Fitch, R & Rus, D 2003, 'Self-Reconfiguring Robots in the USA', Journal of the Robotics Society of Japan, vol. 21, no. 8, pp. 832-838.
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Göktoğan, AH, Sukkarieh, S, Işikyildiz, G, Nettleton, E, Ridley, M, Kim, J-H, Randle, J & Wishart, S 2003, 'The Real-Time Development and Deployment of a Cooperative Multi-UAV System', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2869, pp. 576-583.
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This paper presents a systems view of the Autonomous Navigation and Sensing Experimental Research (ANSER) project. ANSER is one of the most advanced UAV projects of its kind, which is aimed at demonstrating Decentralised Data Fusion (DDF) and Simultaneous Localisation and Map (SLAM) building on multiple cooperative UAVs. The demonstration of DDF and SLAM require both navigation and terrain sensors to be carried onboard by the UAVs. These include an INS/GPS navigation system, millimeter wave (MMW) radar, and both a single vision node and a vision node augmented with a laser system. This paper presents the implementation of the algorithms, sensors and platforms, along with their interaction to address this demonstration. Furthermore, the paper will present the high fidelity real time simulator which is implemented to thoroughly test all algorithms and sensors before actual implementation in the environment. © Springer-Verlag Berlin Heidelberg 2003.
Li, QS, Fang, JQ, Liu, DK & Tang, J 2003, 'Failure probability prediction of concrete components', Cement and Concrete Research, vol. 33, no. 10, pp. 1631-1636.
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In order to predict the probability of failure for brittle fracture of concrete components under multiaxial stress states, the imperfections of concrete components are modeled as cracks with different shapes in this paper. A new probability distribution function for evaluating the failure probability of concrete components is proposed. A simplified measurement method for determining the parameters of the governing Weibull distribution, using the three-point bending test, is presented and discussed. The experimental results of the combined bending/torsion failure tests of concrete components verify that the proposed crack model is more reasonable than the Batdorf's crack model and the proposed prediction formula can evaluate the failure probability of concrete components accurately. © 2003 Elsevier Ltd. All rights reserved.
Liu, DK, Yang, YL & Li, QS 2003, 'Optimum positioning of actuators in tall buildings using genetic algorithm', Computers & Structures, vol. 81, no. 32, pp. 2823-2827.
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An effective method for determining the optimal position of actuators in tall buildings using genetic algorithm is introduced through the formulation of a discrete and non-linear optimization problem. The simulation study is carried out for a 16-story building under 18 different earthquake excitations. The effects of different earthquake excitations on the optimal placement of actuators and on the proposed optimization algorithm are thus examined. © 2003 Elsevier Ltd. All rights reserved.
Marhefka, DW, Orin, DE, Schmiedeler, JP & Waldron, KJ 2003, 'Intelligent control of quadruped gallops', IEEE/ASME Transactions on Mechatronics, vol. 8, no. 4, pp. 446-456.
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In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride. Training of the controller is accomplished not with a mathematical model, but with simple rules based on a heuristic knowledge of the quadruped mechanics. The result is a controller that produces better velocity and height tracking characteristics than a Raibert-based controller and is robust to modeling errors. Additionally, by making use of the natural dynamics of the system, gait characteristics comparable to biological quadrupeds result. The status of a legged machine being constructed for demonstration of the control approach and further study of the characteristics of galloping is also presented.
Shoudong Huang & James, MR 2003, 'l/sup ∞/ -bounded robustness for nonlinear systems: analysis and synthesis', IEEE Transactions on Automatic Control, vol. 48, no. 11, pp. 1875-1891.
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The purpose of this paper is to describe systematic analysis and design tools for robust control problems with l∞ criteria. We first generalize the Hill-Moylan-Willems framework for dissipative systems to accommodate l∞ criteria, and then derive state feedback and measurement feedback synthesis procedures for l∞ robust control problems. The information state framework is used for the measurement feedback robust control problem. Necessary and sufficient conditions are proved, and new synthesis procedures using dynamic programming are presented.
Sukkarieh, S, Nettleton, E, Kim, J-H, Ridley, M, Goktogan, A & Durrant-Whyte, H 2003, 'The ANSER Project: Data Fusion Across Multiple Uninhabited Air Vehicles', The International Journal of Robotics Research, vol. 22, no. 7-8, pp. 505-539.
