All Outputs (94)

Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems (2022)
Journal Article
Ding, F., Huang, J., Xu, W., Yang, C., Sun, C., & Ai, Y. (2022). Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems. International Journal of Robust and Nonlinear Control, 32(14), https://doi.org/10.1002/rnc.6275

Underactuated systems are extensively utilized in practice while attracting a huge deal of attention in theoretical studies. There are few robust control strategies for general underactuated systems because of the variety of their dynamic models. A d... Read More about Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems.

Physical human-robot interaction influence in ASD therapy through an affordable soft social robot (2022)
Journal Article
Pinto-Bernal, M. J., Cespedes, N., Castro, P., Munera, M., & Cifuentes, C. A. (2022). Physical human-robot interaction influence in ASD therapy through an affordable soft social robot. Journal of Intelligent and Robotic Systems, 105(3), Article 67. https://doi.org/10.1007/s10846-022-01617-0

In the latest years, there has been a rise in social robotics' interest as a support tool in various scopes. For instance, social robots have been used in Autism treatments, improving social skills, social interaction, and children's daily activities... Read More about Physical human-robot interaction influence in ASD therapy through an affordable soft social robot.

Assessment of soft actuators for hand exoskeletons: Pleated textile actuators and fiber-reinforced Silicone actuators (2022)
Journal Article
Ramos, O., Múnera, M., Moazen, M., Wurdemann, H., & Cifuentes, C. A. (2022). Assessment of soft actuators for hand exoskeletons: Pleated textile actuators and fiber-reinforced Silicone actuators. Frontiers in Bioengineering and Biotechnology, 10, https://doi.org/10.3389/fbioe.2022.924888

Soft robotic approaches have been trialed for rehabilitation or assistive hand exoskeletons using silicone or textile actuators because they have more tolerance for alignment with biological joints than rigid exoskeletons. Textile actuators have not... Read More about Assessment of soft actuators for hand exoskeletons: Pleated textile actuators and fiber-reinforced Silicone actuators.

Cost estimation of micro-hydropower equipment in Nepal (2022)
Journal Article
Butchers, J., Williamson, S., Booker, J., Maitland, T., Karki, P. B., Pradhan, B. R., …Gautam, B. (2022). Cost estimation of micro-hydropower equipment in Nepal. Development Engineering, 7, Article 100097. https://doi.org/10.1016/j.deveng.2022.100097

Selecting the appropriate technology for providing electricity to rural communities depends upon evaluating the cost of a potential installation. For some rural communities, locally manufactured technology, in the form of wind and hydropower, can be... Read More about Cost estimation of micro-hydropower equipment in Nepal.

E2EK: End-to-end regression network based on keypoint for 6d pose estimation (2022)
Journal Article
Lin, S., Wang, Z., Ling, Y., Tao, Y., & Yang, C. (2022). E2EK: End-to-end regression network based on keypoint for 6d pose estimation. IEEE Robotics and Automation Letters, 7(3), 6526-6533. https://doi.org/10.1109/LRA.2022.3174261

The methods based on deep learning are the mainstream of 6D object pose estimation, which mainly include direct regression and two-stage pipelines. The former are keen by many scholars at first due to their simplicity and differentiability to poses,... Read More about E2EK: End-to-end regression network based on keypoint for 6d pose estimation.

Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control (2022)
Journal Article
Zeng, C., Li, S., Chen, Z., Yang, C., Sun, F., & Zhang, J. (in press). Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control. IEEE Transactions on Neural Networks and Learning Systems, 1-12. https://doi.org/10.1109/tnnls.2022.3184258

Multifingered hand dexterous manipulation is quite challenging in the domain of robotics. One remaining issue is how to achieve compliant behaviors. In this work, we propose a human-in-the-loop learning-control approach for acquiring compliant graspi... Read More about Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control.

The AGoRA V2 unilateral lower-limb exoskeleton: Mechatronic integration and biomechanical assessment (2022)
Journal Article
Otálora, S., Ballen-Moreno, F., Arciniegas-Mayag, L., Múnera, M., & A. Cifuentes, C. (2022). The AGoRA V2 unilateral lower-limb exoskeleton: Mechatronic integration and biomechanical assessment. IEEE Robotics and Automation Letters, 7(3), 7928-7933. https://doi.org/10.1109/lra.2022.3186066

People who suffer from stroke have a higher difficulty performing gait activity, affecting their quality of life. New technologies have been developed to assist and rehabilitate the affected limbs. This paper presents the AGoRA V2 unilateral lower-li... Read More about The AGoRA V2 unilateral lower-limb exoskeleton: Mechatronic integration and biomechanical assessment.

