Publications

Carmichael, MG, Tran, A, Aldini, S & Liu, D 2024, 'Methodologies in Physical Human–Robot Collaboration for Infrastructure Maintenance', Wiley, pp. 105-126.
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Chakrabarty, P, Alam, KCA, Paul, SK & Saha, SC 2024, 'Hydrogen production by electrolysis' in Hydrogen Energy Conversion and Management, Elsevier, pp. 81-102.
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Hassan, M & Liu, D 2024, 'Coverage Planning and Motion Planning of Intelligent Robots for Civil Infrastructure Maintenance', Wiley, pp. 81-103.
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Isaac, G, Nicholas, P, Paul, G, Pietroni, N, Vidal Calleja, T, Xie, M & Schork, T 2024, 'Automated Shotcrete: A More Sustainable Construction Technology' in Sustainable Engineering, Springer International Publishing, pp. 331-345.
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Kodagoda, S, Kumar Viswanathan, V, Thiyagarajan, K, Tran, A, Wickramanayake, S, Barclay, S & Vitanage, D 2024, 'Robotics and Sensing for Condition Assessment of Wastewater Pipes', Wiley, pp. 243-261.
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Kodagoda, S, Viswanathan, V, Thiyagarajan, K, Tran, A, Wickramanayake, S, Barclay, S & Vitanage, D 2024, 'Robotics and Sensing for Condition Assessment of Wastewater Pipes' in Liu, D, Balaguer, C, Dissanayake, G & Kovac, M (eds), Infrastructure Robotics: Methodologies, Robotic Systems and Applications, Wiley-Blackwell, pp. 387-416.
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The text also presents many case studies of robotic systems developed for real-world applications in maintaining various civil infrastructures, including steel bridges, tunnels, underground water mains, underwater structures, and sewer ...

Liu, D & Dissanayake, G 2024, 'Infrastructure Robotics: An Introduction', Wiley, pp. 3-18.
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Trianni, A, Bennett, N, Cantley-Smith, R, Cheng, C-T, Dunstall, S, Hasan, ASMM, Katic, M, Leak, J, Lindsay, D, Pears, A, Wheatland, FT, White, S & Zeichner, F 2024, 'Industry 4.0 for Energy Productivity: Insights and Future Perspective for Australia' in Flexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems, Springer Nature Switzerland, pp. 547-554.
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Wing Keung To, A, Le, K & Liu, D 2024, 'Underwater Robots for Cleaning and Inspection of Underwater Structures', Wiley, pp. 161-183.
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Abtahi, H, Karimi, M & Maxit, L 2024, 'On the challenges of estimating the low-wavenumber wall pressure field beneath a turbulent boundary layer using a microphone array', Journal of Sound and Vibration, vol. 574, pp. 118230-118230.
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Best, G, Garg, R, Keller, J, Hollinger, GA & Scherer, S 2024, 'Multi-robot, multi-sensor exploration of multifarious environments with full mission aerial autonomy', The International Journal of Robotics Research, vol. 43, no. 4, pp. 485-512.
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We present a coordinated autonomy pipeline for multi-sensor exploration of confined environments. We simultaneously address four broad challenges that are typically overlooked in prior work: (a) make effective use of both range and vision sensing modalities, (b) perform this exploration across a wide range of environments, (c) be resilient to adverse events, and (d) execute this onboard teams of physical robots. Our solution centers around a behavior tree architecture, which adaptively switches between various behaviors involving coordinated exploration and responding to adverse events. Our exploration strategy exploits the benefits of both visual and range sensors with a generalized frontier-based exploration algorithm and an OpenVDB-based map processing pipeline. Our local planner utilizes a dynamically feasible trajectory library and a GPU-based Euclidean distance transform map to allow fast and safe navigation through both tight doorways and expansive spaces. The autonomy pipeline is evaluated with an extensive set of field experiments, with teams of up to three robots that fly up to 3 m/s and distances exceeding 1 km in confined spaces. We provide a summary of various field experiments and detail resilient behaviors that arose: maneuvering narrow doorways, adapting to unexpected environment changes, and emergency landing. Experiments are also detailed from the DARPA Subterranean Challenge, where our proposed autonomy pipeline contributed to us winning the “Most Sectors Explored” award. We provide an extended discussion of lessons learned, release software as open source, and present a video that illustrates our extensive field trials.

