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All Outputs (10)

Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features (2019)
Journal Article
Alatorre, D., Rabani, A., Axinte, D., & Branson, D. T. (2020). Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features. Mechanical Systems and Signal Processing, 136, Article 106517. https://doi.org/10.1016/j.ymssp.2019.106517

Detecting, measuring and controlling the forces between cutting tools and machined components is essential in circumstances where direct position control (e.g. depth of cut, feed speed, etc.) is inaccurate and/or impossible. This paper explores the u... Read More about Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features.

Task space-based orientability analysis and optimization of a wire-driven continuum robot (2019)
Journal Article
Wang, C., Geng, S., Branson, D. T., Yang, C., Dai, J. S., & Kang, R. (2019). Task space-based orientability analysis and optimization of a wire-driven continuum robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 233(23-24), 7658-7668. https://doi.org/10.1177/0954406219889083

Compared to traditional rigid robots, continuum robots have intrinsic compliance and therefore behave dexterously when performing tasks in restricted environments. Although there have been many researches on the design and application of continuum ro... Read More about Task space-based orientability analysis and optimization of a wire-driven continuum robot.

The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator (2019)
Journal Article
Abubakar, I., Giddings, D., Panorios, B., Branson, D., Lad, N., & Townsend, S. (2020). The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator. Powder Technology, 362, 197-207. https://doi.org/10.1016/j.powtec.2019.11.111

© 2019 Elsevier B.V. Distribution of pulverised fuels in pneumatic conveying to conventional boilers is an ongoing research area with the intention of improving the performance of power-generating plants. One of the major challenges is the issue of o... Read More about The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator.

XOR Binary Gravitational Search Algorithm (2019)
Presentation / Conference Contribution
Khanesar, M. A., & Branson, D. (2019, October). XOR Binary Gravitational Search Algorithm. Presented at 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), Bari, Italy

In this paper, an XOR binary gravitational search algorithm is introduced. Gravitational search algorithms, a physics inspired optimization algorithm, have previously been successfully applied to different real-valued optimization problems. In their... Read More about XOR Binary Gravitational Search Algorithm.

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms (2019)
Journal Article
Habibi, H., Yang, C., Godage, I. S., Kang, R., Walker, I. D., & Branson, D. T. (2020). A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms. Journal of Mechanisms and Robotics, 12(1), 1-12. https://doi.org/10.1115/1.4045037

Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control th... Read More about A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms.

Image processing algorithm to determine an optimised 2D laser cutting trajectory (2019)
Presentation / Conference Contribution
Syam, W. P., Bansal, R., Benardos, P., Britchford, E., Hopkinson, A., Voisey, K., & Branson, D. T. (2019, September). Image processing algorithm to determine an optimised 2D laser cutting trajectory. Presented at 25th IEEE International Conference on Automation & Computing (ICAC'19), Lancaster, UK

Laser cutting processes offer high-quality and fast cutting capability across a wide variety of materials, including metals, plastics and organic tissues. To enable 2D laser cutting process, a set of (x, y) Cartesian coordinates that form a cutting t... Read More about Image processing algorithm to determine an optimised 2D laser cutting trajectory.

Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin (2019)
Presentation / Conference Contribution
Bansal, R., Ahmadieh Khanesar, M., & Branson, D. (2019, September). Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin. Presented at 2019 25th International Conference on Automation and Computing (ICAC), Lancaster, UK

Advanced manufacturing that is adaptable to constantly changing product designs often requires dynamic changes on the factory floor to enable manufacture. The integration of robotic manufacture with machine learning approaches offers the possibility... Read More about Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin.

Kinematics and statics of eccentric soft bending actuators with external payloads (2019)
Journal Article
Yang, C., Kang, R., Branson, D. T., Chen, L., & Dai, J. S. (2019). Kinematics and statics of eccentric soft bending actuators with external payloads. Mechanism and Machine Theory, 139, 526-541. https://doi.org/10.1016/j.mechmachtheory.2019.05.015

Soft bending actuators, born with the considerable capacity of structural flexibility and environmental adaptability, have been widely favored for years. However, the highly nonlinear coupling between force and deformation in such robots are very com... Read More about Kinematics and statics of eccentric soft bending actuators with external payloads.

Assessing worker performance using dynamic cost functions in human robot collaborative tasks (2019)
Journal Article
Smith, T., Benardos, P., & Branson, D. (2020). Assessing worker performance using dynamic cost functions in human robot collaborative tasks. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 234(1), 289-301. https://doi.org/10.1177/0954406219838568

The aim of this research is to develop a framework to allow efficient Human Robot, HR, collaboration on manufacturing assembly tasks based on cost functions that quantify capabilities and performance of each element in a system and enable their effic... Read More about Assessing worker performance using dynamic cost functions in human robot collaborative tasks.