BALL, JE 1985, 'AN ALGORITHM FOR ROUTING UNSTEADY FLOWS IN URBAN DRAINAGE NETWORKS', JOURNAL OF HYDRAULIC RESEARCH, vol. 23, no. 4, pp. 327-341.
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BRAUN, RM & DOWNING, BJ 1985, 'INJECTION-LOCK BANDWIDTH EXTENSION BY CONTROL MODULATION AND CURRENT HUMP SLOPE DETECTION', ELECTRONICS LETTERS, vol. 21, no. 13, pp. 564-566.
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Moses, RG, Colagiuri, S & Shannon, AG 1985, 'Effectiveness of mass screening for diabetes mellitus using random capillary blood glucose measurements', Medical Journal of Australia, vol. 143, no. 12-13, pp. 544-546.
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The results of 23,228 fingerprick capillary blood glucose tests (the taking of which was coordinates by the Diabetic Association of New South Wales) were reviewed. All non-diabetic persons (n = 860) with a blood glucose result of greater than or equal to 8.0 mmol/L were surveyed and 459 responded (53.4%). The responders were typical of the surveyed group with respect to age and capillary blood glucose level. Sixty-four new cases of diabetes were detected, representing 15.8% of the replies from persons who were not known to have diabetes and 0.28% of the total number of persons screened.
Sedlacek, G, Lopetegui, J, Stutzki, C & Saleh, A 1985, 'Computer Aided Analysis of Space Frames Subjected to Nonlinear Loads.', Bauingenieur Berlin, vol. 60, no. 8, pp. 297-306.
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Two approaches in design of space frame structures are outlined and discussed. The kinematic equations for arbitrary large rotation of beams are formulated by means of rotation vectors. This is the so called displacement method. The other approach uses nonlinear computational algorithms. An iteration procedure was developed using initial stiffness matrix and orthogonal load-deformation-states.
SEKHON, JG & SHANNON, AG 1985, 'Mathematical Education of Engineers: an Australian perspective', European Journal of Engineering Education, vol. 10, no. 3-4, pp. 295-303.
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A series of surveys provide the basis for comments on the mathematical education of engineers in Australia. The respondents were graduates and employers. This paper summarises their views and contrasts undergraduate and postgraduate courses. The former tend to be traditional and structured. There is a need for more course work with the latter with more emphasis on mathematical modelling. Desirable professional attributes which should come from education with mathematics rather than mere training in mathematics are listed as they are seen in the milieu of the market place. © 1985, Taylor & Francis Group, LLC. All rights reserved.
Song, S-M, Waldron, KJ & Kinzel, GL 1985, 'Computer-aided geometric design of legs for a walking vehicle', Mechanism and Machine Theory, vol. 20, no. 6, pp. 587-596.
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Vigneswaran, S & Aim, RB 1985, 'The influence of suspended particle size distribution in deep‐bed filtration', AIChE Journal, vol. 31, no. 2, pp. 321-324.
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Vigneswaran, S & Visvanathan, C 1985, 'Mathematical modelling of mobile bed filtration with contact flocculation - filtration arrangement', Effluent & Water Treatment Journal, vol. 25, no. 9, pp. 309-314.
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Mathematical formulation of suspended solids removal in contact-flocculation filtration is complex since both flocculation and suspended solids removal occur within the filter bed itself. In this study, a mathematical formulation based on O'Melia and Alis' model was developed for contact flocculation-filtration incorporating the flocculation phenomena in ideal conditions. This model was then extended to mobile bed filtration with contact flocculation-filtration arrangement and verified with laboratory-scale mobile bed filter experimental results obtained.
Vigneswaran, S, Thiyagaram, M & Aim, RB 1985, 'Mathematical modeling of radial flow filtration and its application to groundwater recharge problems', AIChE Journal, vol. 31, no. 11, pp. 1929-1933.
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Waldron, KJ, Wang, SL & Bolin, SJ 1985, 'STUDY OF THE JACOBIAN MATRIX OF SERIAL MANIPULATORS.', Journal of mechanisms, transmissions, and automation in design, vol. 107, no. 2, pp. 230-238.
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Inversion of the Jacobian matrix is the critical step in rate decomposition which is used to solve the so-called 'inverse kinematics' problem of robotics. This is the problem of achieving a coordinated motion relative to the fixed reference frame. A general methodology is presented for formulation and manipulation of the Jacobian matrix. The formation is closely tied to the geometry of the system and lends itself to simplification using appropriate coordinate transformations. This is of great importance since it gives a systematic approach to the derivation of efficient, analytical inverses. The method is also applied to the examination of geometrically singular positions. Several important general results relating to the structure of the singularity field are deducible from the structure of the algebraic system.
