135 results found
Evins R, Pointer P, Vaidyanathan R, 2011, Optimisation for CHP and CCHP decision-making, Pages: 1335-1342
We present a new analysis and optimisation procedure to aid decision-making regarding Combined Heat and Power (CHP) and Combined Cooling, Heat and Power (CCHP) installations. Our holistic model incorporates analysis of plant operation (including part-load performance) and provides guidance regarding applicability, sizing and phasing of plant. A multi-objective genetic algorithm has been used to optimise a set of possible configurations. This produces a "trade-off front" of solutions. The outputs are reported for a case study. Additionally, a wide range of scenarios have been optimised and the outputs examined graphically to derive innovative design guidelines (a process known as "innovization").
Evins R, Pointer P, Vaidyanathan R, 2011, Multi-objective optimisation of the configuration and control of a double-skin facade, Pages: 1343-1350
We present a new approach to the optimisation of Double-Skin Facades (DSFs). Parameters defined possible geometries, shading devices, openings and ventilation paths, as well as control schedules for their operation. A genetic algorithm was used to discover the best configuration and control strategies for a given scenario from scratch, rather than using a particular configuration type. The algorithm performed a thermal and air-flow simulation of each proposed solution using EnergyPlus. The optimisation process has been illustrated with a case study. In addition, the process has been applied to a range of use types and the results examined graphically to derive innovative design guidelines (a process known as "innovization").
Mamun KA, Mace M, Gupta L, et al., 2011, Robust real-time identification of tongue movement commands from interferences, Neurocomputing, Pages: 1-10, ISSN: 0925-2312
Araromi OA, Conn AT, Ling CS, et al., 2011, Spray deposited multilayered dielectric elastomer actuators, SENSORS AND ACTUATORS A-PHYSICAL, Vol: 167, Pages: 459-467, ISSN: 0924-4247
Buckley M, Vaidyanathan R, Mayol-Cuevas W, 2011, Sensor Suites For Assistive Arm Prosthetics, 24th International Symposium on Computer-Based Medical Systems (CBMS), Publisher: IEEE, ISSN: 2372-9198
Carberry J, Hinchly G, Buckerfield J, et al., 2011, Parametric Design of an Active Ankle Foot Orthosis with Passive Compliance, 24th International Symposium on Computer-Based Medical Systems (CBMS), Publisher: IEEE, ISSN: 1063-7125
Burton TMW, Vaidyanathan R, Burgess SC, et al., 2011, Development of a Parametric Kinematic Model of the Human Hand and a Novel Robotic Exoskeleton, IEEE International Conference on Rehabilitation Robotics (ICORR)/International Neurorehabilitation Symposium (INRS)/International Conference on Virtual Rehabilitation (ICVR), Publisher: IEEE, ISSN: 1945-7898
Burgess S, Wang J, Vaidyanathan R, 2011, A comparison of the efficiency of the bicycle with analogous systems in nature, International Journal of Design and Nature and Ecodynamics, Vol: 6, Pages: 97-108, ISSN: 1755-7437
There are several analogies of mechanical design between the bicycle and nature. The coasting ability of a bicycle is analogous with the coasting ability of birds ; the chain transmission has an analogy with the four-bar linkage in bird wings; the spoke-rim wheel layout has analogies with natural structures; and the tyre is analogous with some of the shock absorbing structures in animals. Comparing optimal design in the bicycle and nature demonstrates that the bicycle is very effi cient as a transport machine and as a structure. However, one key difference with nature is that coasting animals like birds avoid steep gradients by fl ying on a level course or by using thermals to gain altitude. Analysis of the energy demands of cycling show that uphill cycling has a major negative impact on journey times and energy effi ciency. Investing in dedicated cycle paths in order to avoid steep gradients could signifi cantly increase the take-up of cycling and this would have signifi cant long-term environmental advantages. © 2011 WIT Press.
Madgwick SOH, Harrison AJL, Vaidyanathan R, 2011, Estimation of IMU and MARG orientation using a gradient descent algorithm, IEEE International Conference on Rehabilitation Robotics (ICORR)/International Neurorehabilitation Symposium (INRS)/International Conference on Virtual Rehabilitation (ICVR), Publisher: IEEE, ISSN: 1945-7898
Lock RJ, Peiris BHPM, Bates S, et al., 2011, Quantification of the Benefits of a Compliant Foil for Underwater Flapping Wing Propulsion, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Publisher: IEEE, Pages: 898-903, ISSN: 2159-6255
Burgess SC, Wang J, Etoundi AC, et al., 2011, A functional analysis of the jaw mechanism in the sling-jaw wrasse, International Journal of Design and Nature and Ecodynamics, Vol: 6, Pages: 258-271, ISSN: 1755-7437
Sling-jaw wrasse can deploy their mouths forward at high speed to catch prey and collect food. The forward swimming of the fish and the deployment of the jaw mechanism has been simulated using numerical analysis of the equations of motion. Computed tomography and reverse engineering have been used to obtain accurate geometrical and mass data of an actual sling jaw wrasse including the jaw mechanism. The analysis shows that maximum snout acceleration is up to 10.7 g, whereas the maximum fish acceleration is up to 0.25 g, thus showing the advantage of having the deployable snout. The analysis also shows that maximum snout acceleration is highly dependent on the size of the fish. Small fish of 7.5 cm length have a maximum snout acceleration of up to 10.7 g, whereas large fish of 35 cm length have a maximum snout acceleration of up to 5.2 g. The analysis may help to explain why deployable jaws are not seen on fish greater than about 35 cm in length. Hypothetical predator-prey chasing scenarios show that the deployable mouth gives the sling-jaw wrasse a very significant advantage when the prey is in close range. The sling-jaw wrasse demonstrates that linkage mechanisms enable a high degree of optimisation of movement to be achieved in a deployment mechanism. Biomimetic applications of the jaw mechanism are briefly discussed. © 2011 WIT Press.
