Publications

Dissanayake, G 2001, 'Introduction', ROBOTICA, vol. 19, pp. 465-466.
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Dissanayake, G & Fang, G 2001, 'Minimum-time trajectories for reducing load sway in quay-cranes', ENGINEERING OPTIMIZATION, vol. 33, no. 5, pp. 643-662.
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Dissanayake, G, Sukkarieh, S, Nebot, E & Durrant-Whyte, H 2001, 'The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications', IEEE Transactions on Robotics and Automation, vol. 17, no. 5, pp. 731-747.
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Dissanayake, MWMG, Newman, P, Clark, S, Durrant-Whyte, HF & Csorba, M 2001, 'A solution to the simultaneous localization and map building (SLAM) problem', IEEE Transactions on Robotics and Automation, vol. 17, no. 3, pp. 229-241.
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Gorrie, C, Duflou, J, Brown, J, Gibson, T & Waite, PME 2001, 'Extent and Distribution of Vascular Brain Injury in Pediatric Road Fatalities', Journal of Neurotrauma, vol. 18, no. 9, pp. 849-860.
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This study used a multidisciplinary approach to examine the brains of pediatric road trauma fatalities in the Sydney area over a 3-year period. The brains of 32 children (0-16 years) were examined: 20 pedestrians, nine passengers, and three cyclists. The

Ji, JC 2001, 'Local bifurcation control of a forced single-degree-of-freedom nonlinear system: Saddle-node bifurcation', NONLINEAR DYNAMICS, vol. 25, no. 4, pp. 369-382.
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It is well known that saddle-node bifurcations can occur in the steady-state response of a forced single-degree-of-freedom (SDOF) nonlinear system in the cases of primary and superharmonic resonances. This discontinuous or catastrophic bifurcation can lead to jump and hysteresis phenomena, where at a certain interval of the control parameter, two stable attractors exist with an unstable one in between. A feedback control law is designed to control the saddle-node bifurcations taking place in the resonance response, thus removing or delaying the occurrence of jump and hysteresis phenomena. The structure of candidate feedback control law is determined by analyzing the eigenvalues of the modulation equations. It is shown that three types of feedback - linear, nonlinear, and a combination of linear and nonlinear - are adequate for the bifurcation control. Finally, numerical simulations are performed to verify the effectiveness of the proposed feedback control.

Ji, JC & Hansen, CH 2001, 'Non-linear oscillations of a rotor in active magnetic bearings', JOURNAL OF SOUND AND VIBRATION, vol. 240, no. 4, pp. 599-612.
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The non-linear response of a rotor supported by active magnetic bearings is investigated, and both primary and internal resonances are considered. The method of multiple scales is used to obtain four first order ordinary differential equations that describe the modulation of the amplitudes and phases of vibrations in the horizontal and vertical directions. The steady state response and the stability of the solutions are determined numerically from the reduced system. It is shown that the steady state solutions lose their stability by either saddle-node bifurcation or Hopf bifurcation. In the regime of multiple coexisting solutions, two stable solutions are found. The effect of imbalance eccentricity, as well as the effect of the proportional and derivative gains of the controller on the non-linear response of the system, are studied. Finally, numerical simulations are performed to verify the analytical predictions.

Lee, KY & Dissanayake, MWMG 2001, 'Dynamic modelling and motion planning for a hybrid legged—wheeled mobile vehicle', Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 215, no. 1, pp. 7-25.
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This paper presents the dynamic modelling and energy-optimal motion planning of a hybrid legged-wheeled mobile vehicle. The equations describing the dynamic behaviour of such vehicles are complex. Kane's method and the Autolev symbolic manipulation package was used in the dynamic modelling. A state parameterization method is used to synthesize the leg trajectories for the hybrid vehicle. The resulting energy-optimal gait is experimentally evaluated to show the effectiveness and feasibility of the path planned.

Leung, AWT, Tam, CM & Liu, DK 2001, 'Comparative study of artificial neural networks and multiple regression analysis for predicting hoisting times of tower cranes', Building and Environment, vol. 36, no. 4, pp. 457-467.
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Li, QS, Fang, JQ, Jeary, AP & Liu, DK 2001, 'Decoupling control law for structural control implementation', International Journal of Solids and Structures, vol. 38, no. 34-35, pp. 6147-6162.
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Li, QS, Yang, LF, Ou, XD, Li, GQ & Liu, DK 2001, 'The quintic finite element and finite strip with generalized degrees of freedom in structural analysis', International Journal of Solids and Structures, vol. 38, no. 30-31, pp. 5355-5372.
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Luo, QZ, Li, QS, Liu, DK & Yang, LF 2001, 'A modified finite segment method for thin-walled single-cell box girders with shear lag', Proceedings of the Institution of Civil Engineers - Structures and Buildings, vol. 146, no. 1, pp. 41-46.
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This paper presents a modified finite segment method for shear-lag analysis of thin-walled box girders. The method is based on the hypothesis that the warping displacement of a flange plate is governed by a third-order parabolic curve. Based on the principle of minimum potential energy, the governing differential equations with two unknown displacement functions are derived. The homogeneous solutions of the differential equations are used to represent the displacement functions of the finite element. By mean of the variational principle, the element stiffness equation is developed and the normal longitudinal stresses taking into account the shear lag are obtained. To verify the accuracy of the proposed method, three experiments are conducted so that the present results are compared with those obtained by the model tests and other methods.

