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A corroborative approach to verification and validation of human–robot teams (2019)
Journal Article
Eder, K., Webster, M., Western, D., Araiza-Illan, D., Dixon, C., Fisher, M., & Pipe, A. G. (in press). A corroborative approach to verification and validation of human–robot teams. International Journal of Robotics Research, 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.

Robot companion for industrial process monitoring based on virtual fixtures (2018)
Conference Proceeding
Sita, E., Thomessen, T., Pipe, A. G., Dailami, F., & Studley, M. (2018). Robot companion for industrial process monitoring based on virtual fixtures. https://doi.org/10.1109/IECON.2018.8591105

© 2018 IEEE. In this paper, the use of a monitoring companion is proposed to more efficiently collect the process information during the tuning of industrial systems, and therefore to assist the system integrator in the optimization process for compl... Read More about Robot companion for industrial process monitoring based on virtual fixtures.

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.

ROS-Unity3D based system for monitoring of an industrial robotic process (2018)
Conference Proceeding
Sita, E., Horváth, C. M., Thomessen, T., Korondi, P., & Pipe, A. G. (2018). ROS-Unity3D based system for monitoring of an industrial robotic process. https://doi.org/10.1109/SII.2017.8279361

© 2017 IEEE. Planning and monitoring the manufacturing of high quality one-of-a-kind products are challenging tasks. In the implementation of an industrial system, the commissioning phase is typically comprised of a programming phase and an optimizat... Read More about ROS-Unity3D based system for monitoring of an industrial robotic process.

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.

Towards multimodal interactions: Robot jogging in mixed reality (2017)
Conference Proceeding
Pipe, A., Sita, E., Studley, M., Dailami, F., Pipe, A. G., & Thomessen, T. (2017). Towards multimodal interactions: Robot jogging in mixed reality. In Proceedings of the 23rd ACM Symposium on Virtual Reality Software and Technology - VRST '17, (1-2). https://doi.org/10.1145/3139131.3141200

© 2017 Copyright held by the owner/author(s). The recent progress made in the field of Augmented Reality/Mixed Reality (AR/MR) has opened new possibilities and approaches to research areas that can benefit from 3D visualization of digital content in... Read More about Towards multimodal interactions: Robot jogging in mixed reality.

Self-adaptive context aware audio localization (2017)
Book Chapter
Baxendale, M., Pearson, M. J., Nibouche, M., Secco, M., & Pipe, A. G. (2017). Self-adaptive context aware audio localization. In C. Lekakou, Y. Jin, S. Fallah, & G. Yang (Eds.), Towards Autonomous Robotic Systems, 66-78. Springer link

An audio sensor system is presented that uses multiple cere- bellar models to determine the acoustic environment in which a robot is operating, allowing the robot to select appropriate models to calibrate its audio-motor map for the detected environ... Read More about Self-adaptive context aware audio localization.

Manual takeover and handover of a simulated fully autonomous vehicle within urban and extra urban settings (2017)
Book Chapter
Morgan, P., Alford, C., Williams, C., Parkhurst, G., & Pipe, A. G. (2017). Manual takeover and handover of a simulated fully autonomous vehicle within urban and extra urban settings. In N. A. Stanton (Ed.), Advances in Human Aspects of Transportation: Proceedings of the AHFE 2017 International Conference on Human Factors in Transportation, 760-771. Springer

Relatively little is known about human behavior and performance when retaking control of highly autonomous vehicles (AVs) at different speeds and under varied driving conditions. Past research has tended to focus on long periods of high-speed extra-u... Read More about Manual takeover and handover of a simulated fully autonomous vehicle within urban and extra urban settings.

Towards bio-inspired tactile sensing capsule endoscopy for detection of submucosal tumours (2016)
Journal Article
Winstone, B., Melhuish, C., Pipe, A. G., Callaway, M., & Dogramadzi, S. (2017). Towards bio-inspired tactile sensing capsule endoscopy for detection of submucosal tumours. IEEE Sensors Journal, 17(3), 848-857. https://doi.org/10.1109/JSEN.2016.2627798

Here we present a method for lump characterisation using a bio-inspired remote tactile sensing capsule endoscopy system. Whilst current capsule endoscopy utilises cameras to diagnose lesions on the surface of the gastrointestinal tract lumen, this p... Read More about Towards bio-inspired tactile sensing capsule endoscopy for detection of submucosal tumours.

Single motor actuated peristaltic wave generator for a soft bodied worm robot (2016)
Presentation / Conference
Winstone, B., Pipe, A. G., Melhuish, C., Callaway, M., Etoundi, A., & Dogramadzi, S. (2016, June). Single motor actuated peristaltic wave generator for a soft bodied worm robot. Paper presented at BioRob 2016 - IEEE International Conference on Biomedical Robotics and Biomechatronics

This paper presents the design and development of a single motor actuated peristaltic worm robot with three segments using a bio-inspired method of locomotion with one actuator that achieves optimised worm like peristaltic motion. Each segment consis... Read More about Single motor actuated peristaltic wave generator for a soft bodied worm robot.

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery (2016)
Presentation / Conference
Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., …Dogramadzi, S. (2016, June). Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. Presented at International Conference on Biomedical Robotics and Biomechatronics

While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. MicroAngelo is an anthropomorphic master-slave system for tele-operated robot-assisted surgery. As part of this system, this paper focuses... Read More about Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery.

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.

Towards model-based robot behaviour adaptation: Successful human-robot collaboration in tense and stressful situations (2015)
Presentation / Conference
Sobhani, M., Pipe, A. G., Dogramadzi, S., & Fennell, J. G. (2015, May). Towards model-based robot behaviour adaptation: Successful human-robot collaboration in tense and stressful situations. Paper presented at 23rd Iranian Conference on Electrical Engineering (ICEE)

In a demanding environment such as search and rescue, where human-robot collaboration provides potential benefits, understanding complex human behaviour will promote greater success. We propose that robots need to be equipped with embodied models of... Read More about Towards model-based robot behaviour adaptation: Successful human-robot collaboration in tense and stressful situations.

The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics (2015)
Book Chapter
Prescott, T., Mitchinson, B., Lepora, N., Wilson, S., Anderson, S., Porrill, J., …Pipe, A. G. (2015). The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics. In A. Groh, & P. Krieger (Eds.), Sensorimotor Integration in the Whisker System, 213-240. Springer. https://doi.org/10.1007/978-1-4939-2975-7_10

We consider the problem of sensorimotor co-ordination in mammals through the lens of vibrissal touch, and via the methodology of embodied computational neuroscience—using biomimetic robots to synthesize and investigate models of mammalian brain archi... Read More about The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics.

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.

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.

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.

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.

Mechatronic implementation in minimally invasive surgical instruments (2014)
Presentation / Conference
Dikaiakos, G., Tzemanaki, A., Pipe, A. G., & Dogramadzi, S. (2014, August). Mechatronic implementation in minimally invasive surgical instruments. Paper presented at 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Minimally invasive surgery (MIS) has proven to be beneficial in providing outstanding results for the patients. However, studies have shown that the surgeon faces significant challenges whilst performing this type of surgery, ranging from poorly desi... Read More about Mechatronic implementation in minimally invasive surgical instruments.