ORCID Profile
0000-0002-7035-3173
Current Organisation
University of Sydney
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Research Topics
In Research Link Australia (RLA), "Research Topics" refer to ANZSRC FOR and SEO codes. These topics are either sourced from ANZSRC FOR and SEO codes listed in researchers' related grants or generated by a large language model (LLM) based on their publications.
Top 5 Research Topics
ANZSRC Field of Research (FoR)
Control Systems, Robotics and Automation | Calculus of Variations, Systems Theory and Control Theory | Applied Mathematics | Control engineering mechatronics and robotics | Control engineering | Adaptive Agents and Intelligent Robotics | Infrastructure Engineering and Asset Management | Artificial Intelligence and Image Processing | Electrical and Electronic Engineering | Pattern Recognition and Data Mining | Calculus of variations mathematical aspects of systems theory and control theory
ANZSRC Socio-Economic Objective (SEO)
Expanding Knowledge in Engineering | Expanding Knowledge in Technology | Expanding Knowledge in the Information and Computing Sciences | National Security |
Related Links
Publications
Recurrent Equilibrium Networks: Flexible Dynamic Models with Guaranteed Stability and Robustness
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Bounding on rough terrain with the LittleDog robot
Publisher: SAGE Publications
Date: 07-12-2011
Abstract: A motion planning algorithm is described for bounding over rough terrain with the LittleDog robot. Unlike walking gaits, bounding is highly dynamic and cannot be planned with quasi-steady approximations. LittleDog is modeled as a planar five-link system, with a 16-dimensional state space computing a plan over rough terrain in this high-dimensional state space that respects the kinodynamic constraints due to underactuation and motor limits is extremely challenging. Rapidly Exploring Random Trees (RRTs) are known for fast kinematic path planning in high-dimensional configuration spaces in the presence of obstacles, but search efficiency degrades rapidly with the addition of challenging dynamics. A computationally tractable planner for bounding was developed by modifying the RRT algorithm by using: (1) motion primitives to reduce the dimensionality of the problem (2) Reachability Guidance, which dynamically changes the s ling distribution and distance metric to address differential constraints and discontinuous motion primitive dynamics and (3) s ling with a Voronoi bias in a lower-dimensional “task space” for bounding. Short trajectories were demonstrated to work on the robot, however open-loop bounding is inherently unstable. A feedback controller based on transverse linearization was implemented, and shown in simulation to stabilize perturbations in the presence of noise and time delays.
Distributed Nonlinear Control Design Using Separable Control Contraction Metrics
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2019
Distributed Economic MPC With Separable Control Contraction Metrics
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2017
A nonlinear observer for on-line estimation of the cerebrospinal fluid outflow resistance
Publisher: Elsevier BV
Date: 05-2008
System identification for clinical diagnosis of hydrocephalus
Publisher: IEEE
Date: 12-2010
Maximum likelihood identification of stable linear dynamical systems
Publisher: Elsevier BV
Date: 10-2018
Model validation and set membership state estimation for continuous-time nonlinear systems: Contraction metric approach
Publisher: IEEE
Date: 11-2015
Decentralized nonlinear feedback design with separable control contraction metrics
Publisher: IEEE
Date: 12-2016
Priority Maps for Surveillance and Intervention of Wildfires and other Spreading Processes
Publisher: IEEE
Date: 05-2019
Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2017
Minimizing the Risk of Spreading Processes via Surveillance Schedules and Sparse Control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2023
Transverse contraction criteria for existence, stability, and robustness of a limit cycle
Publisher: IEEE
Date: 12-2013
Attitude Estimation From Vector Measurements: Necessary and Sufficient Conditions and Convergent Observer Design
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Periodic motion planning and analytical computation of transverse linearizations for hybrid mechanical systems
Publisher: IEEE
Date: 2008
Learning Over All Stabilizing Nonlinear Controllers for a Partially-Observed Linear System
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Experimental implementation of stable oscillations of the furuta pendulum around the upward equilibrium
Publisher: IEEE
Date: 10-2007
Unfalsified adaptive control with MPC candidates
Publisher: IEEE
Date: 06-2014
On Identification via EM with Latent Disturbances and Lagrangian Relaxation**This work was supported by the Australian Research Council (DP130100551), and the Swedish Research Council (VR) as part of
Publisher: Elsevier BV
Date: 2015
A Convex Parameterization of Robust Recurrent Neural Networks
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2021
Design and modeling of an open platform for dynamic walking research
Publisher: IEEE
Date: 02-2017
Sparse Resource Allocation for Control of Spreading Processes via Convex Optimization
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2021
Specialized algorithm for identification of stable linear systems using Lagrangian relaxation
Publisher: IEEE
Date: 07-2016
Stable nonlinear system identification: Convexity, model class, and consistency
Publisher: Elsevier BV
Date: 07-2012