Chu, Y, Zhao, S, Niu, F, Dong, Y & Zhao, Y 2024, 'A New Diffusion Filtered-X Affine Projection Algorithm: Performance Analysis and Application in Windy Environment', IEEE/ACM Transactions on Audio, Speech, and Language Processing, vol. 32, pp. 1596-1608.
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Cui, H, Han, M, Xu, F, Liu, Q & Saha, SC 2024, 'Scaling analysis of intrusion flow and thermal plume for Pr > 1 in the triangular cavity', International Journal of Thermal Sciences, vol. 195, pp. 108616-108616.
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Ding, L, Chen, C, Shan, X, Liu, B, Wang, D, Du, Z, Zhao, G, Su, QP, Yang, Y, Halkon, B, Tran, TT, Liao, J, Aharonovich, I, Zhang, M, Cheng, F, Fu, L, Xu, X & Wang, F 2024, 'Optical Nonlinearity Enabled Super‐Resolved Multiplexing Microscopy', Advanced Materials, vol. 36, no. 2.
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AbstractOptical multiplexing for nanoscale object recognition is of great significance within the intricate domains of biology, medicine, anti‐counterfeiting, and microscopic imaging. Traditionally, the multiplexing dimensions of nanoscopy are limited to emission intensity, color, lifetime, and polarization. Here, a novel dimension, optical nonlinearity, is proposed for super‐resolved multiplexing microscopy. This optical nonlinearity is attributable to the energy transitions between multiple energy levels of the doped lanthanide ions in upconversion nanoparticles (UCNPs), resulting in unique optical fingerprints for UCNPs with different compositions. A vortex beam is applied to transport the optical nonlinearity onto the imaging point‐spread function (PSF), creating a robust super‐resolved multiplexing imaging strategy for differentiating UCNPs with distinctive optical nonlinearities. The composition information of the nanoparticles can be retrieved with variations of the corresponding PSF in the obtained image. Four channels multiplexing super‐resolved imaging with a single scanning, applying emission color and nonlinearity of two orthogonal imaging dimensions with a spatial resolution higher than 150 nm (1/6.5λ), are demonstrated. This work provides a new and orthogonal dimension – optical nonlinearity – to existing multiplexing dimensions, which shows great potential in bioimaging, anti‐counterfeiting, microarray assays, deep tissue multiplexing detection, and high‐density data storage.

Feng, Y, Alamdari, MM, Wu, D, Luo, Z, Ruan, D, Egbelakin, T, Chen, X & Gao, W 2024, 'Virtual modelling aided safety assessment for ductile structures against high-velocity impact', Engineering Structures, vol. 301, pp. 117373-117373.
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Halkon, B, Perrin, R & Guo, Z 2024, 'Extensional and inextensional modes of axisymmetric structures', Experimental Techniques: a publication for the practicing engineer.

