Outputs (16)

Quantifying human-robot interaction by developing a measure for safe collaboration (2024)
Thesis

This research investigated whether human motion prediction by an assistive robot can always lead to a safe and efficient human-robot interaction. Using human motion, prediction can encourage interaction in close physical proximity and can help build... Read More about Quantifying human-robot interaction by developing a measure for safe collaboration.

Enhancing tele-operation - Investigating the effect of sensory feedback on performance (2023)
Thesis

The decline in the number of healthcare service providers in comparison to the growing numbers of service users prompts the development of technologies to improve the efficiency of healthcare services. One such technology which could offer support a... Read More about Enhancing tele-operation - Investigating the effect of sensory feedback on performance.

Monitoring companion for industrial robotic processes (2021)
Thesis

For system integrators, optimizing complex industrial robotic applications (e.g. robotised welding) is a difficult and time-consuming task. This procedure is rendered tedious and often very hard to achieve when the operator cannot access the robotic... Read More about Monitoring companion for industrial robotic processes.

Calibration of sound source localisation for robots using multiple adaptive filter models of the cerebellum (2020)
Thesis

The aim of this research was to investigate the calibration of Sound Source Localisation (SSL) for robots using the adaptive filter model of the cerebellum and how this could be automatically adapted for multiple acoustic environments. The role of th... Read More about Calibration of sound source localisation for robots using multiple adaptive filter models of the cerebellum.

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.

Research for alternative material and its effect on seed germination in seed tapes products (2018)
Thesis

‘Seed tapes’ are a length of biodegradable tissue paper, acting as a carrier, containing seeds. The seed tape is unrolled into a shallow trench and covered with soil, ensuring that all seeds are planted at even intervals. Manufacturers in the seed ta... Read More about Research for alternative material and its effect on seed germination in seed tapes products.

Towards tactile sensing active capsule endoscopy (2018)
Thesis

Examination of the gastrointestinal(GI) tract has traditionally been performed using tethered endoscopy tools with limited reach and more recently with passive untethered capsule endoscopy with limited capability. Inspection of small intestines is on... Read More about Towards tactile sensing active capsule endoscopy.

From albatross to long range UAV flight by dynamic soaring (2016)
Thesis

In the domain of UAVs, endurance and range are key utility factors. However, small-sized UAVs are faced with serious limitations regarding energy storage options. A way to address this challenge is to seek for energy from the surrounding environment.... Read More about From albatross to long range UAV flight by dynamic soaring.

Autonomous model building using vision and manipulation (2016)
Thesis

It is often the case that robotic systems require models, in order to successfully control themselves, and to interact with the world. Models take many forms and include kinematic models to plan motions, dynamics models to understand the interaction... Read More about Autonomous model building using vision and manipulation.

Robot mediated communication: Enhancing tele-presence using an avatar (2015)
Thesis

In the past few years there has been a lot of development in the field of tele-presence. These developments have caused tele-presence technologies to become easily accessible and also for the experience to be enhanced. Since tele-presence is not only... Read More about Robot mediated communication: Enhancing tele-presence using an avatar.

Safe and effective physical human-robot interaction: Approaches to variable compliance via soft joints and soft grippers (2015)
Thesis

The work described in this thesis focusses on designing and building two novel physical devices in a robotic arm structure. The arm is intended for human-robot interaction in the domestic assistive robotics area. The first device aims at helping to e... Read More about Safe and effective physical human-robot interaction: Approaches to variable compliance via soft joints and soft grippers.

3D face recognition using photometric stereo (2012)
Thesis

Automatic face recognition has been an active research area for the last four decades. This thesis explores innovative bio-inspired concepts aimed at improved face recognition using surface normals. New directions in salient data representation are e... Read More about 3D face recognition using photometric stereo.

A photometric stereo approach to face recognition (2007)
Thesis

Face recognition has received much interest in the last decade, as the need for reliable personal identification security has become ever more critical. At present for face recognition to be a viable personal identification method an accurate low cos... Read More about A photometric stereo approach to face recognition.

Deformation-based tactile feedback for telesurgery and telepalpation
Thesis

One of the drawbacks of using current telesurgical devices is the absence of force and tactile feedback from the remote surgical manipulators. The lack of tactile feedback in particular limits the surgeon's perception of tissue characteristics during... Read More about Deformation-based tactile feedback for telesurgery and telepalpation.

Novel approaches for the safety of human-robot interaction
Thesis

In recent years there has been a concerted effort to address many of the safety issues associated with physical human-robot interaction (pHRI). However, a number of challenges remain. For personal robots, and those intended to operate in unstructur... Read More about Novel approaches for the safety of human-robot interaction.

Bio-inspired prokaryotic array for fault-tolerant electronic systems
Thesis

Integrated circuits and electronic systems fabricated in current technologies suffer from a wide range of faults that may occur during the fabrication process or during the life time of each circuit/device. Soft (non-persistent) faults are caused mai... Read More about Bio-inspired prokaryotic array for fault-tolerant electronic systems.