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Outputs (111)

A review on the techniques used in prostate brachytherapy (2022)
Journal Article
Li, Y., Yang, C., Bahl, A., Persad, R., & Melhuish, C. (2022). A review on the techniques used in prostate brachytherapy. Cognitive Computation and Systems, 4(4), 317-328. https://doi.org/10.1049/ccs2.12067

Prostate brachytherapy is a validated treatment for prostate cancer. During the procedure, the accuracy of needle placement is critical to the treatment’s effectiveness. However, the inserted needle could deflect from the preset trajectory because of... Read More about A review on the techniques used in prostate brachytherapy.

On the impact of different types of errors on trust in human-robot interaction: Are laboratory-based HRI experiments trustworthy? (2019)
Journal Article
Flook, R., Shrinah, A., Wijnen, L., Eder, K., Melhuish, C., & Lemaignan, S. (2019). On the impact of different types of errors on trust in human-robot interaction: Are laboratory-based HRI experiments trustworthy?. Interaction Studies, 20(3), 455-486. https://doi.org/10.1075/is.18067.flo

© John Benjamins Publishing Company Trust is a key dimension of human-robot interaction (HRI), and has often been studied in the HRI community. A common challenge arises from the difficulty of assessing trust levels in ecologically invalid environmen... Read More about On the impact of different types of errors on trust in human-robot interaction: Are laboratory-based HRI experiments trustworthy?.

Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks (2019)
Journal Article
Abeywardena, S., Yuan, Q., Tzemanaki, A., Psomopoulou, E., Droukas, L., Melhuish, C., & Dogramadzi, S. (2019). Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks. Frontiers in Robotics and AI, 6, Article 56. https://doi.org/10.3389/frobt.2019.00056

A new algorithm is proposed to estimate the tool-tissue force interaction in robot-assisted minimally invasive surgery which does not require the use of external force sensing. The proposed method utilizes the current of the motors of the surgical in... Read More about Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks.

A Cilia-inspired Closed-loop Sensor-actuator Array (2018)
Journal Article
Whiting, J., Mayne, R., Melhuish, C., & Adamatzky, A. (2018). A Cilia-inspired Closed-loop Sensor-actuator Array. Journal of Bionic Engineering, 15(3), 526-532. https://doi.org/10.1007/s42235-018-0043-7

© 2018, Jilin University. Cilia are finger-like cell-surface organelles that are used by certain varieties of aquatic unicellular organisms for motility, sensing and object manipulation. Initiated by internal generators and external mechanical and ch... Read More about A Cilia-inspired Closed-loop Sensor-actuator Array.

Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment (2018)
Journal Article
Tzemanaki, A., Al, G. A., Melhuish, C., & Dogramadzi, S. (2018). Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment. Frontiers in Robotics and AI, 5(JUN), 1-15. https://doi.org/10.3389/frobt.2018.00062

© 2018 Tzemanaki, Al, Melhuish and Dogramadzi. This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit... Read More about Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment.

Energy and metabolism (2018)
Book Chapter
Ieropoulos, I. A., Ledezma, P., Scandroglio, G., Melhuish, C., & Greenman, J. (2018). Energy and metabolism. In T. J. Prescott, N. Lepora, & P. F. Verschure (Eds.), Living Machines: A Handbook of Research in Biomimetics and Biohybrid Systems (62-72). Oxford University Press (OUP). https://doi.org/10.1093/oso/9780199674923.003.0006

© Oxford University Press, 2018 and University of Tartu Press, 2012. Energy resulting from metabolism is essential for any living system-from single-cell to multicellular organisms. This also applies to symbiotic robots (SymBots), which function util... Read More about Energy and metabolism.

Improved power and long term performance of microbial fuel cell with Fe-N-C catalyst in air-breathing cathode (2017)
Journal Article
Gajda, I., Greenman, J., Santoro, C., Serov, A., Melhuish, C., Atanassov, P., & Ieropoulos, I. (2018). Improved power and long term performance of microbial fuel cell with Fe-N-C catalyst in air-breathing cathode. Energy, 144, 1073-1079. https://doi.org/10.1016/j.energy.2017.11.135

© 2017 Power output limitation is one of the main challenges that needs to be addressed for full-scale applications of the Microbial Fuel Cell (MFC) technology. Previous studies have examined electrochemical performance of different cathode electrode... Read More about Improved power and long term performance of microbial fuel cell with Fe-N-C catalyst in air-breathing cathode.

EvoBot: Towards a robot-chemostat for culturing and maintaining Microbial Fuel Cells (MFCs) (2017)
Conference Proceeding
Theodosiou, P., Faina, A., Nejatimoharrami, F., Stoy, K., Greenman, J., Melhuish, C., & Ieropoulos, I. (2017). EvoBot: Towards a robot-chemostat for culturing and maintaining Microbial Fuel Cells (MFCs). In N. Lepora, T. Prescott, P. F. Verschure, A. Mura, M. Cutkosky, & M. Mangan (Eds.), Biomimetic and Biohybrid Systems. , (453-464). https://doi.org/10.1007/978-3-319-63537-8_38

In this paper we present EvoBot, a RepRap open-source 3D-printer modified to operate like a robot for culturing and maintaining Microbial Fuel Cells (MFCs). EvoBot is a modular liquid handling robot that has been adapted to host MFCs in its experimen... Read More about EvoBot: Towards a robot-chemostat for culturing and maintaining Microbial Fuel Cells (MFCs).

Gelatin as a promising printable feedstock for microbial fuel cells (MFC) (2017)
Journal Article
Ieropoulos, I., Theodosiou, P., Taylor, B., Greenman, J., & Melhuish, C. (2017). Gelatin as a promising printable feedstock for microbial fuel cells (MFC). International Journal of Hydrogen Energy, 42(3), 1783-1790. https://doi.org/10.1016/j.ijhydene.2016.11.083

© 2016 Hydrogen Energy Publications LLC The microbial fuel cell (MFC) is an energy transducer that can directly produce electricity from bacterial oxidation of organic matter. MFCs consist of two reaction chambers (anode and cathode) separated by a s... Read More about Gelatin as a promising printable feedstock for microbial fuel cells (MFC).

Autonomous energy harvesting and prevention of cell reversal in MFC stacks (2016)
Journal Article
Papaharalabos, G., Stinchcombe, A., Horsfield, I., Melhuish, C., Greenman, J., & Ieropoulos, I. (2017). Autonomous energy harvesting and prevention of cell reversal in MFC stacks. Journal of The Electrochemical Society, 164(3), H3047-H3051. https://doi.org/10.1149/2.0081703jes

© The Author(s) 2016. This study presents a novel method for avoiding cell reversal whilst optimising energy harvesting from stacked Microbial Fuel Cells (MFCs) by dynamically reconfiguring the electrical connections between them. The sequential chan... Read More about Autonomous energy harvesting and prevention of cell reversal in MFC stacks.

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.

Microbial fuel cell – A novel self-powered wastewater electrolyser for electrocoagulation of heavy metals (2016)
Journal Article
Gajda, I., Stinchcombe, A., Greenman, J., Melhuish, C., & Ieropoulos, I. (2017). Microbial fuel cell – A novel self-powered wastewater electrolyser for electrocoagulation of heavy metals. International Journal of Hydrogen Energy, 42(3), 1813-1819. https://doi.org/10.1016/j.ijhydene.2016.06.161

© 2016 The Authors This paper describes the suitability of the Microbial Fuel Cell (MFC) for generation of electrical power with a simultaneous synthesis of active catholyte in the form of caustic solution. The active solution formed inside a terraco... Read More about Microbial fuel cell – A novel self-powered wastewater electrolyser for electrocoagulation of heavy metals.

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, Singapore

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, Singapore

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.

Small scale ceramic MFCs for efficient energy harvesting from wastewater and full system development (2016)
Presentation / Conference
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. (2016, May). Small scale ceramic MFCs for efficient energy harvesting from wastewater and full system development. Presented at The Electrochemical Society, 29th ECS Meeting, San Diego, CA, USA

The main aim of this work was to increase the efficiency of the ceramic based MFCs by compacting the design and exploring the ceramic support as the building block for small scale modular multi-unit systems. The improved energy density would then all... Read More about Small scale ceramic MFCs for efficient energy harvesting from wastewater and full system development.

Electricity and disinfectant production from wastewater: Microbial Fuel Cell as a self-powered electrolyser (2016)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. A. (2016). Electricity and disinfectant production from wastewater: Microbial Fuel Cell as a self-powered electrolyser. Scientific Reports, 6(25571), https://doi.org/10.1038/srep25571

This study presents a simple and sustainable Microbial Fuel Cell as a standalone, self-powered reactor for in situ wastewater electrolysis, recovering nitrogen from wastewater. A process is proposed whereby the MFC electrical performance drives the e... Read More about Electricity and disinfectant production from wastewater: Microbial Fuel Cell as a self-powered electrolyser.

Microbial Fuel Cell-driven caustic potash production from wastewater for carbon sequestration (2016)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., Santoro, C., & Ieropoulos, I. (2016). Microbial Fuel Cell-driven caustic potash production from wastewater for carbon sequestration. Bioresource Technology, 215, 285-289. https://doi.org/10.1016/j.biortech.2016.04.004

© 2016 The Authors. This work reports on the novel formation of caustic potash (KOH) directly on the MFC cathode locking carbon dioxide into potassium bicarbonate salt (kalicinite) while producing, instead of consuming electrical power. Using potassi... Read More about Microbial Fuel Cell-driven caustic potash production from wastewater for carbon sequestration.

Emergent behaviors in a bio-inspired platform controlled by a physical cellular automata cluster (2016)
Journal Article
Assaf, T., Mayne, R., Adamatzky, A., & Melhuish, C. (2016). Emergent behaviors in a bio-inspired platform controlled by a physical cellular automata cluster. Biomimetics, 1(1), 5. https://doi.org/10.3390/biomimetics1010005

This work illustrates behavior patterns and trajectories of a bio-inspired artificial platform induced by a cellular automata (CA)-based control strategy. The platform embeds both CA control as physical electronic architecture and a distributed hardw... Read More about Emergent behaviors in a bio-inspired platform controlled by a physical cellular automata cluster.

Microbial fuel cell - A self-powered wastewater electrolyser for electrocoagulation (2015)
Presentation / Conference
Gajda, I., Stinchcombe, A., Greenman, J., Melhuish, C., & Ieropoulos, I. (2015, December). Microbial fuel cell - A self-powered wastewater electrolyser for electrocoagulation. Presented at EFC15 European Fuel Cell Technology & Applications - Piero Lunghi Conference, Naples, Italy

This abstract describes the suitability of the Microbial Fuel Cell (MFC) for generation of electrical power with a simultaneous synthesis of active catholyte in the form of caustic solution. The active solution was a product of self-powered electroly... Read More about Microbial fuel cell - A self-powered wastewater electrolyser for electrocoagulation.

Self sufficient wireless transmitter powered by foot-pumped urine operating wearable MFC (2015)
Journal Article
Taghavi, M., Stinchcombe, A., Greenman, J., Mattoli, V., Beccai, L., Mazzolai, B., …Ieropoulos, I. A. (2016). Self sufficient wireless transmitter powered by foot-pumped urine operating wearable MFC. Bioinspiration and Biomimetics, 11(1), Article 016001. https://doi.org/10.1088/1748-3190/11/1/016001

© 2015 IOP Publishing Ltd. The first self-sufficient system, powered by a wearable energy generator based on microbial fuel cell (MFC) technology is introduced. MFCs made from compliant material were developed in the frame of a pair of socks, which w... Read More about Self sufficient wireless transmitter powered by foot-pumped urine operating wearable MFC.

Stability and reliability of anodic biofilms under different feedstock conditions: Towards microbial fuel cell sensors (2015)
Journal Article
Walter, X. A., You, J., Greenman, J., Melhuish, C., & Ieropoulos, I. (2015). Stability and reliability of anodic biofilms under different feedstock conditions: Towards microbial fuel cell sensors. Sensing and Bio-Sensing Research, 6, 43-50. https://doi.org/10.1016/j.sbsr.2015.11.007

© 2015 The Authors. Stability and reliability of microbial fuel cell anodic biofilms, consisting of mixed cultures, were investigated in a continuously fed system. Two groups of anodic biofilm matured with different substrates, acetate and casein for... Read More about Stability and reliability of anodic biofilms under different feedstock conditions: Towards microbial fuel cell sensors.

Electro-osmotic-based catholyte production by Microbial Fuel Cells for carbon capture (2015)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., Santoro, C., Li, B., Cristiani, P., & Ieropoulos, I. (2015). Electro-osmotic-based catholyte production by Microbial Fuel Cells for carbon capture. Water Research, 86, 108-115. https://doi.org/10.1016/j.watres.2015.08.014

© 2015 The Authors. In Microbial Fuel Cells (MFCs), the recovery of water can be achieved with the help of both active (electro-osmosis), and passive (osmosis) transport pathways of electrolyte through the semi-permeable selective separator. The elec... Read More about Electro-osmotic-based catholyte production by Microbial Fuel Cells for carbon capture.

The efficacy of “busyness” as a measure for behaviour pattern analysis using unlabelled sensor data: A case study (2015)
Presentation / Conference
Fiorini, L., Caleb-Solly, P., Tsanaka, A., Cavallo, F., Dario, P., & Melhuish, C. (2015, November). The efficacy of “busyness” as a measure for behaviour pattern analysis using unlabelled sensor data: A case study. Paper presented at IET International Conference on Technologies for Active and Assisted Living (TechAAL), London, UK

The integration of Internet of Things (IoT) into our daily lives has the potential to significantly improve the quality of life and well-being of citizens, especially older adults who want to continue to live independently in their own home. In order... Read More about The efficacy of “busyness” as a measure for behaviour pattern analysis using unlabelled sensor data: A case study.

Self-sustainable electricity production from algae grown in a microbial fuel cell system (2015)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. (2015). Self-sustainable electricity production from algae grown in a microbial fuel cell system. Biomass and Bioenergy, 82, 87-93. https://doi.org/10.1016/j.biombioe.2015.05.017

© 2015 The Authors. This paper describes the potential for algal biomass production in conjunction with wastewater treatment and power generation within a fully biotic Microbial Fuel Cell (MFC). The anaerobic biofilm in the anodic half-cell is genera... Read More about Self-sustainable electricity production from algae grown in a microbial fuel cell system.

Simultaneous electricity generation and microbially-assisted electrosynthesis in ceramic MFCs (2015)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. (2015). Simultaneous electricity generation and microbially-assisted electrosynthesis in ceramic MFCs. Bioelectrochemistry, 104, 58-64. https://doi.org/10.1016/j.bioelechem.2015.03.001

© 2015 Elsevier B.V. To date, the development of microbially assisted synthesis in Bioelectrochemical Systems (BESs) has focused on mechanisms that consume energy in order to drive the electrosynthesis process. This work reports - for the first time... Read More about Simultaneous electricity generation and microbially-assisted electrosynthesis in ceramic MFCs.

