Associate Professor David Rye

David Rye works in embedded and applied control of machines, and in the systems engineering, design and implementation of autonomous robots. He has conducted extensive research in fields related to automation and control of machines, including applied nonlinear control, container-handling cranes, excavation, and autonomous vehicles. Since 2003 he has worked in the field of social robotics, designing and implementing autonomous robots to interact with people in social spaces. Prof. Rye is recognised as a pioneer in the introduction and development of university teaching in mechatronics, having instituted the first Australian BE in mechatronics in 1990.

Institution affiliations

The University of Sydney
Australian Centre for Field Robotics

Adjunct Associate Professor
The University of New South Wales

National Institute of Experimental Arts
Creative Robotics Lab

Qualifications

  • PhD, The University of Sydney, 1986
  • BE (Hons 1) in Mechanical Engineering, University of Adelaide, 1980

Publications

Edited Proceedings

  • D.C. Rye & S.J. Scheding (eds). Proceedings of New Constellations: Art, Science and Society, Museum of Contemporary Art, Sydney, 2006. ISBN 1921034122.
  • D.C. Rye & T. Furukawa (eds). Proceedings of the 2001 Australian Conference on Robotics and Automation. Australian Robotics and Automation Association, Sydney, Australia, 2001.

Scholarly Book Chapters

  • M. Velonaki & D. Rye. Art and robotics: A brief account of eleven years of cross-disciplinary invention. In A. Dong, J. Conomos & B. Buckley (eds), Ecologies of Invention, pp. 55–68, Sydney University Press, 2013.
  • G. Dissanayake, J.W.R. Coates, D.C. Rye, H.F. Durrant-Whyte, M.A. Louda. Control of load sway in enhanced container handling cranes. In A. Casals & A.T. de Almeida (eds), Experimental Robotics V, Springer, pp. 241–251, 1998.
  • M. Louda, D. Rye, G. Dissanayake, H. Durrant-Whyte, Identification of load sway in quay-cranes. In A. Zelinsky (ed.), Field and Service Robotics, Springer, Berlin, 1988, pp. 384–389.
  • A.T. Le, H.Q. Nguyen, Q.P. Ha, D.C. Rye, H.F. Durrant-Whyte, M. Stevens & V. Boget. Towards autonomous excavation. In A. Zelinsky (ed.), Field and Service Robotics, Springer, Berlin, 1988, pp.124–129.
  • S.M. Abdallah, E.M. Nebot & D.C. Rye. Object recognition and orientation via Zernike moments. In R. Chin & T-C. Pong (eds), Computer Vision – ACCV98, Springer, Berlin, 1997, pp. 386–393.
  • H.F. Durrant-Whyte, D.C. Rye & E.M. Nebot. Localisation of automatic guided vehicles. In G. Giralt & G. Hirzinger (eds), Robotics Research: The 7th International Symposium, Springer, Berlin, 1996, pp. 613–625.

