ACRA 2001

Australian Conference on Robotics and Automation 2001

David Rye and Tomonari Furukawa (eds)

Australian Robotics & Automation Association Inc.
Sydney, 2001.

All full papers submitted to ACRA 2001 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.

All papers are reviewed using a single-blind review process: authors declare their names and affiliations in the manuscript for the reviewers to see, but reviewers do not know each other’s identities, nor do the authors receive information about who has reviewed their manuscript.

Forward

David Rye and Tomonari Furukawa (eds)

Australian Robotics & Automation Association Inc.
Sydney, 2001.

All full papers submitted to ACRA 2001 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.

All papers are reviewed using a single-blind review process: authors declare their names and affiliations in the manuscript for the reviewers to see, but reviewers do not know each other’s identities, nor do the authors receive information about who has reviewed their manuscript.

Organisation

Sponsoring Organisations

Australian Robotics and Automation Association Incorporated.
Australian Centre for Field RoboticsThe University of Sydney

General Chair

Hugh Durrant-Whyte

Program Committee

Hugh Durrant-Whyte (chair)
Graham Brooker
Gamini Dissanayake
Tomonari Furukawa
Eduardo Nebot
Julio Rosenblatt
David Rye
Steve Scheding
Salah Sukkarieh

Publications

David Rye
Tomonari Furukawa

Local Arrangements

David Rye (chair)
Steve Scheding (Audiovisual)
Salah Sukkarieh (Dinner)
Anna McCallan (Finance)
Hugh Durrant-Whyte (Posters)
Anna McCallan, Lyn Kennedy (Refreshments)
Christy Wang, Anna McCallan (Registration)
David Rye, Anna McCallan (Secretariat)

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
Algra, Rindert 13
Aoyama, Hisayuki p7
Apostoloff, Nocholas 67
Atienza, Rowel 85
Austin, David 38
Babel, Bartek 44
Bate, Laurence 146
Bishop, Mark 91
Brewer, Nathaniel 44
Brooker, Graham 91 98
Cartwright, Timothy 44
Chen, Jason 67
Chinzei, Kiyoyuki 50
Cook, Christopher 146
Corke, Peter 13 26 73 116141
d’Angelo, Pablo 141
Dissanayake, Gamini 32 128 135 
Donald, Stuart 152
Dunlop, G. R. 152
Durrant-Whyte, Hugh 98 128
Fitzgibbons, Trevor 120
Fletcher, Luke 67
Friedrich, Werner 56
Furukawa, Tomonari 32
Gans, Nicholas 73
Grover, Richard 98
Ha, Quang 7 20
Hengst, Bernhard k2 p13
Hong, Guang 20
Hutchinson, Seth 73
Jantapremjit, Pakpong 38
Jarvis, Ray 157
Kee, Damien 44
Kleeman, Lindsay 79
Kuronita, Tokuji p7
Lai, Bing-Chang 111
Leal, Jeff 135
Lever, Paul k1
Li, Jianchun 20
Lim, Patrick 56
McKerrow, Phillip 104 111 
Miller, Karol   1 50
Nebot, Eduardo 120
Nguyen, H.T.
Pham, Son Bao k2
Ratner, Danny 104
Ridley, Peter 13 26 116
Samali, Bijan 20
Sammut, Claude k2
Scheding, Steve 91 135
Silpa-Anan, Chanop 61
Siu, Martin k2
Stirzaker, Jared 44
Tadokoro, Shigeru p7
Taylor, Geoffrey 79
Trinh, H.
Usher, Kane 116
Vogelgesang, Thomas k2
Wagstaff, Mark 44
Ward, Koren p1
Williams, Stefhan 128
Wyeth, Gordon 44
Yik, Tak Fai k2
Zelinsky, Alexander 61 67 85
Zhu, J.G. 7