasts of Northland, the Coromandel Peninsula, the central North Island and the Marlborough Sounds.

text: Urgent need for protection of New Zealand’s coastal landscape Alarm bells for protection of coastal landscape should be well and truly ringing! This is exemplified by the great rush toward “life-style block” subdivision of large coastal tracts (simply glance at the “NZ Herald” Real Estate section), and recent cases such as the University of Auckland’s hedonistic attempt to sell prime coastal land on the scenic Coromandel coastline for development. Coastal landscape protection is already embedded in the Resource Management Act, and most explicitly stated under S6 (“Matters of National Importance”). S6a refers to “preservation of the natural character of the coastal environment” – which implicitly includes landscape - and
S6b “the protection of outstanding natural features and landscapes from inappropriate subdivision….”. Unfortunately landscape protection is rarely considered seriously as a major impediment to new sub-divisional developments along areas of largely undeveloped coast. There are compelling reasons for protection of coastal landscape. These include (i) reduction in long term economic return from tourism from ribbon development along the coast, (ii) huge increases in the cost of supplying infrastructure (roading, electricity, water supply, sewage disposal) to remote coastal wild and scenic locations – which the entire community contributes major cost for rather than the select few beneficiaries at the end of the line; and (iii) the improved infrastructure amenities, facilities and economic benefits possible from concentration of capital development into nucleated coastal settlements. But the major problem is the creeping ribbon development along the coast – leading to significant irreversible impact on the “vistas of nature” – especially along the scenic coasts of Northland, the Coromandel Peninsula, the central North Island and the Marlborough Sounds.

year: 2003

title: Te whakatere waka hourua

authors: Keegan, Te Taka Adrian Gregory

subjects: Waka hourua

abstract: Ko te whakaaturanga i te mahi whakatere waka hourua te kaupapa o tēnei tuhinga roa. 
I roto i te ruangahurutanga o ngā tau kua pahure ake nei he waka hourua kua hangaia i runga i ngā tauira tawhito. Ko ērā ētehi kaumoana ka akongia ngā mahi whakatere waka kia aratakina ai aua waka i runga anō i ngā tohutohu a te taiao anake. I pēnei ai hei whakaora mai anō ngā mātauranga Māori e pā ana ki te whakawhiti moana nui mā runga waka hourua. 
Arā rā tētehi rerenga o te waka hourua nō Aotearoa, ko Te Aurere, i te tau 1995. I wehe te waka whakahirahira nei i Hawai'i, i te 1 o Pipiri, ā, i ū rawa atu ki Rarotonga i te 30 o Pipiri. Ko te kaituhi nei tētehi o ngā kaumoana o runga. Nō reira, he wāhanga nui i roto i te tuhinga roa nei, hei tiro i te mahi whakatere waka hourua i mahingia i taua rerenga moana a Te Aurere. 
Hei whakaatu i te mahi whakatere waka hourua ka whakawehengia kia rima ngā kaupapa nui. He whakatakoto huarahi kia tere ai te waka o te kaipānui i te mahoranui o te tuhinga roa nei.
Tuatahi. He wehe i te tauranga, he peka atu ki te whanga o ngā pukapuka. He utanga ki reira e whakamārama ana i ngā whakapae, i ngā tautohetohe, i ngā whakahē, i ngā whakaae, kua tuhia, kua tāngia ki te pukapuka, kua whakaputaina ki te ao whānui.
Tuarua. He whai i ngā tapuwae o ngā waka hourua kua whakawhiti i ngā moana nui i te ao hou nei. Kua whakarārangitia noa ngā rerenga nei, kia kite ai te kaipānui i rere mā whea ngā waka hourua, i ēnei tau ruangahuru tata nei. 
Tuatoru. Ka whakaritea te waka o te kaipānui mō te whakawhitinga nui. Ka wānangangia ētehi tikanga a te mahi whakatere waka hourua, i te ao hou nei. He ara kia māmā mai ai ngā kōrero i te wāhanga e whai mai ana.
Tuawhā. Ka rere ngātahi mai i te taha o Te Aurere, i āna whakawhitinga mai i Hawai'i tae rawa atu ai ki tōna ūnga, ki Rarotonga. He tātaritanga i taua rerenga i takahia ai i te tau 1995. Ka kitea i pēwhea te mahi whakatere waka. 
Tuarima. Ka hoki kōmuri mai ki te tōpū o ngā whakaaro, ki te whakarāpopototanga o ngā kōrero, ki te whītiki o ngā kī, e whakamārama ana i ngā whakaponotanga i puta nā te tirohanga ki te mahi whakatere waka hourua.

text: Te whakatere waka hourua Ko te whakaaturanga i te mahi whakatere waka hourua te kaupapa o tēnei tuhinga roa. 
I roto i te ruangahurutanga o ngā tau kua pahure ake nei he waka hourua kua hangaia i runga i ngā tauira tawhito. Ko ērā ētehi kaumoana ka akongia ngā mahi whakatere waka kia aratakina ai aua waka i runga anō i ngā tohutohu a te taiao anake. I pēnei ai hei whakaora mai anō ngā mātauranga Māori e pā ana ki te whakawhiti moana nui mā runga waka hourua. 
Arā rā tētehi rerenga o te waka hourua nō Aotearoa, ko Te Aurere, i te tau 1995. I wehe te waka whakahirahira nei i Hawai'i, i te 1 o Pipiri, ā, i ū rawa atu ki Rarotonga i te 30 o Pipiri. Ko te kaituhi nei tētehi o ngā kaumoana o runga. Nō reira, he wāhanga nui i roto i te tuhinga roa nei, hei tiro i te mahi whakatere waka hourua i mahingia i taua rerenga moana a Te Aurere. 
Hei whakaatu i te mahi whakatere waka hourua ka whakawehengia kia rima ngā kaupapa nui. He whakatakoto huarahi kia tere ai te waka o te kaipānui i te mahoranui o te tuhinga roa nei.
Tuatahi. He wehe i te tauranga, he peka atu ki te whanga o ngā pukapuka. He utanga ki reira e whakamārama ana i ngā whakapae, i ngā tautohetohe, i ngā whakahē, i ngā whakaae, kua tuhia, kua tāngia ki te pukapuka, kua whakaputaina ki te ao whānui.
Tuarua. He whai i ngā tapuwae o ngā waka hourua kua whakawhiti i ngā moana nui i te ao hou nei. Kua whakarārangitia noa ngā rerenga nei, kia kite ai te kaipānui i rere mā whea ngā waka hourua, i ēnei tau ruangahuru tata nei. 
Tuatoru. Ka whakaritea te waka o te kaipānui mō te whakawhitinga nui. Ka wānangangia ētehi tikanga a te mahi whakatere waka hourua, i te ao hou nei. He ara kia māmā mai ai ngā kōrero i te wāhanga e whai mai ana.
Tuawhā. Ka rere ngātahi mai i te taha o Te Aurere, i āna whakawhitinga mai i Hawai'i tae rawa atu ai ki tōna ūnga, ki Rarotonga. He tātaritanga i taua rerenga i takahia ai i te tau 1995. Ka kitea i pēwhea te mahi whakatere waka. 
Tuarima. Ka hoki kōmuri mai ki te tōpū o ngā whakaaro, ki te whakarāpopototanga o ngā kōrero, ki te whītiki o ngā kī, e whakamārama ana i ngā whakaponotanga i puta nā te tirohanga ki te mahi whakatere waka hourua.

year: 1996