Journal Articles

  • G.J. Maeda, I.R. Manchester & D.C. Rye. Combined ILC and disturbance observer for the rejection of near-repetitive disturbances, with application to excavation. IEEE Transactions on Control Systems Technology, in press, 2015.
  • D. Silvera-Tawil, D.C. Rye, M. Soleimani & M. Velonaki. Electrical impedance tomography for artificial sensitive robotic skin: A review. IEEE Sensors Journal, vol. 15, no. 4, April 2015, pp. 2001–2016.
  • D. Silvera Tawil, D. Rye & M. Velonaki. Artificial skin and tactile sensing for socially interactive robots: A review. Robotics and Autonomous Systems, vol. 63, 2015, pp.  230–243.
  • D. Silvera Tawil, D. Rye & M. Velonaki. Interpretation of social touch on an artificial arm covered with an EIT-based sensitive skin. International Journal of Social Robotics, vol. 6, no. 4, 2014, pp. 489–505. DOI 10.1007/s12369-013-0223-x.
  • D. Silvera Tawil, D. Rye & M. Velonaki. Interpretation of the modality of touch on an artificial arm covered with an EIT-based sensitive skin. International Journal of Robotics Research, vol. 31, no. 13, November 2012, pp. 1627–1642.
  • D. Silvera Tawil, D. Rye & M. Velonaki. Improved image reconstruction for an EIT-based sensitive skin with multiple internal electrodes. IEEE Transactions on Robotics, vol. 27, no. 3, June 2011, pp. 425–435.
  • M. Velonaki, D. Silvera Tawil & D. Rye. Engagement, trust, intimacy: Touch sensing for human-robot interaction. Second Nature, vol. 2, no. 1, 2010, pp. 102–119.
  • M. Velonaki, S. Scheding, D. Rye & H. Durrant-Whyte. Shared spaces: media art, computing and robotics. ACM Computers in Entertainment, vol. 6, no. 4, December 2008, pp. 51:1–51:12.
  • M. Velonaki, D. Rye, S. Scheding & S. Williams. Fish-Bird: A Perspective on cross-disciplinary collaboration, IEEE MultiMedia, January–March 2008, pp. 10–12.
  • Q. Ha & D Rye. A control architecture for robotic excavation in construction, Computer-Aided and Civil Infrastructure Engineering, vol. 19, no. 1, pp. 28–41, January 2004.
  • A. Bonchis, P.I. Corke & D.C. Rye. Experimental evaluation of position control methods for hydraulic servo systems. IEEE Transactions on Control Systems Technology, vol. 10, no 6, pp. 876–882, November 2002.
  • Q. Ha, M. Santos, Q. Nguyen, D.C. Rye & H.F. Durrant-Whyte. Robotic excavation in construction automation, IEEE Robotics and Automation Magazine, vol. 9, no. 1, pp. 20–28, March 2002.
  • A. Bonchis, P.I. Corke, D.C. Rye & Q.P. Ha. Variable structure methods in hydraulic servo systems control. Automatica, vol. 37, no. 4, pp. 589–595, 2001.
  • Q.P. Ha, Q.H. Nguyen, D.C. Rye & H.F. Durrant-Whyte. Fuzzy sliding-mode controllers with applications. IEEE Transactions on Industrial Electronics, vol. 48, no. 1, pp. 38–46, February 2001.
  • Q.P. Ha, Q.H. Nguyen, D.C. Rye & H.F Durrant-Whyte. Impedance control of a hydraulically-actuated robotic excavator. Automation in Construction, vol. 5, no. 9, pp. 421–435, 2000.
  • Q.P. Ha, D.C. Rye and H.F. Durrant-Whyte. Robust sliding mode control with application. International Journal of Control, vol. 72, no. 12, pp. 1087–1096, 1999.
  • Q.P. Ha, D.C. Rye and H.F. Durrant-Whyte. Fuzzy moving sliding mode control with application to robotic manipulators. Automatica, vol. 35, no. 4, pp. 607–616, 1999.
  • T. Furukawa, D.C. Rye, M.W.M.G. Dissanayake & A.J. Barratt. Automated polishing of an unknown three-dimensional surface. Robotics and Computer-Integrated Manufacturing, vol. 12, no. 3, pp. 261–270, 1996.
  • T. Furukawa, G. Yagawa, M.W.M.G. Dissanayake & D.C. Rye. Adaptive passive control for unknown surface polishing. Nihon Kikai Gakkai Ronbunshu, C Hen [Transactions of the Japan Society of Mechanical Engineers, Part C], vol. 61, no 585, pp. 1987–1993, 1995.
  • H.S. Chahyadi & D.C. Rye. Sliding-mode control for high-speed precision positioning. Journal of Systems Engineering, vol. 4, pp. 97–106, 1994.
  • D.C. Rye. The longitudinal stability of a hovering, tethered rotorcraft, Journal of Guidance, Control and Dynamics, vol. 8, no. 6, pp. 743–752, 1985.

Conference Papers

Only full peer-reviewed conference papers are listed here.

