Chris Melhuish's Outputs (17)

Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks (2019)
Journal Article

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.

Robotic hand posture and compliant grasping control using operational space and integral sliding mode control (2014)
Journal Article

© 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.

Simultaneous electricity generation and microbially-assisted electrosynthesis in MFCs (2014)
Presentation / Conference Contribution

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.

Artificial photosynthesis coupled with electricity generation - microbial fuel cells as artificial plants (2014)
Presentation / Conference Contribution

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.

Water formation at the cathode and sodium recovery using Microbial Fuel Cells (MFCs) (2014)
Journal Article

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).

Electro-osmotic-based catholyte production by Microbial Fuel Cells (2014)
Presentation / Conference Contribution

Small-scale microbial fuel cells utilising uric salts (2014)
Journal Article

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.

Cellular automaton manipulator array (2014)
Book Chapter

Underactuated fingers controlled by robust and adaptive trajectory following methods (2012)
Journal Article

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.

Microbial fuel cells: Scalability and their use in robotics (2011)
Book Chapter

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.

Implementing spiking neural networks for real-time signal-processing and control applications: A model-validated FPGA approach (2007)
Journal Article

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.

Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system (2007)
Journal Article

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.

Hierarchical fuzzy rule based systems using an information theoretic approach (2006)
Journal Article

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.

Empirically inspired simulated electro-mechanical model of the rat mystacial follicle-sinus complex (2004)
Journal Article

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.

Increased power output from micro porous layer (MPL) cathode microbial fuel cells (MFC)
Presentation / Conference Contribution

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).

Perception of own and robot engagement in human-robot interactions and their dependence on robotics knowledge
Presentation / Conference Contribution

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.

Text line aggregation
Presentation / Conference Contribution

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.