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
Remote Delivery and Capture of Payloads using Aerial Deployed Tethers. The capability to rapidly transport payloads to and from remote locations is critical for search and rescue, disaster relief, remote communities, and military operations. Conventional technology is not well suited to this role, hence we propose to develop an intelligent system to manoeuvre a tether, towed from an aircraft, to pick-up or set-down a payload, with zero surface velocity. Because of the complex, nonlinear dynamics ....Remote Delivery and Capture of Payloads using Aerial Deployed Tethers. The capability to rapidly transport payloads to and from remote locations is critical for search and rescue, disaster relief, remote communities, and military operations. Conventional technology is not well suited to this role, hence we propose to develop an intelligent system to manoeuvre a tether, towed from an aircraft, to pick-up or set-down a payload, with zero surface velocity. Because of the complex, nonlinear dynamics of a cable-body system, advanced modelling and nonlinear optimal control will be applied in this task. The resulting world-first system will provide important economic opportunities and demonstrate Australian scientific capacity for novel developing intelligent systems.Read moreRead less
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
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
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
The dynamics of turbulent entrainment in sheared convective boundary layers. This project aims to develop general laws to enable the accurate prediction of boundary layer entrainment processes. This will be significant in a wide range of environmental and engineering applications. In particular, the current lack of understanding of this area is a major source of uncertainty in the latest generation of global climate models.
Links between bushfires in Victoria and floods in Queensland. This project will investigate connections between bushfires in Victoria and floods in Queensland under the framework that atmospheric blocking can be thought of as a common link. High resolution runs using the Intergovernmental Panel on Climate Change future projections of the energetics of high impact weather will improve climate forecasts in sensitive coastal areas of the country.
The Southern Ocean boundary layer: winds, turbulence, sea spray and clouds. Both satellite products and climate models have large biases in the energy and water budgets over the Southern Ocean (SO). This is a direct consequence of a poor understanding of the structure and dynamics of the SO atmospheric boundary layer, which has arisen from an inability to make the necessary observations in this harsh environment. Due to the availability of new Australian research infrastructure, large steps forw ....The Southern Ocean boundary layer: winds, turbulence, sea spray and clouds. Both satellite products and climate models have large biases in the energy and water budgets over the Southern Ocean (SO). This is a direct consequence of a poor understanding of the structure and dynamics of the SO atmospheric boundary layer, which has arisen from an inability to make the necessary observations in this harsh environment. Due to the availability of new Australian research infrastructure, large steps forward are now possible with modest investment. This project will conduct and combine observations from the recently acquired marine vessel, RV Investigator, and the collocated airborne and surface observations to understand the structure and evolution of the unique, pristine SO boundary layer and to evaluate satellites and climate models.Read moreRead less
GBR as a significant source of climatically relevant aerosol particles. Every cloud drop is formed from a microscopic aerosol particle, known as a cloud condensation nuclei (CCN). In unpolluted environments the CCN particles originate from biogenic sources. Determining the magnitude and driving factors of biogenic aerosol production in different ecosystems is crucial to the development and improvement of climate models. This project aims to determine the mechanisms of new particle production fro ....GBR as a significant source of climatically relevant aerosol particles. Every cloud drop is formed from a microscopic aerosol particle, known as a cloud condensation nuclei (CCN). In unpolluted environments the CCN particles originate from biogenic sources. Determining the magnitude and driving factors of biogenic aerosol production in different ecosystems is crucial to the development and improvement of climate models. This project aims to determine the mechanisms of new particle production from one of the biggest ecosystems in Australia, the Great Barrier Reef. It is expected that the project will establish whether marine aerosol along the Queensland coast is coral-derived and show that this aerosol can affect the CCN concentration and therefore cloud formation and the hydrological cycle.Read moreRead less
Tropical climate change, the Hadley and Walker Circulations, and Australian climate. Tropical climate systems, especially the overturning circulations and monsoons, have undergone change in recent decades and are expected to do so over the next century. However, a full understanding of these has proved elusive. The project will employ a suite of insightful diagnostics of these tropical circulations calculated from the latest, high-quality data and the results of modelling to isolate the key phys ....Tropical climate change, the Hadley and Walker Circulations, and Australian climate. Tropical climate systems, especially the overturning circulations and monsoons, have undergone change in recent decades and are expected to do so over the next century. However, a full understanding of these has proved elusive. The project will employ a suite of insightful diagnostics of these tropical circulations calculated from the latest, high-quality data and the results of modelling to isolate the key physical mechanisms at work. The research is significant in that tropical circulations determine the precipitation and temperature over large parts of the Earth’s surface, and particularly Australia. The physical underpinning of the changes will assist in forming outlooks for future climate for the ‘wet tropics’ and the ‘dry zones’.Read moreRead less