ACRA 2006

Australasian Conference on Robotics & Automation

Bruce MacDonald (ed)

December 6 – 8, 2006
Auckland, New Zealand
ISBN 978-0-9587583-8-3

 
Photograph by Navid Nourani-Vatani

All full papers submitted to ACRA 2006 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.

Welcome to ACRA 2006

ACRA, the Australasian Conference on Robotics and Automation, is the annual conference for the Australian Robotics and Automation Association, and Australia and New Zealand’s leading forum for work in all areas of robotics and automation. ACRA attracts researchers and practitioners from around Australia and New Zealand, and an increasing number of roboticists from overseas. The work presented at ACRA 2006 is highly relevant to current interests in international robotics research, including hot topics such as localisation, navigation and human-robot interaction. ACRA 2006 also has a definite Australasian robotics flavour, with an emphasis on outdoor robotics and applications in the primary industries that continue to form the basis of the Australian and New Zealand economies in the 21st century.

We have endeavoured to ensure a balanced programme: maintaining a high standard of quality, while being inclusive of the up and coming students and junior researchers in the Australasian robotics community. The Programme Committee accepted 44 full papers for presentation and publication after a review process in which full manuscripts were reviewed by at least three committee members. The accepted papers were drawn from 50 papers submitted in total. In keeping with recent trends, the primary medium for the proceedings is CD-ROM, and we will be maintaining the proceedings online at the ARAA website. In addition to the technical paper programme, the programme includes a number of interesting live robotics demonstrations, the Annual General Meeting for the ARAA, and plenty of social opportunities for Australasian and international robotics researchers to network and develop cross-institutional links.

We hope you enjoy your time at the conference and that you come away knowing a little bit more, having met and discussed robotics issues with a colleague, having attended a paper session, or having had a quite technical debate over dinner. To all, we warmly welcome you to ACRA 2006, and to Auckland.

Bruce MacDonald
ACRA Chair
Auckland, December 2006

on behalf of the Programme Committee.

Organisation

Sponsoring Organisations

Australian Robotics and Automation Association Inc.
The Department of Electrical and Computer Engineering, University of Auckland

Chair

Bruce MacDonald

Programme Committee

Nick Barnes
National ICT Austalia
John Billingsly
University of Southern Queensland
Glen Bright
Massey University
Gamini Dissanayake
University of Technology Sydney
Matthew Dunbabin
CSIRO
Werner Friedrich
Industrial Research Ltd
Ray Jarvis
Monash University
Waleed Kadous
University of New South Wales
Andrew Lintott
Industrial Research Ltd
Bruce MacDonald
University of Auckland
Robert Mahony
Australian National University
Phillip McKerrow
University of Wollongong
Chris Messom
Massey University
Jaime Valls Miro
University of Technology Sydney
Eduardo Nebot
University of Sydney
Maurice Pagnucco
University of New South Wales
Peter Ridley
Queensland University of Technology
Jonathan Roberts
CSIRO
Andy Russell
Monash University
Claude Sammut
University of New South Wales
Pavan Sikka
CSIRO
David Stirling
University of Wollongong
Karl Stol
University of Auckland
Salah Sukkarieh
University of Sydney
James Trevelyan
University of Western Australia
Koren Ward
University of Wollongong
Stefan Williams
University of Sydney
Gordon Wyeth
University of Queensland
Albert Yeap
Auckland University of Technology

Table of Contents

AUTONOMOUS VEHICLES

Practical Path Planning and Obstacle Avoidance for Autonomous Mowing
Navid Nourani Vatani, Michael Bosse, Jonathan Roberts, and Matthew Dunbabin
nourani.mpg
Tuning a GPS/IMU Kalman Filter for a Robot Driver
Jamie Bell and Karl A. Stol
Tracking a vehicle from a rotating platform with a scanning range laser
Elliot Stanley Duff
Development of a Robotic Driver for Vehicle Dynamometer Testing
Hazim Namik, Tokushu Inamura, and Karl Stol
Motion Safety for an Autonomous Vehicle Race in an Urban Environment
Scott W H Robertson

APPLICATIONS 1

An Universal, Inductively Coupled Battery Charger for Robot Power Supplies
Monique Ryan and Robert Coup
Trajectory Following with a Three-DOF Micro-motion Stage
Yuen Kuan Yong, Tien-Fu Lu, and Jayesh L. Minase
Insect Inspired Robots
John Lim, Chris McCarthy, David Shaw, Luke Cole, and Nick Barnes
insectbot-manual_open_loop_control-4.mpg
Kinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace
Ilya Tyapin, Geir Hovland, and Torgny Brogardh

