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Research Overview

Research Overview. A/Prof Lindsay Kleeman Intelligent Robotics Research Centre Monash University. General Background. Robotics interests are centred around: estimation real time actuation and scheduling sensor systems, eg ultrasonic, stereo vision, 3D shape measurement

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Research Overview

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  1. Research Overview A/Prof Lindsay Kleeman Intelligent Robotics Research Centre Monash University

  2. General Background • Robotics interests are centred around: • estimation • real time actuation and scheduling • sensor systems, eg ultrasonic, stereo vision, 3D shape measurement • modelling of physical systems

  3. DSP Ultrasonic Sensor Module • Real time measurement of range and distance to targets • Classification into planes, corners, edges and curvature of ultrasonic targets. • Interference rejection won Best paper award IROS’99.

  4. DSP Sonar Ring • Full 360 degree coverage • 48 receivers • 24 transmitters simultaneous firing • Awesome dBs if you are a bat!

  5. Underwater Sonar Tank testing first…later the VC’s swimming pool, then the world! 3 DSP custom boards for signal processing

  6. Mobile Robot Simultaneous Localisation and Mapping SLAM SLAMbot maps the environment with the front and back sonar trackers Maps need to maintain the correlation between map feature errors and robot pose errors -> covariance matrix. Research is attempting a real time solution.

  7. Humanoid Robotics Metalman developed in conjunction with Geoff Taylor (PhD student) and IRRC. Visual servoing and human robot interaction. Video demo…….

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