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 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
Southern Ocean aerosols: sources, sinks and impact on cloud properties. This project aims to provide fundamental process-level understanding of atmospheric aerosol processes over the Southern Ocean, a region that has a profound influence on the Australian and global climate and where climate models perform poorly. Comprehensive observations during 3 Southern Ocean voyages and land-based measurements will enhance our knowledge of aerosols and cloud formation in that region and provide much-needed ....Southern Ocean aerosols: sources, sinks and impact on cloud properties. This project aims to provide fundamental process-level understanding of atmospheric aerosol processes over the Southern Ocean, a region that has a profound influence on the Australian and global climate and where climate models perform poorly. Comprehensive observations during 3 Southern Ocean voyages and land-based measurements will enhance our knowledge of aerosols and cloud formation in that region and provide much-needed data for improving global climate models. Expected outcomes include more accurate seasonal and latitudinal representations of Southern Ocean aerosol populations, properties and sources. The main benefit includes improvements in weather forecasting and future climate projection for Australia and the Southern Hemisphere.Read moreRead less
The energetics and dynamics of chemical reactions of polyatomic molecules involving multiple electronic states. This project will produce, from first principles, the first quantitatively accurate computer simulations of chemical reactions which involve several atoms and multiple electronic states. Many of the most important chemical reactions in the atmosphere (and elsewhere) involve changing both the shape of the molecules and their electronic structure. Many of these reactions are difficult to ....The energetics and dynamics of chemical reactions of polyatomic molecules involving multiple electronic states. This project will produce, from first principles, the first quantitatively accurate computer simulations of chemical reactions which involve several atoms and multiple electronic states. Many of the most important chemical reactions in the atmosphere (and elsewhere) involve changing both the shape of the molecules and their electronic structure. Many of these reactions are difficult to study in the laboratory, and consequently computer simulation is an essential component of the study of such reactions. U nderstanding how these reactions occur, and how fast they proceed, are important to our understanding of the dynamics of the atmosphere and other large scale reactors.Read moreRead less
The changing relationship between the South Asian and Australian Monsoon in a warming world. The success or failure of the Australian and South Asian Monsoons can mean the difference between prosperity and severe hardship in the affected regions. This project will help to understand the causes of the monsoon variability, both natural and human-induced, and what the future might have in store.
Cloudiness over the Southern Ocean: reducing a key knowledge gap and source of climate model uncertainty. Southern Ocean clouds are key ingredients of the global climate system and yet are only poorly understood and poorly represented in climate models. Through the use of advanced observational analysis techniques this research will provide a deep understanding of key Southern Ocean cloud regimes and improve their representation in models.
Renewable energy generation from flow-induced vibration. Much engineering effort has been expended to eliminate vibration of marine structures. This project seeks to provide the basis for the development of tidal energy harnessing, by deliberately amplifying and harnessing vibration. This technology offers the promise of capturing clean, zero-emissions energy, while presenting no risk to marine life.
Understanding the Southern Ocean overturning circulation and its sensitivity to climate variability. Our ability to understand and ultimately predict climate is critically dependent on understanding the Southern Ocean circulation and its sensitivity to atmospheric variability. The project will use a combination of observations and high-resolution numerical models to provide insights into the dynamics of the Southern Ocean overturning circulation.