Characterising and suppressing vortex induced vibration. Vortex-Induced Vibration has become the design limiting factor in offshore design of elements such as the flexible pipelines that bring oil and gas to the surface. With rising oil and gas prices it is becoming more economic to explore such resources in deeper waters, which exacerbates the problem. Currently, high factors of safety must be used in the design of such pipelines because of our current lack of understanding of when the vibratio ....Characterising and suppressing vortex induced vibration. Vortex-Induced Vibration has become the design limiting factor in offshore design of elements such as the flexible pipelines that bring oil and gas to the surface. With rising oil and gas prices it is becoming more economic to explore such resources in deeper waters, which exacerbates the problem. Currently, high factors of safety must be used in the design of such pipelines because of our current lack of understanding of when the vibrations occur and their frequency and amplitude. This study will provide insight into the character of such vibrations and also look at means of suppressing them.Read moreRead less
Insect-inspired flapping wing robots: autonomous flight control systems. This project aims to design a novel control scheme for insect-inspired, flapping-wing, micro aerial vehicles. This type of micro aerial vehicle has complex, periodic, time-varying and inherently unstable dynamics, which are practically challenging to model and implement in hardware. This project will design energy-based automatic stabilization and task-dependent control, and develop the insect-inspired platform for testing ....Insect-inspired flapping wing robots: autonomous flight control systems. This project aims to design a novel control scheme for insect-inspired, flapping-wing, micro aerial vehicles. This type of micro aerial vehicle has complex, periodic, time-varying and inherently unstable dynamics, which are practically challenging to model and implement in hardware. This project will design energy-based automatic stabilization and task-dependent control, and develop the insect-inspired platform for testing nonlinear control strategies. The expected outcomes will include new system and control theories, concepts, principles and technologies in controller design that can provide reliable flight control for bio-inspired, flapping-wing systems.Read moreRead less
Image-based teleoperation of semi-autonomous robotic vehicles. This project will contribute strongly to Australia's robotic service industry in the development of semi-autonomous robotic inspection vehicles by; developing core technology in image-based teleoperation, training experts in the area, promoting the study of this topic within the Australian academia, and developing test facilities and prototype vehicles. Robotic inspection vehicles have the potential to replace direct human presence i ....Image-based teleoperation of semi-autonomous robotic vehicles. This project will contribute strongly to Australia's robotic service industry in the development of semi-autonomous robotic inspection vehicles by; developing core technology in image-based teleoperation, training experts in the area, promoting the study of this topic within the Australian academia, and developing test facilities and prototype vehicles. Robotic inspection vehicles have the potential to replace direct human presence in difficult, dangerous or simply uncomfortable inspection tasks such as; inspection of industrial pressure vessels, piping and conduits in factories or mines, undersea cabling, inspection of bridges, dams and other large scale civil buildings, amongst many other possibilities.Read moreRead less
Image Based Visual Servo Control of Dynamic Under-Actuated Systems. The project builds on earlier work on visual servo control of under-actuated rigid body dynamics to develop and implement sophisticated and robust image based visual servo control for a wide class of under-actuated and fully actuated dynamic systems. The scope of the project extends far beyond basic testing of preliminary results to address key technical issues facing visual servo control algorithms at this time. The project i ....Image Based Visual Servo Control of Dynamic Under-Actuated Systems. The project builds on earlier work on visual servo control of under-actuated rigid body dynamics to develop and implement sophisticated and robust image based visual servo control for a wide class of under-actuated and fully actuated dynamic systems. The scope of the project extends far beyond basic testing of preliminary results to address key technical issues facing visual servo control algorithms at this time. The project is strongly motivated by the host of emerging applications for visual servo control of unmanned aerial vehicles. The experimental program within the project is based on control of a four rotor VTOL `hoverbot'.Read moreRead less
High-Bandwidth Control and Advanced Dynamic Modelling for Unmanned Helicopters. Advanced control theory will be applied to enable precise control of unmanned helicopters in the presence of disturbances. This is critical for: operating unmanned helicopters among the buildings of urban environments, reconnaissance, investigating dangerous areas, pursuit of targets, and many other desirable capabilities for law enforcement and military purposes. The ability of a small RUAV to launch and recover to ....High-Bandwidth Control and Advanced Dynamic Modelling for Unmanned Helicopters. Advanced control theory will be applied to enable precise control of unmanned helicopters in the presence of disturbances. This is critical for: operating unmanned helicopters among the buildings of urban environments, reconnaissance, investigating dangerous areas, pursuit of targets, and many other desirable capabilities for law enforcement and military purposes. The ability of a small RUAV to launch and recover to a moving vessel would significantly enhance operational possibilities for border protection tasks and the Australian Defence Force. The research has direct application to other mechanical systems such as underwater vehicles, mobile robots, and precision control of agricultural vehicles, overhead cranes, and mining equipment.Read moreRead less