He, Z, Zheng, G, Luo, Q, Li, Q & Sun, G 2024, 'Fatigue life improvement mechanisms of CFRP/Al hybrid joints – Load sharing study using a digital image correlation technique', Composite Structures, vol. 327, pp. 117625-117625.
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Hernandez Moreno, V, Jansing, S, Polikarpov, M, Carmichael, MG & Deuse, J 2024, 'Obstacles and opportunities for learning from demonstration in practical industrial assembly: A systematic literature review', Robotics and Computer-Integrated Manufacturing, vol. 86, pp. 102658-102658.
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Hertrampf, T & Oberst, S 2024, 'Recurrence Rate spectrograms for the classification of nonlinear and noisy signals', Physica Scripta, vol. 99, no. 3, pp. 035223-035223.
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Abstract Time series analysis of real-world measurements is fundamental in natural sciences and engineering, and machine learning has been recently of great assistance especially for classification of signals and their understanding. Yet, the underlying system’s nonlinear response behaviour is often neglected. Recurrence Plot (RP) based Fourier-spectra constructed through τ-Recurrence Rate (RR τ ) have shown the potential to reveal nonlinear traits otherwise hidden from conventional data processing. We report a so far disregarded eligibility for signal classification of nonlinear time series by training RESnet-50 on spectrogram images, which allows recurrence-spectra to outcompete conventional Fourier analysis. To exemplify its functioning, we employ a simple nonlinear physical flow of a continuous stirred tank reactor, able to exhibit exothermic, first order, irreversible, cubic autocatalytic chemical reactions, and a plethora of fast-slow dynamics. For dynamics with noise being ten times stronger than the signal, the classification accuracy was up to ≈ 75% compared to ≈ 17% for the periodogram. We show that an increase in entropy only detected by the RR τ allows differentiation. This shows that RP power spectra, combined with off-the-shelf machine learning techniques, have the potential to significantly improve the detection of nonlinear and noise contaminated signals.

Huang, X, Saha, SC, Saha, G, Francis, I & Luo, Z 2024, 'Transport and deposition of microplastics and nanoplastics in the human respiratory tract', Environmental Advances, vol. 16, pp. 100525-100525.
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Huang, Y, Zhao, S & Lu, J 2024, 'Acoustic contrast control with a sound intensity constraint for personal sound systems', The Journal of the Acoustical Society of America, vol. 155, no. 2, pp. 879-890.
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Personal sound systems have received significant research interest in the past two decades due to their promising applications in a variety of scenarios. Various methods have been proposed to generate personal sound zones, most of which are based on sound pressure manipulation in both the acoustically bright and dark zones. Since sound intensity is closely related to human perception of sound localization, this paper proposes an acoustic contrast control method with a sound intensity constraint to increase the spatial planarity in the bright zone. In the proposed method, the sound intensity in the bright zone is projected to a specific direction while the sound pressure level in the dark zone is minimized. Simulations and experiments are carried out to compare the proposed method with the existing planarity control and pressure matching methods in terms of acoustic contrast, array effort, and planarity. The results demonstrate that the proposed method improves the planarity in the bright zone compared to existing planarity control method, while exhibitig a higher acoustic contrast and a lower array effort than the pressure matching method.

