A depth-based hybrid approach for safe flight corridor generation in memoryless planning
- Authors: Nguyen, Thai , Murshed, Mamzur , Choudhury, Tanveer , Keogh, Kathleen , Kahandawa Appuhamillage, Gayan , Nguyen, Linh
- Date: 2023
- Type: Text , Journal article
- Relation: Sensors Vol. 23, no. 16 (2023), p.
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- Description: This paper presents a depth-based hybrid method to generate safe flight corridors for a memoryless local navigation planner. It is first proposed to use raw depth images as inputs in the learning-based object-detection engine with no requirement for map fusion. We then employ an object-detection network to directly predict the base of polyhedral safe corridors in a new raw depth image. Furthermore, we apply a verification procedure to eliminate any false predictions so that the resulting collision-free corridors are guaranteed. More importantly, the proposed mechanism helps produce separate safe corridors with minimal overlap that are suitable to be used as space boundaries for path planning. The average intersection of union (IoU) of corridors obtained by the proposed algorithm is less than 2%. To evaluate the effectiveness of our method, we incorporated it into a memoryless planner with a straight-line path-planning algorithm. We then tested the entire system in both synthetic and real-world obstacle-dense environments. The obtained results with very high success rates demonstrate that the proposed approach is highly capable of producing safe corridors for memoryless local planning. © 2023 by the authors.
Agoraphilic navigation algorithm in dynamic environment with and without prediction of moving objects location
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2019
- Type: Text , Conference proceedings , Conference paper
- Relation: 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 Vol. 2019-October, p. 5179-5185
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- Description: This paper presents a summary of research conducted in performance improvement of Agoraphilic Navigation Algorithm under Dynamic Environment (ANADE). The ANADE is an optimistic navigation algorithm which is capable of navigating robots in static as well as in unknown dynamic environments. ANADE has been successfully extended the capacity of original Agoraphilic algorithm for static environment. However, it could identify that ANADE takes costly decisions when it is used in complex dynamic environments. The proposed algorithm in this paper has been successfully enhanced the performance of ANADE in terms of safe travel, speed variation, path length and travel time. The proposed algorithm uses a prediction methodology to estimate future growing free space passages which can be used for safe navigation of the robot. With motion prediction of moving objects, new set of future driving forces were developed. These forces has been combined with present driving force for safe and efficient navigation. Furthermore, the performances of proposed algorithm (Agoraphilic algorithm with prediction) was compared and benched-marked with ANADE (Without predication) under similar environment conditions. From the investigation results, it was observed that the proposed algorithm extends the effective decision making ability in a complex navigation environment. Moreover, the proposed algorithm navigated the robot in a shorter and quicker path with smooth speed variations. © 2019 IEEE.
- Description: E1
Agoraphilic navigation algorithm in dynamic environment with obstacles motion tracking and prediction
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2022
- Type: Text , Journal article
- Relation: Robotica Vol. 40, no. 2 (2022), p. 329-347
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- Description: This paper presents a new algorithm to navigate robots in dynamically cluttered environments. The proposed algorithm uses basic concepts of space attraction (hence the term Agoraphilic) to navigate robots through dynamic obstacles. The new algorithm in this paper is an advanced development of the original Agoraphilic navigation algorithm that was only able to navigate robots in static environments. The Agoraphilic algorithm does not look for obstacles (problems) to avoid but rather for a free space (solutions) to follow. Therefore, it is also described as an optimistic navigation algorithm. This algorithm uses only one attractive force created by the available free space. The free-space concept allows the Agoraphilic algorithm to overcome inherited challenges of general navigation algorithms. However, the original Agoraphilic algorithm has the limitation in navigating robots only in static, not in dynamic environments. The presented algorithm was developed to address this limitation of the original Agoraphilic algorithm. The new algorithm uses a developed object tracking module to identify the time-varying free spaces by tracking moving obstacles. The capacity of the algorithm was further strengthened by the new prediction module. Future space prediction allowed the algorithm to make decisions considering future growing/diminishing free spaces. This paper also includes a bench-marking study of the new algorithm compared with a recently published APF-based algorithm under a similar operating environment. Furthermore, the algorithm was validated based on experimental tests and simulation tests. © 2022 Cambridge University Press. All rights reserved.