A machine learning model for predicting sit-to-stand trajectories of people with and without stroke: towards adaptive robotic assistance (2022)
Journal Article
Bennett, T., Kumar, P., & Ruiz Garate, V. R. (2022). A machine learning model for predicting sit-to-stand trajectories of people with and without stroke: towards adaptive robotic assistance. Sensors, 22(13), https://doi.org/10.3390/s22134789

Sit-to-stand and stand-to-sit transfers are fundamental daily motions that enable all other types of ambulation and gait. However, the ability to perform these motions can be severely impaired by different factors, such as the occurrence of a stroke,... Read More about A machine learning model for predicting sit-to-stand trajectories of people with and without stroke: towards adaptive robotic assistance.

SpaceWire communications in power over Ethernet environment (2022)
Journal Article
Martin, J., & Zaidi, Y. (2023). SpaceWire communications in power over Ethernet environment. CEAS Space Journal, 15, 451–465. https://doi.org/10.1007/s12567-022-00454-z

This is a high-level study into the validation of a unified electric power and communications architecture for modern spacecraft systems. We leverage from blending the European Cooperation for Space Standardisation (ECSS) SpaceWire and the IEEE 802.3... Read More about SpaceWire communications in power over Ethernet environment.

Rapid prediction of fibre-dominant tensile failure in randomly oriented strands (2022)
Journal Article
Jesus, A., & Xu, X. (2023). Rapid prediction of fibre-dominant tensile failure in randomly oriented strands. Journal of Reinforced Plastics and Composites, 42(5-6), 205-212. https://doi.org/10.1177/07316844221107927

A stochastic morphological modelling framework has been established to predict the tensile behaviour of Randomly Oriented Strands made of ultra-thin Carbon Fibre Reinforced Thermoplastic prepreg tapes. The tape properties from their distributions are... Read More about Rapid prediction of fibre-dominant tensile failure in randomly oriented strands.

Performance analysis of a nonlinear inerter-based vibration isolator with inerter embedded in a linkage mechanism (2022)
Journal Article
Shi, B., Dai, W., & Yang, J. (2022). Performance analysis of a nonlinear inerter-based vibration isolator with inerter embedded in a linkage mechanism. Nonlinear Dynamics, 109(2), 419-442. https://doi.org/10.1007/s11071-022-07564-7

This study presents an inerter-based nonlinear vibration isolator with geometrical nonlinearity created by configuring an inerter in a diamond-shaped linkage mechanism. The isolation performance of the proposed nonlinear isolator subjected to force o... Read More about Performance analysis of a nonlinear inerter-based vibration isolator with inerter embedded in a linkage mechanism.

On determinism of game engines used for simulation-based autonomous vehicle verification (2022)
Journal Article
Chance, G., Ghobrial, A., McAreavey, K., Lemaignan, S., Pipe, T., & Eder, K. (2022). On determinism of game engines used for simulation-based autonomous vehicle verification. IEEE Transactions on Intelligent Transportation Systems, 23(11), 1-15. https://doi.org/10.1109/TITS.2022.3177887

Game engines are increasingly used as simulation platforms by the autonomous vehicle community to develop vehicle control systems and test environments. A key requirement for simulation-based development and verification is determinism, since a deter... Read More about On determinism of game engines used for simulation-based autonomous vehicle verification.

Experimental verification of kinematics and kinetics in a biomimetic bipedal robot (2022)
Journal Article
Steele, A. G., Etoundi, A., & Hunt, A. J. (2023). Experimental verification of kinematics and kinetics in a biomimetic bipedal robot. Journal of Mechanisms and Robotics, 15(1), 014503-1. https://doi.org/10.1115/1.4054441

This article presents experimental test results for joints used in a biomimetic bipedal robot. In this work, magnetic resonance imaging (MRI) and computed tomography (CT) scans are utilized to inform the design of joints of similar size and function... Read More about Experimental verification of kinematics and kinetics in a biomimetic bipedal robot.

Unsteady flow oscillations in a 3-D ventilated model room with convective heat transfer (2022)
Journal Article
Yao, J., & Yao, Y. (2022). Unsteady flow oscillations in a 3-D ventilated model room with convective heat transfer. Fluids, 7(6), Article 192. https://doi.org/10.3390/fluids7060192

Improving indoor air quality and energy consumption is one of the high demands in the building sector. In this study, unsteady flow oscillations in a 3-D ventilated model room with convective heat transfer have been studied for three configurations o... Read More about Unsteady flow oscillations in a 3-D ventilated model room with convective heat transfer.