Ikram, MM, Saha, G & Saha, SC 2024, 'Second law analysis of a transient hexagonal cavity with a rotating modulator', International Journal of Heat and Mass Transfer, vol. 221, pp. 125039-125039.
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Jamshir M, M, Vijayakumar, S, Das, S, Thiyagarajan, K & Kodagoda, S 2024, 'A Novel Direct Digitizer for Leaky Differential Capacitive Sensors Using Phase Sensitive Integration', IEEE Sensors Letters, vol. 8, no. 2, pp. 1-4.
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Jiang, C, Li, W, Ng, C-T & Deng, M 2024, 'Numerical and experimental investigations on quasistatic pulse generation of ultrasonic guided waves in fiber reinforced composite pipes', Journal of Sound and Vibration, vol. 574, pp. 118238-118238.
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Jiang, C, Li, W, Ng, C-T & Deng, M 2024, 'Quasistatic component generation of group velocity mismatched guided waves in tubular structures for microdamage localization', Applied Acoustics, vol. 217, pp. 109813-109813.
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Jiang, Y, Ke, Y, Yang, F, Ji, J & Peng, W 2024, 'State of Health Estimation for Second-Life Lithium-Ion Batteries in Energy Storage System With Partial Charging-Discharging Workloads', IEEE Transactions on Industrial Electronics, pp. 1-11.
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Jing, H, Ge, H, Tang, H, Farnoud, A, Saidul Islam, M, Wang, L, Wang, C & Cui, X 2024, 'Assessing airflow unsteadiness in the human respiratory tract under different expiration conditions', Journal of Biomechanics, vol. 162, pp. 111910-111910.
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Kim, S, Corah, M, Keller, J, Best, G & Scherer, S 2024, 'Multi-Robot Multi-Room Exploration With Geometric Cue Extraction and Circular Decomposition', IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 1190-1197.
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Larpruenrudee, P, Bennett, NS, Fitch, R, Sauret, E, Gu, Y & Islam, MS 2024, 'Investigation of metal hydride hydrogen storage performance using phase change materials', International Journal of Hydrogen Energy, vol. 60, pp. 996-1019.
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Le Gentil, C, Ouabi, O-L, Wu, L, Pradalier, C & Vidal-Calleja, T 2024, 'Accurate Gaussian-Process-Based Distance Fields With Applications to Echolocation and Mapping', IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 1365-1372.
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Li, S, Ji, JC, Xu, Y, Feng, K, Zhang, K, Feng, J, Beer, M, Ni, Q & Wang, Y 2024, 'Dconformer: A denoising convolutional transformer with joint learning strategy for intelligent diagnosis of bearing faults', Mechanical Systems and Signal Processing, vol. 210, pp. 111142-111142.
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Li, T, Walker, P, Khonasty, R, van de Graaf, VA, Yelf, E, Zhao, L & Huang, S 2024, 'Robotic‐assisted burring in total hip replacement: A new surgical technique to optimise acetabular preparation', The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 20, no. 1.
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AbstractBackgroundIn Total Hip replacement (THR) surgery, a critical step is to cut an accurate hemisphere into the acetabulum so that the component can be fitted accurately and obtain early stability. This study aims to determine whether burring rather than reaming the acetabulum can achieve greater accuracy in the creation of this hemisphere.MethodsA preliminary robotic system was developed to demonstrate the feasibility of burring the acetabulum using the Universal Robot (UR10). The study will describe mechanical design, robot trajectory optimisation, control algorithm development, and results from phantom experiments compared with both robotic reaming and conventional reaming. The system was also tested in a cadaver experiment.ResultsThe proposed robotic burring system can produce a surface in 2 min with an average error of 0.1 and 0.18 mm, when cutting polyurethane bone block #15 and #30, respectively. The performance was better than robotic reaming and conventional hand reaming.ConclusionThe proposed robotic burring system outperformed robotic and conventional reaming methods to produce an accurate acetabular cavity. The findings show the potential usage of a robotic‐assisted burring in THR for acetabular preparation.

Ma, W, Huang, S & Sun, Y 2024, 'Triplet-Graph: Global Metric Localization Based on Semantic Triplet Graph for Autonomous Vehicles', IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3155-3162.
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Mahafujur Rahaman, M, Bhowmick, S, Pada Ghosh, B, Xu, F, Nath Mondal, R & Saha, SC 2024, 'Transient natural convection flows and heat transfer in a thermally stratified air-filled trapezoidal cavity', Thermal Science and Engineering Progress, vol. 47, pp. 102377-102377.
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McCourt, LR, Routley, BS, Ruppert, MG & Fleming, AJ 2024, 'Feasibility of gold nanocones for collocated tip‐enhanced Raman spectroscopy and atomic force microscope imaging', Journal of Raman Spectroscopy, vol. 55, no. 3, pp. 336-346.
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AbstractMicrocantilever probes for tip‐enhanced Raman spectroscopy (TERS) have a grainy metal coating that may exhibit multiple plasmon hotspots near the tip apex, which may compromise spatial resolution and introduce imaging artefacts. It is also possible that the optical hotspot may not occur at the mechanical apex, which introduces an offset between TERS and atomic force microscope maps. In this article, a gold nanocone TERS probe is designed and fabricated for 638 nm excitation. The imaging performance is compared to grainy probes by analysing high‐resolution TERS cross‐sections of single‐walled carbon nanotubes. Compared to the tested conventional TERS probes, the nanocone probe exhibited a narrow spot diameter, comparable optical contrast, artefact‐free images, and collocation of TERS and atomic force microscope topographic maps. The 1/ spot diameter was 12.5 nm and 19 nm with 638 nm and 785 nm excitation, respectively. These results were acquired using a single gold nanocone probe to experimentally confirm feasibility. Future work will include automating the fabrication process and statistical analysis of many probes.