Ceramic MFCs with internal cathode producing sufficient power for practical applications (2015)
Journal Article
Gajda, I., Stinchcombe, A., Greenman, J., Melhuish, C., & Ieropoulos, I. (2015). Ceramic MFCs with internal cathode producing sufficient power for practical applications. International Journal of Hydrogen Energy, 40(42), 14627-14631. https://doi.org/10.1016/j.ijhydene.2015.06.039

© 2015, Hydrogen Energy Publications, LLC. Published by Elsevier Ltd. All rights reserved. This communication reports on the potential of using MFCs for powering real world applications, whereby three interconnected MFCs directly energise an external... Read More about Ceramic MFCs with internal cathode producing sufficient power for practical applications.

A novel small scale Microbial Fuel Cell design for increased electricity generation and waste water treatment (2015)
Journal Article
Papaharalabos, G., Greenman, J., Melhuish, C., & Ieropoulos, I. (2015). A novel small scale Microbial Fuel Cell design for increased electricity generation and waste water treatment. International Journal of Hydrogen Energy, 40(11), 4263-4268. https://doi.org/10.1016/j.ijhydene.2015.01.117

© 2015 Hydrogen Energy Publications, LLC. Published by Elsevier Ltd. All rights reserved. Microbial Fuel Cells (MFCs) are a sustainable energy technology with minimal carbon footprint, which is promising for wastewater remediation and generation of u... Read More about A novel small scale Microbial Fuel Cell design for increased electricity generation and waste water treatment.

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. Lecture Notes in Artificial Intelligence, 9222, 113-122. 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.

Dynamic electrical reconfiguration for improved capacitor charging in microbial fuel cell stacks (2014)
Journal Article
Papaharalabos, G., Greenman, J., Stinchcombe, A., Horsfield, I., Melhuish, C., & Ieropoulos, I. (2014). Dynamic electrical reconfiguration for improved capacitor charging in microbial fuel cell stacks. Journal of Power Sources, 272, 34-38. https://doi.org/10.1016/j.jpowsour.2014.07.187

A microbial fuel cell (MFC) is a bioelectrochemical device that uses anaerobic bacteria to convert chemical energy locked in biomass into small amounts of electricity. One viable way of increasing energy extraction is by stacking multiple MFC units a... Read More about Dynamic electrical reconfiguration for improved capacitor charging in microbial fuel cell stacks.

Robotic hand posture and compliant grasping control using operational space and integral sliding mode control (2014)
Journal Article
Khan, S. G., Herrmann, G., Jalani, J., Mahyuddin, M. N., Khan, S. G., & Melhuish, C. (2016). Robotic hand posture and compliant grasping control using operational space and integral sliding mode control. Robotica, 34(10), 2163-2185. https://doi.org/10.1017/S0263574714002811

© 2014 Cambridge University Press. This paper establishes a novel approach of robotic hand posture and grasping control. For this purpose, the control uses the operational space approach. This permits the consideration of the shape of the object to b... Read More about Robotic hand posture and compliant grasping control using operational space and integral sliding mode control.

Electricity generation and struvite recovery from human urine using microbial fuel cells (2014)
Journal Article
You, J., Greenman, J., Melhuish, C., & Ieropoulos, I. (2016). Electricity generation and struvite recovery from human urine using microbial fuel cells. Journal of Chemical Technology and Biotechnology, 91(3), 647-654. https://doi.org/10.1002/jctb.4617

BACKGROUND: Urine is an abundant waste product which requires energy intensive treatment processes in modern wastewater treatment plants. However urine can be utilised as fertiliser in the form of struvite. Microbial fuel cells (MFCs) are a promising... Read More about Electricity generation and struvite recovery from human urine using microbial fuel cells.

Ceramic MFCs for energy conversion in practical applications (2014)
Presentation / Conference
Gajda, I., Stinchcombe, A., Greenman, J., Melhuish, C., & Ieropoulos, I. (2014, December). Ceramic MFCs for energy conversion in practical applications. Paper presented at Euro-mediterranean Hydrogen Technologies Conference 2014 (EmHyTeC2014), Taormina, Italy

Micro-porous layer (MPL)-based anode for microbial fuel cells (2014)
Journal Article
You, J., Santoro, C., Greenman, J., Melhuish, C., Cristiani, P., Li, B., & Ieropoulos, I. (2014). Micro-porous layer (MPL)-based anode for microbial fuel cells. International Journal of Hydrogen Energy, 39(36), 21811-21818. https://doi.org/10.1016/j.ijhydene.2014.07.136

© 2014 Hydrogen Energy Publications, LLC. Published by Elsevier Ltd. All rights reserved. Two different anode materials, carbon veil (CV) and carbon cloth (CC), were modified with a micro-porous layer (MPL) in microbial fuel cells (MFCs). When the bi... Read More about Micro-porous layer (MPL)-based anode for microbial fuel cells.

High-Performance, Totally Flexible, Tubular Microbial Fuel Cell (2014)
Journal Article
Ieropoulos, I. A., Taghavi, M., Greenman, J., Beccai, L., Mattoli, V., Mazzolai, B., …Ieropoulos, I. (2014). High-Performance, Totally Flexible, Tubular Microbial Fuel Cell. ChemElectroChem, 1(11), 1994-1999. https://doi.org/10.1002/celc.201402131

© 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim. The current study addresses the development of a flexible microbial fuel cell (MFC) in a tubular configuration. Nafion tubing is employed as a one-compartment MFC and is used as the membrane and th... Read More about High-Performance, Totally Flexible, Tubular Microbial Fuel Cell.

Simultaneous electricity generation and microbially-assisted electrosynthesis in MFCs (2014)
Presentation / Conference
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. (2014, October). Simultaneous electricity generation and microbially-assisted electrosynthesis in MFCs. Paper presented at 226th ECS Meeting,Electrochemical Society, Cancun, Mexico

Microbial Fuel Cells (MFCs) are bio-electrochemical transducers that generate electricity as a direct result of microbial metabolism, when breaking down organic matter for continuous growth and maintenance. On the other hand, Microbial Electrolysis C... Read More about Simultaneous electricity generation and microbially-assisted electrosynthesis in MFCs.

An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training (2014)
Journal Article
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.

μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design (2014)
Presentation / Conference
Tzemanaki, A., Burton, T. M. W., Gillat, D., Melhuish, C., Persad, R., Pipe, A. G., & Dogramadzi, S. (2014, August). μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design. Paper presented at 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil

Abdominal surgery has seen a rapid transition from open procedures to Robot-Assisted Minimally Invasive Surgery (R-A MIS). The learning process for new surgeons is long compared to open surgery, and the desired dexterity cannot always be achieved usi... Read More about μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design.

Artificial photosynthesis coupled with electricity generation - microbial fuel cells as artificial plants (2014)
Presentation / Conference
Gajda, I., Greenman, J., Stinchcombe, A., Melhuish, C., & Ieropoulos, I. (2014, July). Artificial photosynthesis coupled with electricity generation - microbial fuel cells as artificial plants. Paper presented at ALIFE 14: The Fourteenth International Conference on the Synthesis and Simulation of Living Systems, NY, USA

To meet the global goal of carbon reduction process there is a need to develop an artificial system that may act as an autonomous CO2 scrubber. This paper describes the direct electricity generation by the Microbial Fuel Cell with the simultaneous bi... Read More about Artificial photosynthesis coupled with electricity generation - microbial fuel cells as artificial plants.