Waldron, KJ, Wang, S-L & Bolin, SJ 1985, 'A Study of the Jacobian Matrix of Serial Manipulators', Journal of Mechanisms, Transmissions, and Automation in Design, vol. 107, no. 2, pp. 230-237.
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Inversion of the Jacobian matrix is the critical step in rate decomposition which is used to solve the so-called “inverse kinematics” problem of robotics. This is the problem of achieving a coordinated motion relative to the fixed reference frame. In this paper a general methodology is presented for formulation and manipulation of the Jacobian matrix. The formulation is closely tied to the geometry of the system and lends itself to simplification using appropriate coordinate transformations. This is of great importance since it gives a systematic approach to the derivation of efficient, analytical inverses. The method is also applied to the examination of geometrically singular positions. Several important general results relating to the structure of the singularity field are deducible from the structure of the algebraic system.
Bakoss, SL, Burfitt, A, Cridland, L & Heiman, JL 1970, 'MEASURED AND PREDICTED LONG-TERM DEFORMATIONS IN A TALL CONCRETE BUILDING.', Publication SP American Concrete Institute, pp. 63-94.
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A 120m tall building incorporating both in-situ and precast post-tensioned concrete components was instrumented to observe some aspects of its structural behaviour. The instrumentation includes embedded and surface strain and temperature transducers, survey reference points, wind pressure tappings, and anemometers above the roof of the building to measure wind characteristics. The paper describes the strain and deformation instrumentation and method of data acquisition. The measured long-term vertical strains and deformations in one of the columns are presented and are compared with values predicted by two methods which are suitable for use by designers. Reference is made to the results of an extensive materials testing programme the results of which enabled the assessment of methods of prediction for the long-term creep and shrinkage properties of the concrete.
Ball, JE 1970, 'ROUTING OF UNSTEADY FLOWS IN URBAN DRAINAGE NETWORKS.', National Conference Publication - Institution of Engineers, Australia, pp. 146-150.
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Flow in an urban drainage network is generally unsteady. Analysis of such flows therefore requires the solution of the unsteady flow (Saint Venant) equations. Among the numerical techniques which have been developed for the analysis of unsteady flows is the four-point implicit finite difference scheme commonly referred to as the Amein scheme. Use of the Amein scheme requires the solution of C multiplied by DELTA v equals minus R where C is a large sparse matrix and DELTA v and R are n multiplied by 1 column vectors. The algorithm proposed herein uses the properties of the drainage network to develop an efficient solution of C multiplied by DELTA v equals minus R based upon the partitioning and decomposition of the coefficient matrix C. An example urban drainage network is analysed showing the use of the proposed solution algorithm.
Bone, D, Bachor, HA & Sandeman, RJ 1970, 'Spectral line interferometry of a laser produced Ba plasma', 15th AINSE Plasma Physics Conference.
Melchers, RE & Stewart, MG 1970, 'DATA-BASED MODELS FOR HUMAN ERROR IN DESIGN.', undefined, pp. 51-60.
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To predict the reliability of structures it is necessary to make reasonable allowances in the assessment for the influence of human error in the design, construction and use of the structure. The present paper deals with an attempt to model mathematically the human errors introduced into the structural design process and the effect they may have on structural safety. Preliminary data collection for use in the model is reported, and an outline of the model being developed is given.
Pham, DT & Dissanayake, G 1970, 'Feasibility Study of a Vibratory Sensor for Locating 3-D Objects', Proceedings of the International Machine Tool Design and Research Conference, Macmillan Education UK, pp. 201-211.
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A novel sensor is investigated which is intended to be mounted at the wrist of a robot to enable it to determine the co-ordinates of a part it has picked up from a stack or tray. The device operates by letting the part vibrate about two orthogonal axes and measuring its inertia-dependent instantaneous velocities and angles of vibration. The mathematical procedures for extracting position and orientation data from these measurements are described. The results of computer simulations carried out to determine guidelines for the design of the device are presented and discussed.
Pham, DT & Dissanayake, MWMG 1970, 'INERTIA-BASED SENSORS WITH ONE AND TWO DEGREES OF FREEDOM FOR LOCATING PARTS.', pp. 223-237.