Mohammadi, M, Oberst, S & Halkon, BJ 2024, 'Application of Time Synchronous Averaging in Mitigating UAV Noise and Signal Loss for Continuous Scanning Laser Doppler Vibrometry', Journal of Physics: Conference Series, vol. 2698, no. 1, pp. 012005-012005.
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Abstract The laser Doppler vibrometer (LDV) has been shown to be effective for a wide application of vibration assessments that are well accepted. One of the new avenues for exploring alternative measurement scenarios, mounting LDVs on unmanned aerial vehicles (UAVs) is emerging as a potential avenue for remote and harsh environment measurements. Such configurations grapple with the challenge of the LDV sensor head being sensitive to UAV vibration during flight and signal loss due to tracking error. This study investigates the effectiveness of several Time Synchronous Averaging (TSA) techniques to circumvent these obstacles. Through comprehensive evaluations, all three TSA techniques under investigation demonstrated significant potential in suppressing UAV-induced noise and minimising the effects of signal dropout. Traditional TSA showcased a remarkable sixfold enhancement in signal quality when analysed via the mean square error. However, the study also highlighted that while TSA and Multi-Cycle Time Synchronous Average (MCTSA) elevated signal clarity, there is a trade-off between noise suppression and signal duration. Additionally, the findings emphasise the importance of synchronisation between scanning and target vibration. To achieve optimal results in Continuous Scanning Laser Doppler Vibrometer measurements, there is a need for advanced algorithms capable of estimating target vibration and synchronising scanning in real-time. As the study was rooted in steady-state vibrations, future research should explore transient vibration scenarios, thereby broadening the application scope of TSA techniques in UAV-mounted LDV systems.

Mortazavi, H, Beni, HM, Nadooshan, AA, Islam, MS & Ghalambaz, M 2024, '4E analysis and triple objective NSGA-II optimization of a novel solar-driven combined ejector-enhanced power and two-stage cooling (EORC-TCRC) system', Energy, vol. 294, pp. 130803-130803.
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Ni, Q, Ji, JC, Feng, K, Zhang, Y, Lin, D & Zheng, J 2024, 'Data-driven bearing health management using a novel multi-scale fused feature and gated recurrent unit', Reliability Engineering & System Safety, vol. 242, pp. 109753-109753.
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Oberst, S & Martin, R 2024, 'Feature-preserving synthesis of termite-mimetic spinodal nest morphology', iScience, vol. 27, no. 1, pp. 108674-108674.
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Ostermeier, FF & Deuse, J 2024, 'A review and classification of scheduling objectives in unpaced flow shops for discrete manufacturing', Journal of Scheduling, vol. 27, no. 1, pp. 29-49.
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Peng, R, Guo, R, Liu, L, Ji, J, Miao, Z & Zhou, J 2024, 'Practical consensus tracking control for networked Euler–Lagrange systems based on UDE integrated with RBF neural network', Neurocomputing, vol. 583, pp. 127554-127554.
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Perrin, R & Halkon, B 2024, 'Sacred Geometry in the English Church Bell', IMA Journal of Applied Mathematics.

