RoboCrab: An integrative approach to the natural ecology of decision making. The project aims to analyse and model the sophisticated and context-dependent escape behaviour of fiddler crabs under both natural conditions and in controlled laboratory settings. A crucial problem for biology is to understand how animals can make adaptive decisions in natural, complex sensory environments; such understanding also has direct application to robotics. The project plans to examine the effects of eye stabi ....RoboCrab: An integrative approach to the natural ecology of decision making. The project aims to analyse and model the sophisticated and context-dependent escape behaviour of fiddler crabs under both natural conditions and in controlled laboratory settings. A crucial problem for biology is to understand how animals can make adaptive decisions in natural, complex sensory environments; such understanding also has direct application to robotics. The project plans to examine the effects of eye stabilisation and oscillation, record from key neural stages using naturalistic stimuli to derive precise algorithms, and integrate and test the results on a robot model – RoboCrab. This may provide new insight into the integration of low-level sensory input with behavioural decision making circuits and the evolution of escape behaviours.Read moreRead less
Real-time signal processing and distributed robotic telescope networking for co-detection of gravitational waves and their optical counterparts. An international collaboration of scientists will employ a global network of telescopes and detectors to search for ripples in space-time. The project will use novel computational tools to study exotic phenomena in the distant Universe.
Advanced three-dimensional Computer Vision Algorithms for 'Find and Grasp' Future Robots. This project addresses crucial limitations of existing vision systems for the robot grasping of irregular objects in messy living environments. This project aims to undertake fundamental research into novel three-dimensional vision algorithms, exploiting multiple modalities (two-dimensional+three-dimensional+video) for scene labelling, object classification, scene segmentation and grasp synthesis to enable ....Advanced three-dimensional Computer Vision Algorithms for 'Find and Grasp' Future Robots. This project addresses crucial limitations of existing vision systems for the robot grasping of irregular objects in messy living environments. This project aims to undertake fundamental research into novel three-dimensional vision algorithms, exploiting multiple modalities (two-dimensional+three-dimensional+video) for scene labelling, object classification, scene segmentation and grasp synthesis to enable future robots to operate in unstructured environments with highly occluded and cluttered objects. It is expected to significantly advance research and to have broad applications, including home robotics to improve the quality of life of elders and people with special needs. These algorithms may also be used in security (explosive manipulation) and agriculture (field crop harvesting).Read moreRead less
A three dimensional video-based vision system for future robots. With the recent introduction of new three dimensional (3D) video sensors, opportunities for the development of advanced 3D vision systems for robots working in dynamic environments are now becoming possible. A real-time visual robotic system will be developed to substantially reduce the expensive costs associated with elder's health and home care expenses.
Control and Optimization of Distributed Multiagent Formations. The project aims to develop a conceptual framework and algorithms for handling multi-vehicle formation control. Formations of unmanned airborne vehicles are currently used by defence forces and swarms of micro-vehicles are beginning to find increasing use in defence and for civilian emergency response, largely for surveillance purposes. Vehicles must cooperate to achieve a global formation objective, while respecting constraints on s ....Control and Optimization of Distributed Multiagent Formations. The project aims to develop a conceptual framework and algorithms for handling multi-vehicle formation control. Formations of unmanned airborne vehicles are currently used by defence forces and swarms of micro-vehicles are beginning to find increasing use in defence and for civilian emergency response, largely for surveillance purposes. Vehicles must cooperate to achieve a global formation objective, while respecting constraints on sensors, energy, and general mechanical limitations. The project aims to resolve the challenges of deciding what a single vehicle should observe, what and to where it should communicate, and how it should move in relation to what it sees. The conceptual framework developed may also be relevant in guiding future defence acquisitions and civilian applications.Read moreRead less
Optimal control of nonlinear delay systems: theory, algorithms, and applications. Time delays are present in many engineering systems, including robots, irrigation canals, and chemical reactors. This project aims to develop state-of-the-art techniques for controlling systems with time delays in an optimal manner.
Robotic microsurgery: intra-operative measurement, modelling and micromanipulation control. This research will significantly improve microsurgery and minimally invasive surgery techniques, and further produce important benefits to medicine and healthcare. The project will also open new domains in the capabilities of modelling and control of complex systems with significant impact and benefits to numerous science and engineering practices.
Real-time global optimisation for distributed parameter control systems. This project aims to develop real-time optimal control algorithms for distributed parameter systems involving both time and spatial variables and multiple time-delays, with a focus on mining and energy applications. Current optimal control algorithms for such systems are too slow for real-time use and often get trapped at local optima, which can be vastly inferior to the global solution. This project will result in a new op ....Real-time global optimisation for distributed parameter control systems. This project aims to develop real-time optimal control algorithms for distributed parameter systems involving both time and spatial variables and multiple time-delays, with a focus on mining and energy applications. Current optimal control algorithms for such systems are too slow for real-time use and often get trapped at local optima, which can be vastly inferior to the global solution. This project will result in a new optimal control framework, underpinned by recent advances in constraint propagation, switching surface optimisation, and input regularisation. It will result in cutting-edge mathematical tools to complement and exploit new technologies and optimise key processes in natural gas liquefaction and zinc and alumina production, increasing efficiency and reducing the ecological footprint. This project will lead to new cutting-edge control algorithms for replacing the inefficient manual operations endemic in Australia’s natural gas and mineral processing plants.Read moreRead less
Distributionally robust dynamic optimisation for nonlinear switched system. Biochemical production utilising fermentation processes evidences poor product repeatability. This project aims to control and optimise 1,3-propanediol production via microbial fermentation. 1,3-propanediol is an essential ingredient for many polymeric materials and is present in cosmetics, personal care and cleaning products. New theory and parallel algorithms will be developed for the control and optimisation of the mi ....Distributionally robust dynamic optimisation for nonlinear switched system. Biochemical production utilising fermentation processes evidences poor product repeatability. This project aims to control and optimise 1,3-propanediol production via microbial fermentation. 1,3-propanediol is an essential ingredient for many polymeric materials and is present in cosmetics, personal care and cleaning products. New theory and parallel algorithms will be developed for the control and optimisation of the microbial fermentation of 1,3-propanediol production, where the bacteria kinetic parameters are uncertain without full knowledge of the probability distribution. This theory will also be applicable to other fermentation processes. The project outcomes are expected to significantly improve the productivity of the biochemical engineering industry involving fermentation processes.Read moreRead less
Biomechanics Meets Robotics: Methods for Accurate and Fast Needle Targeting. This project intends to create a novel integrated framework for biomedical systems that can accurately target a needle. Accurate surgical targeting means less trauma and better patient outcomes. Needles are used in over half of all surgical procedures, but up to 38 per cent of these are affected by targeting errors. Achieving sub-millimetre accuracy is extremely difficult because inserting a needle displaces the tissue ....Biomechanics Meets Robotics: Methods for Accurate and Fast Needle Targeting. This project intends to create a novel integrated framework for biomedical systems that can accurately target a needle. Accurate surgical targeting means less trauma and better patient outcomes. Needles are used in over half of all surgical procedures, but up to 38 per cent of these are affected by targeting errors. Achieving sub-millimetre accuracy is extremely difficult because inserting a needle displaces the tissue and moves the target. How, then, can ultra-fine targeting be achieved? This project plans to integrate non-linear biomechanical models that predict tissue motion with accurate and principled motion control. It seeks to create new methods for surgical robots that will predict target motion and guide a needle to accurately intersect the target.Read moreRead less