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The objective of the autonomous navigation and sensing experiment research (ANSER) project is to demonstrate decentralized data fusion (DDF) and simultaneous localization and map building (SLAM) across multiple uninhabited air vehicles (UAVs). To achieve this objective, the project specifies the development of four UAVs, where each UAV houses up to two terrain sensors and an INS/GPS navigation system. The terrain sensors include a scanning radar, laser/vision and standard vision system. The DDF concept has to be shown to be effective both on a single UAV and on multiple UAVs. The proof of the concept will lie in the ability of the DDF structure to conduct multi-target tracking problems as well as SLAM. To obtain this goal, a number of subgoals are required, most of which have never been attempted before on a research level. The objective of this paper is to present these goals as an overview of the ANSER project along with some simulated and real-time results.
Williams, SB, Durrant-Whyte, H & Dissanayake, G 2003, 'Constrained initialization of the simultaneous localization and mapping algorithm', INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol. 22, no. 7-8, pp. 541-564.
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In this paper we present a novel feature initialization technique for the Simultaneous Localization and Mapping (SLAM) algorithm. The initialization scheme extends previous approaches for identifying new confirmed features and is shown to improve the steady-state performance of the filter by incorporating tentative features into the filter as soon as they are observed. Constraints are then applied between multiple feature estimates when a feature is confirmed. Observations that are subsequently deemed as spurious are removed from the state vector after an appropriate timeout. It is shown that information that would otherwise be lost can therefore be used consistently in the filter. Results of this algorithm applied to data collected using a submersible vehicle are also shown.
Zhang, N, Crowther, A, Liu, DK & Jeyakumaran, J 2003, 'A Finite Element Method for the Dynamic Analysis of Automatic Transmission Gear Shifting with a Four-Degree-of-Freedom Planetary Gearset Element', Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 217, no. 6, pp. 461-473.
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A dynamic model of a passenger car automatic transmission and driveline is developed for simulating transient torsional vibration in gearshifts. A finite element method is proposed for presenting the transient dynamics of the parametric system, element matrices are defined and then global inertial, stiffness and damping matrices are formulated corresponding to the defined global coordinate vectors. A four-degree-of-freedom matrix element is developed that describes the rigid body dynamics of the planetary gear set and is then integrated with the driveline system; this element captures the parametric change while the transmission speed ratios vary over gearshifts. Free vibration analysis and a transient 2-3 upshift simulation are discussed and results presented.
Dutta-Roy, T, Zhang, N, Dissanayake, G & Wang, M 1970, 'Free Vibrational Analysis of Vehicle Powertrain Equipped With a Half Toroidal CVT', Proceedings of the 10th Asia-Pacific Vibration Conference, Asia Pacific Vibration Conference, Queensland University of Technology, Gold Coast, Queensland, Australia, pp. 109-114.
Fitch, R, Butler, Z, Rus, D, IEEE & IEEE 1970, 'Reconfiguration planning for heterogeneous self-reconfiguring robots', IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, LAS VEGAS, NV, pp. 2460-2467.
Furukawa, T, Durrant-Whyte, HF, Bourgault, F, Dissanayake, G, IEEE & IEEE 1970, 'Time-optimal coordinated control of the relative formation of multiple vehicles', 2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE International Symposium on Computational Intelligence in Robotics and Automation, IEEE Operations Centre, Kobe, Japan, pp. 259-264.
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This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.
Furukawa, T, Durrant-Whyte, HF, Dissanayake, G, Sukkarieh, S, IEEE & IEEE 1970, 'The coordination of multiple UAVs for engaging multiple targets in a time-optimal manner', IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Service Centre, Las Vegas, USA, pp. 36-41.
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This paper presents a solution to the real-time control of cooperative unmanned air vehicles (UAVs) that engage multiple targets in a time-optimal manner. Techniques to dynamically allocate vehicles to targets and to find the time-optimal control actions of vehicles are proposed. The effectiveness of the time-optimal control technique is first demonstrated through numerical examples. The proposed strategy is then applied to a practical battlefield problem where ten vehicles are required to engage four targets, and numerical results show the efficiency of the proposed strategy.
Gökto ugan, AH, Sukkarieh, S, I csikyildiz, G, Nettleton, E, Ridley, M, Kim, J, Randle, J & Wishart, S 1970, 'The real-time development and deployment of a cooperative multi-UAV system', Proceedings of International Symposium on Computer and Information Sciences, pp. 570-577.
Goktogan, AH, Furukawa, T, Mathews, G, Sukkarieh, S & Dissanayake, G 1970, 'Time-Optimal Cooperation of Multiple UAVs in Real-Time Simulation', Proceedings of the 2nd Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2003), International Conference on Computational Intelligence, Robotics and Autonomous Systems, National University of Singapore, Singapore, pp. 1-6.
Huang, S, James, MR, Nesic, D & Dower, P 1970, 'On practical input to state stabilization for nonlinear discrete-time systems: A dynamic programming approach', 2003 European Control Conference (ECC), 2003 European Control Conference (ECC), IEEE, University of Cambridge, UK, pp. 77-82.
