Publications

Fang, G & Dissanayake, MWMG 1998, 'A neural network-based method for time-optimal trajectory planning', Robotica, vol. 16, no. 2, pp. 143-158.
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Planning appropriate trajectories can significantly increase the productivity of robot systems. To plan realistic time-optimal trajectories, the robot dynamics have to be described precisely. In this paper, a neural network based algorithm for time-optimal trajectory planning is introduced. This method utilises neural networks for representing the inverse dynamics of the robot. As the proposed neural networks can be trained with data obtained from exciting the robot with given torque inputs, they will capture the complete dynamics of the robot system. Threfore, the trajectories generated will be more realistic than those obtained by using nominal dynamic equations based on nominal parameters. Time-optimal trajectories are generated for a PUMA robot to demonstrate the proposed method.

Huang, S & Zhang, S 1998, 'Comments on 'design of decentralized control for symmetrically interconnected systems'', Automatica, vol. 34, no. 7, pp. 929-933.
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It is shown in this note that the Lemma in Kashlan and Geneidy (1996) is not correct. Moreover, two kinds of decentralized pole assignment problems for symmetrically interconnected systems are studied and lower-dimensional necessary and sufficient conditions for the problems to be solvable are presented. © 1998 Elsevier Science Ltd. All rights reserved.

Huang, S & Zhang, S 1998, 'Structural properties of circulant composite systems', Zidonghua Xuebao/Acta Automatica Sinica, vol. 24, no. 6, pp. 798-801.
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The structural properties of circulant composite systems is studied. It is shown that the structural controllability and existence of structurally fixed modes for such a system can be determined by the corresponding properties of its modified subsystem.

Huang, S & Zhang, S 1998, 'The solving of Riccati equations for large-scale systems with symmetric circulant structure', Kongzhi Lilun Yu Yingyong/Control Theory and Applications, vol. 15, no. 1.
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This paper discusses the solving of the algebraic Riccati equations and the Lyapunov matrix equations for large-scale systems with symmetric circulant structure. It is shown that the solving of the algebraic Riccati equations and the Lyapunov matrix equations for such a system can be simplified by solving N/2+1 independent equations of dimension N times smaller than the original equations. As an application, the problems of the linear quadratic optimal control and the robust linear quadratic optimal control for such a system can also be simplified.

LEE, KY & DISSANAYAKE, MWMG 1998, 'NUMERICAL SOLUTION FOR A NEAR-MINIMUM-TIME TRAJECTORY FOR TWO COORDINATED MANIPULATORS', Engineering Optimization, vol. 30, no. 3-4, pp. 227-247.
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Li, QS, Fang, JQ, Liu, DK & Jeary, AP 1998, 'Vibration analysis of tall buildings with narrow rectangular plane configuration', Structural Design of Tall Buildings, vol. 7, no. 4, pp. 307-322.
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In this paper, tall buildings of narrow rectangular plane configuration are treated as one-step or multi-step cantilever flexural-shear plates for the analysis of their free vibrations. The governing differential equations for the vibration of flexural-shear plates considering the effects of both flexural and shear deformation are established. The general solutions for one-step flexural-shear plates are derived and used to obtain the eigenvalue equation for multi-step cantilever flexural-shear plates. A new exact approach is presented which combines the transfer matrix method and a closed-form solution for a uniform flexural-shear plate. A numerical example demonstrates that the calculated natural frequencies and mode shapes of a tall building are in good agreement with the experimentally measured data. It is also shown that the effect of shear deformation on the fundamental natural frequency can be ignored, but its effect on the higher natural frequencies should be considered. © 1998 John Wiley & Sons, Ltd.

Li, QS, Fang, JQ, Liu, DK & Jeary, AP 1998, 'Vibration analysis of tall buildings with narrow rectangular plane configuration', The Structural Design of Tall Buildings, vol. 7, no. 4, pp. 307-322.
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Hubert, CJ, Waldron, KJ & Venkataraman, SC 1970, 'Dynamic and Static Simulators for Wheeled Vehicles', Robotics 98, Third ASCE Specialty Conference on Robotics for Challenging Environments, American Society of Civil Engineers, pp. 216-222.
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Terrain adaptive wheeled vehicles offer great promise for locomotion on rugged terrain. In order to properly design terrain adaptive vehicles or control schemes for such vehicles, one needs an effective simulator. Many simulators are based on detailed dynamic analysis. Featherstone's method of articulated inertias makes such dynamic simulators reasonably efficient. However, rover vehicles often operate at low speeds that make the dynamic analysis unnecessary. A simpler approach is to use only velocity and position information to obtain the next state. Simulation on rugged terrain requires the program to account for gravitational and contact forces. An algorithm using potential energy methods is proposed as an alternate rough terrain simulator. © 1998 American Society of Civil Engineers.

Kim, J, Moon, SW, Hwang, D & Lee, SJ 1970, 'SDINS Initial Alignment System using RISC CPU board', Korean Automatic Control Conference.

Kim, J, Moon, SW, Hwang, D, Ra, S & Lee, SJ 1970, 'Loosely-coupled GPS/INS Integration System', The 5th Korean GNSS workshop.

Louda, MA, Rye, DC, Dissanayake, MWMG & Durrant-Whyte, HF 1970, 'INS-based identification of quay-crane spreader yaw', Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), IEEE International Conference on Robotics and Automation, IEEE, KATHOLIEKE UNIV LEUVEN, LEUVEN, BELGIUM, pp. 3310-3315.
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Madhavan, R, Dissanayake, G & Durrant-Whyte, H 1970, 'Map-building and map-based localization in an underground-mine by statistical pattern matching', Proceedings. Fourteenth International Conference on Pattern Recognition (Cat. No.98EX170), Fourteenth International Conference on Pattern Recognition, IEEE Comput. Soc, AUSTRALIA, BRISBANE, pp. 1744-1746.
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Madhavan, R, Dissanayake, MWMG & Durrant-Whyte, HF 1970, 'Autonomous underground navigation of an LHD using a combined ICP-EKF approach', Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), IEEE International Conference on Robotics and Automation, IEEE, KATHOLIEKE UNIV LEUVEN, LEUVEN, BELGIUM, pp. 3703-3708.
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Shoudong Huang & Siying Zhang 1970, 'Decentralized fault tolerant stabilization for symmetric composite systems', Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207), Proceedings of the 1998 American Control Conference (ACC), IEEE, PHILADELPHIA, PA, pp. 2477-2480 vol.4.
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Waldron, KJ 1970, 'Lower-Pair Joint Geometry', Volume 1B: 25th Biennial Mechanisms Conference, ASME 1998 Design Engineering Technical Conferences, American Society of Mechanical Engineers.
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Abstract This paper contains a geometrically based proof that the six lower pair joint types identified by Reuleaux are the only possible kinematic joints for which contact occurs solely over surfaces. The surface geometries for which line contact can occur and the relationship between the geometry of the contacting surfaces and the connectivity, or number of degrees of freedom of the joint is also discussed.