Piyathilaka, L, Kodagoda, S, Thiyagarajan, K, Piccardi, M, Preethichandra, DMG & Izhar, U 2024, 'Learning Spatial Affordances From 3D Point Clouds for Mapping Unseen Human Actions in Indoor Environments', IEEE Access, vol. 12, pp. 868-877.
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Rahman, MM, Zhao, M, Islam, MS, Dong, K & Saha, SC 2024, 'A numerical study on sedimentation effect of dust, smoke and traffic particle deposition in a realistic human lung', International Journal of Multiphase Flow, vol. 171, pp. 104685-104685.
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Ren, Z, Ji, J, Zhu, Y & Feng, K 2024, 'An Investigation Into the Behavior of Intelligent Fault Diagnostic Models Under Imbalanced Data', IEEE Transactions on Instrumentation and Measurement, vol. 73, pp. 1-20.
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Saha, BK, Jihan, JI, Ahammad, MZ, Saha, G & Saha, SC 2024, 'Enhanced thermal performance and entropy generation analysis in a novel cavity design with circular cylinder', Heat Transfer, vol. 53, no. 3, pp. 1446-1473.
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AbstractAnalyzing fluid dynamics and heat transfer holds significant importance in the design and enhancement of engineering systems. The current investigation utilizes the finite element method to explore natural convection and heat transfer intricacies within a novel cavity containing an inner circular cylinder under steady and laminar flow conditions. The principal aim of this study is to assess the impact of Rayleigh number (Ra), Bejan number (Be), and the presence of adiabatic, hot, and cold cylinders on heat transfer, entropy generation, and fluid flow. The range of Ra considered in this investigation spans from 103 to 106, while the Prandtl number for the air is fixed at 0.71. The findings illustrate that the presence of a cylinder leads to higher Be as Ra increase, compared to scenarios where no cylinder is present. This observation suggests that buoyancy forces dominate in the absence of a cylinder, resulting in significantly enhanced convective heat transfer efficiency. However, the presence of a heated cylinder within the tooth‐shaped cavity exerts a substantial influence on the overall thermal performance of the system. Notably, the average Nusselt Number (Nu) experiences a remarkable increase of 41.97% under the influence of a heated cylinder, when compared to situations where a cold cylinder is present. This elevated average Nu signifies improved heat transfer characteristics, ultimately resulting in an overall improvement in the thermal system's efficiency.

Saha, SC & Saha, G 2024, 'Effect of microplastics deposition on human lung airways: A review with computational benefits and challenges', Heliyon, vol. 10, no. 2, pp. e24355-e24355.
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Stone, B, Mitchell, S, Halkon, B, Peirce, N & Harland, A 2024, 'The Dynamic Properties of Cricket and Cricket Training Balls', Sports Engineering (SPEN).

Sultan, HS, Ali, MH, Shafi, J, Fteiti, M, Baro, M, Almutairi, K, Islam, MS, Harb, K, Alharbi, FS & Ghalambaz, M 2024, 'Design improvement of latent heat thermal energy storage in wavy channel enclosures using neural networks', Journal of Energy Storage, vol. 79, pp. 110061-110061.
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Sultan, HS, Ali, MH, Shafi, J, Fteiti, M, Baro, M, Alresheedi, F, Islam, MS, Yusaf, T & Ghalambaz, M 2024, 'Improving phase change heat transfer in an enclosure filled by uniform and heterogenous metal foam layers: A neural network design approach', Journal of Energy Storage, vol. 85, pp. 110954-110954.
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Wang, H, Zhao, X, Huang, S, Li, Q & Liu, Y 2024, 'A branch-and-bound based globally optimal solution to 2D multi-robot relative pose estimation problems', Automatica, vol. 164, pp. 111654-111654.
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Wang, X, Thiyagarajan, K, Kodagoda, S & Sharma, C 2024, 'PIPE-CovNet+: A Hyper-Dense CNN for Improved Pipe Abnormality Detection', IEEE Sensors Letters, vol. 8, no. 4, pp. 1-4.
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Wei, Y, Jin, X, Luo, Q, Li, Q & Sun, G 2024, 'Adhesively bonded joints – A review on design, manufacturing, experiments, modeling and challenges', Composites Part B: Engineering, vol. 276, pp. 111225-111225.
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Wocker, MM, Ostermeier, FF, Wanninger, T, Zwinkau, R & Deuse, J 2024, 'Flexible job shop scheduling with preventive maintenance consideration', Journal of Intelligent Manufacturing, vol. 35, no. 4, pp. 1517-1539.
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Xiao, T, Halkon, B, Wang, S, Oberst, S & Qiu, X 2024, 'Refracto-vibrometry for active control of sound radiation through an opening', Journal of Sound and Vibration, vol. 577, pp. 118242-118242.
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Zhao, F, Ji, JC, Cao, S, Ye, K & Luo, Q 2024, 'QZS isolators with multi-pairs of oblique bars for isolating ultralow frequency vibrations', Nonlinear Dynamics, vol. 112, no. 3, pp. 1815-1842.
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Zhao, S, Zhu, Q, Cheng, E & Burnett, IS 2024, 'Erratum: A room impulse response database for multizone sound field reproduction (L) [J. Acoust. Soc. Am. 152(4), 2505–2512 (2022)]', The Journal of the Acoustical Society of America, vol. 155, no. 3, pp. 2170-2170.
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Zheng, B, Ji, J, Peng, R, Miao, Z & Zhou, J 2024, 'Energy shaping-based consensus control in networked underactuated Euler–Lagrange systems with communication and input delays', Journal of the Franklin Institute, vol. 361, no. 6, pp. 106705-106705.
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Zhou, S, Halkon, B, Guo, Z & Eager, D 2024, 'Transient waveform replication for flexible structures in shaker testing using time-domain convolution techniques'.

