Professor David Branson's Outputs (36)

An adaptive lumped-mass dynamic model and its control application for continuum robots (2024)
Journal Article
Zhang, X., Yang, C., Song, Z., Khanesar, M. A., Branson, D. T., Dai, J. S., & Kang, R. (2024). An adaptive lumped-mass dynamic model and its control application for continuum robots. Mechanism and Machine Theory, 201, Article 105736. https://doi.org/10.1016/j.mechmachtheory.2024.105736

Dynamic modeling for continuum robots remains challenging due to their large nonlinear deformation and the variation of dynamic parameters during movement. In this paper, a lumped-mass dynamic model (LMD) for a continuum robot is constructed includin... Read More about An adaptive lumped-mass dynamic model and its control application for continuum robots.

Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer (2024)
Journal Article
Khanesar, M. A., Yan, M., Karaca, A., Isa, M., Piano, S., & Branson, D. (2024). Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer. Energies, 17(14), Article 3434. https://doi.org/10.3390/en17143434

The output processer of interval type-2 fuzzy logic systems (IT2FLSs) is a complex operator which performs type-reduction plus defuzzification (TR+D) tasks. In this paper, a complexity-reduced yet high-performance TR+D for IT2FLSs based on Maclaurin... Read More about Interval Type-2 Fuzzy Logic Control of Linear Stages in Feedback-Error-Learning Structure Using Laser Interferometer.

A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers (2024)
Journal Article
Li, C., Yang, S., Branson, D. T., Song, Z., Sun, T., Dai, J. S., & Kang, R. (2024). A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers. Mechanism and Machine Theory, 201, Article 105730. https://doi.org/10.1016/j.mechmachtheory.2024.105730

Variable stiffness actuators (VSAs) have emerged as a key actuation technology known for their bionic performance and task adaptability. However, current VSAs often exhibit relatively large sizes, making them possible for use in robotic arms and legs... Read More about A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers.

Design and control of a compliant robotic actuator with parallel spring-damping transmission (2024)
Journal Article
Yuan, P., Liu, J., Branson, D. T., Song, Z., Wu, S., Dai, J. S., & Kang, R. (2024). Design and control of a compliant robotic actuator with parallel spring-damping transmission. Robotica, 42(4), 1113–1133. https://doi.org/10.1017/S0263574724000110

Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits t... Read More about Design and control of a compliant robotic actuator with parallel spring-damping transmission.

Vision-based detection and coordinate metrology of a spatially encoded multi-sphere artefact (2023)
Journal Article
Isa, M. A., Leach, R., Branson, D., & Piano, S. (2024). Vision-based detection and coordinate metrology of a spatially encoded multi-sphere artefact. Optics and Lasers in Engineering, 172, Article 107885. https://doi.org/10.1016/j.optlaseng.2023.107885

New developments in vision algorithms prioritise identification and perception over accurate coordinate measurement due to the complex problem of resolving object form and pose from images. Consequently, many vision algorithms for coordinate measurem... Read More about Vision-based detection and coordinate metrology of a spatially encoded multi-sphere artefact.

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches (2023)
Journal Article
Khanesar, M. A., Yan, M., Isa, M., Piano, S., & Branson, D. T. (2023). Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches. Sensors, 23(12), Article 5368. https://doi.org/10.3390/s23125368

Precision object handling and manipulation require the accurate positioning of industrial robots. A common practice for performing end effector positioning is to read joint angles and use industrial robot forward kinematics (FKs). However, industrial... Read More about Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches.

Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS (2023)
Journal Article
Khanesar, M. A., Yan, M., Isa, M., Piano, S., Ayoubi, M. A., & Branson, D. (2023). Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS. Machines, 11(4), Article 497. https://doi.org/10.3390/machines11040497

This paper proposes a calibration algorithm to improve the positional accuracies of an industrial XY-linear stage. Precision positioning of these linear stages is required to maintain highly accurate object handling and manipulation. However, due to... Read More about Enhancing Positional Accuracy of the XY-Linear Stage Using Laser Tracker Feedback and IT2FLS.

A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots (2023)
Journal Article
Ahmadieh Khanesar, M., Yan, M., Syam, W. P., Piano, S., Leach, R. K., & Branson, D. (2023). A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots. IEEE/ASME Transactions on Mechatronics, 28(6), 3294-3304. https://doi.org/10.1109/TMECH.2023.3262644

Static friction modeling is a critical task to have the accurate robot model. In this article, a neural network separation approach to include nonlinear static friction in models of industrial robots is proposed. For this purpose, the terms correspon... Read More about A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots.

Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy (2022)
Journal Article
Yang, S., Zhou, Y., Walker, I. D., Yang, C., Branson, D. T., Song, Z., Dai, J. S., & Kang, R. (2023). Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy. IEEE/ASME Transactions on Mechatronics, 28(3), 1337-1346. https://doi.org/10.1109/tmech.2022.3219108

Dynamic capture is a common skill that humans have practiced extensively but is a challenging task for robots in which sensing, planning, and actuation must be tightly coordinated to deal with targets of diverse shapes, sizes, and velocity. In partic... Read More about Dynamic Capture Using a Traplike Soft Gripper With Stiffness Anisotropy.