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Jong-Hyuk Kim & Sukkarieh, S 1970, 'Airborne simultaneous localisation and map building', 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), IEEE International Conference on Robotics and Automation. IEEE ICRA 2003, IEEE, IEEE, pp. 406-411.
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Kim, JH & Sukkarieh, S 1970, 'A baro-altimeter augmented INS/GPS navigation system for an uninhabited aerial vehicle', Int. Symp. on Satellite Navigation Technologys.
Kwok, N & Dissanayake, G 1970, 'Bearing-only SLAM in Indoor Environments Using a Modified Particle Filter', Proceedings of the Australasian Conference on Robotics & Automation 2003, Australasian Conference on Robotics and Automation, University of Queensland, Brisbane, Australia, pp. 1-8.
Kwok, N & Dissanayake, G 1970, 'Simultaneous Localization and Mapping in Unstructured Indoor Environments', Proceedings for the 2nd International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2003), International Conference on Computational Intelligence, Robotics and Autonomous Systems, Centre for Intelligent Control, National University of Singapore, Singapore, pp. 1-6.
Liu, D, Lau, H & Dissanayake, G 1970, 'A Hierachical Approach and A Multilevel Genetic Algorithm For Vehicle Path Plan', Proceedings of International Conference on Computational Intelligence, Robotics and Autonomous Systems, International Conference on Computational Intelligence, Robotics and Autonomous Systems, Centre for Intelligent Control, National University of Singapore, Singapore, pp. 1-6.
Ong, LL, Ridley, M, Kim, J, Nettleton, E, Sukkarieh, S & others 1970, 'Six dof decentralised SLAM', Australasian Conference on Robotics and Automation, pp. 10-16.
Palmer, LR, Orin, DE, Marhefka, DW, Schmiedeler, JP & Waldron, KJ 1970, 'Intelligent control of an experimental articulated leg for a galloping machine', 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), IEEE International Conference on Robotics and Automation. IEEE ICRA 2003 Conference Proceedings, IEEE, Taipei, Taiwan, pp. 3821-3827.
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Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be used on a high-speed galloping quadruped. Intelligent methods are compared to other control methods in simulation and on the OSU DASH (Dynamic Articulated Structure for High-performance) leg. It is shown that the intelligent controllers outperform non-learning methods. Using fuzzy control, the OSU DASH leg performs stable hopping on a treadmill moving at 2.0 m/s.
Shoudong Huang, James, MR, Nesic, D & Dower, P 1970, 'Analysis of input to state stability for discrete time nonlinear systems via dynamic programming', 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), 42nd IEEE International Conference on Decision and Control, IEEE, Hyatt Regency Maui, Hawaii, USA, pp. 5068-5073.
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Singh, SPN & Waldron, KJ 1970, 'GL-Link: A Novel Telerobotics-Based Platform Supporting Distributed Mechatronic Research Via the Internet', Computers and Information in Engineering, ASME 2003 International Mechanical Engineering Congress and Exposition, ASMEDC, Washington DC, USA, pp. 15-20.
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Mechatronics and robotics research efforts of large complexity are increasingly interdisciplinary involving collaboration between software, hardware, controls, and scientific teams. Traditionally, the level of integration has either required repeated site-visits or location of the teams at a common site. As the teams become increasingly diverse and disperse, there is a need for distributed operations platform that not only facilitates smooth communications, but also allows for remote experimentation and control of a common robot or device. By separating the principal design functions, a modular communications platform was developed to support the distance learning and experimental requirements of ambitious mechatronic development projects. This separation results in a modular system that is scalable and customizable to the particular conditions governing an experiment. The platform leverages off-the-shelf hardware and software and the presence of Internet connectivity. Where possible, open-source options were used to make the platform extensible to a variety of platforms and applications. The system is modular and consists of: a video observation/conferencing module, a file-transfer module, and a robot teleoperation module. This allowed multiple teams to test the operation of a robot independently and asynchronously without corrupting the work being conducted by another team member. It also allowed for new forms of interaction and reduced the need for travel between the multiple geographically-distributed research teams. Novel features of this work include a modular multiplatform architecture and an integration of basic telerobotics principles to extend PC-based collaboration/conferencing technologies from a basic communications platform to a means for supporting multi-site (robotics) research experiments. This paper describes the design considerations and evaluations associated with the development of the Great Little Inter link (GL-Link) archi...