Amplitude-constrained input design: Convex relaxation and application to clinical neurology
Publisher: Elsevier BV
Date: 07-2012
Method for optical-flow-based precision missile guidance
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2008
A method for vision-based docking of wheeled mobile robots
Publisher: IEEE
Date: 10-2007
Experimental Testing of a Method for On-Line Identification of the Cerebrospinal Fluid System
Publisher: IEEE
Date: 08-2007
Stable dynamic walking over uneven terrain
Publisher: SAGE Publications
Date: 24-01-2011
Abstract: We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important ex le of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not known in advance. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents “transversal” dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design, providing exponential orbital stability of the target trajectory of the original nonlinear system. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to a wide variety of hybrid nonlinear systems.
A method for vision-based docking of wheeled mobile robots
Publisher: IEEE
Date: 10-2006
Interception of a moving object with a specified approach angle by a wheeled robot: Theory and experiment
Publisher: IEEE
Date: 2008
Input design for system identification via convex relaxation
Publisher: IEEE
Date: 12-2010
Human locomotion analysis: Identifying a dynamic mapping between upper and lower limb joints using the Koopman operator
Publisher: IEEE
Date: 07-2017
Feedback controller parameterizations for Reinforcement Learning
Publisher: IEEE
Date: 04-2011
Input design for model discrimination and fault detection via convex relaxation
Publisher: IEEE
Date: 06-2014
LQR-trees: Feedback motion planning via sums-of-squares verification
Publisher: SAGE Publications
Date: 22-04-2010
Abstract: Advances in the direct computation of Lyapunov functions using convex optimization make it possible to efficiently evaluate regions of attraction for smooth non-linear systems. Here we present a feedback motion-planning algorithm which uses rigorously computed stability regions to build a sparse tree of LQR-stabilized trajectories. The region of attraction of this non-linear feedback policy “probabilistically covers” the entire controllable subset of state space, verifying that all initial conditions that are capable of reaching the goal will reach the goal. We numerically investigate the properties of this systematic non-linear feedback design algorithm on simple non-linear systems, prove the property of probabilistic coverage, and discuss extensions and implementation details of the basic algorithm.
Circular navigation missile guidance with incomplete information and uncertain autopilot model
Publisher: American Institute of Aeronautics and Astronautics (AIAA)
Date: 11-2004
DOI: 10.2514/1.3371
Nonlinear stabilization via Control Contraction Metrics: A pseudospectral approach for computing geodesics
Publisher: IEEE
Date: 05-2017
Combined ILC and Disturbance Observer for the Rejection of Near-Repetitive Disturbances, with Application to Excavation
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2015
On the Equivalence of Contraction and Koopman Approaches for Nonlinear Stability and Control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Distributed Identification of Contracting and/or Monotone Network Dynamics
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2022
Stable Dynamic Walking over Rough Terrain
Publisher: Springer Berlin Heidelberg
Date: 2011
On motion planning for an underactuated ship: Fundamental limitations and a bearings-only navigation strategy
Publisher: IEEE
Date: 2007
Output-feedback control of nonlinear systems using control contraction metrics and convex optimization
Publisher: IEEE
Date: 11-2015
On Existence of Separable Contraction Metrics for Monotone Nonlinear Systems
Publisher: Elsevier BV
Date: 07-2017
Regions of attraction for hybrid limit cycles of walking robots
Publisher: Elsevier BV
Date: 2011
Fault detection for a switched battery system via constrained nonlinear state estimation
Publisher: IEEE
Date: 05-2018
Assessment of cerebrospinal fluid outflow conductance using an adaptive observer—experimental and clinical evaluation
Publisher: IOP Publishing
Date: 05-10-2007
DOI: 10.1088/0967-3334/28/11/003
Abstract: Idiopathic normal pressure hydrocephalus (INPH) patients have a disturbance in the dynamics of the cerebrospinal fluid (CSF) system. The outflow conductance, C, of the CSF system has been suggested to be prognostic for positive outcome after treatment with a CSF shunt. All current methods for estimation of C have drawbacks these include lack of information on the accuracy and relatively long investigation times. Thus, there is a need for improved methods. To accomplish this, the theoretical framework for a new adaptive observer (OBS) was developed which provides real-time estimation of C. The aim of this study was to evaluate the OBS method and to compare it with the constant pressure infusion (CPI) method. The OBS method was applied to data from infusion investigations performed with the CPI method. These consisted of repeated measurements on an experimental set-up and 30 patients with suspected INPH. There was no significant difference in C between the CPI and the OBS method for the experimental set-up. For the patients there was a significant difference, -0.84+/-1.25 microl (s kPa)(-1), mean +/- SD (paired s le t-test, p<0.05). However, such a difference is within clinically acceptable limits. This encourages further development of this new real-time approach for estimation of the outflow conductance.