Zhu, Y, Zhang, Z & Ji, J 2024, 'Bifurcations of a Filippov ecological system with an A-type discontinuity boundary', Chaos, Solitons & Fractals, vol. 182, pp. 114834-114834.
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Hossain, MI & Eager, D 1970, 'Rapid quadrupedal locomotion: a study of greyhound galloping mechanics', The 11th Australasian Congress on Applied Mechanics, Brisbane, Australia.
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Greyhounds can run very fast with their galloping gait mechanics. The galloping gait of the greyhound is remarkable for gait efficiency among quadrupedal as it is believed that the biomechanical structure supporting the mass is decoupled from the locomotive structure. With the help of rotatory galloping, a greyhound achieves the double suspension gait which is the fastest gait but also exhausting one. In this study, using a high frame rates camera with 250 - 500 frames per second motion images of the greyhound rotatory gallop mechanism were captured in slow motion in the straight run chase for studying the rotatory galloping mechanism and features. By carefully setting up a video image tracking software and a frame of reference, the greyhound galloping gait paws motion was analysed for relative displacement, speed and acceleration to infer kinetic energy in the gait. Likewise, using the manual and auto-tracking functions of the software, the galloping-related relative position of the hard points was analysed for pose and gait study. The motion tracking study of the greyhound galloping mechanism allowed a better understanding of the greyhound galloping mechanism and also the underlying functions and characteristics of greyhound rotatory galloping. Through the study, it is also shown that the contribution of different elements of rotatory galloping for greyhound locomotion. This study could give future directions to efficient robot locomotion and injury prevention mechanisms for fast runners.

Nguyen, K, Alempijevic, A & Paul, G 1970, 'Decentralized multi-phase formation control for cattle herding', IEEE International Conference on Robotics and Automation, Yokohama, Japan.

Rees, N, Thiyagarajan, K & Kodagoda, S 1970, 'Robotic Guide Dog for Real-time Indoor Object Detection and Classification with Localization', 2024 IEEE Applied Sensing Conference (APSCON), 2024 IEEE Applied Sensing Conference (APSCON), IEEE.
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Thiyagarajan, K & Kodagoda, S 1970, 'Sensing Acid Permeation Conditions of Wastewater Pipe Coatings for Long-term Quality Assurance', 2024 IEEE Applied Sensing Conference (APSCON), 2024 IEEE Applied Sensing Conference (APSCON), IEEE.
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Zeng, Y-C, Ding, H & Ji, J 1970, 'A Stable Adjustable Nonlinear Energy Sink', Springer Nature Singapore, pp. 661-676.
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Zhao, S & Ma, F 2024, 'A circular microphone array with virtual microphones based on acoustics-informed neural networks'.