Category Archives: acra-2016

Foreword

Australasian Conference on Robotics and Automation 2016

5-7 December 2016, University of Queensland

 
Editors: Surya Singh, Hanna Kurniawati, Paul Pounds
ISBN: 978-0-9807404-7-9 ISSN: 1448-2053

Index of Authors

Australasian Conference on Robotics and Automation 2016

A
Ahn, Ho Seok

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4
Allwood, Abigail

Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf
Anvatti, Sreenatha

Fuzzy System Identification for the Dynamics of the AR.Drone Quadcopter · pdf
Asadi, Houshyar

Future Reference Prediction in Model Predictive Control based Driving Simulators · pdf
Austin, Kevin

Development of Dragline Excavation Model for Operation Planning · pdf
Azhari, Faris

History-based indoor localisation system using a Smartphone · pdf

B
Bandyopadhyay, Tirthankar

Enabling Rapid Field Deployments Using Modular Mobility Units · pdf
Effects of Obstacle Avoidance to LQG-Based Motion Planners · pdf
EPI-GUIDE: Towards a Disposable, Low-Cost Guide for Freehand Ultrasound Support During Epidural Procedures · pdf
Best, Graeme

Probabilistic Maximum Set Cover with Path Constraints for Informative Path Planning · pdf

C
Cheng, Jiantong

Tightly-coupled GNSS and Inertial Simultaneous Localisation and Mapping · pdf
Chin, Tat-Jun

Efficient Geometric Matching with Polar Bounds for Aligning Star Field Images · pdf
Cliff, Oliver M.

Adversarial Patrolling with Reactive Point Processes · pdf
Cordie, Troy

Enabling Rapid Field Deployments Using Modular Mobility Units · pdf
Crawford, Ross

Towards Robotic Arthroscopy: `Instrument gap’ Segmentation · pdf
Cui, Lei

Neural Adaptive Assist-As-Needed Control for Rehabilitation Robots · pdf

D
Davis, Edwin

Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots · pdf , zip
Direct Thrust and Velocity Measurement for a Micro UAV Rotor · pdf
Dissanayake, Gamini

3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan · pdf , zip
Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor · pdf
Doran, Gary

Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf
Dungavell, Ross

Enabling Rapid Field Deployments Using Modular Mobility Units · pdf

E
Elfes, Alberto

Effects of Obstacle Avoidance to LQG-Based Motion Planners · pdf
Emery, Brendan M.

An Audio-visual Solution to Sound Source Localization and Tracking with Applications to HRI · pdf , mp4

F
Falque, Raphael

Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor · pdf
Fang, Lance

Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications · pdf
Fisher, Alex

Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications · pdf
Fitch, Robert

Adversarial Patrolling with Reactive Point Processes · pdf
Probabilistic Maximum Set Cover with Path Constraints for Informative Path Planning · pdf
Fraser, Forest

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4

G
Garratt, Matt

Fuzzy System Identification for the Dynamics of the AR.Drone Quadcopter · pdf
Gonano, Dion

Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots · pdf , zip
Greenop, Kelly

Enabling Rapid Field Deployments Using Modular Mobility Units · pdf
Gunasinghe, Dasun N.

A mid-air collision warning system: Vision-based estimation of collision threats for aircraft · pdf , mp4

H
Hansen, Scott

Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots · pdf , zip
Hashimoto, Kenji

Effect of the “Arm Flexible Landing Strategy” for Safe Falling of a Biped Humanoid Robot · pdf , mp4
Hefferan, Benjamin N.

Adversarial Patrolling with Reactive Point Processes · pdf
Herath, Damith

Towards a Universal Gripper: A Primer on the Use of Suction in the Amazon Picking Challenge Context · pdf
Hoerger, Marcus

Effects of Obstacle Avoidance to LQG-Based Motion Planners · pdf
Hojnik, Tim

Designing a Robotic Hopping Cube for Lunar Exploration · pdf
Holston, Alexander

A Design and Control Strategy for a Compliant Delta Manipulator · pdf
Howard, Ian

Neural Adaptive Assist-As-Needed Control for Rehabilitation Robots · pdf
Huang, Qiang

Effect of the “Arm Flexible Landing Strategy” for Safe Falling of a Biped Humanoid Robot · pdf , mp4
Huang, Shoudong

3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan · pdf , zip

J
Jadidi, Maani Ghaffari

An Audio-visual Solution to Sound Source Localization and Tracking with Applications to HRI · pdf , mp4
Jaiprakash, Anjali

Towards Robotic Arthroscopy: `Instrument gap’ Segmentation · pdf

K
Kawamura, Sadao

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4
Kearney, Michael

Development of Dragline Excavation Model for Operation Planning · pdf
Kennedy, James

Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications · pdf
Kim, Hye-Jong

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4
Kim, Jonghyuk

Tightly-coupled GNSS and Inertial Simultaneous Localisation and Mapping · pdf
Kiss, Stefan

Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications · pdf
Kodagoda, Sarath

Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor · pdf
Kottege, Navinda

Terrain Characterisation and Gait Adaptation by a Hexapod Robot · pdf , mp4
Fall Avoidance and Recovery for Bipedal Robots using Walking Sticks · pdf , mp4
Kurniawati, Hanna

Effects of Obstacle Avoidance to LQG-Based Motion Planners · pdf

L
Lee, Jonathan

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4
Lee, Robert

Designing a Robotic Hopping Cube for Lunar Exploration · pdf
Leitner, Jürgen

A Robustness Analysis of Deep Q Networks · pdf
Designing a Robotic Hopping Cube for Lunar Exploration · pdf
Lehnert, Chris

Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf
Leong, Florence

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery · pdf
Liu, Haoquan

Development of Dragline Excavation Model for Operation Planning · pdf

M
Ma, Gan.

Effect of the “Arm Flexible Landing Strategy” for Safe Falling of a Biped Humanoid Robot · pdf , mp4
MacDonald, Bruce A.

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4
Mackay-Lowndes, Bill

Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots · pdf , zip
Maire, Frederic

Control of an Airborne Tethered Kite for Energy Production · pdf , mp4
Marker, Ryan James

Efficient Geometric Matching with Polar Bounds for Aligning Star Field Images · pdf
McCulloch, Timothy

Towards a Universal Gripper: A Primer on the Use of Suction in the Amazon Picking Challenge Context · pdf
Milford, Michael

A Robustness Analysis of Deep Q Networks · pdf
Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf
Miro, Jaime Valls

An Audio-visual Solution to Sound Source Localization and Tracking with Applications to HRI · pdf , mp4
Moghadam, Peyman

Terrain Characterisation and Gait Adaptation by a Hexapod Robot · pdf , mp4
Mohammadai, Alireza

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery · pdf
Mohamed, Shady

Future Reference Prediction in Model Predictive Control based Driving Simulators · pdf
Mohammadi, Arash

Future Reference Prediction in Model Predictive Control based Driving Simulators · pdf

N
Nagahawatte, Chatura

Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications · pdf
Nahavandi, Saeid

Future Reference Prediction in Model Predictive Control based Driving Simulators · pdf
Nakamura, Keisuke

An Audio-visual Solution to Sound Source Localization and Tracking with Applications to HRI · pdf , mp4
Nelson, Kyle

Future Reference Prediction in Model Predictive Control based Driving Simulators · pdf
Newsam, Garry N.

Efficient Geometric Matching with Polar Bounds for Aligning Star Field Images · pdf
Nohoojih, Hamed R.

Neural Adaptive Assist-As-Needed Control for Rehabilitation Robots · pdf
Nomura, Kazuki

Vision-based Control of an Encoderless Lightweight Robot Arm · pdf , mp4

O
Oliveira, Rafael

Active Perception for Modelling Energy Consumption in Off-Road Navigation · pdf
Oetomo, Denny

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery · pdf
Ott, Lionel

Active Perception for Modelling Energy Consumption in Off-Road Navigation · pdf

P
Palmer, Jennifer L.

Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications · pdf
Peynot, Thierry

Towards Robotic Arthroscopy: `Instrument gap’ Segmentation · pdf
Pounds, Paul EI

Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots · pdf , zip
Direct Thrust and Velocity Measurement for a Micro UAV Rotor · pdf

R
Ramos, Fabio

Active Perception for Modelling Energy Consumption in Off-Road Navigation · pdf
Roberts, Jonathan

Enabling Rapid Field Deployments Using Modular Mobility Units · pdf
Towards Robotic Arthroscopy: `Instrument gap’ Segmentation · pdf
Robinson, Lachlan T.

Control of an Airborne Tethered Kite for Energy Production · pdf , mp4

S
Sammut, Claude

Relational Tool Use Learning by a Robot in a Real and Simulated World · pdf
Santoso, Fendy

Fuzzy System Identification for the Dynamics of the AR.Drone Quadcopter · pdf
Sergeant, James

Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf
Shirazi, Sareh

A Robustness Analysis of Deep Q Networks · pdf
Singh, Surya P.

A Design and Control Strategy for a Compliant Delta Manipulator · pdf
Song, Jingwei

3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan · pdf , zip
Song, Joshua

EPI-GUIDE: Towards a Disposable, Low-Cost Guide for Freehand Ultrasound Support During Epidural Procedures · pdf
Srinivasan, Mandyam V.

A mid-air collision warning system: Vision-based estimation of collision threats for aircraft · pdf , mp4
Steindl, Ryan

Enabling Rapid Field Deployments Using Modular Mobility Units · pdf
Stewart, Robert L.

Vision-based localisation of a sensor capsule moving in a pipeline · pdf
Strydom, Mario

Towards Robotic Arthroscopy: `Instrument gap’ Segmentation · pdf
Strydom, Reuben

A mid-air collision warning system: Vision-based estimation of collision threats for aircraft · pdf , mp4
Sünderhauf, Niko

A Robustness Analysis of Deep Q Networks · pdf
Šutalo, Ilija D.

Vision-based localisation of a sensor capsule moving in a pipeline · pdf

T
Takanishi, Atsuo

Effect of the “Arm Flexible Landing Strategy” for Safe Falling of a Biped Humanoid Robot · pdf , mp4
Tam, Benjamin

Fall Avoidance and Recovery for Bipedal Robots using Walking Sticks · pdf , mp4
Tan, Ying

Fall Avoidance and Recovery for Bipedal Robots using Walking Sticks · pdf
Thiruchelvam, Dhan

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery · pdf
Thompson, David R.

Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf
Tow, Adam

A Robustness Analysis of Deep Q Networks · pdf

U
Upcroft, Ben

A Robustness Analysis of Deep Q Networks · pdf
Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces · pdf

V
Valdastri, Pietro

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery · pdf
Voigt, James E.

Control of an Airborne Tethered Kite for Energy Production · pdf , mp4

W
Wang, Jun

3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan · pdf , zip
Whitty, Mark

History-based indoor localisation system using a Smartphone · pdf
Wicaksono, Handy

Relational Tool Use Learning by a Robot in a Real and Simulated World · pdf
Wijerathna, Buddhi

Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor · pdf
Williamson, Dylan

Terrain Characterisation and Gait Adaptation by a Hexapod Robot · pdf , mp4
Wong, Y. Chong

Vision-based localisation of a sensor capsule moving in a pipeline · pdf

Zastrow, Tyson

EPI-GUIDE: Towards a Disposable, Low-Cost Guide for Freehand Ultrasound Support During Epidural Procedures · pdf
Zhao, Liang

3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan · pdf , zip

Table of Contents

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


s1
Session 1 — Keywords: Deformable Robot Strategy

Vision-based localisation of a sensor capsule moving in a pipeline
Ilija D. Šutalo, Robert L. Stewart, Chong Y. Wong
3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan
Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake
zip
Terrain Characterisation and Gait Adaptation by a Hexapod Robot
Dylan Williamson, Navinda Kottege, Peyman Moghadam
mp4
A Design and Control Strategy for a Compliant Delta Manipulator
Alexander Holston, Surya P. Singh
Adversarial Patrolling with Reactive Point Processes
Benjamin N. Hefferan, Oliver M. Cliff, Robert Fitch
Effect of the “Arm Flexible Landing Strategy” for Safe Falling of a Biped Humanoid Robot
Gan Ma, Kenji Hashimoto, Qiang Huang, Atsuo Takanishi
mp4

s2
Session 2 — Award Nominees

Development of Dragline Excavation Model for Operation Planning
Haoquan Liu, Michael Kearney, Kevin Austin
A mid-air collision warning system: Vision-based estimation of collision threats for aircraft
Dasun Nadika Gunasinghe, Reuben Strydom, Mandyam V. Srinivasan
mp4
Neural Adaptive Assist-As-Needed Control for Rehabilitation Robots
Hamed Rahimi Nohooji, Ian Howard, Lei Cui
Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots
Bill Mackay-Lowndes, Edwin Davis, Dion Gonano, Scott Hansen, Paul EI Pounds
zip
Direct Thrust and Velocity Measurement for a Micro UAV Rotor
Edwin Davis, Paul EI Pounds
Probabilistic Maximum Set Cover with Path Constraints for Informative Path Planning
Graeme Best, Robert Fitch

s3
Session 3 — Keywords: Robot Use Energy

Enabling Rapid Field Deployments Using Modular Mobility Units
Troy Cordie, Tirthankar Bandyopadhyay, Jonathan Roberts, Ryan Steindl, Ross Dungavell, Kelly Greenop
A Robustness Analysis of Deep Q Networks
Adam Tow, Sareh Shirazi, Jürgen Leitner, Niko Sünderhauf, Michael Milford, Ben Upcroft
Active Perception for Modelling Energy Consumption in Off-Road Navigation
Rafael Oliveira, Lionel Ott, Fabio Ramos
Relational Tool Use Learning by a Robot in a Real and Simulated World
Handy Wicaksono, Claude Sammut
Control of an Airborne Tethered Kite for Energy Production
Lachlan T. Robinson, James E. Voigt, Frederic Maire
mp4
Towards a Universal Gripper: A Primer on the Use of Suction in the Amazon Picking Challenge Context
Timothy McCulloch, Damith Herath

