ARAA logo leftARAA logo right

ACRA 2001

Australian Conference on Robotics & Automation
Sydney, 14-15 November 2001

Home | Foreword | Organisation | Table of Contents | Index of Authors

Table of Contents

Keynote Addresses
Mining Automation: The Future, and an Excavation Automation Example
Paul Lever, Centre for Mining Technology and Equipment k1
The UNSW RoboCup 2001 Sony Legged Robot League Team
Claude Sammut, University of New South Wales k2
Robot Dynamics and Control
Dynamics of the New UWA Robot
Karol Miller 1
Dynamic Output Feedback Control of Single-Link Flexible Manipulators
Quang P. Ha, H. Trinh, J.G. Zhu and H.T. Nguyen 7
Dragline Bucket and Rigging Dynamics
Peter Ridley, Rindert Algra and Peter Corke 13
Active Structural Control using Dynamic Output Feedback Sliding Mode
Quang Ha, Jianchun Li, Guang Hong and Bijan Samali 20
Autonomous Control of an Underground Mining Vehicle
Peter Ridley and Peter Corke 26
Model Parameter Identification of Autonomous Vehicles
Tomonari Furukawa and Gamini Dissanayake 32
Robot Design and Application
Design of a Modular Self-Reconfigurable Robot
Pakpong Jantapremjit and David Austin 38
Design of an Autonomous Humanoid Robot
Gordon Wyeth, Damien Kee, Mark Wagstaff, Nathaniel Brewer, Jared Stirzaker, Timothy Cartwright and Bartek Babel 44
MRI Guided Surgical Robot
Kiyoyuki Chinzei and Karol Miller 50
Robotic Food Applications Example: Ice Cream Portioning
Werner Friedrich and Patrick Lim 56
Kambara: Past, Present and Future
Chanop Silpa-Anan and Alexander Zelinsky 61
Vision in Control
Computer Vision for Vehicle Monitoring and Control
Luke Fletcher, Nicholas Apostoloff, Jason Chen and Alexander Zelinsky 67
Comparison of Robustness and Performance of Partitioned Image Based Visual Servo Systems
Nicholas Gans, Peter Corke and Seth Hutchinson 73
Flexible Self-Calibrated Visual Servoing for a Humanoid Robot
Geoffrey Taylor and Lindsay Kleeman 79
A Practical Zoom Camera Calibration Technique: An Application on Active Vision for Human-Robot Interaction
Rowel Atienza and Alex Zelinsky 85
Millimetre Waves for Robotics
Graham Brooker, Mark Bishop and Steve Scheding 91
A Low-level Fusion of Millimetre-Wave Radar and Nightvision Imaging for Enhanced Characterisation of a Cluttered Environment
Richard Grover, Graham Brooker and Hugh Durrant-Whyte 98
Sensing and Localisation
Landmark Recognition with CTFM Ultrasonic Sensing
Danny Ratner and Phillip McKerrow 104
Image Processing Libraries
Bing-Chang Lai and Phillip McKerrow 111
A Camera as a Polarized Light Compass: Preliminary Experiments
Kane Usher, Peter Ridley and Peter Corke 116
Application of Vision in Simultaneous Localisation and Map Building
Trevor Fitzgibbons and Eduardo Nebot 121
Efficient Simultaneous Localisation and Mapping Using Local Submaps
Stefan Williams, Gamini Dissanayake and Hugh Durrant-Whyte 128
3D Terrain Mapping: A Stochastic Approach
Jeff Leal, Steve Scheding and Gamini Dissanayake 135
New Technologies
A Robot Interface Using WAP Phone
Pablo d'Angelo and Peter Corke 141
The Feasibility of Force Control over the Internet
Laurence Bate and Christopher Cook 146
Retrofitting Path Control to a Unimate 2000B Robot
Stuart Donald and G. R. Dunlop 152
A Tele-Autonomous Heavy Duty Robotic Lawn Mower
Ray Jarvis 157
Poster Session
Rapid Simultaneous Learning of Multiple Behaviours with a Mobile Robot
Koren Ward p1
Swarm Control for Automatic Drilling Operation by Multiple Micro Robots
Tokuji Kuronita, Shigeru Tadokoro and Hisayuki Aoyama p7
Learning to Kick Ball
Bernhard Hengst p13