Novel power system architecture and control for 'More Electric Aircraft'. This project aims to propose a new conceptual design of an internal aircraft electrical system and its control, which minimises the issues of traditional power systems and takes advantage of contemporary control and technology advances to minimise weight/volume and maximise reliability. The project will target a specific design, which includes consideration of novel power electronic topologies, to achieve these goals. The ....Novel power system architecture and control for 'More Electric Aircraft'. This project aims to propose a new conceptual design of an internal aircraft electrical system and its control, which minimises the issues of traditional power systems and takes advantage of contemporary control and technology advances to minimise weight/volume and maximise reliability. The project will target a specific design, which includes consideration of novel power electronic topologies, to achieve these goals. The results will be validated through simulation, experiments and field testing. It is anticipated that the ideas developed within this project will have a major impact on More Electric Aircraft technology, as well as on general interconnected energy resource systems, such as DC and AC microgrids.Read moreRead less
Navigating under the forest canopy and in the urban jungle. This project aims to develop a framework for unmanned aerial vehicles (UAV), which optimally balances localisation, mapping and other objectives in order to solve sequential decision tasks under map and pose uncertainty. This project expects to generate new knowledge in UAV navigation using an innovative approach by combining simultaneous localisation and mapping algorithms with partially observable markov decision processes. The proje ....Navigating under the forest canopy and in the urban jungle. This project aims to develop a framework for unmanned aerial vehicles (UAV), which optimally balances localisation, mapping and other objectives in order to solve sequential decision tasks under map and pose uncertainty. This project expects to generate new knowledge in UAV navigation using an innovative approach by combining simultaneous localisation and mapping algorithms with partially observable markov decision processes. The project’s expected outcomes will enable UAVs to solve multiple objectives under map and pose uncertainty in GPS-denied environments. This will provide significant benefits, such as more responsive disaster management, bushfire monitoring and biosecurity, and improved environmental monitoring.Read moreRead less
When every second counts: Multi-drone navigation in GPS-denied environments. The aim of this research is to develop a framework for multiple Unmanned Aerial Vehicles (UAV), that balances information sharing, exploration, localization, mapping, and other planning objectives thus allowing a team of UAVs to navigate in complex environments in time critical situations. This project expects to generate new knowledge in UAV navigation using an innovative approach by combining Simultaneous Localizatio ....When every second counts: Multi-drone navigation in GPS-denied environments. The aim of this research is to develop a framework for multiple Unmanned Aerial Vehicles (UAV), that balances information sharing, exploration, localization, mapping, and other planning objectives thus allowing a team of UAVs to navigate in complex environments in time critical situations. This project expects to generate new knowledge in UAV navigation using an innovative approach by combining Simultaneous Localization and Mapping (SLAM) algorithms with Partially Observable Markov Decision Processes (POMDP) and Deep Reinforcement learning. This should provide significant benefits, such as more responsive search and rescue inside collapsed buildings or underground mines, as well as fast target detection and mapping under the tree canopy. Read moreRead less
Fault tolerant multisensor feedback control. This project will advance knowledge by deepening the theoretical understanding of the interplay between multisensory data and feedback control mechanisms. It will also expand the tool sets of control engineering with innovative multisensory control designs. We see major benefits for Australia arising from this project both by enhancing its scientific reputation and by promoting technological advances in its industries and services. The project has pot ....Fault tolerant multisensor feedback control. This project will advance knowledge by deepening the theoretical understanding of the interplay between multisensory data and feedback control mechanisms. It will also expand the tool sets of control engineering with innovative multisensory control designs. We see major benefits for Australia arising from this project both by enhancing its scientific reputation and by promoting technological advances in its industries and services. The project has potential to contribute to the National Research Priority area: Frontier Technologies for Building and Transforming Australian Industries, since it has direct impact on the relevant areas of biotechnology, information, communication technology, nanotechnology and sensor technology.Read moreRead less
Investigating the Effects of Network-Induced Delays on Networked Control Systems. Networked control is the current trend for industrial automation. The results of this project will be the first in the world to contribute directly to a deeper understanding of both negative and positive effects of network-induced delays on networked control systems. It will firmly place Australia at the forefront of this research by developing cutting edge technology for reliability and efficiency of industrial ne ....Investigating the Effects of Network-Induced Delays on Networked Control Systems. Networked control is the current trend for industrial automation. The results of this project will be the first in the world to contribute directly to a deeper understanding of both negative and positive effects of network-induced delays on networked control systems. It will firmly place Australia at the forefront of this research by developing cutting edge technology for reliability and efficiency of industrial networked-based control systems. This novel frontier technology will result in cost-saving and improved productivity for Australian industries, e.g. manufacturing industries, power stations, processing industries, automotive industries, vehicular networks and locomotives.Read moreRead less