Transient CFD modelling of air–water two-phase annular flow characteristics in a small horizontal circular pipe (2022)
Journal Article
Yao, J., & Yao, Y. (2022). Transient CFD modelling of air–water two-phase annular flow characteristics in a small horizontal circular pipe. Fluids, 7(6), Article 191. https://doi.org/10.3390/fluids7060191

The liquid film formed around the inner walls of a small horizontal circular pipe often exhibits non-uniform distributions circumferentially, where the film is thinner at the top surface than the bottom one. Even with this known phenomenon, the probl... Read More about Transient CFD modelling of air–water two-phase annular flow characteristics in a small horizontal circular pipe.

Least square algorithm based on bias compensated principle for parameter estimation of canonical state space model (2022)
Journal Article
Liu, L., Long, Z., Azar, A. T., Zhu, Q., Ibraheem, I. K., & Humaidi, A. J. (2022). Least square algorithm based on bias compensated principle for parameter estimation of canonical state space model. Measurement and Control, 55(5-6), https://doi.org/10.1177/00202940211064179

Due to the existence of system noise and unknown state variables, it is difficult to realize unbiased estimation with minimum variance for the parameter estimation of canonical state space model. This paper presents a new least squares estimator base... Read More about Least square algorithm based on bias compensated principle for parameter estimation of canonical state space model.

A spiking neural network model of rodent head direction calibrated with landmark free learning (2022)
Journal Article
Stentiford, R., Knowles, T. C., & Pearson, M. J. (2022). A spiking neural network model of rodent head direction calibrated with landmark free learning. Frontiers in Neurorobotics, 16, -. https://doi.org/10.3389/fnbot.2022.867019

Maintaining a stable estimate of head direction requires both self-motion (idiothetic) information and environmental (allothetic) anchoring. In unfamiliar or dark environments idiothetic drive can maintain a rough estimate of heading but is subject t... Read More about A spiking neural network model of rodent head direction calibrated with landmark free learning.

Primary pathways: elementary pupils’ aspiration to be engineers and STEM subject interest (2022)
Journal Article
Edmonds, J., Lewis, F., & Fogg Rogers, L. (2022). Primary pathways: elementary pupils’ aspiration to be engineers and STEM subject interest. International Journal of Science Education, Part B: Communication and Public Engagement, 12(3), 221-234. https://doi.org/10.1080/21548455.2022.2067906

Across Europe, there is concern about the number and diversity of pupils taking study routes leading to Engineering. There is growing evidence that these career choices begin to form at elementary school age (Moote et al., 2020). Science, maths and d... Read More about Primary pathways: elementary pupils’ aspiration to be engineers and STEM subject interest.

Adaptive fixed-time neural networks control for pure-feedback non-affine nonlinear systems with state constraints (2022)
Journal Article
Li, Y., Zhu, Q., Zhang, J., & Deng, Z. (2022). Adaptive fixed-time neural networks control for pure-feedback non-affine nonlinear systems with state constraints. Entropy, 24(5), 737. https://doi.org/10.3390/e24050737

A new fixed-time adaptive neural network control strategy is designed for pure-feedback non-affine nonlinear systems with state constraints according to the feedback signal of the error system. Based on the adaptive backstepping technology, the Lyapu... Read More about Adaptive fixed-time neural networks control for pure-feedback non-affine nonlinear systems with state constraints.

Robust variable-step perturb-and-observe sliding mode controller for grid-connected wind-energy-conversion systems (2022)
Journal Article
Toumi, I., Meghni, B., Hachana, O., Azar, A. T., Boulmaiz, A., Humaidi, A. J., …Bahgaat, N. K. (in press). Robust variable-step perturb-and-observe sliding mode controller for grid-connected wind-energy-conversion systems. Entropy, 24(5), 731. https://doi.org/10.3390/e24050731

In order to extract efficient power generation, a wind turbine (WT) system requires an accurate maximum power point tracking (MPPT) technique. Therefore, a novel robust variable-step perturb-and-observe (RVS-P&O) algorithm was developed for the machi... Read More about Robust variable-step perturb-and-observe sliding mode controller for grid-connected wind-energy-conversion systems.