Scalable identification of stable positive systems
Publisher: IEEE
Date: 12-2016
Identification of nonlinear systems with stable oscillations
Publisher: IEEE
Date: 12-2011
Input design for discrimination between classes of LTI models
Publisher: Elsevier BV
Date: 03-2015
Precision missile guidance using radar/multiple-video sensor fusion via communication channels with bit-rate constraints
Publisher: Elsevier BV
Date: 05-2006
Convex optimization in identification of stable non-linear state space models
Publisher: IEEE
Date: 12-2010
Transverse dynamics and regions of stability for nonlinear hybrid limit cycles
Publisher: Elsevier BV
Date: 2011
A biologically inspired method for vision-based docking of wheeled mobile robots
Publisher: Elsevier BV
Date: 10-2007
Identification of externally positive systems
Publisher: IEEE
Date: 12-2017
Invariant funnels around trajectories using Sum-of-Squares programming
Publisher: Elsevier BV
Date: 2011
Transverse contraction criteria for existence, stability, and robustness of a limit cycle
Publisher: Elsevier BV
Date: 2014
Circular-navigation-guidance law for precision missile/target engagements
Publisher: American Institute of Aeronautics and Astronautics (AIAA)
Date: 03-2006
DOI: 10.2514/1.13275
Specialized Interior-Point Algorithm for Stable Nonlinear System Identification
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2019
Real-time planning with primitives for dynamic walking over uneven terrain
Publisher: IEEE
Date: 05-2014
Contraction Analysis of Nonlinear Iterative Learning Control
Publisher: Elsevier BV
Date: 07-2017
Control Contraction Metrics on Finsler Manifolds
Publisher: IEEE
Date: 06-2018
Real-time estimation of cerebrospinal fluid system parameters via oscillating pressure infusion
Publisher: Springer Science and Business Media LLC
Date: 06-08-2010
DOI: 10.1007/S11517-010-0670-6
Abstract: Hydrocephalus is related to a disturbed cerebrospinal fluid (CSF) system. For diagnosis, lumbar infusion test are performed to estimate outflow conductance, C (out), and pressure volume index, PVI, of the CSF system. Infusion patterns and analysis methods used in current clinical practice are not optimized. Minimizing the investigation time with sufficient accuracy is of major clinical relevance. The aim of this study was to propose and experimentally evaluate a new method, the oscillating pressure infusion (OPI). The non-linear model of the CSF system was transformed into a linear time invariant system. Using an oscillating pressure pattern and linear system identification methods, C (out) and PVI with confidence intervals, were estimated in real-time. Forty-two OPI and constant pressure infusion (CPI) investigations were performed on an experimental CSF system, designed with PVI = 25.5 ml and variable C (out). The ARX model robustly estimated C (out) (mean C (out,OPI) - C (out,CPI) = 0.08 μl/(s kPa), n = 42, P = 0.68). The Box-Jenkins model proved most reliable for PVI (23.7 ± 2.0 ml, n = 42). The OPI method, with its oscillating pressure pattern and new parameter estimation methods, efficiently estimated C (out) and PVI as well as their confidence intervals in real-time. The results from this experimental study show potential for the OPI method and supports further evaluation in a clinical setting.