SENSORS

A Tactile Sensor Array that also Grasps Objects
Greg Hellard and Robin Andrew Russell
Robotic Sensor System for Automated Machines
Ahmed Asif Shaik, Glen Bright, and Peter Xu
Taste and Search in a Robotics Context
Robin Andrew Russell
The Design of a Transmitter with a Parabolic Conical Reflector for a Sonar Ring
Lindsay Kleeman and Akihisa Ohya
A Low-Cost, Compact, Lightweight 3D Range Sensor
Raymond Sheh, Nawid Jamali, M. Waleed Kadous, and Claude Sammut
sheh06lowcost.mpg,sheh06lowcost2.mpg

CONTROL AND PROGRAMMING

Development of distributed industrial automation systems and debugging functionality based on the Open Source OOONEIDA Workbench
Arthur Chuan Kang Shih, Wenbin Dai, and Valeriy Vyatkin
Generic interfaces for robotic limbs
Geoffrey Biggs and Bruce MacDonald
Reconfiguration of Mechatronic Systems Enabled by IEC 61499 Function Blocks
Omar Mazharullah, Anirudha Sardesai, and Valeriy Vyatkin
Control Issues for Velocity Sourced Series Elastic Actuators
Gordon Wyeth

PLENARY

Location-Based Activity Recognition
Dieter Fox

HRI 1

Haptic Control of Multi-Axis Robotic Systems
Christopher Robin Mawson, James Mullins, Timothy John Black, and Saeid Nahavandi
Human Behaviour Recognition with Segmented Inertial Data
Sun Chao, David Stirling, and Fazel Naghdy

LOCALIZATION

A ToA-based approach to NLOS localization using low-frequency sound
Lin Chi Mak and Tomonari Furukawa
Truck Localisation in a Mine Using Sparse Observations
Stewart Worrall and Eduardo Nebot
Practical WiFi Localization for Industrial Vehicles
Frederic Moster and Ashley Tews
Person Tracking, Pursuit and Interception by Mobile Robot
Punarjay Chakravarty, David Rawlinson, and Ray Jarvis
acra_robot_ext_video_small.mpg,
acra_robot_screen_video.mpg

IMAGING AND VISION

Fast Stereo Triangulation using Symmetry
Wai Ho Li and Lindsay Kleeman
Fast and Robust Stereo Object Recognition for Spheres
Robby McKilliam and Gordon Wyeth
Sign Detection and Driving Competency for Older Drivers with Impaired Vision
Janine G. Walker, Nick Barnes, and Kaarin J. Anstey
Fast and Efficient Rotated Haar-like Features using Rotated Integral Images
Chris Messom and Andre Barczak
A Panoramic Color Vision System for Following Ill-Structured Roads
Alan M. Zhang and Lindsay Kleeman
road_tracking.mpg

HRI 2

An Interactive Speech System for a Robotic Exhibit
Shaun Press and Jason Chen
Measuring and improving the accuracy of ARDev using a square grid
Kathy H. Y. Fung, Bruce A. MacDonald, and Toby H. J. Collett
Eye Contact as a Key Component in Human Robot Interaction
Shaun Press, Jason Saragih, and Jason Chen
Towards Real Time Facial Expression Recognition
Nanda Kumar Surendran, Rohan Veera Raghavan, S. Q. Xie, and K. C. Aw

NAVIGATION

Obstacle avoidance for a non-holonomic vehicle using occupancy grids
Kane Usher
usher.mpg
Effect of Representation Size and Visual Ambiguity on RatSLAM System Performance
Michael John Milford, David Prasser, and Gordon Wyeth
Landmark Navigation with Fuzzy Logic
Sherine Micheal Antoun and Phillip John McKerrow
Multi-robot path planning with subgraphs
Malcolm Ryan
A Dynamic Bayesian Network Approach to Surveillance Decision Planning
Leon Chong and Ray Jarvis

AIRBORNE ROBOTS

A Comprehensive Cooperative Exploration Framework for Ground and Air Vehicles in Unknown Environments
Hai Ngoc Pham and Salah Sukkarieh
A coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles
Robert Mahony, Sung-Han Cha, and Tarek Hamel
Modelling and Control of a Quad-Rotor Robot
Paul Pounds, Robert Mahony, and Peter Corke

