Cardiff School of Technologies: Recent submissions
Now showing items 1-20 of 72
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Self - Propelled Robotic System with a Visco - Elastic Joint: Dynamics and Motion Analysis
(Springer Verlag, 2019)This paper studies the dynamics and motion generation of a self - propelled robotic system with a visco - elastic joint. The system is underactuated, legless and wheelless, and has potential applications in ... -
What are the implications of artificial intelligence? In Love and War
(UK Parliament Artificial Intelligence Select Committee’s Publications, 2017-09-05)Introduction: 1. I am a computer scientist and educationist who work with robots that looks like human. Collaborating with the South East Asia National Human Rights Institutions including Malaysia. I investigate the ... -
Process design through virtualisation - a non-narrative approach of communication
(2017-05)To manage and communicate the strategic and operational processes of an organisation, we predominantly utilise diagrams or workflow based process design. Connotations of these designs are deeply rooted to object or product ... -
Optimized adaptive tracking control for an underactuated vibro-driven capsule system
(Springer, 2018-07-07)This paper studies the issue of adaptive trajectory tracking control for an underactuated vibro-driven capsule system and presents a novel motion generation framework. In this framework, feasible motion trajectory is derived ... -
Modelling and dynamic analysis of underactuated capsule systems with friction-induced hysteresis
(IEEE, 2016-12-01)This paper studies modelling and dynamic analysis of underactuated capsule systems exhibiting friction-induced hysteresis. The motion mechanism is novel in utilizing internal centripetal torques generated by a vibration ... -
Classification of EEG-based single-trial motor imagery tasks using a B-CSP method for BCI
(Springer, 2019)Classifying single-trial electroencephalogram (EEG)-based motor imagery (MI) tasks is extensively used to control brain-computer interface (BCI) applications, as a communication bridge between humans and computers. However, ... -
Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property
(Sage, 2017-09-20)This paper proposes a novel geometric analysis-based trajectory planning approach for underactuated capsule systems with viscoelastic property. The idea is to reduce complexity and to characterize coupling by imposing a ... -
On the dynamics of a vibro-driven capsule system
(Springer, 2018-08-09)This paper studies the nonlinear dynamics of a two-degree-of-freedom vibro-driven capsule system. The capsule is capable of rectilinear locomotion benefiting from the periodic motion of the driving pendulum and the sliding ... -
Modelling and analysis of dynamic frictional interactions of vibro-driven capsule systems with viscoelastic property
(Elsevier, 2018-10-25)This paper studies the dynamic frictional interactions of the underactuated vibro-driven capsule systems with the viscoelastic property. Frictional dynamics of the capsule systems is an active research domain, while the ... -
Effect of shoulder angle variation on sEMG-based elbow joint angle estimation
(Elsevier, 2018-09-08)For the decade now, surface electromyogram (sEMG) signal has been extensively applied in joint angle estimation to control the prostheses and exoskeleton systems. However, the sEMG signal patterns can be severely affected ... -
A Novel Weakly-supervised approach for RGB-D-based Nuclear Waste Object Detection and Categorization
(IEEE, 2018-12-19)This paper addresses the problem of RGBD-based detection and categorization of waste objects for nuclear decommissioning. To enable autonomous robotic manipulation for nuclear decommissioning, nuclear waste objects must ... -
Modelling and control of an elastically joint-actuated cart-pole underactuated system
(IEEE, 2014)This paper investigates the modelling and closedloop tracking control issues of a novel elastic underactuated multibody system. A torsional inverted pendulum cart-pole system with a single rotary actuator at the pivot of ... -
On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model
(IEEE, 2015)This paper investigates the locomotion principles and nonlinear dynamics of the periodically pendulum-driven (PD) systems using the case of a 2-DOF viscoelastic jointed model. As a mechanical system with underactuation ... -
Towards Real-Time Robotic Motion Planning for Grasping in Cluttered and Uncertain Environments
(Springer, 2018)Adaptation to unorganized, congested and uncertain environment is a desirable capability but challenging task in development of robotic motion planning algorithms for object grasping. We have to make a tradeoff between ... -
Printable Soft Grippers with Integrated Bend Sensing for Handling of Crops
(Springer, 2018)Handling delicate crops without damaging or bruising is a challenge facing the au-tomation of tasks within the agri-food sector, which encourages the utilization of soft grippers that are inherently safe and passively ... -
Towards Computational Models of Insect Motion Detectors for Robot Vision
(Springer, 2018)In this essay, we provide a brief survey of computational models of insect motion detectors, and bio-robotic solutions to build fast and reliable motion-sensing systems for robot vision. Vision is an important sensing ... -
Energy-Efficient Design and Control of a Vibro-Driven Robot
(IEEE, 2019-01-07)Vibro-driven robotic (VDR) systems use stick-slip motions for locomotion. Due to the underactuated nature of the system, efficient design and control are still open problems. We present a new energy preserving design based ... -
Trajectory Synthesis and Optimization of an Underactuated Microrobotic System with Dynamic Constraints and Couplings
(Springer, 2018-07-25)Motivated by the desire to optimally control the friction-induced stick-slip locomotion and sufficiently improve the energy efficacy, a novel trajectory synthesis and optimization scheme is proposed in this paper for a ... -
Enhancing Seamless Nurses-Physician Communication After-Hours with Google Glass
(IEEE, 2018-07-11)There is a major issue in medical centres in Malaysia: the shared responsibility and communication between nurses at the bedside care and conversation with the physicians after-hours. Inexperience nurses may, sometimes, ... -
“Flipping or flapping?” Investigating engineering students’ experience in flipped classrooms
(Emerald, 2018-10)Purpose This study has explored the flipped classroom model in a private university in Malaysia. It aims to present a flipped classroom intervention for engineering education innovation. Design/methodology/approach The ...