Algal 'lagoon' effect for oxygenating MFC cathodes (2014)
Journal Article
Gajda, I., Stinchcombe, A., Greenman, J., Melhuish, C., & Ieropoulos, I. (2014). Algal 'lagoon' effect for oxygenating MFC cathodes. International Journal of Hydrogen Energy, 39(36), 21857-21863. https://doi.org/10.1016/j.ijhydene.2014.05.173

© 2014, Hydrogen Energy Publications, LLC. Published by Elsevier Ltd. All rights reserved. This paper describes the active oxygenation performed by photosynthetic organisms in the cathode of a two-chamber Microbial Fuel Cell system. The algal biomass... Read More about Algal 'lagoon' effect for oxygenating MFC cathodes.

Water formation at the cathode and sodium recovery using Microbial Fuel Cells (MFCs) (2014)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., Santoro, C., Li, B., Cristiani, P., & Ieropoulos, I. (2014). Water formation at the cathode and sodium recovery using Microbial Fuel Cells (MFCs). Sustainable Energy Technologies and Assessments, 7, 187-194. https://doi.org/10.1016/j.seta.2014.05.001

Microbial Fuel Cells (MFCs) utilise biodegradable carbon compounds in organic waste to generate electric current. The aim of this work was to enhance MFC performance by using low cost and catalyst (platinum)-free cathode materials. The results showed... Read More about Water formation at the cathode and sodium recovery using Microbial Fuel Cells (MFCs).

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, T., & 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.

Small-scale microbial fuel cells utilising uric salts (2014)
Journal Article
You, J., Greenman, J., Melhuish, C., & Ieropoulos, I. (2014). Small-scale microbial fuel cells utilising uric salts. Sustainable Energy Technologies and Assessments, 6, 60-63. https://doi.org/10.1016/j.seta.2014.01.005

With exhausting fossil fuels and increasing greenhouse gas emissions, numerous attempts, to overcome future energy challenges, are being pursued. In this study, small-scale microbial fuel cells (MFCs, 0.7mL anodic chamber volume) were built to invest... Read More about Small-scale microbial fuel cells utilising uric salts.

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.

Towards an ethical robot: Internal models, consequences and ethical action selection (2014)
Journal Article
Winfield, A. F., Blum, C., & Liu, W. (2014). Towards an ethical robot: Internal models, consequences and ethical action selection. Lecture Notes in Artificial Intelligence, 8717 LNAI, 85-96. https://doi.org/10.1007/978-3-319-10401-0_8

If robots are to be trusted, especially when interacting with humans, then they will need to be more than just safe. This paper explores the potential of robots capable of modelling and therefore predicting the consequences of both their own actions,... Read More about Towards an ethical robot: Internal models, consequences and ethical action selection.

Compliance control and human-robot interaction: Part II-experimental examples (2014)
Journal Article
Pipe, T., Khan, S. G., Herrmann, G., Lenz, A., Grafi, M. A., 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

© World Scientific Publishing Company. 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... 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., Grafi, M. A., Pipe, T., & 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

© World Scientific Publishing Company. 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 know... Read More about Compliance control and human-Robot interaction: Part 1-survey.

Text line aggregation (2014)
Conference Proceeding
Beck, C., Broun, A., Mirmehdi, M., Pipe, T., & Melhuish, C. (2014). Text line aggregation. In M. De Marsico, A. Tabbone, & A. Fred (Eds.), Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods (393-401). https://doi.org/10.5220/0004817903930401

We present a new approach to text line aggregation that can work as both a line formation stage for a myriad of text segmentation methods (over all orientations) and as an extra level of filtering to remove false text candidates. The proposed method... Read More about Text line aggregation.

Wearable self sufficient MFC communication system powered by urine (2014)
Journal Article
Taghavi, M., Stinchcombe, A., Greenman, J., Mattoli, V., Beccai, L., Mazzolai, B., …Ieropoulos, I. (2014). Wearable self sufficient MFC communication system powered by urine. Lecture Notes in Artificial Intelligence, 8717 LNAI, 131-138. https://doi.org/10.1007/978-3-319-10401-0_12

A new generation of self-sustainable and wearable Microbial Fuel Cells (MFCs) is introduced. Two different types of energy - chemical energy found in urine and mechanical energy harvested by manual pumping - were converted to electrical energy. The w... Read More about Wearable self sufficient MFC communication system powered by urine.

Smart miniature microbial fuel cell design for increased electricity generation and waste water treatment (2013)
Conference Proceeding
Papaharalabos, G., Greenman, J., Melhuish, C., & Ieropoulos, I. (2013). Smart miniature microbial fuel cell design for increased electricity generation and waste water treatment. In C. Barchiesi, V. Cigolotti, & M. Chianella (Eds.), Proceedings of the 5th European Fuel Cell Piero Lunghi Conference. , (243-244)

Copyright © 2013 Delta Energy and Environment. Microbial Fuel Cells (MFCs) are a green sustainable energy with minimal carbon footprint, suitable for wastewater remediation and generation of useful amounts of electricity. This study focuses on the ar... Read More about Smart miniature microbial fuel cell design for increased electricity generation and waste water treatment.

Algal "lagoon" effect for oxygenating MFC cathodes (2013)
Conference Proceeding
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. (2013). Algal "lagoon" effect for oxygenating MFC cathodes. In V. Cigolotti, C. Barchiesi, & M. Chianella (Eds.), Proceedings of the 5th European Fuel Cell Piero Lunghi Conference. , (193-194)

Copyright © 2013 Delta Energy and Environment. This paper describes the active oxygenation performed by the photosynthetic organisms in the cathode of a two-chamber Microbial Fuel Cell system. The algal growth provided dissolved oxygen to the cathode... Read More about Algal "lagoon" effect for oxygenating MFC cathodes.

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.

Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge (2013)
Journal Article
Hall, J., Tritton, T., Rowe, A., Pipe, A., 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.

Waste to real energy: The first MFC powered mobile phone (2013)
Journal Article
Ieropoulos, I. A., Ieropoulos, I., Ledezma, P., Stinchcombe, A., Papaharalabos, G., Melhuish, C., & Greenman, J. (2013). Waste to real energy: The first MFC powered mobile phone. Physical Chemistry Chemical Physics, 15(37), 15312-15316. https://doi.org/10.1039/c3cp52889h

This communication reports for the first time the charging of a commercially available mobile phone, using Microbial Fuel Cells (MFCs) fed with real neat urine. The membrane-less MFCs were made out of ceramic material and employed plain carbon based... Read More about Waste to real energy: The first MFC powered mobile phone.

Metachronal waves in cellular automata: Cilia-like manipulation in actuator arrays (2013)
Presentation / Conference
Georgilas, I., Adamatzky, A., Barr, D., Dudek, P., & Melhuish, C. (2013, September). Metachronal waves in cellular automata: Cilia-like manipulation in actuator arrays. Paper presented at VI International Workshop on Nature Inspired Cooperative Strategies for Optimization (NICSO 2013), Canterbury, UK

Paramecium is covered by cilia. It uses the cilia to swim and transport food particles to its mouth. The cilia are synchronised into a collective action by propagating membrane potential and mechan- ical properties of their underlying membrane and th... Read More about Metachronal waves in cellular automata: Cilia-like manipulation in actuator arrays.