APPLICATIONS II

Applying Acceleration Compensation to Minimize Liquid Surface Oscillation
Suei Jen Chen, Bjoern Hein, and Heinz Woern
Teaching mechanism design
Peter Ridley
BEER_POUR4.mpg,bottle_animation.mpg,
Group14_withbeer.mpg,Group29_withbeer.mpg,
Group31_withbeer.mpg,six_bar_animation.mpg
Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Stephan K. Chalup, Michael Dickinson, Robin Fisher, Richard H. Middleton, Michael J. Quinlan, and Peter Turner

Index of Authors

Author Papers
Anstey, Kaarin Sign Detection and Driving Competency for Older Drivers with Impaired Vision
Antoun, Sherine Landmark Navigation with Fuzzy Logic
Aw, K Towards Real Time Facial Expression Recognition
Barczak, Andre Fast and Efficient Rotated Haar-like Features using Rotated Integral Images
Barnes, Nick Insect Inspired RobotsSign Detection and Driving Competency for Older Drivers with Impaired Vision
Bell, Jamie Tuning a GPS/IMU Kalman Filter for a Robot Driver
Biggs, Geoffrey Generic interfaces for robotic limbs
Black, Timothy Haptic Control of Multi-Axis Robotic Systems
Bosse, Michael Practical Path Planning and Obstacle Avoidance for Autonomous Mowing
Bright, Glen Robotic Sensor System for Automated Machines
Brogardh, Torgny Kinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace
Cha, Sung-Han A coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles
Chakravarty, Punarjay Person Tracking, Pursuit and Interception by Mobile Robot
Chalup, Stephan Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Chao, Sun Human Behaviour Recognition with Segmented Inertial Data
Chen, Jason An Interactive Speech System for a Robotic ExhibitEye Contact as a Key Component in Human Robot Interaction
Chen, Suei Jen Applying Acceleration Compensation to Minimize Liquid Surface Oscillation
Chong, Leon A Dynamic Bayesian Network Approach to Surveillance Decision Planning
Cole, Luke Insect Inspired Robots
Collett, Toby Measuring and improving the accuracy of ARDev using a square grid
Corke, Peter Modelling and Control of a Quad-Rotor Robot
Coup, Robert An Universal, Inductively Coupled Battery Charger for Robot Power Supplies
Dai, Wenbin Development of distributed industrial automation systems and debugging functionality based on the Open Source OOONEIDA Workbench
Dickinson, Michael Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Duff, Elliot Tracking a vehicle from a rotating platform with a scanning range laser
Dunbabin, Matthew Practical Path Planning and Obstacle Avoidance for Autonomous Mowing
Fisher, Robin Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Fung, Kathy Measuring and improving the accuracy of ARDev using a square grid
Furukawa, Tomonari A ToA-based approach to NLOS localization using low-frequency sound
Hamel, Tarek A coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles
Hein, Bjoern Applying Acceleration Compensation to Minimize Liquid Surface Oscillation
Hellard, Greg A Tactile Sensor Array that also Grasps Objects
Hovland, Geir Kinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace
Inamura, Tokushu Development of a Robotic Driver for Vehicle Dynamometer Testing
Jamali, Nawid A Low-Cost, Compact, Lightweight 3D Range Sensor
Jarvis, Ray A Dynamic Bayesian Network Approach to Surveillance Decision PlanningPerson Tracking, Pursuit and Interception by Mobile Robot
Kadous, M. Waleed A Low-Cost, Compact, Lightweight 3D Range Sensor
Kleeman, Lindsay Fast Stereo Triangulation using SymmetryA Panoramic Color Vision System for Following Ill-Structured RoadsThe Design of a Transmitter with a Parabolic Conical Reflector for a Sonar Ring
Li, Wai Ho Fast Stereo Triangulation using Symmetry
Lim, John Insect Inspired Robots
Lu, Tien-Fu Trajectory Following with a Three-DOF Micro-motion Stage
MacDonald, Bruce Generic interfaces for robotic limbsMeasuring and improving the accuracy of ARDev using a square grid
Mahony, Robert Modelling and Control of a Quad-Rotor RobotA coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles
Mak, Lin A ToA-based approach to NLOS localization using low-frequency sound
Mawson, Christopher Haptic Control of Multi-Axis Robotic Systems
Mazharullah, Omar Reconfiguration of Mechatronic Systems Enabled by IEC 61499 Function Blocks
McCarthy, Chris Insect Inspired Robots
