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Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators (2018)
Journal Article
Pitonakova, L., Giuliani, M., Pipe, A., & Winfield, A. (2018). Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators. Lecture Notes in Artificial Intelligence, 10965 LNAI, 357-368. https://doi.org/10.1007/978-3-319-96728-8_30

© Springer International Publishing AG, part of Springer Nature 2018. In this paper, the characteristics and performance of three open-source simulators for robotics, V-REP, Gazebo and ARGoS, are thoroughly analysed and compared. While they all allow... Read More about Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators.

Systematic and realistic testing in simulation of control code for robots in collaborative human-robot interactions (2016)
Journal Article
Araiza-Illan, D., Western, D., Pipe, A. G., & Eder, K. (2016). Systematic and realistic testing in simulation of control code for robots in collaborative human-robot interactions. Lecture Notes in Artificial Intelligence, 9716, 20-32. https://doi.org/10.1007/978-3-319-40379-3_3

© Springer International Publishing Switzerland 2016. Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will requi... Read More about Systematic and realistic testing in simulation of control code for robots in collaborative human-robot interactions.

Coverage-driven verification — An approach to verify code for robots that directly interact with humans (2015)
Journal Article
Pipe, A., Araiza-Illan, D., Western, D., Pipe, A. G., & Eder, K. (2015). Coverage-driven verification — An approach to verify code for robots that directly interact with humans. Lecture Notes in Artificial Intelligence, 9434, 69-84. https://doi.org/10.1007/978-3-319-26287-1_5

© Springer International Publishing Switzerland 2015. Collaborative robots could transform several industries, such as manufacturing and healthcare, but they present a significant challenge to verification. The complex nature of their working environ... Read More about Coverage-driven verification — An approach to verify code for robots that directly interact with humans.

Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker (2015)
Journal Article
Pipe, T., Rooney, T., Pearson, M. J., & Pipe, A. G. (2015). Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker. Lecture Notes in Artificial Intelligence, 9222, 75-85. https://doi.org/10.1007/978-3-319-22979-9_7

© Springer International Publishing Switzerland 2015. A novel technique for determining the relative visco-density of fluids using an actuated flexible beam inspired by the tactile whiskers of marine mammals is presented. This was developed for the i... Read More about Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker.

Remotely deployable aerial inspection using tactile sensors (2014)
Journal Article
Macleod, C. N., Cao, J., Pierce, S. G., Sullivan, J. C., Pipe, A. G., Dobie, G., & Summan, R. (2014). Remotely deployable aerial inspection using tactile sensors. AIP Conference Proceedings, 1581, 1873-1880. https://doi.org/10.1063/1.4865052

For structural monitoring applications, the use of remotely deployable Non-Destructive Evaluation (NDE) inspection platforms offer many advantages, including improved accessibility, greater safety and reduced cost, when compared to traditional manual... Read More about Remotely deployable aerial inspection using tactile sensors.

A novel bio-inspired tactile tumour detection concept for capsule endoscopy (2014)
Journal Article
Pipe, T., Winstone, B., Melhuish, C., Dogramadzi, S., Pipe, A. G., & Callaway, M. (2014). A novel bio-inspired tactile tumour detection concept for capsule endoscopy. Lecture Notes in Artificial Intelligence, 8608 LNAI, 442-445. https://doi.org/10.1007/978-3-319-09435-9_56

Examination of the gastrointestinal(GI) tract has traditionally been performed using endoscopy tools that allow a surgeon to see the inside of the lining of the digestive tract. Endoscopes are rigid or flexible tubes that use fibre-optics or cameras... Read More about A novel bio-inspired tactile tumour detection concept for capsule endoscopy.

Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot (2013)
Journal Article
Sullivan, J. C., Fox, C., Pearson, M. J., Pearson, M., Fox, C. W., Sullivan, J. C., …Mitchinson, B. (2013). Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot. IEEE International Conference on Robotics and Automation, 586-592. https://doi.org/10.1109/ICRA.2013.6630633

A biomimetic mobile robot called 'Shrewbot' has been built as part of a neuroethological study of the mammalian facial whisker sensory system. This platform has been used to further evaluate the problem space of whisker based tactile Simultaneous Loc... Read More about Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot.