Smart optical coordinate and surface metrology (2022)
Journal Article
Catalucci, S., Thompson, A., Eastwood, J., Zhang, Z. M., Branson, D. T., Leach, R., & Piano, S. (2022). Smart optical coordinate and surface metrology. Measurement Science and Technology, 34(1), Article 012001. https://doi.org/10.1088/1361-6501/ac9544

Manufacturing has recently experienced increased adoption of optimised and fast solutions for checking product quality during fabrication, allowing for manufacturing times and costs to be significantly reduced. Due to the integration of machine learn... Read More about Smart optical coordinate and surface metrology.

Optical metrology for digital manufacturing: a review (2022)
Journal Article
Catalucci, S., Thompson, A., Piano, S., Branson, D. T., & Leach, R. (2022). Optical metrology for digital manufacturing: a review. International Journal of Advanced Manufacturing Technology, 120(7-8), 4271-4290. https://doi.org/10.1007/s00170-022-09084-5

With the increasing adoption of Industry 4.0, optical metrology has experienced a significant boom in its implementation, as an ever-increasing number of manufacturing processes are overhauled for in-process measurement and control. As such, optical... Read More about Optical metrology for digital manufacturing: a review.

Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver (2022)
Journal Article
Khanesar, M. A., & Branson, D. (2022). Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver. Energies, 15(5), Article 1876. https://doi.org/10.3390/en15051876

This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates... Read More about Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver.

Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device” (2021)
Journal Article
Lakoju, M., Ajienka, N., Khanesar, M. A., Burnap, P., & Branson, D. T. (2021). Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device”. Sensors, 21(15), Article 4991. https://doi.org/10.3390/s21154991

To create products that are better fit for purpose, manufacturers require new methods for gaining insights into product experience in the wild at scale. “Chatty Factories” is a concept that explores the transformative potential of placing IoT-enabled... Read More about Unsupervised Learning for Product Use Activity Recognition: An Exploratory Study of a “Chatty Device”.

A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis (2021)
Journal Article
Alruqi, M., Baumers, M., Branson, D., & Farndon, R. (2021). A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis. Management Systems in Production Engineering, 29(3), 165-177. https://doi.org/10.2478/mspe-2021-0021

Failure Mode and Effects Analysis (FMEA) is a systematic approach for evaluating the potential failure modes in a system, and is mainly employed in three distinct tasks labelled: (1) Functional FMEA – evaluating those failures associated with product... Read More about A Structured Approach for Synchronising the Applications of Failure Mode and Effects Analysis.

Electrical Load Prediction using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning approach (2021)
Journal Article
Khanesar, M. A., Lu, J., Smith, T., & Branson, D. (2021). Electrical Load Prediction using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning approach. Energies, 14(12), 1-18. https://doi.org/10.3390/en14123591

Establishing accurate electrical load prediction is vital for pricing and power system management. However, the unpredictable behavior of private and industrial users results in uncertainty in these power systems. Furthermore, the utilization of rene... Read More about Electrical Load Prediction using Interval Type-2 Atanassov Intuitionist Fuzzy System: Gravitational Search Algorithm Tuning approach.

Prediction Interval Identification Using Interval Type-2 Fuzzy Logic Systems: Lake Water Level Prediction Using Remote Sensing Data (2021)
Journal Article
Khanesar, M. A., & Branson, D. T. (2021). Prediction Interval Identification Using Interval Type-2 Fuzzy Logic Systems: Lake Water Level Prediction Using Remote Sensing Data. IEEE Sensors Journal, 21(12), 13815-13827. https://doi.org/10.1109/JSEN.2021.3067841

This paper presents a novel approach to identify the prediction interval associated with data using interval type-2 fuzzy logic systems with support vector regression. For such a purpose, a constrained quadratic objective function is defined which is... Read More about Prediction Interval Identification Using Interval Type-2 Fuzzy Logic Systems: Lake Water Level Prediction Using Remote Sensing Data.

Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism (2020)
Journal Article
Karim, S., Piano, S., Branson, D., Santoso, T., Leach, R., & Tolley, M. (2022). Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism. International Journal of Control, 95(4), 867-885. https://doi.org/10.1080/00207179.2020.1827297

This paper presents a real-time position control solution for the targets used in the high-repetition rate laser operations of large-scale high-power laser facilities. The design of the control system is based on an Abbe-compliant, in-process positio... Read More about Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism.

XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications (2020)
Journal Article
Ahmadieh Khanesar, M., Bansal, R., Martínez-Arellano, G., & Branson, D. (2020). XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications. Applied Sciences, 10(8), Article 6451. https://doi.org/10.3390/app10186451

Industry 4.0 is the fourth generation of industry which will theoretically revolutionize manufacturing methods through the integration of machine learning and artificial intelligence approaches on the factory floor to obtain robustness and sped-up pr... Read More about XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications.

Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness (2020)
Journal Article
Yang, C., Geng, S., Walker, I., Branson, D. T., Liu, J., Dai, J. S., & Kang, R. (2020). Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness. International Journal of Robotics Research, 39(14), 1620-1634. https://doi.org/10.1177/0278364920913929

Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positioning and loading. In this paper, a virtual-work based... Read More about Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness.

Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism (2020)
Journal Article
Leach, R., Branson, D., Karim, S., Tolley, M., Piano, S., & Santoso, T. (2020). Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism. International Journal of Control, 95(4), 867-885. https://doi.org/10.1080/00207179.2020.1827297

This paper presents a real-time position control solution for the targets used in the high-repetition rate laser operations of high-power laser facilities. The control system is designed based on an Abbe-compliant, in-process position measurement sys... Read More about Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism.