Table of Contents

Australasian Conference on Robotics and Automation 2002

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


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