Bootstrapping a robot's kinematic model (2013)
Journal Article
Broun, A., Beck, C., Pipe, T., Mirmehdi, M., & Melhuish, C. (2014). Bootstrapping a robot's kinematic model. Robotics and Autonomous Systems, 62(3), 330-339. https://doi.org/10.1016/j.robot.2013.09.011

We present a system that is able to autonomously build a 3D model of a robot's hand, along with a kinematic model of the robot's arm, beginning with very little information. The system starts by using exploratory motions to locate and centre the robo... Read More about Bootstrapping a robot's kinematic model.

Biomimetic tactile target acquisition, tracking and capture (2013)
Journal Article
Prescott, T. J., Pearson, M. J., Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. (2014). Biomimetic tactile target acquisition, tracking and capture. Robotics and Autonomous Systems, 62(3), 366-375. https://doi.org/10.1016/j.robot.2013.08.013

Good performance in unstructured/uncertain environments is an ongoing problem in robotics; in biology, it is an everyday observation. Here, we model a particular biological system - hunting in the Etruscan shrew - as a case study in biomimetic robot... Read More about Biomimetic tactile target acquisition, tracking and capture.

Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge (2013)
Journal Article
Pipe, A., Hall, J., Tritton, T., Rowe, A., Pipe, A. G., Melhuish, C., & Leonards, U. (2014). Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge. Robotics and Autonomous Systems, 62(3), 392-399. https://doi.org/10.1016/j.robot.2013.09.012

Communication between socially assistive robots and humans might be facilitated by intuitively understandable mechanisms. To investigate the effects of some key nonverbal gestures on a human's own engagement and robot engagement experienced by humans... Read More about Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge.

Towards a variable compliance hydrostatic skeleton inspired gripper (2012)
Journal Article
Pipe, T., Zheng, Y., Giannaccini, M. E., Giannaccini, M. E., Zheng, Y., Dogramadzi, S., & Pipe, A. G. (2012). Towards a variable compliance hydrostatic skeleton inspired gripper. Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 246-251. https://doi.org/10.1109/BioRob.2012.6290885

Variable compliance is a subject of great interest in the robotics community, particularly in the area of HumanRobot interaction. In this work, variable compliance is achieved in a novel grasping device inspired by the hydrostatic skeletons of invert... Read More about Towards a variable compliance hydrostatic skeleton inspired gripper.

Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining (2012)
Journal Article
Pearson, M. J., Pipe, A. G., Rooney, T., Pipe, A. G., Dogramadzi, S., & Pearson, M. (2012). Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining. Lecture Notes in Artificial Intelligence, 7429 LNAI, 463-464. https://doi.org/10.1007/978-3-642-32527-4_60

Artificial tactile whisker sensors demonstrate an approach to localisation [1] that is robust to harsh environmental disturbances, endowing autonomous systems with the ability to operate effectively in confined, noisy and visually occluded spaces, su... Read More about Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining.

Towards an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery (2012)
Journal Article
Pipe, T., Tzemanaki, A., Dogramadzi, S., Pipe, A. G., & Melhuish, C. (2012). Towards an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery. Lecture Notes in Artificial Intelligence, 7429 LNAI, 455-456. https://doi.org/10.1007/978-3-642-32527-4_56

Minimally invasive procedures, such as laparoscopy, have significantly decreased blood loss, postoperative morbidity and length of hospital stay. Robot-assisted Minimally Invasive Surgery (MIS) has offered refined accuracy and more ergonomic instrume... Read More about Towards an anthropomorphic design of minimally invasive instrumentation for soft tissue robotic surgery.

Evolving cell array configurations using CGP (2011)
Journal Article
Bremner, P., Samie, M., Dragffy, G., Pipe, A. G., & Liu, Y. (2011). Evolving cell array configurations using CGP. Lecture Notes in Artificial Intelligence, 6621 LNCS, 73-84. https://doi.org/10.1007/978-3-642-20407-4_7

A cell array is a proposed type of custom FPGA, where digital circuits can be formed from interconnected configurable cells. In this paper we have presented a means by which CGP might be adapted to evolve configurations of a proposed cell array. As p... Read More about Evolving cell array configurations using CGP.

Artificial endosymbiosis (1995)
Journal Article
Pipe, A. G., Bull, L., Bull, L., Fogarty, T. C., & Pipe, A. G. (1995). Artificial endosymbiosis. Lecture Notes in Artificial Intelligence, 929, 273-289. https://doi.org/10.1007/3-540-59496-5_305

© Springer-Verlag Berlin Heidelberg 1995. Symbiosis is the phenomenon in which organisms of different species live together in close association, resulting in a raised level of fitness for one or more of the organisms. Endosymbiosis is the name given... Read More about Artificial endosymbiosis.