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Two inertia-based sensors for determining the position and orientation of three-dimensional objects are described. One of them involves letting the objects vibrate about two orthogonal axes simultaneously and measuring the angles and velocities of vibration at various instants of time. In the other sensor, the objects are also vibrated about two axes but the vibrations are performed sequentially and the frequencies of vibration are measured. The mathematical procedures for obtaining the position and orientation of the objects from the measurements are outlined for the second sensor. Results of the computer simulations carried out to assess the feasibility of the latter are presented.
Pham, DT & Dissanayake, MWMG 1970, 'THREE-DEGREE-OF-FREEDOM INERTIAL SENSOR FOR LOCATING PARTS.', pp. 613-629.
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A compromise solution to the problem of economically feeding parts to industrial robots is investigated. The parts are neither accurately presented as in the case of traditional feeding equipment nor jumbled up as in the case of bin-picking machines. Instead, they are semi-ordered into stacks or trays and then unloaded by the robots as needed. The robots are to be equipped with a novel sensor fitted to their wrists for determining the exact coordinates of the parts they have picked up. The device operates by letting the parts vibrate about three orthogonal axes and measuring their inertia-dependent natural frequencies of vibration. The mathematical procedures for extracting position and orientation data from those measurements are described. The results of computer simulations carried out to determine guidelines for the design of the device are presented and discussed.
Roper, H, Kirkby, GA & Baweja, D 1970, 'DURABILITY - A QUANTITATIVE APPROACH.', National Conference Publication - Institution of Engineers, Australia, pp. 32-35.
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Durability of concrete structures is, despite considerable interest, as yet ill-defined. Methods of classification and quantification of durability of concrete members have recently been outlined in a series of co-authored papers. The application of such methods to structures is outlined. The accumulation of data requires the use of a computer, and methods of transferring data from photographic or television images to storage is discussed. The data is then available for computations, which relate types of deterioration effects to reinforcement and other details. Statistical procedures are introduced to systematise the data, and to permit comparisons to be made between structural members, within the same structure or between structures. The approach should, if successfully applied, allow better measurements of durability to be made, and hence improve techniques of predicting performance, making comparisons between materials and systems, assessing repair procedures and estimating repair costs.
Vijaykumar, R, Tsai, M & Waldron, K 1970, 'Geometric optimization of manipulator structures for working volume and dexterity', Proceedings. 1985 IEEE International Conference on Robotics and Automation, 1985 IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers, pp. 228-236.
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Broadly speaking, the regional structure of a manipulator, which consists of the inboard three joints and the members associated with them, determines the workspace shape and volume. The orientation structure, which, for a six degree of freedom manipulator, consists of the three furthest outboard joints and members, determines the geometric dexterity or orientation potential of the manipulator. It is possible, using straight forward geometric arguments, to determine the optimal dimensions of the regional structure for a given total length. By the use of the spherical counterpart of Grashof's theorem formulated by Freudenstein, it is possible also to show that there is an optimum geometry of the orientation structure.
Waldron, K 1970, 'Mobility and controllability characteristics of mobile robotic platforms', Proceedings. 1985 IEEE International Conference on Robotics and Automation, 1985 IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers, pp. 237-243.
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© 1985 IEEE. Mobile platforms available for use in robotic systems vary enormously in their mobility and in their control characteristics. In particular, the characteristics which are desirable in an autonomous vehicle for unstructured terrain are quite different from those which are optimum in a vehicle for partially structured terrain, such as road following, or for a mobile platform for use in a highly structured factory environment. The controlled degrees of freedom of the platform impact the manner in which it can be used. Platforms with articulated steering are severely limited in situations, such as mobile industrial robot service, in which lateral motion may be desirable.
Waldron, K & Nordholt, N 1970, 'Force and motion management in legged locomotion', 1985 24th IEEE Conference on Decision and Control, 1985 24th IEEE Conference on Decision and Control, IEEE, pp. 12-17.
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The control of a legged locomotion system over uneven terrain requires a new approach to coordination. The system has a high degree of static indeterminacy and, because of the stiffness of the structural and actuation systems, has stability problems if position-velocity control is used. The problem has many similarities to that of grasping and manipulating an object in a multifingered hand. The stability problem is removed by controlling actuator force directly, but the necessary computations can be prohibitive. A solution is presented which is moderate in its computational requirements. It is based on an assumption of zero foot interaction forces in the horizontal plane.