Takezawa, S & Dissanayake, G 1970, 'Autonomous Robot Control Applied for Slam Problem At Indoor Stereo Artificial Landmarks', Proceedings of the 10th Asia-Pacific Vibration Conference, Asia Pacific Vibration Conference, Queensland University of Technology, Gold Coast, Queensland, Australia, pp. 893-898.
Thornhill, L, Walls, A, Arkin, R, Beno, J, Bergh, C, Bresie, D, Giovannetti, A, Gothard, B, Matthies, L, Nogueiro, P, Scanlon, J, Scott, R, Simon, M, Smith, W & Waldron, K 1970, 'Design of an agile unmanned combat vehicle - A product of the DARPA UGCV program', UNMANNED GROUND VEHICLE TECHNOLOGY V, Unmanned Ground Vehicle Technology V, SPIE, Orlando, USA, pp. 358-370.
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The unmanned ground combat vehicle (UGCV) design evolved by the SAIC team on the DARPA UGCV Program is summarized in this paper. This UGCV design provides exceptional performance against all of the program metrics and incorporates key attributes essential for high performance robotic combat vehicles. This performance includes protection against 7.62 mm threats, C130 and CH47 transportability, and the ability to accept several relevant weapons payloads, as well as advanced sensors and perception algorithms evolving from the PerceptOR program. The UGCV design incorporates a combination of technologies and design features, carefully selected through detailed trade studies, which provide optimum performance against mobility, payload, and endurance goals without sacrificing transportability, survivability, or life cycle cost. The design was optimized to maximize performance against all Category I metrics. In each case, the performance of this design was validated with detailed simulations, indicating that the vehicle exceeded the Category I metrics. Mobility metrics were analyzed using high fidelity VisualNastran vehicle models, which incorporate the suspension control algorithms and controller cycles times. DADS/Easy 5 3-D models and ADAMS simulations were also used to validate vehicle dynamics and control algorithms during obstacle negotiation.
Waldron, KJ & Tollon, K 1970, 'Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface', Proceedings of International Symposium on Experimental Robotics: Springer Tracts in Advanced Robotics - Experimental Robotics VIII, Experimental Robotics, Springer Berlin Heidelberg, Ischia,Italy, pp. 106-112.
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In this paper the design of a bimanual haptic interface device for simulation of minimally invasive surgical procedures is described. Each of the two handles has five haptic degrees of freedom. The workspace of the device was designed to accommodate the working volumes required by a set of common minimally invasive abdominal surgical procedures. Preliminary measurements of the electromechanical performance of the device are also presented.
Wijesoma, WS, Kodagoda, KRS, Balasuriya, AP & Challa, S 1970, 'Road curb tracking in an urban environment', Sixth International Conference of Information Fusion, 2003. Proceedings of the, Proceedings of the Sixth International Conference of Information Fusion, IEEE, Cairns, Australia, pp. 261-268.
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Road detection and tracking is very useful in the synthesis of driver assistance and intelligent transportation systems. In this paper a methodology is proposed based on the extended Kalman filer for robust road curb detection and tracking using a combination of onboard active and passive sensors. The problem is formulated as detecting and tracking a maneuvering target in clutter using onboard sensors on a moving platform. The primary sensors utilized are a 2 dimensional SICK laser scanner, five encoders and a gyroscope, together with an image sensor (CCD camera). Compared to the active 20 laser scanner the CCD camera is capable of providing observations over an extended horizon, thus making available much useful information about the curb trend, which is exploited in mainly the laser based tracking algorithm. The advantage of the proposed image enhanced laser detection/tracking method, over laser alone detection/tracking, is illustrated using simulations and its robustness to varied road curvatures, branching, turns and scenarios, is demonstrated through experimental results. © 2003 ISlF.
Williams, SB, Durrant-Whyte, H & Dissanayake, G 1970, 'Constrained Initialization of the Simultaneous Localization and Mapping Algorithm', The International Journal of Robotics Research, SAGE Publications, pp. 541-564.
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In this paper we present a novel feature initialization technique for the Simultaneous Localization and Mapping (SLAM) algorithm. The initialization scheme extends previous approaches for identifying new confirmed features and is shown to improve the steady-state performance of the filter by incorporating tentative features into the filter as soon as they are observed. Constraints are then applied between multiple feature estimates when a feature is confirmed. Observations that are subsequently deemed as spurious are removed from the state vector after an appropriate timeout. It is shown that information that would otherwise be lost can therefore be used consistently in the filter. Results of this algorithm applied to data collected using a submersible vehicle are also shown.
Xin Ma, Sukkarieh, S & Jong-Hyuk Kim 1970, 'Vehicle model aided inertial navigation', Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems, 2003 IEEE International Conference on Intelligent Transportation Systems, IEEE, IEEE, pp. 1004-1009.
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