Publications
186 results found
Lock RJ, Vaidyanathan R, Burgess SC, 2014, Impact of Marine Locomotion Constraints on a Bio-inspired Aerial-Aquatic Wing: Experimental Performance Verification, JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, Vol: 6, ISSN: 1942-4302
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- Citations: 16
Gardner M, Woodward R, Vaidyanathan R, et al., 2014, An Unobtrusive Vision System to Reduce the Cognitive Burden of Hand Prosthesis Control, 13th International Conference on Control Automation Robotics & Vision (ICARCV), Publisher: IEEE, Pages: 1279-1284, ISSN: 2474-2953
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- Citations: 5
Evins R, Vaidyanathan R, Burgess S, 2014, Multi-material Compositional Pattern-Producing Networks for Form Optimisation, 17th European Conference on Applications of Evolutionary Computation (EvpApplications), Publisher: SPRINGER-VERLAG BERLIN, Pages: 189-200, ISSN: 0302-9743
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- Citations: 3
Woodward R, Gardner M, Angeles P, et al., 2014, A Novel Acoustic Interface for Bionic Hand Control, 14th Annual Conference on Towards Autonomous Robotic Systems (TAROS), Publisher: SPRINGER-VERLAG BERLIN, Pages: 296-+, ISSN: 0302-9743
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- Citations: 3
Morad S, Ulbricht C, Harkin P, et al., 2014, Flexible robotic device for spinal surgery, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), Publisher: IEEE, Pages: 235-240
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- Citations: 1
Woodward R, Shefelbine S, Vaidyanathan R, 2014, Pervasive Motion Tracking and Muscle Activity Monitor, 27th IEEE International Symposium on Computer-Based Medical Systems (CBMS), Publisher: IEEE, Pages: 421-426, ISSN: 2372-9198
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- Citations: 12
Mace M, Abdullah-al-Mamun K, Naeem AA, et al., 2013, A heterogeneous framework for real-time decoding of bioacoustic signals: Applications to assistive interfaces and prosthesis control, EXPERT SYSTEMS WITH APPLICATIONS, Vol: 40, Pages: 5049-5060, ISSN: 0957-4174
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- Citations: 10
Etoundi AC, Burgess SC, Vaidyanathan R, 2013, A Bio-Inspired Condylar Hinge for Robotic Limbs, JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, Vol: 5, ISSN: 1942-4302
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- Citations: 15
Madgwick SOH, Harrison AJL, Sharkey PM, et al., 2013, Measuring motion with kinematically redundant accelerometer arrays: Theory, simulation and implementation, Mechatronics
Etoundi AC, Lock RJ, Vaidyanathan R, et al., 2013, A bio-inspired condylar knee joint for knee prosthetics, International Journal of Design and Nature and Ecodynamics, Vol: 8, Pages: 213-225, ISSN: 1755-7437
This paper presents a novel bio-inspired condylar prosthetic knee joint developed at the University of Bristol. The bio-inspired condylar joint mimics the structure and biomechanics of the human knee joint. The joint contains an inverted parallelogram four-bar mechanism combined with a cam mechanism. The joint has a favourable mechanical advantage compared with a hinge joint. The joint is also compact and robust. An adultsized prototype joint has been designed and tested. The prototype joint contains a long cable for the ligaments with a mechanism for adjusting preload. Compared with other prosthetic joints, the condylar joint has the advantages that it is simple and closely mimics human biomechanics. This paper presents the design of the new artificial knee joint and some of the test results. The joint can be used in artificial legs and also for knee implants. A rapid prototyping procedure is also presented that enables a custom-sized prosthetic knee joint to be made very quickly and from just a few key dimensions. This process has the potential to improve the quality of surgical implants. © 2013 WIT Press.
Mace M, Subbich S, Naeem AA, et al., 2013, Augmenting neuroprosthetic hand control through evaluation of a bioacoustic interface, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 1499-1505, ISSN: 2153-0858
Gupta L, Kota S, Molfese DL, et al., 2013, Pairwise diversity ranking of polychotomous features for ensemble physiological signal classifiers, PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 227, Pages: 655-662, ISSN: 0954-4119
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- Citations: 1
Boxerbaum AS, Kline M, Kline JE, et al., 2012, Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility, Journal of Robotics and Mechatronics, Vol: 24, Pages: 629-641
Boxerbaum AS, Kline M, Kline JE, et al., 2012, Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility, Journal of Robotics and Mechatronics, Vol: 24, Pages: 629-641
Evins R, Joyce SC, Pointer P, et al., 2012, Multi-objective design optimisation: getting more for less, Proceedings of ICE - Civil Engineering, Vol: 5, Pages: 5-10, ISSN: 0965-089X
Multi-objective optimisation can help civil engineers achieve higher performance for lower costs in their designs. This is true whether ‘performance’ applies to structural strength or energy use, or whether ‘cost’ measures financial outlay or occupant satisfaction: if it can be quantified it can be optimised in some form. By exploring trade-offs between conflicting objectives and constraints, multi-objective optimisation enables informed decision-making. This paper outlines the principles and benefits of multi-objective optimisation and the means of implementation. The complementary aspects of parametric modelling and optimisation are discussed as an aid to the flexible design of buildings and structures. A range of real design problems are considered, including structural and environmental examples.
Burton TMW, Vaidyanathan R, Burgess SC, et al., 2012, Sensitivity analysis of a parametric hand exoskeleton designed to match natural human grasping motion, Pages: 390-401, ISSN: 0302-9743
This paper describes the simulated analysis of a fully scalable, parametrically designed hand exoskeleton previously developed as part of a stroke rehabilitation program within the Bristol Robotics Laboratory. The device is parametrically designed to match the location and trajectories of the joints within a normal healthy human hand. However, testing of fully scalable designs which can be custom fit to a person using parametric design can be costly, time consuming and potentially hazardous if ill-fitting. Here a method is presented which allows for the performance of a parametric design to be tested. A virtual mechanism with induced manufacturing tolerances is modelled and its interactions with the hand are simulated. The performance can then be assessed by the devices ability to achieve the objective trajectory within the simulation. The results show that for the designed hand exoskeleton, with a manufacturing tolerance of 0.2mm across parts the resulting average trajectory error is less than 0.2 degrees with an average tip error of less than 0.5 mm. The results also demonstrate that for a large tolerance of 1mm across all dimensions, the trajectory error can reach as high as 30.9 degrees. This result justifies the use of parametric design to develop mechanisms matching natural human motion. While the results are for a parametrically scalable hand exoskeleton, it is believed the methodology is applicable to any bio-compatible assistive device. © 2012 Springer-Verlag.
Lock RJ, Vaidyanathan R, Burgess SC, 2012, Design and Experimental Verification of a Biologically Inspired Multi-Modal Wing for Aerial-Aquatic Robotic Vehicles, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 681-687, ISSN: 2155-1782
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- Citations: 9
Mamun KA, Huda MN, Mace M, et al., 2012, Pattern Classification of Deep Brain Local Field Potentials for Brain Computer Interfaces, 15th International Conference on Computer and Information Technology (ICCIT), Publisher: IEEE, Pages: 518-523, ISSN: 2474-9648
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- Citations: 2
Mamun KA, Mace M, Lutman ME, et al., 2012, A Robust Strategy for Decoding Movements from Deep Brain Local Field Potentials to Facilitate Brain Machine Interfaces, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 320-325, ISSN: 2155-1782
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- Citations: 10
Klein MA, Boxerbaum AS, Quinn RD, et al., 2012, SeaDog: A Rugged Mobile Robot for Surf-Zone Applications, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 1335-1340, ISSN: 2155-1782
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- Citations: 15
Vaidyanathan R, Chen C-T, Jeong C-D, et al., 2012, A reflexive vehicle control architecture based on a neural model of the cockroach escape response, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol: 226, Pages: 699-718-699-718
This paper presents a biologically inspired architecture for rapid real-time control of autonomous or semi-autonomous vehicles based on a neural model of the escape response of the American cockroach, Periplaneta americana. The architecture fuses exteroceptive and proprioceptive inputs in a manner similar to the insect to produce commands for collision avoidance and, in some cases, orientation for target strike. It functions as a reflexive subsystem that integrates smoothly with higher-level planning and behavioral control systems. The performance of the reflex is demonstrated in simulation and in hardware experiments on both air and ground vehicles, even in the presence of noisy, false or disruptive sensor data.
Evins R, Pointer P, Vaidyanathan R, et al., 2012, A case study exploring regulated energy use in domestic buildings using design-of-experiments and multi-objective optimisation, Building and Environment, Vol: 54, Pages: 126 - 136-126 - 136, ISSN: 0360-1323
The newly-released Standard Assessment Procedure (SAP) 2009 [1] underpins all energy calculations for Building Regulations compliance and Code for Sustainable Homes ratings for domestic buildings in the UK. A newly-developed three-stage optimisation framework is applied to the outputs of SAP for a case study concerning a 2-bed mid-level flat. Firstly a comprehensive full-factorial Design-of-Experiments analysis is performed to determine the significance of each input to the outputs of SAP (carbon emissions, running costs and overheating risk). This allows many of the inputs to be disregarded as non-significant. Next a multi-objective optimisation algorithm is applied to all significant variables to simultaneously optimise regulated carbon emissions versus capital and running costs, constrained by limits on overheating and roof area. Finally a more detailed multi-objective optimisation using greater precision is conducted on all variables that exhibit complex behaviour, i.e. which do not take a single value for all optimum solutions. Information is obtained concerning parameter significance and optimal parameter settings, which is presented as graphical design guidance using the process of ‘innovisation’. This will assist engineers in achieving high-performing, cost-effective designs.
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").
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").
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
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- Citations: 49
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.
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.
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
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- Citations: 2
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
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- Citations: 454
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