s5
Session 4 — Keywords: Motion Effects

Designing a Robotic Hopping Cube for Lunar Exploration
Tim Hojnik, Robert Lee, Donald G. Dansereau, Jürgen Leitner
Fuzzy System Identification for the Dynamics of the AR.Drone Quadcopter
Fendy Santoso, Matt Garratt, Sreenatha Anavatti
Future Reference Prediction in Model Predictive Control based Driving Simulators
Arash Mohammadi, Houshyar Asadi, Shady Mohamed, Kyle Nelson, Saeid Nahavandi
Eficient Geometric Matching with Polar Bounds for Aligning Star Field Images
Ryan James Marker, Tat-Jun Chin, Garry N. Newsam
Tightly-coupled GNSS and Inertial Simultaneous Localisation and Mapping
Jonghyuk Kim, Jiantong Cheng
Effects of Obstacle Avoidance to LQG-Based Motion Planners
Marcus Hoerger, Hanna Kurniawati, Tirthankar Bandyopadhyay, Alberto Elfes

s2
Session 5 — Keywords: Toward Using Magnetic

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery
Florence Leong, Alireza Mohammadi, Ying Tan, Pietro Valdastri, Dhan Thiruchelvam, Denny Oetomo
Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces
James Sergeant, Gary Doran, David R. Thompson, Chris Lehnert, Abigail Allwood, Ben Upcroft, Michael Milford
Fall Avoidance and Recovery for Bipedal Robots using Walking Sticks
Benjamin Tam, Navinda Kottege
mp4
EPI-GUIDE: Towards a Disposable, Low-Cost Guide for Freehand Ultrasound Support During Epidural Procedures
Joshua Song, Tyson Zastrow, Surya P. Singh, Stephen Wilson and Rajesh Brijball
Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor
Buddhi Wijerathna, Raphael Falque, Sarath Kodagoda, Gamini Dissanayake
Towards Robotic Arthroscopy: `Instrument gap’ Segmentation
Mario Strydom, Anjali Jaiprakash, Thierry Peynot, Ross Crawford, Jonathan Roberts

s6
Session 6 — Keywords: Applications

Vision-based Control of an Encoderless Lightweight Robot Arm
Ho Seok AHN, Forest Fraser, Jonathan Lee, Kazuki Nomura, Hye-Jong Kim, Sadao Kawamura, Bruce A. MacDonald
mp4
An Audio-visual Solution to Sound Source Localization and Tracking with Applications to HRI
Brendan M. Emery, Maani Ghaffari Jadidi, Keisuke Nakamura, Jaime Valls Miro
mp4
History-based indoor localisation system using a Smartphone
Faris Azhari, Mark Whitty
Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications
Lance Fang, Alex Fisher, Stefan Kiss, James Kennedy, Chatura Nagahawatte, Jennifer L. Palmer

Program

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


Registration Desk:
8:00 am-11:00 am: Monday and Tuesday

Monday, 5 December 2016
09.00 – 09.30: Breakfast & Welcome
09.30 – 11.00: Session 1: Deformable Robot Strategy
11.00 – 11.30: Morning tea
11.30 – 12.30: Mechatronics/Robotics Teaching Forum
12.30 – 14.00: Lunch
14.00 – 15.30: Session 2: Award(s) Nominee Papers
15.30 – 16.00: Afternoon tea
16.00 – 17.30: Session 3: Robot Energy
18.00 – 20.00: Opening BBQ

Tuesday, 6 December 2016
09.00 – 09.30: Breakfast
09.30 – 11.00: Session 4: Motion Effects
11.00 – 11.30: Morning tea
11.30 – 12.30: Mechatronics/Robotics Research Forum
12.30 – 14.00: Lunch
14.00 – 15.30: Session 5: Toward Using Magnetic
15.30 – 16.00: Afternoon tea
16.00 – 17.00: Session 6: Applications
18.00 – 21.00: Banquet (including AGM)

Wednesday, 7 December 2016
09.00 – 12.00: Tours (Pepsico signup (limited space))
12.00 – 14.00: Lunch
13:30 – 14:00: (Student Expo Setup)
14.00 – 17.00: Student Expo (Show & Tell Workshop, Open to the Public)

 