Mace M, Mamun KA, Wang S, et al., 2011, Ensemble classification for robust discrimination of multi-channel , multi-class tongue-movement ear pressure signals, Boston, Proc. of the 33rd IEEE Int. Conf. of Engineering in Medicine and Biology Society, Publisher: IEEE
Mace M, Abdullah-Al-Mamun K, Wang S, et al., 2011, Ensemble classification for robust discrimination of multi-channel, multi-class tongue-movement ear pressure signals., Pages: 1733-1736, ISSN: 1557-170X
In this paper we introduce a robust classification framework for tongue-movement ear pressure signals based around an ensemble voting methodology. The ensemble members are comprised of different combinations of sensor inputs i.e. two in-ear microphones and an acoustic gel sensor positioned under the chin of the individual and classification using three different base models. It is shown that by using all nine ensemble members when compared to the individual (base) models, the average misclassification rate can be reduced from 23% to 2.8% when using the majority voting strategy. The correct classification rate is improved from 76% to 92.4% when utilizing either the borda count or condorcet methods. This is achieved through a combination of rejection based on ambiguity in the ensemble and diversity in the misclassified instances across the ensemble members.
Bachmann RJ, Vaidyanathan R, Boria FJ, et al., 2010, A miniature vehicle with extended aerial and terrestrial mobility, Flying Insects and Robots, Pages: 247-270, ISBN: 9783540893929
This chapter describes the design, fabrication, and field testing of a small robot (30.5 cm wingspan and 30.5 cm length) capable of motion in both aerial and terrestrial mediums. The micro-air-land vehicle (MALV) implements abstracted biological inspiration in both flying and walking mechanisms for locomotion and transition between modes of operation. The propeller-driven robot employs an undercambered, chord-wise compliant wing to achieve improved aerial stability over rigid-wing micro-air vehicles (MAVs) of similar size. Flight maneuverability is provided through elevator and rudder control. MALV lands and walks on the ground using an animal-inspired passively compliant wheel-leg running gear that enables the robot to crawl and climb, including surmounting obstacles larger than its own height. Turning is accomplished through differential activation of wheel-legs. The vehicle successfully performs the transition from flight to walking and is able to transition from terrestrial to aerial locomotion by propeller thrust on a smooth horizontal surface or by walking off a vertical surface higher than 6 m. Fabricated of lightweight carbon fiber the ~100 g vehicle is capable of flying, landing, and crawling with a payload exceeding 20% its own mass. To our knowledge MALV is the first successful vehicle at this scale to be capable of both aerial and terrestrial locomotion in real-world terrains and smooth transitions between the two. © 2010 Springer-Verlag Berlin Heidelberg.
Lock RJ, Vaidyanathan R, Burgess SC, et al., 2010, Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles through empirical and numerical modelling of the common guillemot, Uria aalge, BIOINSPIRATION & BIOMIMETICS, Vol: 5, ISSN: 1748-3182
Craig R, Vaidyanathan R, James C, et al., 2010, Assessment of human response to robot facial expressions through visual evoked potentials, Pages: 647-652
The focus of this work is to investigate and quantify the ability of a humanoid 'hybrid face' robot to effectively convey emotion to a human observer by mapping their physiological (EEG) response to perceived emotional information. Specifically, we examine the event related response during two implicit emotion recognition experiments to determine the modulation of the face-specific N170 brain response component to robot facial expressions. EEG recordings were taken from a range of test subjects observing the BERT2 robot cycle through a range of facial emotions in each emotion recognition experiment. Results from both experiments demonstrate that the stimuli evoke the N170 component and that digital facial expressions with high correlations can be discriminated. Emotional expressions evoke a larger response relative to neutral stimuli, with negative evoking an increased amplitude and latency to positive emotions, and demonstrate that the response to robot facial expressions evoke similar brain activity to that of a human emotions. This study is the first of its nature to investigate and quantify the human physiological response to digital facial expressions as conveyed in real-time by a humanoid robot. ©2010 IEEE.