  • M. Velonaki, D. Silvera-Tawil & D. Rye. Affective human-robot interactions in social spaces: Two case studies. Presented at the Workshop on Applications for Emotional Robots, 8th ACM/IEEE International Conference on Human-Robot Interaction, 3–6 March 2013, Tokyo, Japan.
  • G.J. Maeda & D.C. Rye. Learning disturbances in autonomous excavation. Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 7–12 October 2012, Vilamoura, Portugal, pp. 2599–2605.
  • D. Silvera Tawil, D.C. Rye & M. Velonaki. EIT-based sensitive skin and touch interpretation for human-robot interaction. Proceedings of the Workshop on Advances in Tactile Sensing and Touch-Based Human-Robot Interaction, IEEE/RSJ International Conference on Intelligent Robots and Systems, 7–12 October 2012, Vilamoura, Portugal, 2 pp.
  • D. Silvera Tawil, D.C. Rye & M. Velonaki. Artificial skin and the interpretation of touch for human-robot interaction. Presented at the Human Activity and Vision Summer School, 1–5 October 2012, Sophia Antipolis, France.
  • G. Maeda, D.C. Rye & S.P.N Singh. Iterative autonomous excavation. The 8th International Conference on Field and Service Robotics, 16–19 July 2012, Matsushima, Japan, 14 pp.
  • A. Ball, D. Rye, F. Ramos & M. Velonaki. Unsupervised clustering of people from ‘skeleton’ data. Proceedings of the 7th ACM/IEEE International Conference on Human-Robot Interaction, 5–8 March 2012, Boston, USA, pp. 225–226.
  • G. Maeda, S.P.N Singh & D.C. Rye. Improving operational space control of heavy manipulators via open-loop compensation, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 25–30 September 2011, San Francisco, USA, pp. 725–731
  • D. Silvera Tawil, D. Rye & M. Velonaki. Touch modality interpretation for an EIT-based sensitive skin. Proceedings of the IEEE 2011 International Conference on Robotics and Automation, 10–12 May 2011, Shanghai, China, pp. 3770–3776.
  • A. Ball, D. Rye, F. Ramos & M. Velonaki. A comparison of unsupervised learning algorithms for gesture clustering. Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction, 6–9 March 2011, Lausanne, Switzerland, pp. 111–112
  • M. Velonaki & D. Rye. Human-robot interaction in a media art environment, in Workshop ‘What Do Collaborations with the Arts Have to Say about HRI?’, 5th ACM/IEEE International Conference on Human-Robot Interaction, 2–5 March 2010, Osaka, Japan.
  • D. Silvera Tawil, D. Rye & M. Velonaki. Artificial skin for human-robot interaction. Workshop on Tactile sensing in Humanoids, 9th IEEE-RAS International Conference on Humanoid Robots, 7–9 December 2009, Paris, France.
  • D. Silvera Tawil, D. Rye & M. Velonaki. Improved EIT drive patterns for a robotics sensitive skin. Proceedings of the 2009 Australasian Conference on Robotics and Automation, 2–4 December 2009, Sydney, Australia. [Best Student Paper]
  • M. Velonaki, D. Silvera Tawil & D. Rye. Engagement, trust and intimacy: interactions between a human and a robot. Proceedings of Super Human: Revolution of the Species, 22–25 November 2009, Melbourne, Australia.
  • M. Velonaki, S. Scheding, I. Brown & D. Rye. Physicality and synthetic reality. Proceedings of ISEA2008: The Fourteenth International Symposium on Electronic Art, Singapore, 26 July – 3 August 2008, pp. 513–515.
  • M. Velonaki, D. Rye & S. Scheding. Panel discussion: Engagement, trust and intimacy: Are these the essential elements for a ‘successful’ interaction between a human and a robot?
    (2008) AAAI Spring Symposium – Technical Report, SS-08-04, pp. 141–142, 26–28 March 2008, Palo Alto, USA.
  • A. Green & D. Rye. Sensible planning for vehicles operating over difficult unstructured terrains, Proceedings of the 2007 IEEE Aerospace Conference, 8 pp., Big Sky, USA, 3–10 March.
  • M. Velonaki, D. Rye, S. Scheding & S. Williams. Sharing spaces: risk, reward and pragmatism, Proceedings of New Constellations: Art, Science and Society, Sydney, Australia, 2006, pp. 74–79.