Photosynthetic cathodes for microbial fuel cells (2013)
Journal Article
Gajda, I., Greenman, J., Melhuish, C., & Ieropoulos, I. (2013). Photosynthetic cathodes for microbial fuel cells. International Journal of Hydrogen Energy, 38(26), 11559-11564. https://doi.org/10.1016/j.ijhydene.2013.02.111

One of the major limiting factors in the practical implementation of Microbial Fuel Cells is finding efficient and sustainable catalysts for the cathode half reaction, in an attempt to avoid expensive and/or toxic catalysts. The use of phototrophic o... Read More about Photosynthetic cathodes for microbial fuel cells.

Increased power output from micro porous layer (MPL) cathode microbial fuel cells (MFC) (2013)
Journal Article
Ieropoulos, I., Greenman, J., Melhuish, C., Papaharalabos, G., Greenman, J., Melhuish, C., …Ieropoulos, I. (2013). Increased power output from micro porous layer (MPL) cathode microbial fuel cells (MFC). International Journal of Hydrogen Energy, 38(26), 11552-11558. https://doi.org/10.1016/j.ijhydene.2013.05.138

Microbial fuel cells are bio-electrochemical transducers that utilise microorganisms to generate electricity, through the oxidation of organic matter. They consist of a negative anode and a positive cathode, separated by an ion selective membrane. Th... Read More about Increased power output from micro porous layer (MPL) cathode microbial fuel cells (MFC).

UAV horizon tracking using memristors and cellular automata visual processing (2013)
Presentation / Conference
Georgilas, I., Gale, E., Adamatzky, A., & Melhuish, C. (2013, August). UAV horizon tracking using memristors and cellular automata visual processing. Paper presented at TAROS 2013, The 14th Conference Towards Autonomous Robotic Systems, St Anne's College, Oxford, UK

Unmanned Aerial Vehicles (UAV)s can control their altitude and orientation using the horizon as a reference. Typically this task is performed via edge-detection vision processing techniques implemented in a computer or digital electronics. We demonst... Read More about UAV horizon tracking using memristors and cellular automata visual processing.

Manipulating with excitations: Waves or gliders? (2013)
Presentation / Conference
Georgilas, I., Adamatzky, A., & Melhuish, C. (2013, May). Manipulating with excitations: Waves or gliders?. Paper presented at ICRA 2013 Workshop - Unconventional Approaches to Robotics, Automation and Control, Inspired by Nature (UARACIN), Karlsruhe, Germany

Excitable media are classical examples of un- conventional computing devices. Using waves to represent information and wave interactions to represent information processing, excitable media achieve computation versatility comparable to traditional te... Read More about Manipulating with excitations: Waves or gliders?.

TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features (2013)
Conference Proceeding
Rossiter, J., Winstone, B., Griffiths, G., Pipe, T., & Melhuish, C. (2013). TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features. In N. Lepora, A. Mura, H. Krapp, P. Verschure, & T. Prescott (Eds.), Biomimetic and Biohybrid Systems (323-334). https://doi.org/10.1007/978-3-642-39802-5_28

In this paper we present texture analysis results for TACTIP, a versatile tactile sensor and artificial fingertip which exploits compliant materials and optical tracking. In comparison to previous MEMS sensors, the TACTIP device is especially suited... Read More about TACTIP - Tactile fingertip device, texture analysis through optical tracking of skin features.

MPL based anode for improved performance in microbial fuel cells (2013)
Conference Proceeding
You, J., Santoro, C., Greenman, J., Melhuish, C., Cristiani, P., Li, B., & Ieropoulos, I. (2013). MPL based anode for improved performance in microbial fuel cells

Copyright © 2013 Delta Energy and Environment. Two different anode materials, carbon veil and carbon cloth, were modified with a micro-porous layer for microbial fuel cells. 2.2 and 1.8 times higher power was achieved as a result of this modification... Read More about MPL based anode for improved performance in microbial fuel cells.

Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans (2012)
Journal Article
Lallée, S., Pattacini, U., Lemaignan, S., Lenz, A., Melhuish, C., Natale, L., …Dominey, P. F. (2012). Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans. IEEE Transactions on Autonomous Mental Development, 4(3), 239-253. https://doi.org/10.1109/TAMD.2012.2199754

Robots should be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. An important aspect of the robot behavior will be the ability to acquire new knowledge of the... Read More about Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans.

Bioinspired control of electro-active polymers for next generation soft robots (2012)
Conference Proceeding
Wilson, E., Anderson, S. R., Assaf, T., Pearson, M., Walters, P., Prescott, T. J., …Porrill, J. (2012). Bioinspired control of electro-active polymers for next generation soft robots. In G. Herrmann, M. Studley, M. Pearson, A. Conn, C. Melhuish, M. Witkowski, …J. H. Kim (Eds.), Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012, Proceedings (424-425). https://doi.org/10.1007/978-3-642-32527-4_42

The emerging field of soft robotics offers the prospect of replacing existing hard actuator technologies with new soft-smart materials [7]. Such materials have the potential to form a key component of safer, more compliant and light-weight robots. So... Read More about Bioinspired control of electro-active polymers for next generation soft robots.

Lump localisation through a deformation-based tactile feedback system using a biologically inspired finger sensor (2012)
Journal Article
Pipe, T., Roke, C., Melhuish, C., Pipe, A. G., Drury, D., & Chorley, C. (2012). Lump localisation through a deformation-based tactile feedback system using a biologically inspired finger sensor. Robotics and Autonomous Systems, 60(11), 1442-1448. https://doi.org/10.1016/j.robot.2012.05.002

The ability to localise harder areas in soft tissues is often desired during robot-assisted surgical operations. A deformation-based tactile feedback system was tested for the detection of objects within soft tissues, after being chosen over common p... Read More about Lump localisation through a deformation-based tactile feedback system using a biologically inspired finger sensor.

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.

Manipulating objects with gliders in cellular automata (2012)
Presentation / Conference
Georgilas, I., Adamatzky, A., & Melhuish, C. (2012, August). Manipulating objects with gliders in cellular automata. Paper presented at Automation Science and Engineering (CASE), 2012 IEEE International Conference on, Seoul, Korea

Micro-scale manipulation of objects is a growing requirement in specialised industries, especially those related to assembly of fragile micro-components. Widely implemented techniques in robotics and automation do not always cope with the delicate na... Read More about Manipulating objects with gliders in cellular automata.

Underactuated fingers controlled by robust and adaptive trajectory following methods (2012)
Journal Article
Jalani, J., Herrmann, G., & Melhuish, C. (2014). Underactuated fingers controlled by robust and adaptive trajectory following methods. International Journal of Systems Science, 45(2), 120-132. https://doi.org/10.1080/00207721.2012.687866

Choosing an appropriate control scheme to alleviate nonlinearities and uncertainties is not a trivial task, especially when models are not easily available and practical evaluation provides the only means for actual performance assessment. Various fa... Read More about Underactuated fingers controlled by robust and adaptive trajectory following methods.

Urine utilisation by microbial fuel cells; Energy fuel for the future (2012)
Journal Article
Ieropoulos, I., Greenman, J., & Melhuish, C. (2012). Urine utilisation by microbial fuel cells; Energy fuel for the future. Physical Chemistry Chemical Physics, 14(1), 94-98. https://doi.org/10.1039/c1cp23213d

This communication reports for the first time the direct utilisation of urine in MFCs for the production of electricity. Different conversion efficiencies were recorded, depending on the amount treated. Elements such as N, P, K can be locked into new... Read More about Urine utilisation by microbial fuel cells; Energy fuel for the future.

Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator (2012)
Journal Article
Alemzadeh, K., Dogramadzi, S., Raabe, D., Harrison, A., Ireland, A., Sandy, J., …Burgess, S. (2012). Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator. Bioinspiration and Biomimetics, 7(1), https://doi.org/10.1088/1748-3182/7/1/016002

This paper presents a new in vitro wear simulator based on spatial parallel kinematics and a biologically inspired implicit force/position hybrid controller to replicate chewing movements and dental wear formations on dental components, such as crown... Read More about Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator.

Tactile discrimination using active whisker sensors (2012)
Journal Article
Fox, C. W., Lepora, N. F., Sullivan, J. C., Mitchinson, B., Pearson, M., Evans, M., …Prescott, T. J. (2012). Tactile discrimination using active whisker sensors. IEEE Sensors Journal, 12(2), 350-362. https://doi.org/10.1109/JSEN.2011.2148114

We describe a novel, biomimetic tactile sensing system modeled on the facial whiskers (vibrissae) of animals such as rats and mice. The "BIOTACT Sensor" consists of a conical array of modular, actuated hair-like elements, each instrumented at the bas... Read More about Tactile discrimination using active whisker sensors.

Towards an intelligent distributed conveyor (2012)
Journal Article
Georgilas, I., Adamatzky, A., & Melhuish, C. (2012). Towards an intelligent distributed conveyor. Lecture Notes in Artificial Intelligence, 7429, 457-458

Manipulation, orientation and handling of components, subparts and finished products is an essential element of any industrial process, which attracts substantial portion of resources and infrastructure. A classic manipulation, e.g. robot arms, is no... Read More about Towards an intelligent distributed conveyor.

Urine as a suitable fuel for microbial fuel cells (2011)
Conference Proceeding
Ieropoulos, I. A., Greenman, J., & Melhuish, C. (2011). Urine as a suitable fuel for microbial fuel cells. In P. Lunghi, S. Ubertini, & V. Cigolotti (Eds.), Proceedings of EFC11. , (325-326)

MFCs show promise in utilising a wide variety of organic sources. This paper describes the utilisation of neat urine as the main feedstock, with conversion efficiencies of >50%. Power densities of 4.93mW/m2 were recorded when 48 small-scale MFCs were... Read More about Urine as a suitable fuel for microbial fuel cells.

Online hazard analysis for autonomous robots (2011)
Conference Proceeding
Woodman, R., Winfield, A. F. T., Harper, C., & Fraser, M. (2011). Online hazard analysis for autonomous robots. In J. Penders, T. J. Prescott, M. Witkowski, C. Melhuish, L. Alboul, & R. Groß (Eds.), Towards Autonomous Robotic Systems (406-407)

Robotic systems require rigorous analysis at all stages of development to ensure system safety. The manufacturing industry has developed many of the robotic design methods used today. These methods were adapted from design practices taken from other... Read More about Online hazard analysis for autonomous robots.

The effects of robot performed co-verbal gestures on listener behaviour (2011)
Presentation / Conference
Bremner, P., Pipe, A. G., Melhuish, C., Fraser, M., & Subramanian, S. (2011, October). The effects of robot performed co-verbal gestures on listener behaviour. Paper presented at 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia

Power for robotic artificial muscles (2011)
Journal Article
O'Brien, B., Anderson, I. A., Ieropoulos, I., McKay, T., & Melhuish, C. (2011). Power for robotic artificial muscles. IEEE/ASME Transactions on Mechatronics, 16(1), 107-111. https://doi.org/10.1109/TMECH.2010.2090894

Artificial muscles based on the dielectric elastomer actuator (DEA) are an attractive technology for autonomous robotic systems. We are currently exploring their use on EcoBot (Ecological roBot), an autonomous robot being developed by Bristol Robotic... Read More about Power for robotic artificial muscles.

Microbial fuel cells: Scalability and their use in robotics (2011)
Book Chapter
Greenman, J., Ieropoulos, I., & Melhuish, C. (2011). Microbial fuel cells: Scalability and their use in robotics. In N. Eliaz (Ed.), Applications of Electrochemistry and Nanotechnology in Biology and Medicine I (239-290). Springer

This is probably the first written and relatively accurate description of microorganisms, made by the Roman scholar Marcus Terentius Varro (116-27 B.C.). It was then Anthony van Leeuwenhoek (ca. 1677) who, for the first time, observed little animals... Read More about Microbial fuel cells: Scalability and their use in robotics.

Small scale microbial fuel cells and different ways of reporting output (2010)
Journal Article
Ieropoulos, I., Winfield, J., Greenman, J., & Melhuish, C. (2010). Small scale microbial fuel cells and different ways of reporting output. ECS Transactions, 28(9), 1-9. https://doi.org/10.1149/1.3492221

The present study, reports on the findings of connecting 2 stacks of 48 MFCs and the importance of maturity and acclimation for the anodic biofilms. Furthermore, an attempt is made to emphasize the importance of a universal unit for quantifying power... Read More about Small scale microbial fuel cells and different ways of reporting output.

Microbial fuel cell driven behavioral dynamics in robot simulations (2010)
Conference Proceeding
Montebelli, A., Lowe, R., Ieropoulos, I., Melhuish, C., Greenman, J., & Ziemke, T. (2010). Microbial fuel cell driven behavioral dynamics in robot simulations. In M. Hanczyc, M. Dorr, & H. Fellermann (Eds.), Artificial Life XII: Proceedings of the 12th International Conference on the Synthesis and Simulation of Living Systems. , (749-756)

With the present study we report the first application of a recently proposed model for realistic microbial fuel cells (MFCs) energy generation dynamics, suitable for robotic simulations with minimal and extremely limited computational overhead. A si... Read More about Microbial fuel cell driven behavioral dynamics in robot simulations.

Grounding motivation in energy autonomy: A study of artificial metabolism constrained robot dynamics (2010)
Conference Proceeding
Lowe, R., Montebelli, A., Ieropoulos, I., Greenman, J., Melhuish, C., & Ziemke, T. (2010). Grounding motivation in energy autonomy: A study of artificial metabolism constrained robot dynamics. In H. Fellermann, M. Hanczyc, & M. Dorr (Eds.), Artificial Life XII: Proceedings of the 12th International Conference on the Synthesis and Simulation of Living Systems. , (725-732)

We present an evolutionary robotics investigation into the metabolism constrained homeostatic dynamics of a simulated robot. Unlike existing research that has focused on either energy or motivation autonomy the robot described here is considered in t... Read More about Grounding motivation in energy autonomy: A study of artificial metabolism constrained robot dynamics.

Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control (2010)
Journal Article
Spiers, A., Pipe, T., Khan, S. G., Herrmann, G., Pipe, A. G., & Melhuish, C. (2010). Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control. International Journal of Social Robotics, 2(3), 305-319. https://doi.org/10.1007/s12369-010-0058-7

Safety is very important for physical human-robot interaction. Compliance control can solve an important aspect of the safety problem by dealing with impact and other forces arising during close contact between humans and robots. An adaptive complian... Read More about Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control.

EcoBot-III: A robot with guts (2010)
Conference Proceeding
Ieropoulos, I., Greenman, J., Melhuish, C., & Horsfield, I. (2010). EcoBot-III: A robot with guts. In H. Fellermann, M. Dörr, M. M. Hanczyc, L. L. Laursen, S. Maurer, D. Merkle, …S. Rasmussen (Eds.), Artificial Life XII: Proceedings of the 12th International Conference on the Synthesis and Simulation of Living Systems, ALIFE 2010. , (733-740)

This paper describes the work carried out to develop EcoBot- III, which is a robot with an artificial digestion system. The robot is powered by Microbial Fuel Cells (MFCs) and it is designed to collect food and water from the environment, digest the... Read More about EcoBot-III: A robot with guts.