McKerrow, Phillip Landmark Navigation with Fuzzy Logic
McKilliam, Robby Fast and Robust Stereo Object Recognition for Spheres
Messom, Chris Fast and Efficient Rotated Haar-like Features using Rotated Integral Images
Middleton, Richard Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Milford, Michael Effect of Representation Size and Visual Ambiguity on RatSLAM System Performance
Minase, Jayesh Trajectory Following with a Three-DOF Micro-motion Stage
Moster, Frederic Practical WiFi Localization for Industrial Vehicles
Mullins, James Haptic Control of Multi-Axis Robotic Systems
Naghdy, Fazel Human Behaviour Recognition with Segmented Inertial Data
Nahavandi, Saeid Haptic Control of Multi-Axis Robotic Systems
Namik, Hazim Development of a Robotic Driver for Vehicle Dynamometer Testing
Nebot, Eduardo Truck Localisation in a Mine Using Sparse Observations
Nourani Vatani, Navid Practical Path Planning and Obstacle Avoidance for Autonomous Mowing
Ohya, Akihisa The Design of a Transmitter with a Parabolic Conical Reflector for a Sonar Ring
Pham, Hai A Comprehensive Cooperative Exploration Framework for Ground and Air Vehicles in Unknown Environments
Pounds, Paul Modelling and Control of a Quad-Rotor Robot
Prasser, David Effect of Representation Size and Visual Ambiguity on RatSLAM System Performance
Press, Shaun An Interactive Speech System for a Robotic ExhibitEye Contact as a Key Component in Human Robot Interaction
Quinlan, Michael Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Raghavan, Rohan Towards Real Time Facial Expression Recognition
Rawlinson, David Person Tracking, Pursuit and Interception by Mobile Robot
Ridley, Peter Teaching mechanism design
Roberts, Jonathan Practical Path Planning and Obstacle Avoidance for Autonomous Mowing
Robertson, Scott Motion Safety for an Autonomous Vehicle Race in an Urban Environment
Russell, Robin A Tactile Sensor Array that also Grasps ObjectsTaste and Search in a Robotics Context
Ryan, Malcolm Multi-robot path planning with subgraphs
Ryan, Monique An Universal, Inductively Coupled Battery Charger for Robot Power Supplies
Sammut, Claude A Low-Cost, Compact, Lightweight 3D Range Sensor
Saragih, Jason Eye Contact as a Key Component in Human Robot Interaction
Sardesai, Anirudha Reconfiguration of Mechatronic Systems Enabled by IEC 61499 Function Blocks
Shaik, Ahmed Robotic Sensor System for Automated Machines
Shaw, David Insect Inspired Robots
Sheh, Raymond A Low-Cost, Compact, Lightweight 3D Range Sensor
Shih, Arthur Development of distributed industrial automation systems and debugging functionality based on the Open Source OOONEIDA Workbench
Stirling, David Human Behaviour Recognition with Segmented Inertial Data
Stol, Karl Development of a Robotic Driver for Vehicle Dynamometer TestingTuning a GPS/IMU Kalman Filter for a Robot Driver
Sukkarieh, Salah A Comprehensive Cooperative Exploration Framework for Ground and Air Vehicles in Unknown Environments
Surendran, Nanda Towards Real Time Facial Expression Recognition
Tews, Ashley Practical WiFi Localization for Industrial Vehicles
Turner, Peter Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League
Tyapin, Ilya Kinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace
Usher, Kane Obstacle avoidance for a non-holonomic vehicle using occupancy grids
Vyatkin, Valeriy Reconfiguration of Mechatronic Systems Enabled by IEC 61499 Function Blocks,Development of distributed industrial automation systems and debugging functionality based on the Open Source OOONEIDA Workbench
Walker, Janine Sign Detection and Driving Competency for Older Drivers with Impaired Vision
Woern, Heinz Applying Acceleration Compensation to Minimize Liquid Surface Oscillation
Worrall, Stewart Truck Localisation in a Mine Using Sparse Observations
Wyeth, Gordon Effect of Representation Size and Visual Ambiguity on RatSLAM System PerformanceControl Issues for Velocity Sourced Series Elastic ActuatorsFast and Robust Stereo Object Recognition for Spheres
Xie, S Towards Real Time Facial Expression Recognition
Xu, Peter Robotic Sensor System for Automated Machines
Yong, Yuen Kuan Trajectory Following with a Three-DOF Micro-motion Stage
Zhang, Alan A Panoramic Color Vision System for Following Ill-Structured Roads