  • D. Rye, M. Velonaki, S. Williams & S. Scheding. Fish-Bird: human-robot interaction in a contemporary arts setting. Proceedings of the 2005 Australasian Conference on Robotics and Automation, Sydney, Australia, December 2005, 9 pp.
  • M. Velonaki, D. Rye, S. Scheding & S. Williams. Fish-Bird: autonomous interactions in a new media arts setting. L. Jones, P. Anastasiou, R. Smithies & K. Trist (eds) Vital Signs: Creative Practice & New Media Now, RMIT Publishing, Melbourne, Australia, October 2005. EISBN: 1921166118
  • A. Green, D. Rye & H.F. Durrant-Whyte. Vehicle planning in unstructured environments, InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration, Arlington, USA, 26–28 September 2005, pp. 1709–1721.
  • Z. Gong, J.I. Guzman, S.J. Scheding, D.C. Rye, G. Dissanayake & H. Durrant-Whyte. A heuristic rule-based switching and adaptive PID controller for a large autonomous tracked vehicle: from development to implementation, Proceedings of the 2004 IEEE Conference on Control Applications, Taipei, Taiwan, 2–4 September 2004, vol. 2, pp. 1272–127.
  • Q.P. Ha & D.C. Rye. Robotic excavator swing control using fuzzy rotating sliding mode Proceedings of the 10th IEEE International Conference on Fuzzy Systems, 2–5 December 2001, vol. 1, pp. 332–33.
  • M.A. Louda, M. Stevens, G. Dissanayake & D.C. Rye. Position estimation and control of load sway in quay-cranes, Proceedings of the IASTED International Conference on Modelling, Identification and Control, Innsbruck, Austria, February 2001, pp. 159–164.
  • H.Q. Nguyen, Q.P. Ha, D.C. Rye & H.F. Durrant-Whyte. Force/position tracking with sliding mode control for electro-hydraulic systems of a robotic excavator. Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, 12–15 December 2000, vol. 5, pp. 5224–5230.
  • A. Bonchis, P.I. Corke & D.C. Rye. Comparative study of position control methods for hydraulic servo systems. IARP Workshop on Advances in Robotics for Mining and Underground, Brisbane, Australia, 2–4 October 2000.
  • M. Santos, Q.P. Ha, D.C. Rye & H.F. Durrant-Whyte. Global control of robotic excavation using fuzzy logic and statecharts. Proceedings of the 17th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction, pp. 559–565, Taipei, Taiwan, 18–10 September 2000.
  • A. Bonchis, D.C. Rye & P.I. Corke. A comparative study of variable structure and model reference adaptive control for hydraulic servo systems. Proceedings of the 2000 Australian Conference on Robotics and Automation, Melbourne Australia, 30 August – 1 September 2000, pp. 197–202.
  • H.Q. Nguyen, Q.P. Ha, D.C. Rye & H.F. Durrant-Whyte. Low level control of electro-hydraulic systems. Proceedings of the 2nd Japan-USA-Vietnam Workshop on Research and Education in Systems, Computation and Control Engineering, HoChiMinh City, Vietnam, 7–9 June 2000, pp. 281–29.
  • Q.P. Ha, D.C. Rye, H.F. Durrant-Whyte & H. Trinh. Fuzzy global control for complex systems. Proceedings of the IEEE International Conference on Fuzzy Systems, San Antonio, USA, 7–10 May 2000, vol.1, pp. 459–464.
  • Q.P. Ha, A. Bonchis, D.C. Rye & H.F. Durrant-Whyte. Variable structure systems approach to friction estimation and compensation. Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, USA, 22–28 April 2000, vol. 4, pp. 3543–354.
  • Q.P. Ha, H.Q. Nguyen, D.C. Rye & H.F. Durrant-Whyte. Force and position control of electrohydraulic position systems of a robotic excavator. Proceedings of the IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction, pp. 483–489, Madrid, Spain, 22–24 September 1999. [Best Paper Prize]
  • A. Bonchis, P.I. Corke, D.C. Rye & Q.P. Ha. Robust position tracking in hydraulic servo systems with asymmetric cylinders using sliding mode control. Proceedings of the 1999 International Conference on Field and Service Robotics, Pittsburgh, USA, August 1999, pp. 316–332.