Agoraphilic navigation algorithm under dynamic environment
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Appuhamillage, Gayan , Choudhury, Tanveer
- Date: 2022
- Type: Text , Journal article
- Relation: IEEE/ASME Transactions on Mechatronics Vol. 27, no. 3 (2022), p. 1727-1737
- Full Text: false
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- Description: This article presents a summary of the work done on the development of a new algorithm for mobile robot navigation in unknown dynamic environment. The developed humanlike algorithm uses a free-space attraction (Agoraphilic) concept for robot navigation. The algorithm presented in this article is an advanced development of the Agoraphilic navigation algorithm. The Agoraphilic algorithm does not look for obstacles (problems) to avoid but rather for free spaces toward the goal (solutions) to follow. The original Agoraphilic while it was able to overcome the limitations of the traditional algorithms had its own limitations in navigating robots in environments cluttered with moving obstacles. The new Agoraphilic Navigation Algorithm under Dynamic Environment (ANADE) was developed to overcome those limitations. ANADE consists of seven main modules reported in this article. The objects tracking and objects prediction methodologies developed for the algorithm estimate future growing free-space passages toward the goal. The algorithm generates a time-varying single attractive force to pull the robot through the free space toward the predicted (future) growing free-space passages leading to the goal. The new algorithm was tested, not only through simulation, but also through experimental work. Summary of the experimental results is presented and discussed in this article. © 1996-2012 IEEE.
An extreme learning machine algorithm to predict the in-flight particle characteristics of an atmospheric plasma spray process
- Authors: Choudhury, Tanveer , Berndt, Christopher , Man, Zhihong
- Date: 2013
- Type: Text , Journal article
- Relation: Plasma Chemistry and Plasma Processing Vol. 33, no. 5 (2013), p. 993-1023
- Full Text: false
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- Description: A robust single hidden layer feed forward neural network (SLFN) is used in this study to model the in-flight particle characteristics of the atmospheric plasma spray (APS) process with regard to the input processing parameters. The in-flight particle characteristics influence the structure and properties of the APS coating and, thus, are considered important parameters to comprehend the manufacturing process. The training times of traditional back propagation algorithms, mostly used to model such processes, are far slower than desired for implementation of an on-line control system. Use of slow gradient based learning methods and iterative tuning of all network parameters during the learning process are the two major causes for such slower learning speed. An extreme learning machine (ELM) algorithm, which randomly selects the input weights and biases and analytically determines the output weights, is used in this work to train the SLFNs. Performance comparisons of the networks trained with ELM algorithm and standard error back propagation algorithms are presented. It is found that networks trained with ELM have good generalization performance, much shorter training times and stable performance with regard to the changes in number of hidden layer neurons. The trends represent robustness of the trained networks and enhance reliability of the application of the artificial neural network in modelling APS processes. © 2013 Springer Science+Business Media New York.
Applicability of artificial neural network in hydraulic experiments using a new sewer overflow screening device
- Authors: Aziz, Md Abdul , Imteaz, Monzur , Choudhury, Tanveer , Phillips, David
- Date: 2013
- Type: Text , Journal article
- Relation: Australian Journal of Water Resources Vol. 17, no. 1 (2013), p. 77-86
- Full Text: false
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- Description: During wet weather conditions, sewer overflows to receiving water bodies raise serious environmental, aesthetic and public health problems. These issues trigger the need the most appropriate device/system for a particular installation, especially at unmanned remote locations. A new sewer overflow device consists of a rectangular tank and a sharp crested weir with a series of vertical combs is presented. A series of laboratory tests to determine trapping efficiencies for common sewer solids were conducted for different flow conditions, number of combs layers and spacing of combs. To overcome physical limitations inherent in laboratory studies such as significant cost and time. Artificial neural model was adopted as it has the capacity to accurately predict the outcome of complex, non-linear physical systems with relatively poorly understood physicochemical processes. A series of laboratory tests were conducted with 55 different sets of data. Forty-seven sets of experimental data are used with 60% for training, 20% each for testing and validation of the model. A separate validation data sets were used to judge the overall performance of the trained network. The model can successfully predict the experimental results with more than 90% accuracy with an average absolute percentage error of around 7%. © Institution of Engineers Australia, 2013.
Application of artificial intelligence in geotechnical engineering : a state-of-the-art review
- Authors: Baghbani, Abolfazl , Choudhury, Tanveer , Costa, Susanga , Reiner, Johannes
- Date: 2022
- Type: Text , Journal article , Review
- Relation: Earth-Science Reviews Vol. 228, no. (2022), p.
