Publications

Sankaran, S & Sng, H 2001, 'An action learning experience to change a work model in Yokogawa: Through a real project' in Sankaran, S, Dick, B, Passfield, R & Swepson, P (eds), Effective Change Management Using Action Learning and Action Research, Southern Cross University Press, Lismore, Australia, pp. 259-268.

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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Huang, S & Lam, J 2001, 'Local stabilization of uncertain time-delay systems with saturating actuators', Dynamics of Continuous, Discrete and Impulsive Systems Series B: Application and Algorithm, vol. 8, no. 3, pp. 375-393.
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This paper considers the problem of local stabilization of uncertain continuous-time systems with time-delay and saturating actuators. A new closed-loop stability theorem based on the Lyapunov-Krasovskii stability theorem is obtained. Moreover, two methods are given to design a state feedback controller such that the stability region of the resultant closed-loop system is enlarged. Both the controller and the bound of the safe initial conditions can be obtained by solving LMI problems. Numerical examples are employed to demonstrate the effectiveness of the proposed techniques.

Huang, S, Lam, J & Yang, GH 2001, 'Reliable linear-quadratic control for symmetric composite systems', International Journal of Systems Science, vol. 32, no. 1, pp. 73-82.
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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.

Stanley, C, Temkin, B, Dev, P, Heinrichs, WL, Srivastava, S & Waldron, K 2001, 'Networked stereoscopic virtual environment system', Proceedings 14th IEEE Symposium on Computer-Based Medical Systems. CBMS 2001, pp. 400-406.
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Advanced collaborative display systems allow users to view a computing 'desktop' environment in a platform and location independent fashion. For real-time considerations, these systems become computationally very challenging, especially when video-streaming is included. The addition of stereoscopic video streaming is desirable in Virtual Environments (VE) created for the teaching of anatomy and surgery with real-time collaborative audio and video interactions at many locations. However this stresses the real-time requirements to the point at which realistic video is difficult to assure. For such a system to work, it is imperative that timing data be collected, analyzed, and understood. In this paper, we describe an experimental system designed primarily for collection of timing data required for robust collaborative medical training applications. The networked stereoscopic system uses a server-swappable multicast network protocol to stream real-time manipulations of 3D Virtual Body Structures (VBS) at th e server site to all clients participating in the multicast session. The three visual modes (mono, psa, and asi) have dynamic tuning parameters for adjusting the parallax and the focal point for the rendered scene, allowing users to define individual stereoscopic comfort zones. Our main result demonstrates that optimizing the graphics module is critical in achieving the necessary rendering rates. Different techniques of utilizing various memory resources increased the number of polygons rendered per second by over seven million. Depending on the type of memory used the number of polygons rendered per second varies from 2.25 to 9.12 million.

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.

Xu, S, Lam, J, Huang, S & Yang, C 2001, 'H₈model reduction for linear time-delay systems: Continuous-time case', International Journal of Control, vol. 74, no. 11, pp. 1062-1074.
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Zheng, L, Huang, S & Liu, X 2001, 'Robust H∞ output feedback control for a class of uncertain linear systems with time-delay', Kongzhi Lilun Yu Yingyong/Control Theory and Applications, vol. 18, no. 6, pp. 935-938.

Dev, P, Heinrichs, WL, Srivastava, S, Montgomery, KN, Senger, S, Temkin, B, Hasser, C, Latombe, JC, Heegaard, J, Youngblood, P, Friedman, CP & Waldron, K 1970, 'Simulated learning environments in anatomy and surgery delivered via the Next Generation Internet', MEDINFO 2001: PROCEEDINGS OF THE 10TH WORLD CONGRESS ON MEDICAL INFORMATICS, PTS 1 AND 2, World Congress on Medical Informatics, London, UK, pp. 1014-1018.

Fitch, R, Butler, Z, Rus, D, IEEE & IEEE 1970, '3D rectilinear motion planning with minimum bend paths', IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE Conference on Intelligent Robots and Systems (IROS 2001), IEEE, MAUI, HI, pp. 1491-1498.

Kim, JH, Sukkarieh, S, Nebot, EM & Guivant, J 1970, 'On the effects of using heading information during inflight alignment of low-cost IMU/GPS integrated system', International Conference of Field and Service Robotics, pp. 55-60.

Sukkarieh, S, Nebot, E, Kim, J, Stevens, M & Grocholsky, B 1970, 'The Implementation of GPS in Field Robotics', International Symposium on Satellite Navigation Technology and Applications, Brisbane.

Wang, H, Lam, J, Xu, S & Huang, S 1970, 'Reliable control for uncertain neutral delay systems with actuator failures', Proceeding of the 3rd International Conference on Control Theory and Applications, IEEE, Pretoria, South Africa, pp. 589-593.

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, 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

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.

Yang, PH & Waldron, KJ 1970, 'Massively parallel actuation', IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Como, Italy, pp. 868-873.
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The objective of the work described in this paper is the examination of the design and control opportunities presented by systems with large numbers of small, two-state actuators acting in parallel. An array of two-state actuators, i.e. a bundle of binary actuators, can be regarded as a simplified model of biological muscle. In recent years, the development of MEMS (Micro-Electromechanical Systems) has shown a great potential for building mechanical elements in a very small scale. However, there are sortie other issues for integrating a parallel array system that cannot be solved by advances of material research alone. From the mechanical designer's point of view, large numbers of active elements have to be deployed at appropriate locations in the system. For control purposes, if a binary system is intended, the mathematical model can be very different from that of hyper-redundant manipulators. In addition to theoretical development, two experiments, one for investigating static problems and one for inve stigating dynamic problems, will also be described in the paper.

Teoh, EK, Wijesoma, WS, Wang, DW, Balasuriya, A, Kodagoda, S & Lu, Z 2001, Development of a Test-Bed for Outdoor AGV, pp. 70-71, Nanyang Technological University, Singapore.