Evins R, Pointer P, Vaidyanathan R, 2010, Configuration of a genetic algorithm for multi-objective optimisation of solar gain to buildings, Pages: 1327-1328
We report the formulation and implementation of a genetic algorithm to address multi-objective optimisation of solar gain to buildings with the goal of minimising energy consumption and hence limiting carbon emissions. Heuristic optimisation approaches hold significant promise to balance complex tradeoffs in building design; however the unique nature of each building optimization problem limits broader implementation. Parameter selection is very challenging with little or no correlation between different architectural configurations. We address this issue through 'calibration' on smaller scale problems with derivable optimal solutions. Various seeding, selection and fitness options were trialled, as well as different parameter values. The Pareto front of the global solution set was successfully reproduced for the calibration case. Varying climate produced no major change in the nature of the solution; however, building orientation forced reparameterization for an optimal solution. Future work will establish when calibration is useful, and aim to quantify the nature of the solution space.
Araromi OA, Conn AT, Ling CS, et al., 2010, A novel fabrication set-up for the flexible production of silicone based EAP "artificial muscle" actuators, 5th International Conference on Comparing Design in Nature with Science and Engineering, Publisher: WIT PRESS, Pages: 289-+, ISSN: 1743-3541
Gupta L, Kota S, Murali S, et al., 2010, A Feature Ranking Strategy to Facilitate Multivariate Signal Classification, IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, Vol: 40, Pages: 98-108, ISSN: 1094-6977
Lock RJ, Vaidyanathan R, Burgess SC, 2010, Development of a Biologically Inspired Multi-Modal Wing Model for Aerial-Aquatic Robotic Vehicles, IEEE/RSJ International Conference on Intelligent Robots and Systems, Publisher: IEEE, Pages: 3404-3409, ISSN: 2153-0858
Gupta L, Kota S, Molfese DL, et al., 2010, Diversity-Based Selection of Components for Fusion Classifiers, 32nd Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBC 10), Publisher: IEEE, Pages: 6304-6307, ISSN: 1557-170X
Bazo D, Vaidyanathan R, Lentz A, et al., 2010, Design and Testing of a Hybrid Expressive Face for a Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems, Publisher: IEEE, Pages: 5317-5322, ISSN: 2153-0858
Mace M, Mamun KA, Vaidyanathan R, et al., 2010, Real-time Implementation of a Non-invasive Tongue-based Human-Robot Interface, Taipei, Proc. of the 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), Publisher: IEEE, Pages: 5486-5491
Kota S, Gupta L, Molfese DL, et al., 2009, A Dynamic Channel Selection Strategy for Dense-Array ERP Classification, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, Vol: 56, Pages: 1040-1051, ISSN: 0018-9294
Bachmann RJ, Boria FJ, Vaidyanathan R, et al., 2009, A biologically inspired micro-vehicle capable of aerial and terrestrial locomotion, MECHANISM AND MACHINE THEORY, Vol: 44, Pages: 513-526, ISSN: 0094-114X
Boxerbaum AS, Bachmann RJ, Quinn RD, et al., 2009, Design and testing of a highly mobile insect-inspired autonomous robot in a beach environment, International Journal of Design and Nature and Ecodynamics, Vol: 4, Pages: 319-336, ISSN: 1755-7437
The capability of autonomous platforms to function on beaches and in the ocean surf-zone is critical for a wide range of military and civilian operations. Of particular importance is the ability to navigate autonomously through the rocky terrain, hard-packed moist sand, and loose dry sand characterizing this environment. The study of animal locomotion mechanisms can elucidate specific movement principles that can be applied to address these demands. In this work, we report the design, fabrication, control system development, simulation, and field testing of a biologically inspired autonomous robot for deployment and operation in an ocean beach environment. The robot successfully fuses a range of insect-inspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse through a range of challenging substrates.Field testing establishes the performance of the robot to navigate semi-rugged terrain in the surf-zone environment including soft to hard-packed sand, mild to medium inclines, and rocky terrain. Platform autonomy is shown to be effective for navigation and communication. The fusion of passive mechanisms and active control algorithms results in a robot with mobility comparable to a legged vehicle with a control system of comparable simplicity to a wheeled robot. Based on the success of this platform, we further introduce the design of a fully amphibious robot designed to extend its performance to completely undersea surroundings. © 2009 WIT Press.
Lock RJ, Vaidyanathan R, Burgess SC, et al., 2009, Impact of Passive Stiffness Variation on Stability and Mobility of a Hexapod Robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Publisher: IEEE, Pages: 980-+, ISSN: 2159-6255
Boxerbaum AS, Klein MA, Quinn RBRD, et al., 2009, Design of a Semi-Autonomous Hybrid Mobility Surf-Zone Robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Publisher: IEEE, Pages: 974-+, ISSN: 2159-6255
Burgess SC, Ling CS, Conn A, et al., 2009, Development of a novel Electro Active Polymer (EAP) actuator for driving the wings of flapping micro air vehicle, 11th International Conference on Computer Aided Optimum Design of Structures, Publisher: WIT PRESS, Pages: 207-217, ISSN: 1746-4498
Harkins RH, Dunbar T, Boxerbaum AS, et al., 2009, Confluence of Active and Passive Control Mechanisms Enabling Autonomy and Terrain Adaptability for Robots in Variable Environments, International Conference on Advances in Electrical and Electronics Engineering held at the World Congress on Engineering and Computer Sciences, Publisher: IEEE COMPUTER SOC, Pages: 138-+
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