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Table of Contents
Guest Speakers 
Mechatronics Research at Massey University
Glen Bright G1
An AGV Development Program
Dale Carnegie G2
Learning Systems
An Environment for Robot Learning
Andrew Russell 1
Performance Metrics for Robot Coverage Tasks
Sylvia Wong, Lee Middleton and Bruce A. MacDonald 7
Producing Complex Behaviours on Trajectory Velocity Learning Mobile Robots
Koren Ward 13
Online Learning of Autonomous Helicopter Control
Gregg Buskey, Jonathan Roberts, Gordon Wyeth 19
Robotic Applications
Robots in Urban Search and Rescue Operations
David Greer, Phillip McKerrow, Jo Abrantes 25
Dragline Bucket Carry Angle Control
Peter Ridley and Rindert Algra 31
Visual Servoing of a Car-like Vehicle - An Application of Omni-directional Vision
Kane Usher, Peter Ridley and Peter Corke 37
Innovative Robotic Applications for Beef Processing
Richard Templer, Andrew Osborn, Arun Nanu, Keith Blenkinsopp and Werner Friedrich 43
Vision in Control
Mechatronic Controller for Tele-Operated Camera Platform
Sylvester Tlale, Glen Bright, Johan Potgieter 48
Vectorized Machine Vision Algorithms using AltiVec
Bing-Chang Lai, Phillip John McKerrow and Jo Abrantes 54
Terrain Imaging and Perception using Millimetre Wave Radar
S. Scheding, G. Brooker, R. Hennessy, M. Bishop and A. Maclean 60
Problems Encountered in the Implementation of Tsai's Algorithm for Camera Calibration
Michael Tapper and Phillip J. McKerrow and Jo Abrantes 66
Dynamics and Control
Low-Cost Flight Control System for a Small Autonomous Helicopter
Jonathan M. Roberts, Peter I Corke & Gregg Buskey 71
Computer Simulation of Robot Closed-loop Dynamics for Force Control Study
Yueshi Shen and Roy Featherstone 77
Grasp Recognition From Myoelectric Signals
Simon Ferguson and G Reg Dunlop 83
Application of Shared Telerobotic Control for Contour Following Processes
Patrick Lim, Jeffery Yang, Nicholas Hildreth and Werner Friedrich 88
Sensing and Actuation I
Sensorless Force Estimation for Robots with Friction                                                
John W.L Simpson, Chris D Cook, Zheng Li 94
A Robust, Sensitive and Economical Tactile Sensor for a Robotic Manipulator
Greg Hellard and R. Andrew Russell 100
Interacting with a Sensor Network
Ron Peterson and Daniela Rus 105
A Comparison Between Extended Kalman Filtering and Sequential Monte Carlo Technique for Simultaneous Localisation and Map-building
David C.K. Yuen and Bruce A. MacDonald 111
Robot Design I
Improved Mecanum Wheel Design for Omni-directional Robots
Olaf Diegel, Aparna Badve, Glen Bright, Johan Potgieter, Sylvester Tlale 117
A Nitinol Wire Actuated Stewart Platform
G Reg Dunlop and Angelo C Garcia 122
Robot Design II
Mechatronics for Designing Intelligent Machines                                          
W.L. Xu and G. Bright 128
An Articulated Six Wheel Drive Robot for Very Rough Terrain Navigation
Ray Jarvis 133
Mechatronic Modular Design of an Apparatus for PC board Inspection
Sylvester Tlale; Glen Bright; Johan Potgieter; Peter Xu 139
Design of a Four-Rotor Aerial Robot
P. Pounds, R. Mahony, P. Hynes and J. Roberts 145
Navigation
Automation of an Underground Mining Vehicle using Reactive Navigation and Opportunistic Localization                                        
Elliot S. Duff, Jonathan M. Roberts and Peter I. Corke 151
Autonomous Recharging for Mobile Robotics
Kirill Kouzoubov and David Austin 157
Driver Assistance based on Vehicle Monitoring and Control
Lars Petersson, Nicholas Apostoloff and Alexander Zelinsky 163
Field Navigation of Mobile Robots
Andrew B. Lintott and Lan Le Ngoc 169
Sensing and Actuation II
Sensing Airflow by a Humanoid Robot                             
R. Andrew Russell 175
Object Exploration using Whisker Sensors
Jaury A. Wijaya and R. Andrew Russell 180
Modelling of a novel rotary pneumatic muscle
N. Yee and G. Coghill 186
Grasping Unknown Objects with a Humanoid Robot
Geoffrey Taylor and Lindsay Kleeman 191
HMI / Wireless Control
Human-to-robot skill transfer through haptic rendered environment
Y. Chen, and F. Naghdy 197
Wireless Network Control for Internet Manufacturing
Johan Potgieter; Glen Bright; W.L. Xu; Olaf Diegel and Sylvester Tlale 202
Design of a Web-Based Tele-Programming Interface for Mobile Robots
David Austin 206
Internet control of a Domestic Robot using a Wireless LAN
Johan Potgieter, Glen Bright, Olaf Diegel, and Sylvester Tlale 212
Vision in Control II
Six-Dimensional Visualization of End-Effector Pose Using Color Spaces
Joshua D. Petitt and Karol Miller 216
FastSLAM: Real Time Implementation in Outdoor Environments
Juan Nieto, Jose Guivant and Eduardo Nebot 222
3D Vision for Large-Scale Outdoor Environments
Dorian J. Spero and Ray A. Jarvis 228
Bearing-Only SLAM using Colour-based Feature Tracking
Trevor Fitzgibbons and Eduardo Nebot 234
Poster Session
The Engineering of an Automated and Portable DNA Analysis System
Daksh Sadarangani P1
Developing Intelligent Robots using Computer Game Engines
Félix Trépanier P2