Optical-flow based Precision Missile Guidance inspired by Honeybee Navigation
Publisher: IEEE
Date: 2003
Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation
Publisher: IEEE
Date: 05-2017
Measurement of CSF dynamics with oscillating pressure infusion
Publisher: Hindawi Limited
Date: 28-12-2012
DOI: 10.1111/ANE.12063
Abstract: Infusion tests are used to diagnose and select patients with idiopathic normal pressure hydrocephalus (INPH) for shunt surgery. The test characterizes cerebrospinal fluid dynamics and estimates parameters of the cerebrospinal fluid system, the pressure-volume index (PVI) and the outflow conductance (Cout). The Oscillating Pressure Infusion (OPI) method was developed to improve the test and reduce the investigation time. The aim of this study was to evaluate the new OPI method by comparing it with an established reference method. Forty-seven patients (age 71.2 ± 8.9 years) with communicating hydrocephalus underwent a preoperative lumbar infusion investigation with two consecutive infusion protocols, reference (42 min) and new (20 min), that is, 94 infusion tests in total. The OPI method estimated Cout and PVI simultaneously. A real-time analysis of reliability was applied to investigate the possibility of infusion time reduction. The difference in Cout between the methods was 1.2 ± 1.8 μl/s/kPa (ΔRout = -0.8 ± 3.5 mmHg/ml/min), P < 0.05, n = 47. With the reliability analysis, the preset 20 min of active infusion could have been even further reduced for 19 patients to between 10 and 19 min. PVI was estimated to 16.1 ± 6.9 ml, n = 47. The novel Oscillating Pressure Infusion method produced real-time estimates of Cout including estimates of reliability that was in good agreement with the reference method and allows for a reduced and in idualized investigation time.
Phase-indexed ILC for control of underactuated walking robots
Publisher: IEEE
Date: 09-2015
Convex Parameterizations and Fidelity Bounds for Nonlinear Identification and Reduced-Order Modelling
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2017
Contracting Nonlinear Observers: Convex Optimization and Learning from Data
Publisher: IEEE
Date: 06-2018
An algorithm for amplitude-constrained input design for system identification
Publisher: IEEE
Date: 12-2009
Vision-based interception of a moving target by a mobile robot
Publisher: IEEE
Date: 10-2007
Transverse contraction criteria for stability of nonlinear hybrid limit cycles
Publisher: IEEE
Date: 12-2014
Reduced-Order Nonlinear Observers Via Contraction Analysis and Convex Optimization
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2022
Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems
Publisher: Elsevier BV
Date: 12-2008
Convex Bounds for Equation Error in Stable Nonlinear Identification
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2019
Predicting Transitioning Walking Gaits: Hip and Knee Joint Trajectories From the Motion of Walking Canes
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2019
Robust Control Contraction Metrics: A Convex Approach to Nonlinear State-Feedback H∞ Control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2018
Related Organisations
Related Funding Activities
Discovery Projects - Grant ID: DP130100551
Start Date: 03-2013
End Date: 03-2016
Amount: $337,000.00
Funder: Australian Research Council
View Funded ActivityDiscovery Projects - Grant ID: DP190102963
Start Date: 2019
End Date: 12-2022
Amount: $505,000.00
Funder: Australian Research Council
View Funded ActivityDiscovery Projects - Grant ID: DP150100577
Start Date: 02-2015
End Date: 12-2020
Amount: $520,700.00
Funder: Australian Research Council
View Funded ActivityIndustrial Transformation Research Hubs - Grant ID: IH210100030
Start Date: 11-2022
End Date: 10-2027
Amount: $5,000,000.00
Funder: Australian Research Council
View Funded ActivityDiscovery Projects - Grant ID: DP230101014
Start Date: 07-2023
End Date: 07-2026
Amount: $430,000.00
Funder: Australian Research Council
View Funded ActivityLinkage Infrastructure, Equipment And Facilities - Grant ID: LE230100058
Start Date: 09-2023
End Date: 08-2024
Amount: $400,000.00
Funder: Australian Research Council
View Funded Activity