 


s1
Session 1: Deformable Robot Strategy
Chair: Hanna Kurniawati

Vision-based localisation of a sensor capsule moving in a pipeline Ilija D. Šutalo (CSIRO), Robert L. Stewart (CSIRO), Chong Y. Wong (CSIRO)
3D Shape Recovery of Deformable Soft-tissue with Computed Tomography and Depth Scan Jingwei Song (Centre for Autonomous Systems. University of Technology, University of Technology Sydney), Jun Wang (Institute of Remote Sensing and Digital Earth Chinese Academy of Sciences, University of Chinese Academy of Sciences, Beijing, China), Liang Zhao (Centre for Autonomous Systems. University of Technology, University of Technology Sydney), Shoudong Huang (Centre for Autonomous Systems. University of Technology, University of Technology Sydney), Gamini Dissanayake (Centre for Autonomous Systems. University of Technology, University of Technology Sydney)
Terrain Characterisation and Gait Adaptation by a Hexapod Robot Dylan Williamson (CSIRO), Navinda Kottege (CSIRO), Peyman Moghadam (CSIRO)
A Design and Control Strategy for a Compliant Delta Manipulator Alexander Holston (KAIST), Surya P. Singh (University of Queensland)
Adversarial Patrolling with Reactive Point Processes Benjamin N. Hefferan (University of Sydney), Oliver M. Cliff (ACFR, The University of Sydney), Robert Fitch (ACFR, ACFR, The University of Sydney)
Effect of the “Arm Flexible Landing Strategy” for Safe Falling of a Biped Humanoid Robot Gan Ma (Waseda University), Kenji Hashimoto (Waseda University), Qiang Huang (Beijing Institution of Technology), Atsuo Takanishi (Waseda University)


Mechatronics/Robotics Teaching Forum


s2
Session 2: Award(s) Nominee Papers
Chair: Mandyam Srinivasan

Development of Dragline Excavation Model for Operation Planning Haoquan Liu (The University of Queensland), Michael Kearney (The University of Queensland), Kevin Austin (The University of Queensland)
A mid-air collision warning system: Vision-based estimation of collision threats for aircraft Dasun Nadika Gunasinghe (Queensland Brain Institute (QBI) – University of Queensland (UQ)), Reuben Strydom (Queensland Brain Institute (QBI) – University of Queensland (UQ)), Mandyam V. Srinivasan (Queensland Brain Institute (QBI) – University of Queensland (UQ))
Neural Adaptive Assist-As-Needed Control for Rehabilitation Robots Hamed Rahimi Nohooji (Curtin University), Ian Howard (Curtin University), Lei Cui (Curtin University)
Towards the Stackrotor: Aerodynamics, Construction, Dynamics and Control of a Vertical Stacked-Rotor Configuration for Indoor Heavy-Lift Helicopter Robots Edwin Davis (University of Queensland), Bill Mackay-Lowndes (University of Queensland), Dion Gonano (University of Queensland), Scott Hansen (University of Queensland), Paul EI Pounds (University of Queensland)
Direct Thrust and Velocity Measurement for a Micro UAV Rotor Edwin Davis (University of Queensland), Paul EI Pounds (University of Queensland)
Probabilistic Maximum Set Cover with Path Constraints for Informative Path Planning Graeme Best (ACFR, The University of Sydney), Robert Fitch (ACFR, The University of Sydney)

 


s3
Session 3: Robot Use Energy
Chair: Mark Whitty

Enabling Rapid Field Deployments Using Modular Mobility Units Troy Cordie (CSIRO), Tirthankar Bandyopadhyay (CSIRO), Jonathan Roberts (Queensland University of Technology (QUT)), Ryan Steindl (CSIRO), Ross Dungavell (CSIRO), Kelly Greenop (University of Queensland)
A Robustness Analysis of Deep Q Networks Adam Tow (Queensland University of Technology), Sareh Shirazi (Queensland University of Technology (QUT)), Jürgen Leitner (Queensland University of Technology (QUT)), Niko Sünderhauf (Queensland University of Technology (QUT)), Michael Milford (Queensland University of Technology (QUT)), Ben Upcroft (Queensland University of Technology (QUT))
Active Perception for Modelling Energy Consumption in Off-Road Navigation Rafael Oliveira (The University of Sydney), Lionel Ott (The University of Sydney), Fabio Ramos (The University of Sydney)
Relational Tool Use Learning by a Robot in a Real and Simulated World Handy Wicaksono (The University of New South Wales), Claude Sammut (The University of New South Wales)
Control of an Airborne Tethered Kite for Energy Production Lachlan T. Robinson (Queensland University of Technology (QUT)), James E. Voigt (Queensland University of Technology (QUT)), Frederic Maire (Queensland University of Technology (QUT))
Towards a Universal Gripper: A Primer on the Use of Suction in the Amazon Picking Challenge Context Timothy McCulloch (University of Canberra), Damith Herath (University of Canberra)

 


