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"Physical Human-Interactive Robots: Enabling Methodology and System Development", 2010-2015.
Summary: This research aims to develop enabling methodologies of physical human-interactive robots that interact mechanically with human beings. Key research issues will be addressed and two prototype human-interactive robots will be developed.
"Biologically Inspired Robotic System for Steel Bridge Condition Assessment", ARC Linkage project, 2010-2013
This project aims to develop a novel biologically-inspired robotic system to climb complex steel bridge structures in order to inspect and identify the surface condition. Research tasks include analysing the geometry and kinematics of arthropods while they climb complex terrains; developing new design principles and algorithms; conducting research required to realise a supervised autonomous robotic inspection system; and designing and constructing a prototype climbing robot.
"A robotic system for steel bridge maintenance", ARC Linkage Project, 2007-2010.
Summary: The project will develop methodologies to enable a robotic system to perform maintenance tasks associated with complex civil infrastructure. The primary application is to autonomously remove paint containing hazardous materials such as lead from important traffic infrastructures such as steel bridges. A prototype autonomous system will be developed and the key issues in deploying such a system will be addressed.
Topics include:
Exploration and 3D map building of complex environments
Material type classification
Robot path and motion planning
Collision detection and avoidance and Human-robot interaction
Sensing and sensor network development
Data fusion and communication
Force reduction and hose management system design
Safety control system design
Nozzle fitting design and manufacturing
Moving platform design and control
System architecture design
Summary: This project aims to investigate efficient strategies for coordinating large autonomous vehicle teams in complex and dynamic environments. Comprehensive models for a novel simultaneous task allocation and motion coordination approach will be developed, along with practically deployable intelligent algorithms that contemplate the dynamics of the vehicles, environment and traffic conditions. Software incorporating these algorithms will be developed and used in a fully automated container terminal located in Australia.
Topics include:
Path planning and motion coordination of a large fleet of autonomous robots
Task allocation
Simultaneous task allocation and planning
Simulation software development and testing
Summary: The aim of the project is to explore feasibility of integrating real time health monitoring and condition monitoring systems to enhance safety and efficiency of road network.
Completed Research Projects
Summary: This project aims to develop an application-oriented system level optimum design method for advanced drive systems. New and accurate system models that couple motors, converters/inverters and control schemes, and effective numerical methods for coupled field analysis and system design optimisation will be developed and implemented.
Summary: This project aims to develop and implement computationally efficient algorithms for simultaneous task allocation and path planning for a large group of autonomous vehicles running in complex and dynamic logistics environments such as the Patrick Corporation’s fully automated container terminal. individuals,
Summary: Wireless sensor and communication networks with fixed and mobile nodes are rapidly becoming essential technologies for hostile environmental monitoring, battlefield surveillance and precision agriculture. However, due to the complexities associated with interconnected design issues involving sensors, autonomous vehicles and communication protocols, even very simple networks have proven to be difficult to design. This project proposes to intelligently employ higher capabilities of mobile nodes and develop methods for rapid deployment, maintenance and routing that are aware of location, energy, and security.
"Force field based multi-robot coordination and control", 2005-2009
"Autonomous systems for road bridge maintenance _Stage 1", UTS Partnership grant, 2006-2007
"An Instrumented Vehicle for Research on Safe Driving", UTS RI block grant, 2005-2006