Improved energy output levels from small-scale Microbial Fuel Cells (2010)
Journal Article
Ieropoulos, I., Greenman, J., & Melhuish, C. (2010). Improved energy output levels from small-scale Microbial Fuel Cells. Bioelectrochemistry, 78(1), 44-50. https://doi.org/10.1016/j.bioelechem.2009.05.009

This study reports on the findings from the investigation into small-scale (6.25mL) MFCs, connected together as a network of multiple units. The MFCs contained unmodified (no catalyst) carbon fibre electrodes and for initial and later experiments, a... Read More about Improved energy output levels from small-scale Microbial Fuel Cells.

Towards accelerated distributed evolution for adaptive behaviours in swarm robotics (2010)
Book Chapter
O'Dowd, P., Winfield, A. F., & Studley, M. (2010). Towards accelerated distributed evolution for adaptive behaviours in swarm robotics. In T. Belpaeme, G. Bugmann, C. Melhuish, & M. Witkowski (Eds.), Proceedings of Towards Autonomous Robotic Systems 2010 (169-175). University of Plymouth

The major problem facing swarm robotics is that of design. A recent promising approach is the application of evolutionary algorithms to solve the problem of decomposing group behaviour to that of interacting individual behaviours. This paper presents... Read More about Towards accelerated distributed evolution for adaptive behaviours in swarm robotics.

Peripherals of BES from processing current to data transmission (2009)
Book Chapter
Ieropoulos, I., Greenman, J., Melhuish, C., & Horsfield, I. (2009). Peripherals of BES from processing current to data transmission. In K. Rabaey, L. Angenent, U. Schroder, & J. Keller (Eds.), Bioelectrochemical Systems: From Extracellular Electron Transfer to Biotechnological Applications. London: IWA Publishing

Artificial life models in hardware (2009)
Book
Komosinski, M., Adamatzky, A., Ieropoulos, I., Greenman, J., Melhuish, C., & Horsfield, I. (2009). A. Adamatzky, & M. Komosinski (Eds.), Artificial life models in hardware. London: Spinger-Verlag. https://doi.org/10.1007/978-1-84882-530-7

Hopping, climbing and swimming robots, nano-size neural networks, motorless walkers, slime mould and chemical brains - 'Artificial Life Models in Hardware' offers unique designs and prototypes of life-like creatures in conventional hardware and hybri... Read More about Artificial life models in hardware.

Artificial symbiosis in EcoBots (2009)
Book Chapter
Ieropoulos, I. A., Greenman, J., Melhuish, C., & Horsfield, I. (2009). Artificial symbiosis in EcoBots. In A. Adamatzky, & M. Komosinski (Eds.), Artificial Life Models in Hardware (185-211). London: Springer. https://doi.org/10.1007/978-1-84882-530-7_9

Truly autonomous robotic systems will be required to abstract energy from the environment in order to function. Energetic autonomy refers to the ability of an agent, to maintain itself in a viable state for long periods of time. Its behaviour must be... Read More about Artificial symbiosis in EcoBots.

High survivability of a large colony through a small-world relationship (2009)
Journal Article
Matsubara, T., Sato, H., Kubo, M., & Melhuish, C. (2009). High survivability of a large colony through a small-world relationship. Artificial Life and Robotics, 14(2), 168-173. https://doi.org/10.1007/s10015-009-0646-5

In this article, energy trophallaxis, i.e., distributed autonomous energy management methodology inspired by social insects and bat behavior, and its advantages, are shown by a series of computer simulations to address the survivability of organized... Read More about High survivability of a large colony through a small-world relationship.

Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial Muscles (2009)
Journal Article
Anderson, S. R., Lenz, A., Anderson, S. A., Pipe, A. G., Melhuish, C., Dean, P., & Porrill, J. (2009). Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial Muscles. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 39(6), 1420-1433. https://doi.org/10.1109/TSMCB.2009.2018138

In this paper, a model of cerebellar function is implemented and evaluated in the control of a robot eye actuated by pneumatic artificial muscles. The investigated control problem is stabilization of the visual image in response to disturbances. This... Read More about Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial Muscles.

Facial behaviour mapping-From video footage to a robot head (2008)
Journal Article
Campbell, N., Jaeckel, P., & Melhuish, C. (2008). Facial behaviour mapping-From video footage to a robot head. Robotics and Autonomous Systems, 56(12), 1042-1049. https://doi.org/10.1016/j.robot.2008.09.002

As autonomous robotic systems advance, they will be required and designed for interaction with humans in order to exchange information, which is essential for fulfilling their tasks. It is well established that human-machine interactions are more bel... Read More about Facial behaviour mapping-From video footage to a robot head.

Biological computing using perfusion anodophile biofilm electrodes (PABE) (2008)
Journal Article
Greenman, J., Ieropoulos, I., & Melhuish, C. (2008). Biological computing using perfusion anodophile biofilm electrodes (PABE). International Journal of Unconventional Computing, 4(1), 23-32

This paper presents a theoretical approach to biological computing, using biofilm electrodes by illustrating a simplified Pavlovian learning model. The theory behind this approach was based on empirical data produced from a prototype version of these... Read More about Biological computing using perfusion anodophile biofilm electrodes (PABE).

Microbial fuel cells based on carbon veil electrodes: Stack configuration and scalability (2008)
Journal Article
Ieropoulos, I., Greenman, J., & Melhuish, C. (2008). Microbial fuel cells based on carbon veil electrodes: Stack configuration and scalability. International Journal of Energy Research, 32(13), 1228-1240. https://doi.org/10.1002/er.1419

The aim of this study was to compare the performance of three different sizes of microbial fuel cell (MFC) when operated under continuous flow conditions using acetate as the fuel substrate and show how small-scale multiple units may be best configur... Read More about Microbial fuel cells based on carbon veil electrodes: Stack configuration and scalability.

A feasibility study for energy autonomy in multi robot search and rescue operations (2008)
Conference Proceeding
Sindi, Y., Pipe, T., Dogramadzi, S., Winfield, A., & Melhuish, C. (2008). A feasibility study for energy autonomy in multi robot search and rescue operations. In L. Marques, A. D. Almeida, M. Tokhi, & G. Virk (Eds.), Advances in Mobile Robotics: Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008 (1146-1153). https://doi.org/10.1142/9789812835772_0137

This paper proposes a novel search and rescue concept that aims to overcome the most basic obstacle in utilising a search and rescue teleoperated robot for a long distance energy autonomy. The concept utilizes a number of small robots capable of crea... Read More about A feasibility study for energy autonomy in multi robot search and rescue operations.

An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex (2008)
Journal Article
Lenz, A., Balakrishnan, T., Pipe, A. G., & Melhuish, C. (2008). An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex. Bioinspiration and Biomimetics, 3(3), https://doi.org/10.1088/1748-3182/3/3/035001

The vestibulo-ocular reflex stabilizes vision in many vertebrates. It integrates inertial and visual information to drive the eyes in the opposite direction to head movement and thereby stabilizes the image on the retina. Its adaptive nature guarante... Read More about An adaptive gaze stabilization controller inspired by the vestibulo-ocular reflex.

Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system (2007)
Journal Article
Pearson, M., Pipe, A. G., Melhuish, C., Mitchinson, B., & Prescott, T. J. (2007). Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system. Adaptive Behavior, 15(3), 223-240. https://doi.org/10.1177/1059712307082089

The Whiskerbot project is a collaborative project between robotics engineers, computational neuroscientists and ethologists, aiming to build a biologically inspired robotic implementation of the rodent whisker sensory system. The morphology and mech... Read More about Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system.

Implementing spiking neural networks for real-time signal-processing and control applications: A model-validated FPGA approach (2007)
Journal Article
Pearson, M., Pipe, A. G., Mitchinson, B., Gurney, K., Melhuish, C., Gilhespy, I., & Nibouche, M. (2007). Implementing spiking neural networks for real-time signal-processing and control applications: A model-validated FPGA approach. IEEE Transactions on Neural Networks, 18(5), 1472-1487. https://doi.org/10.1109/TNN.2007.891203

In this paper, we present two versions of a hardware processing architecture for modeling large networks of leaky-integrate-and-fire (LIF) neurons; the second version provides performance enhancing features relative to the first. Both versions of the... Read More about Implementing spiking neural networks for real-time signal-processing and control applications: A model-validated FPGA approach.

Energetically autonomous robots: Food for thought (2006)
Journal Article
Melhuish, C., Ieropoulos, I., Greenman, J., & Horsfield, I. (2006). Energetically autonomous robots: Food for thought. Autonomous Robots, 21(3), 187-198. https://doi.org/10.1007/s10514-006-6574-5

This paper reports on the robot EcoBot-II, which is designed to power itself solely by converting unrefined insect biomass into useful energy using on-board microbial fuel cells with oxygen cathodes. In bench experiments different 'fuels' (sugar, fru... Read More about Energetically autonomous robots: Food for thought.

Hierarchical fuzzy rule based systems using an information theoretic approach (2006)
Journal Article
Waldock, A., Carse, B., & Melhuish, C. (2006). Hierarchical fuzzy rule based systems using an information theoretic approach. Soft Computing, 10(10), 867-879. https://doi.org/10.1007/s00500-005-0013-y

This paper proposes a novel anytime algorithm for the construction of a Hierarchical Fuzzy Rule Based System using an information theoretic approach to specialise rules that do not effectively model the decision space. The amount of uncertainty toler... Read More about Hierarchical fuzzy rule based systems using an information theoretic approach.

EcoBot-II: An artificial agent with a natural metabolism (2005)
Journal Article
Ieropoulos, I., Melhuish, C., Greenman, J., & Horsfield, I. (2005). EcoBot-II: An artificial agent with a natural metabolism. International Journal of Advanced Robotic Systems, 2(4), 295-300. https://doi.org/10.5772/5777

In this paper we report the development of the robot EcoBot-II, which exhibits a primitive form of artificial symbiosis. Microbial Fuel Cells (MFCs) were used as the onboard energy supply, which consisted of bacterial cultures from sewage sludge and... Read More about EcoBot-II: An artificial agent with a natural metabolism.

Empirically inspired simulated electro-mechanical model of the rat mystacial follicle-sinus complex (2004)
Journal Article
Mitchinson, B., Gurney, K. N., Redgrave, P., Melhuish, C., Pipe, A. G., Pearson, M., …Prescott, T. J. (2004). Empirically inspired simulated electro-mechanical model of the rat mystacial follicle-sinus complex. Proceedings of the Royal Society B: Biological Sciences, 271(1556), 2509-2516. https://doi.org/10.1098/rspb.2004.2882

In whiskered animals, activity is evoked in the primary sensory afferent cells (trigeminal nerve) by mechanical stimulation of the whiskers. In some cell populations this activity is correlated well with continuous stimulus parameters such as whisker... Read More about Empirically inspired simulated electro-mechanical model of the rat mystacial follicle-sinus complex.

Brood sorting by ants: Two phases and differential diffusion (2004)
Journal Article
Sendova-Franks, A. B., Scholes, S. R., Franks, N. R., & Melhuish, C. (2004). Brood sorting by ants: Two phases and differential diffusion. Animal Behaviour, 68(5), 1095-1106. https://doi.org/10.1016/j.anbehav.2004.02.013

Leptothorax ant colonies sort their brood in concentric annuli with the smallest items in the middle and the largest on the periphery. Such brood sorting is a prime example of collective structure formation by social insects. Its underlying mechanism... Read More about Brood sorting by ants: Two phases and differential diffusion.

Algorithms for building annular structures with minimalist robots inspired by brood sorting in ant colonies (2004)
Journal Article
Wilson, M., Melhuish, C., Sendova-Franks, A. B., & Scholes, S. (2004). Algorithms for building annular structures with minimalist robots inspired by brood sorting in ant colonies. Autonomous Robots, 17(2-3), 115-136. https://doi.org/10.1023/B%3AAURO.0000033969.52486.3d

This study shows that a task as complicated as multi-object 'ant-like annular sorting' can be accomplished with 'minimalist' solutions employing simple mechanisms and minimal hardware. It provides an alternative to 'patch sorting' for multi-object so... Read More about Algorithms for building annular structures with minimalist robots inspired by brood sorting in ant colonies.

Experimental implementation of mobile robot taxis with onboard Belousov-Zhabotinsky chemical medium (2004)
Journal Article
Ratcliffe, N., Adamatzky, A., Costello, B. D. L., & Melhuish, C. (2004). Experimental implementation of mobile robot taxis with onboard Belousov-Zhabotinsky chemical medium. Materials Science and Engineering: C, 24(4), 541-548. https://doi.org/10.1016/j.msec.2004.02.002

We discuss the first-ever experimental realization of the onboard excitable chemical controller for stimulus-guided navigation of mobile robots. We demonstrate that the Belousov-Zhabotinsky (BZ) reaction in the form of an onboard thin layer chemical... Read More about Experimental implementation of mobile robot taxis with onboard Belousov-Zhabotinsky chemical medium.

Experimental reaction-diffusion chemical processors for robot path planning (2003)
Journal Article
Adamatzky, A., de Lacy Costello, B., Ratcliffe, N. M., & Melhuish, C. (2003). Experimental reaction-diffusion chemical processors for robot path planning. Journal of Intelligent and Robotic Systems, 37(3), 233-249. https://doi.org/10.1023/A%3A1025414424756

In this paper we discuss the experimental implementation of a chemical reaction-diffusion processor for robot motion planning in terms of finding the shortest collision-free path for a robot moving in an arena with obstacles. These reaction-diffusion... Read More about Experimental reaction-diffusion chemical processors for robot path planning.

TCS learning classifier system controller on a real robot (2002)
Journal Article
Hurst, J., Bull, L., & Melhuish, C. (2002). TCS learning classifier system controller on a real robot. Lecture Notes in Artificial Intelligence, 2439, 588-597. https://doi.org/10.1007/3-540-45712-7_57

To date there have been few implementation of Holland’s Learning Classifier System (LCS) on real robots. The paper introduces a Temporal Classifier System (TCS), an LCS derived from Wilson’s ZCS. Traditional LCS have the ability to generalise over th... Read More about TCS learning classifier system controller on a real robot.

ZCS and TCS learning classifier system controllers on real robots (2002)
Journal Article
Hurst, J., Bull, L., & Melhuish, C. (2002). ZCS and TCS learning classifier system controllers on real robots

To date there has only been one implementation of Holland's Learning Classifier System (LCS) on real robots. In this paper the use of Wilson's ZCS system is described for an obstacle avoidance task. Although the task is simple it does present some ad... Read More about ZCS and TCS learning classifier system controllers on real robots.