 


s4
Session 4: Motion Effects
Chair: Denny Oetomo

Designing a Robotic Hopping Cube for Lunar Exploration Tim Hojnik (Queensland University of Technology (QUT)), Robert Lee (Queensland University of Technology (QUT)), Donald G. Dansereau (Queensland University of Technology (QUT)), Jürgen Leitner (Queensland University of Technology (QUT))
Fuzzy System Identification for the Dynamics of the AR.Drone Quadcopter Fendy Santoso (University of New South Wales, Canberra), Matt Garratt (University of New South Wales, Canberra), Sreenatha Anavatti (University of New South Wales, Canberra)
Future Reference Prediction in Model Predictive Control based Driving Simulators Arash Mohammadi (IISRI, Deakin University), Houshyar Asadi (IISRI, Deakin University), Shady Mohamed (IISRI, Deakin University), Kyle Nelson (IISRI, Deakin University), Saeid Nahavandi (IISRI, Deakin University)
Eficient Geometric Matching with Polar Bounds for Aligning Star Field Images Ryan James Marker (The University of Adelaide), Tat-Jun Chin (The University of Adelaide), Garry N. Newsam (The University of Adelaide)
Tightly-coupled GNSS and Inertial Simultaneous Localisation and Mapping Jonghyuk Kim (The Australian National University (ANU)), Jiantong Cheng (Key Laboratory of Complex Aviation System Simulation, Beijing, China)
Effects of Obstacle Avoidance to LQG-Based Motion Planners Marcus Hoerger (University of Queensland), Hanna Kurniawati (University of Queensland), Tirthankar Bandyopadhyay (CSIRO), Alberto Elfes (CSIRO)


Mechatronics/Robotics Research Forum


s5Session 5: Toward Using Magnetic
Chair: Paul Pounds

Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery Florence Leong (University of Melbourne), Alireza Mohammadi (University of Melbourne), Ying Tan (University of Melbourne), Pietro Valdastri (University of Leeds), Dhan Thiruchelvam (St Vincent’s Hospital, University of Melbourne), Denny Oetomo (University of Melbourne)
Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces James Sergeant (Queensland University of Technology), Gary Doran (The Jet Propulsion Laboratory), David R. Thompson (The Jet Propulsion Laboratory), Chris Lehnert (Queensland University of Technology), Abigail Allwood (The Jet Propulsion Laboratory), Ben Upcroft (Queensland University of Technology), Michael Milford (Queensland University of Technology)
Fall Avoidance and Recovery for Bipedal Robots using Walking Sticks Benjamin Tam (CSIRO), Navinda Kottege (CSIRO)
EPI-GUIDE: Towards a Disposable, Low-Cost Guide for Freehand Ultrasound Support During Epidural Procedures Joshua Song (University of Queensland), Tyson Zastrow (University of Queensland), Surya P. Singh (University of Queensland)
Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor Buddhi Wijerathna (University of Technology, Sydney (UTS)), Raphael Falque (University of Technology, Sydney (UTS)), Sarath Kodagoda (University of Technology, Sydney (UTS)), Gamini Dissanayake (University of Technology, Sydney (UTS))
Towards Robotic Arthroscopy: `Instrument gap’ Segmentation Mario Strydom (Queensland University of Technology (QUT)), Anjali Jaiprakash (Queensland University of Technology (QUT)), Thierry Peynot (Queensland University of Technology (QUT)), Ross Crawford (Queensland University of Technology (QUT)), Jonathan Roberts (Queensland University of Technology (QUT))

 


s6
Session 6: Applications
Chair: Surya Singh

Vision-based Control of an Encoderless Lightweight Robot Arm Ho Seok AHN (The University of Auckland), Forest Fraser (The University of Auckland), Jonathan Lee (The University of Auckland), Kazuki Nomura (Ritsumeikan University), Hye-Jong Kim (Ritsumeikan University), Sadao Kawamura (Ritsumeikan University), Bruce A. acDonald (The University of Auckland)
An Audio-visual Solution to Sound Source Localization and Tracking with Applications to HRI Brendan M. Emery (University of Technology, Sydney (UTS)), Maani Ghaffari Jadidi (University of Technology, Sydney (UTS)), Keisuke Nakamura (Honda Research Institute Japan Co., Ltd.), Jaime Valls Miro (University of Technology, Sydney (UTS))
History-based indoor localisation system using a Smartphone Faris Azhari (University of New South Wales (UNSW)), Mark Whitty (University of New South Wales (UNSW))
Comparative Evaluation of Time-of-Flight Depth-Imaging Sensors for Mapping and SLAM Applications Lance Fang (RMIT University), Alex Fisher (RMIT University), Stefan Kiss (Defence Science and Technology (DST)), James Kennedy (Defence Science and Technology (DST)), Chatura Nagahawatte (Defence Science and Technology (DST)), Jennifer L. Palmer (Defence Science and Technology (DST))

 

Wednesday Tours:

Venue

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


ACRA 2016 is hosted in sunny Brisbane, at The University of Queensland (St. Lucia, Brisbane).  If coming from the airport, aim for “UQ Lakes Station” (please see note below)

Sessions

Sessions will be held at in the Advanced Engineering Building (AEB) Room 49-200.
Registration and tea/coffee break will utilise the foyer area outside of the theatre.
(detailed in the ACRA AEB Floorplan/Map).