- Full Text: false
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- Description: Geotechnical engineering deals with soils and rocks and their use in engineering constructions. By their nature, soils and rocks exhibit complex behaviours and a high level of uncertainty in material modelling. Artificial intelligence (AI) methods have been developed and used by an increasing number of researchers in the field of geotechnical engineering in the last three decades. These methods have been considered successful due to their ability to predict complex nonlinear relationships. Based on more than one thousand (i.e. 1235) published literatures, this paper presents a detailed review of the performance of AI methods and algorithms used in geotechnical engineering. Nine key areas where the application of AI methods is prominent were identified: frozen soils and soil thermal properties, rock mechanics, subgrade soil and pavements, landslide and soil liquefaction, slope stability, shallow and piles foundations, tunnelling and tunnel boring machine, dams, and unsaturated soils. Artificial Neural Network (ANN) emerged as the most widely used and preferred AI method with 52% of studies relying on it. Other methods that were used to a lesser extent were FIS, ANFIS, SVM, LSTM, CNN, ResNet and GAN. The analysis shows that the success and accuracy of AI applications depends on the number and type of datasets and selection of input parameters. The paper also provides statistical information on research incorporating AI methods and discusses the opportunities and challenges for future research and practical applications in geotechnical engineering. © 2022 Elsevier B.V.
Artificial Neural Network application for predicting in-flight particle characteristics of an atmospheric plasma spray process
- Authors: Choudhury, Tanveer , Hosseinzadeh, Nasser , Berndt, Christopher
- Date: 2011
- Type: Text , Journal article
- Relation: Surface and Coatings Technology Vol. 205, no. 21-22 (2011), p. 4886-4895
- Full Text: false
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- Description: Thermal spray consists of a group of coating processes that are used to apply metal or non-metallic coatings to protect a functional surface or to improve its performance. There are some 40 processing parameters that define the overall coating quality and these must be selected in an optimized fashion to manufacture a coating that exhibits desirable properties. The proper combination of processing variables is critical since these influence the cost as well as the coating characteristics.Because of this high number of processing parameters, a major challenge is to have full control over the system and to understand parameter interdependencies, correlations and their individual effects on the in-flight particle characteristics, which have significant influence on the in service coating properties. This paper proposes an approach, based on the Artificial Neural Network (ANN) method, to play this role and illustrates the model's design, network optimization procedures, the database handling and expansion steps, and analysis of the predicted values, with respect to the experimental ones, in order to evaluate the network's performance. © 2011 Elsevier B.V.
Artificial neural networks for the prediction of the trapping efficiency of a new sewer overflow screening device
- Authors: Phillips, David , Imteaz, Monzur , Aziz, Mubashir , Choudhury, Tanveer
- Date: 2011
- Type: Text , Conference paper
- Relation: 19th International Congress on Modelling and Simulation - Sustaining Our Future: Understanding and Living with Uncertainty, MODSIM2011 p. 3476-3482
- Full Text: false
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- Description: Some of the major concerns regarding sewer overflows to receiving water bodies include serious environmental, aesthetic and public health problems. Water management authorities are increasingly receiving public complaints that have led engineers to focus on means of retaining the entrained sewer solids within the sewer system during overflow events. During wet weather conditions, sewer overflows to receiving water bodies raise serious concern to environmental and community health concerns. To address these problems, different types of screening devices are used. Moreover, floatable control is preferred by most of the proposed and existing environmental regulations. This requirement triggers the need to research the different types of screening devices and screenings handling systems to select the most appropriate for a particular installation especially at unmanned locations. In the present study the sewer overflow device consists of a rectangular tank and a sharp crested weir that are followed by series of vertical parallel combs to separate entrained sewer solids from the overflow. The device does not require electrical or mechanical power for the self-cleansing mechanism, enabling the device to work efficiently in unmanned locations. Extensive laboratory investigations are underway to assess the effectiveness of a novel self-cleansing sewer overflow screening device. A series of laboratory tests to determine trapping efficiencies for common sewer solids were conducted for different flow conditions, number of combs layers, spacing