Coordination control of underactuated ocean vehicles for ocean forecasting. Australia is surrounded by oceans. Ocean forecasting is essential for effective and efficient operations on and within the ocean for a number of applications such as coastal zone management, military operations and scientific research. The successful completion of this project promises to put Australia in a leading position in this area. Due to the multi-disciplinary nature of this project, the project development will a ....Coordination control of underactuated ocean vehicles for ocean forecasting. Australia is surrounded by oceans. Ocean forecasting is essential for effective and efficient operations on and within the ocean for a number of applications such as coastal zone management, military operations and scientific research. The successful completion of this project promises to put Australia in a leading position in this area. Due to the multi-disciplinary nature of this project, the project development will also stimulate the development in many other areas such as new ocean vehicles, sensors and actuators, electronics and control.Read moreRead less
Designing an Intelligent Process Operation Management System. The complexity and sophistication of current generation of industrial processes, and the growing need for autonomous agents that control physical systems, motivate the need for the development of an intelligent process operation management system. In this project, the innovative integration of theories from different scientific fields (computer systems, process engineering, systems and control engineering) provides an excellent platfo ....Designing an Intelligent Process Operation Management System. The complexity and sophistication of current generation of industrial processes, and the growing need for autonomous agents that control physical systems, motivate the need for the development of an intelligent process operation management system. In this project, the innovative integration of theories from different scientific fields (computer systems, process engineering, systems and control engineering) provides an excellent platform for development of a smart data management tool, to oversee the major operational tasks within the plant and help the operators and engineers to make more informed decisions. Direct application of the techniques developed in this study to a pilot case study, could be used as a benchmark to show the potential benefits that can be gained through smart information use and data management.Read moreRead less
The Acoustic, Control and Aerodynamic Aspects of the Entecho Hoverpod. The development of small aerial vehicles, both manned and unmanned is a growing market in the aviation industry. This market sector has the potential to provide cheap, environmentally friendly transport solutions for the defence purposes, law enforcement agencies and emergency and recreational vehicles. This project serves to enhance Australia's position in this market by helping a local company develop its technology in a ....The Acoustic, Control and Aerodynamic Aspects of the Entecho Hoverpod. The development of small aerial vehicles, both manned and unmanned is a growing market in the aviation industry. This market sector has the potential to provide cheap, environmentally friendly transport solutions for the defence purposes, law enforcement agencies and emergency and recreational vehicles. This project serves to enhance Australia's position in this market by helping a local company develop its technology in a cost effective and timely manner. The progress made in the three research aspects will also advance areas of science and technology with practical applications other than aerial vehicles.Read moreRead less
DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES. Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to tr ....DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES. Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to track reference trajectories generated by virtual vehicles, and to follow a predefined path with a desired forward speed. Secondly, we develop methods to design observers to estimate the unmeasured states (velocities) of the vehicles and incorporate with the full-state feedback controllers to have output-feedback observer-based controllers. Lastly, the proposed control design methods are extended to a certain class of underactuated mechanical systems.Read moreRead less
Modelling and estimation methods for discrete multi-dimensional systems. Multi-dimensional signal processing plays a role in a variety of application areas, ranging from remote sensing for environmental monitoring and geological mapping, to medical imaging and the automatic control of industrial processes. The success of the project will provide mathematical tools for the advancement of the state-of-the-art in these broad areas.
A geometric theory for modern optimisation problems in control and estimation. Linear-quadratic and spectral factorisation problems play a crucial role in system and control theory as well as many important application areas. The success of the project will represent a significant advancement of state-of-the-art in these broad areas.
Improving transient performance for systems with multiple inputs/outputs. This project aims to develop and test new mathematical techniques for the improvement of transient performance in tracking control systems. The fundamental problem to be addressed will be the design of controllers to rapidly track constant and time varying target reference signals without overshooting or undershooting for multiple-input multiple-output systems/plants. These new methods aim to offer improved accuracy and sp ....Improving transient performance for systems with multiple inputs/outputs. This project aims to develop and test new mathematical techniques for the improvement of transient performance in tracking control systems. The fundamental problem to be addressed will be the design of controllers to rapidly track constant and time varying target reference signals without overshooting or undershooting for multiple-input multiple-output systems/plants. These new methods aim to offer improved accuracy and speed in many engineering applications.Read moreRead less
Convex optimisation for control, signal processing and communication systems. Renewable control of complex systems, signal processing, telecommunication and in general any industries interested in these applications stand to benefit from our research. In particular, the automotive and defence industries stand to benefit from the nonlinear control design aspect of the proposed project outcomes. The
telecommunications industries, on the other hand, benefit from the signal processing and communicat ....Convex optimisation for control, signal processing and communication systems. Renewable control of complex systems, signal processing, telecommunication and in general any industries interested in these applications stand to benefit from our research. In particular, the automotive and defence industries stand to benefit from the nonlinear control design aspect of the proposed project outcomes. The
telecommunications industries, on the other hand, benefit from the signal processing and communications aspects. We also build a core expertise in optimisation and its applications in Australia by training PhD students and Postdoctoral researchers. The research collaborations will cement and maintain the international linkages which will improve applied research in AustraliaRead moreRead less
Discovery Early Career Researcher Award - Grant ID: DE170101062
Funder
Australian Research Council
Funding Amount
$360,000.00
Summary
A geometric approach to in-hand manipulation with rolling contact. This project aims to eradicate barriers to in-hand manipulation and design robot hands as dexterous and adaptable as the human hand. It will use the curvature theory of smooth surfaces and Lie Group theory to establish a coordinate-independent kinematic formulation of a robot hand with rolling contact and rectify the current singularity theory of in-hand manipulation. It will also use discrete differential geometry to establish a ....A geometric approach to in-hand manipulation with rolling contact. This project aims to eradicate barriers to in-hand manipulation and design robot hands as dexterous and adaptable as the human hand. It will use the curvature theory of smooth surfaces and Lie Group theory to establish a coordinate-independent kinematic formulation of a robot hand with rolling contact and rectify the current singularity theory of in-hand manipulation. It will also use discrete differential geometry to establish a discrete contact theory, which will be integrated into the proposed geometric framework to fully exploit modern tactile fingertips’ functionality. The expected outcome is robot hands with the dexterity and adaptability of the human hand.Read moreRead less
Efficient Algorithms for Multiple Object Filtering using Stochastic Geometry. The outcomes of this project will enhance our ability to harness advances in sensing and computing technologies and develop automated systems which facilitate rapid and reliable detection and monitoring of potential threats in our air, sea, and land space. Such systems assist our defence personnel in the event of a threat to implement measured and effective responses, and ultimately enhance Australia's operational adva ....Efficient Algorithms for Multiple Object Filtering using Stochastic Geometry. The outcomes of this project will enhance our ability to harness advances in sensing and computing technologies and develop automated systems which facilitate rapid and reliable detection and monitoring of potential threats in our air, sea, and land space. Such systems assist our defence personnel in the event of a threat to implement measured and effective responses, and ultimately enhance Australia's operational advantage, in line with the national research priority of 'Safeguarding Australia' and its associated priority goals. The developed technologies also have significant commercial potential which benefit Australian industries in areas such as robotics, automotive safety and biomedical engineering.Read moreRead less