Map

The AEB, local accommodation and public transport are show below.
(Source: Google Maps).

ACRA 2016 Map

(Also available as a printable PDF Map)

Accommodation

  • Womens College (~150 meters from AEB)
    (Note: Guest Rooms are co-ed at this college)
    Location
    : UQ Campus, College Road, St Lucia 4067
    Website: http://womens.uq.edu.au/
    Phone:  (07) 3377-4500
    Rooms Types:
    (1)  Single Rooms with shared Ensuite (shared with room next door) @ $90 per night including breakfast
    (2)  Single Rooms with their own Ensuite @ $95 per night including breakfast
    (3)  Fully Self Contained Apartments with King Size bedroom, ensuite, kitchen, lounge, dining and study area @ $110 per night single use or $155.00 twin share including breakfast in the college dining hallBooking: To make a booking:  Please download the booking form
    (PDF  or RTF format) and return to Anne Kuskopf (a.kuskopf@womens.uq.edu.au)
  • St. Leo’s College  (~300 meters from AEB)
    Location: UQ Campus, College Road, St Lucia 4067
    Website: http://www.stleos.uq.edu.au/
    Phone: (07) 3878-0600 (then press 3)
    Rooms Types:
    (1)  Shared ensuited room – single (@ $100 per night)
    (2)  Ensuited room – 1 person (@ $120 per night)
    (3)  Ensuited room – 2 people (@ $165 per night)
    Booking: To make a booking please complete the St Leo college booking form (PDF or DOC)
    and then mail to Jocelyn Forsyth (stay@stleos.uq.edu.au).

Parking

The closest parking is the Conifer Knoll.  This is $5/day.  Though, registration includes a 3-Day Go Card.  🙂

Getting to ACRA from BNE Airport

  • Uber: The fastest way to get from BNE to the UQ campus.  About 30-40 min and will cost about $50
  • Public transport: Aim for UQ Lakes station.  The procedure is to take the Gold Coast airport train to Park Road station –then–> transfer to a bus towards UQ (tip: this means crossing the busway, most buses will terminate at UQ Lakes, just ask to be certain).  This 50-60 minutes and will cost about $25.
    (See sample route/schedule here).

Registration

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


Please register easily online via the ACRA 2016 Eventbright Registration site

Regular Registration (Early Bird [Before Nov/18]) $500
Student Registration (Early Bird [Before Nov/18]) $350
Regular Registration
$550
Student Registration $380
Banquet Only $150
Workshop (7 Dec 2016) -Free-

Please note that:

  • Early Bird Registration: to be paid by 18 November 2016
  • Student Registration: Students must be able to provide evidence of full time enrolment in a recognised educational institution on request
  • Registration is mandatory for all conference attendees
  • “No-shows” or papers accepted but not presented will not be included in the proceedings.
  • Both Full and Student Registrations entitle a participant to present a maximum of 2 papers.
  • Both Full and Student Registrations include conference attendance and the associated tea/coffee breaks / social gathering, and the conference banquet.
  • Student Workshop is run in collaboration with Brisbane Robotics.
    Workshop registration in only valid December 7, 2016 afternoon.

Student Travel Grants

This year ARAA & Marathon Robotics will award two “Marathon Robotics Student Travel Awards” worth $500 + free student registration ($350).  Undergraduate and postgraduate students are welcome to apply.

Application is by sending: an email to ACRA 2016, with subject line: “Application to ACRA 2016 Student Travel Grant”.

  1. State in the email:
    • Your name
    • Institution and current study program
    • The paper ID that you authored (if applicable)
    • Brief description of your research / interest in Robotics
  2. Please include a letter of support from an academic supervisor.

Application will be open from the November 8  (after the notification of paper acceptance)
and due before the Friday, December 2.

Results of the travel grant will be announced at the conference banquet.

Contact Us

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


 

Email:

Please contact us via the general ACRA Committee Inbox:

acra.committee@gmail.com

Additional Contacts:

Mailing Address:

ACRA 2016
C/O Surya Singh, Building 78 (GP South)
School of Information Technology and Electrical Engineering
The University of Queensland
Brisbane, QLD 4072
AUSTRALIA

Submission

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


 

IMPORTANT NOTE: This year’s ACRA will be double-blind. Therefore, for review purposes, please remove your name and affiliation from the paper.