of combs and weir crest lengths. Sewer solids from different density materials make sewer flow to analyze in complex Non-Newtonian fluid system with huge computational cost and complicity using physical law based modeling. On the flipside artificial neural model has the capacity to accurately predict the outcome of complex, non-linear physical systems with relatively poorly understood physicochemical processes which makes them highly desirable in the present study. Artificial Neural Networks (ANN) have already been successfully used to simulate flood forecasting in urban drainage system, real time control in combined sewer system, real time water level predictions of sewerage systems covering gauged and un-gauged sites etc. In case of sewer solid capture efficiency: neural network modeling is able to recognize nonlinear input output relations with adapting approach for changing circumstances. In the present study, feed forward artificial neural networks using back propagation algorithms were used, as such networks have been used almost exclusively in environmental modeling. A series of forty seven (47) sets of experimental data were collected to train (calibrate) the ANN model. In addition to these, eight (8) sets of experimental data were collected to validate the trained ANN network to be used in wider prospective of urban drainage conditions. The major areas covered in the ANN modeling include selection of input and output variables, optimization of the model, consideration of different learning algorithms, designing ANN's training & cross training processes and model validation. In the studied case, complex physical characteristics of different sewer solids, together with multi-fluid sewer system with variable flow phenomena makes it difficult to model with physical considerations. In case of sewer solid capture efficiency; artificial neural network modeling is able to learn the complex input-output relations with adapting approach for changing circumstances. Model considered different learning algorithms, diverse hidden layer structure with varied training samples to optimize the network. It is found that the model can successfully predict the experimental results with average absolute percentage errors varying from 4 to 7 percent.
Behavioral modeling and cognitive assessment in smart textiles
- Authors: Oatley, Giles , Choudhury, Tanveer , Buckman, Paul
- Date: 2022
- Type: Text , Conference paper
- Relation: 2022 Australasian Computer Science Week, ACSW 2022, Virtual, Online, 14-17 February 2022, ACM International Conference Proceeding Series p. 229-231
- Full Text: false
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- Description: Smart textiles can be used as innovative solutions to amuse, meaningfully engage, comfort, entertain, stimulate, and to overall improve the quality of life for people living in care homes with dementia or its precursor mild cognitive impairment (MCI). We have developed a prototype smart textile system that uses capacitive sensing to loosely couple the textile overlay from the underlying technology layer. This inclusion of technology adds to the user experience and quality of life is increased. Additionally, by using microelectronics, light-emitting diodes (LEDs) and capacitive touch sensors we can represent and design a range of sophisticated memory and reasoning diagnostic/ assessment tools, which are detailed in this paper. © 2022 ACM.
Comparative study on object tracking algorithms for mobile robot navigation in GPS-denied environment
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2019
- Type: Text , Conference proceedings
- Relation: 2019 IEEE International Conference on Industrial Technology, ICIT 2019; Melbourne, Australia; 13th-15th February 2019 Vol. 2019-February, p. 19-26
- Full Text: false
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- Description: This paper presents a comparative study conducted on the performance of the commonly used object tracking and location prediction algorithms for mobile robot navigation in a dynamically cluttered and GPS-denied mining environment. The study was done to test the different algorithms for the same set criteria (such as accuracy and computational time) under the same conditions.The identified commonly used algorithms for object tracking and location prediction of moving objects used in this investigation are Kalman filter (KF), extended Kalman filter (EKF) and particle filter (PF). The study results of those algorithms are analyzed and discussed in this paper. A trade-off was apparent. However, in overall performance KF has shown its competitiveness.The result from the study has found that the KF based algorithm provides better performance in terms of accuracy in tracking dynamic objects under commonly used benchmarks. This finding can be used in development of an efficient robot navigation algorithm.
- Description: Proceedings of the IEEE International Conference on Industrial Technology
Depth-based sampling and steering constraints for memoryless local planners
- Authors: Nguyen, Binh , Nguyen, Linh , Choudhury, Tanveer , Keogh, Kathleen , Murshed, Manzur
- Date: 2023
- Type: Text , Journal article
- Relation: Journal of Intelligent and Robotic Systems: Theory and Applications Vol. 109, no. 3 (2023), p.
