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A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned (2020)
Journal Article
Kent, T., Pipe, A., Richards, A., Hutchinson, J., & Schuster, W. (2020). A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned. Automation, 1(1), 17-32. https://doi.org/10.3390/automation1010002

VENTURER was one of the first three UK government funded research and innovation projects on Connected Autonomous Vehicles (CAVs) and was conducted predominantly in the South West region of the country. A series of increasingly complex scenarios cond... Read More about A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned.

A corroborative approach to verification and validation of human–robot teams (2019)
Journal Article
Webster, M., Western, D., Araiza-Illan, D., Dixon, C., Eder, K., Fisher, M., & Pipe, A. G. (2020). A corroborative approach to verification and validation of human–robot teams. International Journal of Robotics Research, 39(1), 73-99. https://doi.org/10.1177/0278364919883338

© The Author(s) 2019. We present an approach for the verification and validation (V&V) of robot assistants in the context of human–robot interactions, to demonstrate their trustworthiness through corroborative evidence of their safety and functional... Read More about A corroborative approach to verification and validation of human–robot teams.

Audio Localization for Robots Using Parallel Cerebellar Models (2018)
Journal Article
Baxendale, M., Pearson, M., Nibouche, M., Secco, E., & Pipe, T. (2018). Audio Localization for Robots Using Parallel Cerebellar Models. IEEE Robotics and Automation Letters, 3(4), 3185-3192. https://doi.org/10.1109/LRA.2018.2850447

© 2016 IEEE. A robot audio localization system is presented that combines the outputs of multiple adaptive filter models of the Cerebellum to calibrate a robot's audio map for various acoustic environments. The system is inspired by the MOdular Selec... Read More about Audio Localization for Robots Using Parallel Cerebellar Models.

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.

Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors (2016)
Journal Article
Pipe, T., Winstone, B., Melhuish, C., Pipe, A. G., Callaway, M., & Dogramadzi, S. (2017). Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors. IEEE Sensors Journal, 17(3), 848-857. https://doi.org/10.1109/JSEN.2016.2627798

© 2016 IEEE. Here, we present a method for lump characterization using a bio-inspired remote tactile sensing capsule endoscopy system. While current capsule endoscopy utilizes cameras to diagnose lesions on the surface of the gastrointestinal tract l... Read More about Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors.

A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment (2016)
Journal Article
Bridgwater, T., Griffiths, G., Winfield, A., & Pipe, T. (2016). A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment. https://doi.org/10.1016/j.ifacol.2016.10.569

© 2016 Within the field of robotics there exist few designs for detachable grappling hooks. This paper focusses on the novel design of a detachable grappling hook for use within a nuclear cave environment. The design seeks to exploit the complex netw... Read More about A Novel Design for a Robot Grappling Hook for use in a Nuclear Cave Environment.

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.

Biomimetic tactile sensing capsule (2015)
Journal Article
Pipe, T., Winstone, B., Pipe, A. G., Melhuish, C., Dogramadzi, S., & Callaway, M. (2015). Biomimetic tactile sensing capsule. https://doi.org/10.1007/978-3-319-22979-9_12

© Springer International Publishing Switzerland 2015. Here we present a tactile sensing capsule endoscopy system. Whilst current capsule endoscopy utilises cameras to diagnose lesions on the surface of the gastrointestinal tract lumen, this proposal... Read More about Biomimetic tactile sensing capsule.

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.

An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training (2014)
Journal Article
Pipe, A. G., Tzemanaki, A., Walters, P., Pipe, A. G., Melhuish, C., & Dogramadzi, S. (2014). An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training. International Journal of Medical Robotics and Computer Assisted Surgery, 10(3), 368-378. https://doi.org/10.1002/rcs.1544

© 2013 John Wiley & Sons, Ltd. Background: Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods, such as robot-assisted minimally invasive surgery (MIS). This study aimed to investigate... Read More about An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training.

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.

Hardware architecture of the protein processing associative memory and the effects of dimensionality and quantisation on performance (2014)
Journal Article
Pipe, T., Qadir, O., Lenz, A., Tempesti, G., Timmis, J., Pipe, A. G., & Tyrrell, A. (2014). Hardware architecture of the protein processing associative memory and the effects of dimensionality and quantisation on performance. Genetic Programming and Evolvable Machines, 15(3), 245-274. https://doi.org/10.1007/s10710-014-9217-1

The Protein Processor Associative Memory (PPAM) is a novel hardware architecture for a distributed, decentralised, robust and scalable, bidirectional, hetero-associative memory, that can adapt online to changes in the training data. The PPAM uses the... Read More about Hardware architecture of the protein processing associative memory and the effects of dimensionality and quantisation on performance.

Compliance Control and Human–Robot Interaction: Part II — Experimental Examples (2014)
Journal Article
Khan, S. G., Herrmann, G., Lenz, A., Al Grafi, M., Pipe, A. G., & Melhuish, C. (2014). Compliance Control and Human–Robot Interaction: Part II — Experimental Examples. International Journal of Humanoid Robotics, 11(03), 1430002. https://doi.org/10.1142/S0219843614300025

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is impl... Read More about Compliance Control and Human–Robot Interaction: Part II — Experimental Examples.

Compliance Control and Human–Robot Interaction: Part 1 — Survey (2014)
Journal Article
Khan, S. G., Herrmann, G., Al Grafi, M., Pipe, A. G., & Melhuish, C. (2014). Compliance Control and Human–Robot Interaction: Part 1 — Survey. International Journal of Humanoid Robotics, 11(03), 1430001. https://doi.org/10.1142/S0219843614300013

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight... Read More about Compliance Control and Human–Robot Interaction: Part 1 — Survey.

Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch (2014)
Journal Article
Assaf, T., Roke, C., Rossiter, J., Pipe, A. G., & Melhuish, C. (2014). Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch. Sensors, 14(2), 2561-2577. https://doi.org/10.3390/s140202561

Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechan... Read More about Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch.

A variable compliance, soft gripper (2013)
Journal Article
Giannaccini, M. E., Georgilas, I., Horsfield, I., Peiris, B. H. P. M., Lenz, A., Pipe, A. G., & Dogramadzi, S. (2014). A variable compliance, soft gripper. Autonomous Robots, 36(1-2), 93-107. https://doi.org/10.1007/s10514-013-9374-8

Autonomous grasping is an important but challenging task and has therefore been intensively addressed by the robotics community. One of the important issues is the ability of the grasping device to accommodate varying object shapes in order to form a... Read More about A variable compliance, soft gripper.

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.