Double-Blind Paper Submission:
(Extended to September 21, 2016 at 11:59 pm AEST)
Please submit a paper via https://ssl.linklings.net/conferences/acra/

Paper Format:
ACRA papers are six to ten pages in length. This year paper review will be double-blind. Therefore, please remove all name and affiliation information from the paper.  This includes the body text, references, figures and acknowledgements.  Papers that do not follow the guidelines may be rejected without review.

All papers must conform to ACRA’s paper templates. Detailed instructions for format requirements are contained within the templates. Prospective authors should kindly submit their papers electronically in PDF format.

You may want to take a look at our past best papers for exemplars. For example, the ACRA 2014 best paper: Exploiting Parallax in Panoramic Capture to Construct Light Fields by Donald Dansereau, David Wood, Sebastian Montabone and Stefan Williams.

Also, an example of an anonymous submission is the Hand Waving Away Scale submission.  Unlike the final (proceedings) version, author names, affiliations and acknowledgements have been removed.

Paper Templates:

Presentation Format:
Each presentation is 15 minutes in length (12 minutes for presentation and 3 minutes for Q&A).  Acceptance of all work at the conference is based on the quality of the submitted paper. Attendance of a presenter at the conference is required for accepted papers to appear in the proceedings.

Thank you kindly for your interest and submission(s)!  🙂

ISBN: 978-0-9807404-8-6 ISSN: 1448-2053

Organisation

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland


GOLD Sponsoring Organisation:

Silver Sponsoring Organisations:

 Bronze Sponsoring Organisation:

Hosted by:

General Chair:

Surya Singh
The Robotics Design Lab (UQ)

Program Chairs:

Hanna Kurniawati and Paul Pounds
The Robotics Design Lab (UQ)

Programme Committee:

Alen Alempijevic Jose Guivant Dikai Liu David Stirling
David M. Ball Anjali Jaiprakash Tien-Fu Lu Reuben Strydom
Tirtha Bandyopadhyay Jay Katupitiya Wen Lik D. Lui James Trevelyan
John Billingsley Jonghyuk Kim Bruce MacDonald Jaime Valls Miro
Will Browne Sarath Kodagoda Chris McCarthy Mark Whitty
Mitch Bryson Navinda Kottege Michael Milford Stefan Williams
Ricardo Carelli Makoto Kumon Denny Oetomo Adam Wittek
Peter Corke Hanna Kurniawati Paul Pounds Gordon Wyeth
Donald Dansereau Stanley Lam Surya Singh
Gamini Dissanayake Wai Ho Li Kai-Tai Song
Matthew Garratt Scarlett Liu Mandyam Srinivasan

ACRA 2016

Australasian Conference on Robotics and Automation 2016

December 5-7, 2016 at The University of Queensland

ISBN: 978-0-9807404-7-9 ISSN: 1448-2053


The 2016 Australasian Conference on Robotics and Automation (ACRA2016) was held on 5-7 December 2016 in Brisbane, Australia at the St. Lucia campus of The University of Queensland and was hosted by The Robotics Design Lab of the Faculty of Engineering, Architecture and Information Technology.

Call for Papers:

Please note, this year’s ACRA will be double-blind. Therefore, for review purposes, please remove name(s) and affiliation(s) from the paper. Prospective authors are invited to submit their papers in PDF of six  (6) to ten (10) pages in the standard ACRA format.  ACRA 2016 is a single-track, double-blind conference.

All full papers submitted to ACRA 2016 will undergo a peer-review process. Each manuscript will be reviewed by at least two reviewers who will give detailed comments. If the submission is accepted, the authors will submit a revised (“camera-ready”) version that takes into account this feedback. The review process is managed by the program chair of the conference.

ACRA 2016 Call for Papers (PDF)

Registration (open): ACRA’16 Eventbrite registration site

Important Dates:

Paper submission deadline
(Extended based on community requests)
21 September 2016
1 September 2016

Notification of acceptance 9 November 2016
31 October 2016
Camera-ready paper deadline 18 November 2016
Early-bird registration ends 18 November 2016
Conference 5-7 December 2016

Student Grants & Volunteers:

ACRA  2016 Offers Multiple Opportunities for students to engage with the robotics community!

About ACRA:

Since 1999, ACRA has brought together Australian and New Zealand researchers and students in the fields of robotics, automation and mechatronics. It provides a forum to present a breadth of research activities to the wider Australasian community. ACRA is a quality, peer-reviewed conference, and is featured in Scopus, Google Scholar and other ranking engines.