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- Description: By utilizing only depth information, the paper introduces a novel two-stage planning approach that enhances computational efficiency and planning performances for memoryless local planners. First, a depth-based sampling technique is proposed to identify and eliminate a specific type of in-collision trajectories among sampled candidates. Specifically, all trajectories that have obscured endpoints are found through querying the depth values and will then be excluded from the sampled set, which can significantly reduce the computational workload required in collision checking. Subsequently, we apply a tailored local planning algorithm that employs a direction cost function and a depth-based steering mechanism to prevent the robot from being trapped in local minima. Our planning algorithm is theoretically proven to be complete in convex obstacle scenarios. To validate the effectiveness of our DEpth-based both Sampling and Steering (DESS) approaches, we conducted experiments in simulated environments where a quadrotor flew through cluttered regions with multiple various-sized obstacles. The experimental results show that DESS significantly reduces computation time in local planning compared to the uniform sampling method, resulting in the planned trajectory with a lower minimized cost. More importantly, our success rates for navigation to different destinations in testing scenarios are improved considerably compared to the fixed-yawing approach. © 2023, The Author(s).
Development and bench-marking of agoraphilic navigation algorithm in dynamic environment
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer , IEEE
- Date: 2019
- Type: Text , Book chapter
- Relation: 2019 IEEE 28th International Symposium on Industrial Electronics p. 1156-1161
- Full Text: false
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- Description: This paper presents a summary of research which was conducted in developing a new human-like navigation methodology based on the Agoraphilic algorithm. This new methodology is capable of maneuvering robots in both static and dynamically clutter unknown environments. The Agoraphilic algorithm is an "optimistic" navigation algorithm. The algorithm is based on free space attraction rather than repulsion of obstacles for navigation. Therefore, this algorithm directs robots to follow the free space leading to the goal instead of avoiding obstacles. This approach has eliminated many draw backs of the traditional APF algorithm. However, the major limitation of the previously developed Agoraphilic algorithm could only deal with static environment. The new proposed algorithm has successfully extended the capacity of Agoraphilic algorithm to deal with environment cluttered with dynamic obstacles. The new Agoraphilic algorithm uses a tracking and prediction methodology to estimate the path of unknown moving objects. The estimated locations of the moving objects are combined with static object locations in the robot's visible region to generate time-varying free space attractive forces. These time varying forces maneuver the robot to the goal in dynamically cluttered unknown environment without collusions. To demonstrate the algorithm's ability, several simulations were performed. Furthermore, the new algorithm was tested and bench-marked against other APF published work under similar environment and conditions. The comparative results are discussed and showed the effectiveness of the new Algoraphilic navigation algorithm.
Enhancing solar power generation using gravity and fresh water pipe
- Authors: Sheikh, Ismail , Kashem, Saad , Choudhury, Tanveer
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Australia; 13th-15th February 2017 p. 266-271
- Full Text: false
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- Description: The unsustainable nature of fossil fuels and conventional mass energy generation methods has promoted the use of renewable energy methods. Among them are solar panels which generate electricity using sunlight. However, there are numerous factors which hinder the performance of the solar panel and there are factors which increase its efficiency. Considering all those factors numerous features have been accommodated in the solar panel design to enhance the efficiency of the solar panels. Among them are: Solar Concentration, Solar Tracking, and Solar Panel Cooling. This paper covers the design, development, and experimentation of a prototype which had all these countermeasures integrated into it. The interesting aspect of this prototype was to utilize a fresh water pipe and gravity for solar panel cooling. © 2017 IEEE.
- Description: Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
Evaluating the Performances of the Agoraphilic Navigation Algorithm under Dead-Lock Situations
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2020
- Type: Text , Conference proceedings , Conference paper
- Relation: 29th IEEE International Symposium on Industrial Electronics, ISIE 2020 Vol. 2020-June, p. 536-542
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- Description: This paper presents a summary of the research which was conducted in developing a new free-space based (Agoraphilic) navigation algorithm. This new methodology is capable of maneuvering robots in static as well as dynamically cluttered unknown environments. The new algorithm uses only one force to drive the robot. This force is always an attractive force created by the freespace. This force is focused towards the goal by a force shaping module. Consequently, the robot is motivated to follow free-space directing towards the goal. As this method only based on the attractive forces, the robot always moves towards the goal as long as there is free-space . This method has eradicated many drawbacks of the traditional APF method. Several experimental tests were conducted using Turtlebot3 research platform. These tests were focused on testing the behavior of the new algorithm under dead-lock (local minima) situations for APF method. The test results proved that the proposed algorithm has successfully eliminated the local minima problem of APF method. © 2020 IEEE.
