All Outputs (39)

New noise-tolerant neural algorithms for future dynamic nonlinear optimization with estimation on hessian matrix inversion (2019)
Journal Article

Nonlinear optimization problems with dynamical parameters are widely arising in many practical scientific and engineering applications, and various computational models are presented for solving them under the hypothesis of short-time invariance. To... Read More about New noise-tolerant neural algorithms for future dynamic nonlinear optimization with estimation on hessian matrix inversion.

Composite learning adaptive backstepping control using neural networks with compact supports (2019)
Journal Article

© 2019 John Wiley & Sons, Ltd. The ability to learn is crucial for neural network (NN) control as it is able to enhance the overall stability and robustness of control systems. In this study, a composite learning control strategy is proposed for a... Read More about Composite learning adaptive backstepping control using neural networks with compact supports.

Adaptive neural network control of underactuated surface vessels with guaranteed transient performance: Theory and experimental results (2019)
Journal Article

In this paper, an adaptive trajectory tracking
control algorithm for underactuated unmanned surface
vessels (USVs) with guaranteed transient performance is
proposed. To meet the realistic dynamical model of USVs,
we consider that the mass and dam... Read More about Adaptive neural network control of underactuated surface vessels with guaranteed transient performance: Theory and experimental results.

Force Sensorless Admittance Control with Neural Learning for Robots with Actuator Saturation (2019)
Journal Article

© 1982-2012 IEEE. In this paper, we present a sensorless admittance control scheme for robotic manipulators to interact with unknown environments in the presence of actuator saturation. The external environment is defined as linear models with unknow... Read More about Force Sensorless Admittance Control with Neural Learning for Robots with Actuator Saturation.

The wicked problem of travel time use and the effects of ICTs (2019)
Book Chapter

Travel time matters. It is part of many people’s everyday lives. Saving of travel time and the value attributed to it remain a principal justification for investment in the transport system which in turn shapes that system, its use and in turn influe... Read More about The wicked problem of travel time use and the effects of ICTs.

Characterisation of a nuclear cave environment utilising an autonomous swarm of heterogeneous robots (2019)
Thesis

As nuclear facilities come to the end of their operational lifetime, safe decommissioning becomes a more prevalent issue. In many such facilities there exist ‘nuclear caves’. These caves constitute areas that may have been entered infrequently, or ev... Read More about Characterisation of a nuclear cave environment utilising an autonomous swarm of heterogeneous robots.

Asymmetric bounded neural control for an uncertain robot by state feedback and output feedback (2019)
Journal Article

In this paper, an adaptive neural bounded control scheme is proposed for an n-link rigid robotic manipulator with unknown dynamics. With the combination of the neural approximation and backstepping technique, an adaptive neural network control policy... Read More about Asymmetric bounded neural control for an uncertain robot by state feedback and output feedback.

A task learning mechanism for the telerobots (2019)
Journal Article

Telerobotic systems have attracted growing attention because of their superiority in the dangerous or unknown interaction tasks. It is very challengeable to exploit such systems to implement complex tasks in an autonomous way. In this paper, we propo... Read More about A task learning mechanism for the telerobots.

Efficient 3D object recognition via geometric information preservation (2019)
Journal Article

© 2019 Elsevier Ltd Accurate 3D object recognition and 6-DOF pose estimation have been pervasively applied to a variety of applications, such as unmanned warehouse, cooperative robots, and manufacturing industry. How to extract a robust and represent... Read More about Efficient 3D object recognition via geometric information preservation.

Mathematical modelling and analysis on male urine flow rate (2019)
Thesis

Troublesome voiding lower urinary tract symptoms (LUTS) are a common problem in men, particularly with ageing. Management of voiding LUTS can be guided by accurate determination of underlying mechanisms, distinguishing men with voiding symptoms cause... Read More about Mathematical modelling and analysis on male urine flow rate.

Adaptive fuzzy control for coordinated multiple robots with constraint using impedance learning (2019)
Journal Article

In this paper, we investigate fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with which the... Read More about Adaptive fuzzy control for coordinated multiple robots with constraint using impedance learning.

Admittance-based adaptive cooperative control for multiple manipulators with output constraints (2019)
Journal Article

This paper proposes a novel adaptive control methodology based on the admittance model for multiple manipulators transporting a rigid object cooperatively along a predefined desired trajectory. First, an admittance model is creatively applied to gene... Read More about Admittance-based adaptive cooperative control for multiple manipulators with output constraints.

Adaptive fuzzy Gaussian mixture models for shape approximation in Robot Grasping (2019)
Journal Article

Robotic grasping has always been a challenging task for both service and industrial robots. The ability of grasp planning for novel objects is necessary for a robot to autonomously perform grasps under unknown environments.
In this work, we consider... Read More about Adaptive fuzzy Gaussian mixture models for shape approximation in Robot Grasping.

The need for a systems perspective to devise new solutions for contemporary and emergent air pollutants (2019)
Presentation / Conference Contribution

Structure of Presentation
1. Diagnosing the problem of anthropogenic air pollution
2. A brief comment on the Strategic Priorities Fund Clean Air Programme
3. The value of a systems perspective to address the issues, clarify the ambiguities and of... Read More about The need for a systems perspective to devise new solutions for contemporary and emergent air pollutants.

Improved human-robot collaborative control of redundant robot for teleoperated minimally invasive surgery (2019)
Journal Article

© 2016 IEEE. An improved human-robot collaborative control scheme is proposed in a teleoperated minimally invasive surgery scenario, based on a hierarchical operational space formulation of a seven-degree-of-freedom redundant robot. Redundancy is exp... Read More about Improved human-robot collaborative control of redundant robot for teleoperated minimally invasive surgery.

An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions (2019)
Journal Article

Conventional Neural Network (NN) control for robots uses radial basis function (RBF) and for n-link robot with online control, the number of nodes and weighting matrix increases exponentially, which requires a number of calculations to be performed w... Read More about An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions.

Understanding attitudes to priorities at side road junctions (2019)
Journal Article

Junctions are places of interaction and hence conflict for all road users. Two thirds of all collisions in built up areas occur at junctions, with pedestrians and cyclists being most at risk. The aim of the research is to investigate the attitudes to... Read More about Understanding attitudes to priorities at side road junctions.

Enhanced teleoperation performance using hybrid control and virtual fixture (2019)
Journal Article

To develop secure, natural and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a... Read More about Enhanced teleoperation performance using hybrid control and virtual fixture.

The importance of user perspective in the evolution of MaaS (2019)
Journal Article

The rapid emergence of Mobility as a Service (MaaS) into the transport sector’s lexicon has brought with it an air of expectation that suggests a future mobility revolution. This paper focusses on the user perspective and offers a deepening of socio-... Read More about The importance of user perspective in the evolution of MaaS.