Luo, QZ, Li, S, Liu, DK & Yang, LF 2001, 'A modified finite segment method for thin-walled single-cell box girders with shear lag', Proceedings of the Institution of Civil Engineers: Structures and Buildings, vol. 146, no. 1, pp. 41-46.
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This paper presents a modified finite segment method for shear-lag analysis of thin-walled box girders. The method is based on the hypothesis that the warping displacement of a flange plate is governed by a third-order parabolic curve. Based on the principle of minimum potential energy, the governing differential equations with two unknown displacement functions are derived. The homogeneous solutions of the differential equations are used to represent the displacement functions of the finite element. By mean of the variational principle, the element stiffness equation is developed and the normal longitudinal stresses taking into account the shear lag are obtained. To verify the accuracy of the proposed method, three experiments are conducted so that the present results are compared with those obtained by the model tests and other methods.

Wang, LJ, Liu, LZ & Wei, DB 2001, 'Dynamic Respond of Internal Crackle Spread in Steel 45 Cylinder', Journal of Iron and Steel Research International, vol. 13, no. 2, pp. 36-38.
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The dynamic respond behavior of internal crack spread for steel 45 at high impact speed was analysed by artificially manufacturing internal crack and the crack spread mechanism can be explained by the elastic-plastic wave theory. The results showed that the internal crack has stable spread characteristics and its plastic strain speed ratio is relatively stable.

Williams, S, Dissanayake, G & Durrant-Whyte, H 2001, 'Towards terrain-aided navigation for underwater robotics', ADVANCED ROBOTICS, vol. 15, no. 5, pp. 533-549.
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Williams, SB, Newman, P, Rosenblatt, J, Dissanayake, G & Durrant-Whyte, H 2001, 'Autonomous underwater navigation and control', ROBOTICA, vol. 19, no. 5, pp. 481-496.

Huynh, P 1970, 'Influence of temperature boundary conditions in the wire-coated process', 14th Australasian Fluid Mechanics Conference, 14th Australasian Fluid Mechanics Conference, Adelaide University, Adelaide, Australia.

Parmigiani, H, Revel, A & Huynh, P 1970, 'Residual Swiral in Axial-Flow Pump', 14th Australasian Fluid Mechanics Conference, 14th Australasian Fluid Mechanics Conference, Adelaide University, Adelaide, Australia.

Ranasinghe, RS, Andrew, LLH, Hayes, DA & Everitt, D 1970, 'Scheduling disciplines for multimedia WLANs: embedded round robin and wireless dual queue', ICC 2001. IEEE International Conference on Communications. Conference Record (Cat. No.01CH37240), International Conference on Communications, IEEE, HELSINKI, FINLAND, pp. 1243-1248.
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Wijesoma, WS & Kodagoda, KRS 1970, 'Experimental Evaluation of Fuzzy Controllers for an Outdoor AGV', Proceedings of the International Conference, 7th Fuzzy Days on Computational Intelligence, Theory and Applications, International Conference, 7th Fuzzy Days on Computational Intelligence, Theory and Applications, Springer Berlin Heidelberg, Germany, pp. 103-117.
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Wijesoma, WS, Kodagoda, KRS, Balasuriya, AP & Teoh, EK 1970, 'Laser and camera for road edge and mid-line detection', Proceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535), Second International Workshop on Robot Motion and Control. RoMoCo'01, Poznan Univ. Technol, BUKOWY DWOREK, POLAND, pp. 269-274.
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Wijesoma, WS, Kodagoda, KRS, Balasuriya, AP & Teoh, EK 1970, 'Road edge and lane boundary detection using laser and vision', Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), RSJ/IEEE International Conference on Intelligent Robots and Systems, IEEE, Maui, USA, pp. 1440-1445.
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This paper presents a methodology for extracting road edge and lane information for smart and intelligent navigation of vehicles. The range information provided by a fast laser range-measuring device is processed by an extended Kalman filter to extract the road edge or curb information. The resultant road edge information is used to aid in the extraction of the lane boundary from a CCD camera image. Hough Transform (HT) is used to extract the candidate lane boundary edges, and the most probable lane boundary is determined using an Active Line Model based on minimizing an appropriate Energy function. Experimental results are presented to demonstrate the effectiveness of the combined Laser and Vision strategy for road-edge and lane boundary detection.

Wijesoma, WS, Kodagoda, S, Balasuriya, A & Teoh, EK 1970, 'Laser and Camera for Road Edge and Mid-line Detection', Proceedings of the Second International Workshop on Robot Motion And Control, International Workshop on Robot Motion And Control, IEEE, Poland, pp. 269-274.
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Presents a methodology for extracting road edge and lane information for smart and intelligent navigation of vehicles. The range information provided by a fast 2D laser range-measuring device is processed by an extended Kalman filter to extract the road edge or curb information. The resultant road edge information is used to aid in the extraction of the mid-line from a CCD camera image using an extended Kalman filter. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision strategy for road-edge and lane detection