Publications

Fang, G & Dissanayake, MWMG 1998, 'A neural network-based method for time-optimal trajectory planning', Robotica, vol. 16, no. 2, pp. 143-158.
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Planning appropriate trajectories can significantly increase the productivity of robot systems. To plan realistic time-optimal trajectories, the robot dynamics have to be described precisely. In this paper, a neural network based algorithm for tim e-optimal trajectory planning is introduced. This method utilises neural networks for representing the inverse dynamics of the robot. As the proposed neural networks can be trained with data obtained from exciting the robot with given torque inputs, they will capture the complete dynamics of the robot system. Threfore, the trajectories generated will be mo re realistic than those obtained by using nominal dynamic equations based on nominal parameters. Time-optimal trajectories are generated for a PUMA robot to demonstrate the proposed method.

LEE, KY & DISSANAYAKE, MWMG 1998, 'NUMERICAL SOLUTION FOR A NEAR-MINIMUM-TIME TRAJECTORY FOR TWO COORDINATED MANIPULATORS', Engineering Optimization, vol. 30, no. 3-4, pp. 227-247.
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Li, QS, Fang, JQ, Liu, DK & Jeary, AP 1998, 'Vibration analysis of tall buildings with narrow rectangular plane configuration', Structural Design of Tall Buildings, vol. 7, no. 4, pp. 307-322.
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In this paper, tall buildings of narrow rectangular plane configuration are treated as one-step or multi-step cantilever flexural-shear plates for the analysis of their free vibrations. The governing differential equations for the vibration of flexural-shear plates considering the effects of both flexural and shear deformation are established. The general solutions for one-step flexural-shear plates are derived and used to obtain the eigenvalue equation for multi-step cantilever flexural-shear plates. A new exact approach is presented which combines the transfer matrix method and a closed-form solution for a uniform flexural-shear plate. A numerical example demonstrates that the calculated natural frequencies and mode shapes of a tall building are in good agreement with the experimentally measured data. It is also shown that the effect of shear deformation on the fundamental natural frequency can be ignored, but its effect on the higher natural frequencies should be considered. © 1998 John Wiley & Sons, Ltd.

Li, QS, Fang, JQ, Liu, DK & Jeary, AP 1998, 'Vibration analysis of tall buildings with narrow rectangular plane configuration', The Structural Design of Tall Buildings, vol. 7, no. 4, pp. 307-322.
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Louda, MA, Rye, DC, Dissanayake, MWMG & Durrant-Whyte, HF 1970, 'INS-based identification of quay-crane spreader yaw', Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), IEEE International Conference on Robotics and Automation, IEEE, KATHOLIEKE UNIV LEUVEN, LEUVEN, BELGIUM, pp. 3310-3315.
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