Exploring the application of artificial neural network in rural streamflow prediction - A feasibility study
- Authors: Choudhury, Tanveer , Wei, Jackie , Barton, Andrew , Kandra, Harpreet , Aziz, Abdul
- Date: 2018
- Type: Text , Conference proceedings
- Relation: 27th IEEE International Symposium on Industrial Electronics, ISIE 2018; Cairns, Australia; 13th-15th June 2018 Vol. 2018-June, p. 753-758
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- Description: Streams and rivers play a critical role in the hydrologic cycle with their management being essential to maintaining a balance across social, economic and environmental outcomes. Accurate streamflow predictions can provide benefits in many different ways such as water allocation decision making, flood forecasting and environmental watering regimes. This is particularly important in regional areas of Australia where rivers can play a critical role in irrigated agriculture, recreation and social wellbeing, major floods and sustainable environments. There are several hydrological parameters that effect stream flows in rivers and a major challenge with any prediction methodology, is to understand these parameter interdependencies, correlations and their individual effects. A robust methodology is, thus, required for accurate prediction of streamflow under usually unique, waterway-specific conditions using available data. This research employs an approach based on Artificial Neural Network (ANN) to provide this robust methodology. Data from readily available sources has been selected to provide appropriate input and output parameters to train, validate and optimise the neural network. The optimisation steps of the methodology are discussed and the predicted outputs are compared and analysed with respect to the actual collected values. © 2018 IEEE.
- Description: IEEE International Symposium on Industrial Electronics
Friction-based slip detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Appuhamillage, Gayan , Choudhury, Tanveer
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Full Text: false
- Reviewed:
- Description: A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is an inherent capability of the sensing element, and not a derived capability like that of sensors based on vibration. This slippage detection and control strategy is simple by design and low in cost, but robust in function. It has the potential to be used in a variety of environments such as high temperatures, low temperatures and underwater. The robustness of the design makes it highly suitable for grasping and manipulating safely a large range of object weights and sizes.
Friction-based slippage and tangential force detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Full Text: false
- Reviewed:
- Description: This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.
Industry-led mechatronics degree development in regional Australia
- Authors: Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer , Mazid, Abdul Md
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Australia; 13th-15th February 2017 p. 419-424
- Full Text: false
- Reviewed:
- Description: This paper presents a technique that was used in the recent development of a new Mechatronics degree in Australia. This technique addressed the local industry needs and the available resources for a well-balanced Mechatronics degree program. The degree development was based on project-based learning and industry engagement. The development of the new Mechatronics degree was made possible via a State Government grant of AU$2.4 Million which was matched by industry contribution of AU$10 Million in cash and in-kind. Since industry was a major stake holder in this degree, a specific industry survey was conducted to check the desired graduates attributes, from industry point of view. The results of this survey is also included in this papers. In addition, the program also addressed the regional industry's challenge of retaining qualified engineers via a clear pathway program for students knowledge and skills development. This paper presents industry's anticipated outputs of the academic Mechatronics program. In addition the paper also discusses the mechanisms adopted for the development of this new degree. The developed fully integrated Mechatronics program was founded on the realisation that if a person undertook a mechanical degree followed by an electronics degree followed by a computer science degree, that person is, still, NOT a Mechatronics engineer. © 2017 IEEE.
- Description: Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
Modular implementation of artificial neural network in predicting in-flight particle characteristics of an atmospheric plasma spray process
- Authors: Choudhury, Tanveer , Berndt, Christopher , Man, Zhihong
- Date: 2015
- Type: Text , Journal article
- Relation: Engineering Applications of Artificial Intelligence Vol. 45, no. (2015), p. 57-70
- Full Text: false
- Reviewed:
- Description: This paper presents a modular implementation of an artificial neural network to model the atmospheric plasma spray process in predicting the in-flight particle characteristics from the input processing parameters. The in-flight particle characteristics influence the structure and properties of the thermal spray coating and, thus, are considered important parameters to comprehend, simulate and predict the manufacturing process. The modular implementation allows simplification of the optimized model structure with enhanced ability to generalise the network. As well, the underlying relationship between each of the output in-flight characteristics with respect to the input processing parameters is explored. Smaller networks are constructed that achieves better, or in some cases, similar results. The training process is found to be more robust and stable along with fewer fluctuations in the values of the network parameters. The networks also respond to the variations of the number of hidden layer neurons with some definite trend. The predictable trend enhances reliability of the application of the artificial neural network in modelling the atmospheric plasma spray process and overcomes the variability and non-linearity associated with the process. © 2015 Elsevier Ltd. All rights reserved.