  • Q.P. Ha, H.Q. Nguyen, D.C. Rye & H.F. Durrant-Whyte. Robust impedance control of excavator dynamics. Proceedings of the 1999 International Conference on Field and Service Robotics, Pittsburgh, USA, 29–31 August 1999, pp. 226–231.
  • A. Bonchis, P.I. Corke & D.C. Rye. A pressure-based, velocity independent, friction model for asymmetric hydraulic cylinders. Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 10–15 May 1999, vol. 3, pp. 1746–175.
  • E.M. Nebot, G. Dissanayake, D.C. Rye & H.F. Durrant-Whyte. Mechatronics undergraduate degree at The University of Sydney. Proceedings of the 2nd Asia-Pacific Forum on Technology and Education, Sydney, Australia, 4–7 July 1999, pp. 362–367.
  • A. Bonchis, P.I. Corke & D.C. Rye. A pressure-based, velocity-independent friction model for asymmetric hydraulic cylinders. Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, USA, 10–15 May 1999, vol. 3, pp. 1746–1751.
  • Q.H. Nguyen, Q.P. Ha, D.C. Rye and H.F. Durrant-Whyte. Feedback linearisation control for electrohydraulic systems of a robotic excavator. Proceedings of the 1999 Australian Conference on Robotics and Automation, Brisbane, Australia, 30 March – 1 April 1999, pp. 190–195.
  • Bonchis, Q.P. Ha, P.I. Corke & D.C. Rye. Model-based friction compensation in hydraulic servo systems. Proceedings of the 1999 Australian Conference on Robotics and Automation, Brisbane, Australia, 30 March – 1 April 1999, pp. 184–189.
  • Q.H. Nguyen, Q.P. Ha, D.C. Rye & H.F. Durrant-Whyte. On robust control of electrohydraulic systems. Proceedings of the Australian Universities Power Engineering Conference, Hobart, Australia, 27–30 September 1998, vol. 2, pp. 428–43.
  • M.W.M.G. Dissanayake, J. Coates, D.C. Rye, H.F. Durrant-Whyte & M.A. Louda. Control of load sway in enhanced container handling cranes. Preprints of the Fifth International Symposium on Experimental Robotics, pp. 199–209, Barcelona, Spain, 15–18 June1998.
  • M.A. Louda, D.C. Rye, G. Dissanayake & H.F. Durrant-Whyte. INS-based identification of quay-crane spreader yaw. Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16–21 May 1998, vol. 4, pp. 3310–3315.
  • Q.P. Ha, H.Q. Nguyen, D.C. Rye & H.F. Durrant-Whyte. Sliding mode control with fuzzy tuning for an electro-hydraulic position servo system. Proceedings of the IEEE International Conference on Knowledge-based Intelligent Electronic Systems, Adelaide, Australia, 21–23 April 1998, vol. 1, pp. 141–148.
  • S.M. Abdallah, E.M. Nebot & D.C. Rye. Object recognition and orientation via Zernike moments. Proceedings of the Third Asian Conference on Computer Vision, Hong Kong, China, 8–10 January 1998, vol. 1, pp. 386–39.
  • M.A. Louda, D.C. Rye, M.W.M.G. Dissanayake & H.F. Durrant-Whyte. Identification of load sway in quay cranes. FSR97: Proceedings of the International Conference on Fields and Service Robotics, Canberra, Australia, 8–10 December 1997, pp. 398–404.
  • A.T. Le, Q.H. Nguyen, Q.P. Ha, D.C. Rye, H.F. Durrant-Whyte, M. Stevens & V. Boget. Towards autonomous excavation. FSR97: Proceedings of the International Conference on Field and Service Robotics, Canberra, Australia, 8–10 December 1997, pp. 121–126.
  • M.W.M.G. Dissanayake, D.C. Rye & H.F. Durrant-Whyte. Towards automatic container handling cranes. Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, USA, 20–25 April 1997, vol. 3, pp. 1833–183.
  • A.T. Le, D.C. Rye & H.F. Durrant-Whyte. Estimation of track-soil interactions for autonomous tracked vehicles. Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, USA, 20–25 April 1997, vol. 2, pp. 1388–139.
  • H.S. Chahyadi & D.C. Rye. Speed gradient algorithms applied to precision positioning. Robots for Australian Industries: Proceedings of the 1995 National Conference of the Australian Robot Association. Melbourne, Australia, 5–7 July 1995, vol. 1, pp. 382–389.
  • Abdallah SM, Nebot EM & Rye D.C. Curvature estimation of chain-coded contours using constrained least-square restoration. Robots for Australian Industries: Proceedings of the 1995 National Conference of the Australian Robot Association. Melbourne, Australia, 5–7 July 1995, vol. 1, pp. 306–318.
  • H.S. Chahyadi & D.C. Rye. (1995) Speed gradient algorithm for a high speed precision positioning system. Robots for Australian Industries: Proceedings of the 1995 National Conference of the Australian Robot Association. Melbourne, Australia, 5–7 July, 1995.
  • Abdallah, S.M., Nebot, E.M. & Rye, D.C. (1995) Partially occluded object recognition using geometric invariants. Robots for Australian Industries: Proceedings of the 1995 National Conference of the Australian Robot Association. Melbourne, Australia, 5–7 July, 1995.
  • Henky Susanto Chahyadi & David C. Rye. Robustness of sliding mode control for high-speed precision positioning. In Proceedings of the Pacific Conference on Manufacturing 1994, Jakarta, Indonesia, Dec. 19–22 1994, vol. 1, pp. 491–497.
  • Rye D.C., Nebot, E.M. & Pagac, D. A holonomic omnidirectional mobile robot: Control and dead-reckoning accuracy. Proceedings of the International Conference on Mechatronics and Machine Vision in Practice, Toowoomba, Australia, Nov. 1994, pp. 170–175.
  • Abdallah, S.M., Nebot, E.M. & Rye, D.C. 2-D object recognition via Zernike moments. Proceedings of the International Conference on Mechatronics and Machine Vision in Practice, Toowoomba, Australia, Nov. 1994, pp. 100–105.
  • Chahyadi, H.S., Fang, G. & Rye, D.C. Nonlinear compensation for a position control system with a fuzzy-based neural network controller. Proceedings of the Asian Control Conference (ASCC), Tokyo, Japan, July 27–30, 1994, vol. 2, pp. 443–446.
  • Chahyadi, H.S. & Rye, D.C. Feedforward compensation to stabilise a nonlinear system using a fuzzy-based neural network controller. Proceedings of the Asian Control Conference (ASCC), Tokyo, Japan, July 27–30 1994, vol. 1, pp. 127 – 131.
  • Rye, D.C., Dissanayake, M.W.M.G. & Nebot, E.M. Design and development of an undergraduate degree in mechatronics. Proceedings of the Workshop on Mechatronics Education, Stanford, USA, 21–22 July 1994, pp. 91–97.
  • Nebot, E.M., Abdallah, S. & Rye D.C. Two dimensional object recognition and classification, Proceedings of DICTA-93: Digital Image Computing: Techniques & Applications, Sydney, 8–10 December 1993, pp. 842–849.
  • Chahyadi, H.S. & Rye, D.C. Fuzzy logic emulation of sliding-mode control. ANZIIS-93: Proceedings of the Australian and New Zealand Conference on Intelligent Information Systems, Perth, 1–3 December 1993, pp. 25–29.
  • Furukawa, T., Dissanayake, M.W.M.G. & Rye, D.C. A control system incorporating fuzzy logic for robot polishing. Proceedings of the 1993 International Symposium on Industrial Robotics, Tokyo, Japan, 1–5 November 1993, pp. 275–281.
  • Chahyadi, H.S. & Rye, D.C. Precision sliding-mode position control in the presence of friction. Proceedings of the 12th World Congress of the International Federation of Automatic Control, Sydney, Australia, 19–23 July 1993, vol. 4, pp. 531–535
  • Dissanayake, M.W.M.G., Rye, D.C. & duPreez, J. A sensor to aid robotic polishing. Proceedings of the 1990 Pacific Conference on Manufacturing, Sydney & Melbourne, Australia, 17–21 December, 1990, vol. 2, pp. 753–759.
  • Rye, D.C., Kan, K.W., Gal, J.A.G. & Dissanayake, M.W.M.G. A system for flexible automatic assembly. Proceedings of the 1990 Pacific Conference on Manufacturing, Sydney & Melbourne, Australia, 17–21 December, 1990, vol. 1, pp. 142–149.
  • Rye, D.C., Blackler, J. and Roberts, B.W. The stability of a tethered gyromill. Proceedings of the AIAA 2nd Terrestrial Energy Systems Conference, Colorado Springs, USA, 1–3 December 1981.

Patent

  • International Patent Treaty patent family WO 1997/019888 titled Crane with improved reeving arrangement. Full patent in Australia, Great Britain, France, Italy, Japan, Netherlands, Philippines, Singapore, Germany, South Korea and USA.