Publications

Wang, Z, Huang, S & Dissanayake, G 2011, Simultaneous Localization and Mapping, WORLD SCIENTIFIC.
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Wang, Z, Huang, S & Dissanayake, G 2011, Simultaneous localization and mapping: Exactly sparse information filters, 1, World Scientific Publishing, Singapore.
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Simultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF). The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments.

Lammers, T, Kersten, W & Skirde, H 2011, 'Entwicklung eines Kriterienkataloges zur strukturierten Allokation von Effekten der Modularisierung' in Modulstrategie in der Beschaffung - Konferenzband Konferenz der AutoUni am 18.11. 2010 in Wolfsburg, Logos Verlag.
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Wettbewerb und Effizienzstreben fuhren in der Automobilindustrie zu diversen Aktivitaten, die auf die Identifikation und die Hebung von Kostensenkungspotentialen abzielen.

Tong, L & Luo, Q 2011, 'Analytical Approach to Joint Design' in Handbook of Adhesion Technology, Springer Berlin Heidelberg, pp. 597-627.
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Al-Zubaydi, AY 2011, 'Solar air conditioning and refrigeration with absorption chillers technology in Australia–an overview on researches and applications', Journal of Advanced Science and Engineering Research, vol. 1, no. 1, pp. 23-41.
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The air conditioning sector demand for energy has increased incessantly in Australia in the past few years due to global warming and the increase of life standards. This added more loads on the electricity demand and a significant increase in peak demand due to the use of conventional air conditioning systems, in addition to the environmental impact of energy producing from fossil fuels. Nevertheless, to minimise the environmental impact associated with air conditioning/ refrigeration system operation it is logical to evaluate the alternative options for energy sources and/or refrigerant systems. The solar assisted air conditioning /refrigeration system is presented as an attractive substance utilise the free, clean and sustainable solar energy. In this study, an overview of the different solar assisted air conditioning technologies available and their applications with a brief literature of the current related research and study in Australia, the review cover the solar thermal assisted cooling system (Absorption, Adsorption, Ejector systems, Desiccant cooling, thermo-mechanical) and the Solar electric cooling technology. From the study, the Solar cooling system applied Absorption chillers present as the most promising technology available.

BLAMIRES, SJ 2011, 'Nutritional implications for sexual cannibalism in a sexually dimorphic orb web spider', Austral Ecology, vol. 36, no. 4, pp. 389-394.
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AbstractModels predicting mechanisms driving sexual cannibalism in spiders with sexual size dimorphism (SSD) often assume that spiders use post‐copulatory food to channel nutrients into eggs and fecundity is altered through changes in clutch size or egg mass. I tested these assumptions using an orb web spider with extreme SSD,Argiope keyserlingi. I fed mated female spiders prey of either high protein‐low energy or low protein‐high energy composition. I measured egg energy density; a measure of the relative volumes of yolk and albumen. I predicted that ifA. keyserlingiincrease their egg energy density upon feeding on prey of a specific nutrient composition, they could enhance their fecundity by investing in more energy dense eggs. However, if the egg energy densities are dissimilar to their post‐copulatory prey they must be drawing energy from their somatic reserves to invest in eggs. In a further experiment I allowed female spiders to mate with and cannibalize males to determine if cannibalism induces similar effects on egg energy density. Male spider protein energy ratio was measured and found to resemble the high protein‐low energy prey. I found disagreement between the composition of post‐copulatory food and eggs in both experiments. Additionally, spiders fed high protein‐low energy prey lost weight indicating that they draw on their energy reserves to invest in eggs. I thus concluded that spiders that feed on high protein‐low energy prey or on males increase their egg energy density and, possibly, fecundity. However, the nutrient content of the prey or males cannot provide for investment in eggs. The energy invested in eggs is drawn from somatic reserves, probably induced by an as yet undescribed physiological trigger.

Blamires, SJ, Chao, Y-C, Liao, C-P & Tso, I-M 2011, 'Multiple prey cues induce foraging flexibility in a trap-building predator', Animal Behaviour, vol. 81, no. 5, pp. 955-961.
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Bohnen, F, Maschek, T & Deuse, J 2011, 'Leveling of low volume and high mix production based on a Group Technology approach', CIRP Journal of Manufacturing Science and Technology, vol. 4, no. 3, pp. 247-251.
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Application of conventional leveling approaches in industry is constrained by the requested product diversity. Therefore, leveling is predominantly used in high volume production. However, it can be utilized in low volume and high mix production by means of an adapted leveling approach presented in this paper. This approach primarily uses clustering techniques to group product types into families. After that, a family-based leveling pattern is generated. The paper focuses on the formation of product families for leveling and describes in detail the usage of a so-called desirability index for cluster validation. It also provides an example of actual application. © 2011.

Bücker, D & Deuse, J 2011, 'Konzept zur energieeffizienten Sequenzierung der Wärmebehandlung', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 9, pp. 606-609.
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Kurzfassung Die Produktionsplanung und -steuerung stellt Verfahren zur Lösung von Sequenzierungsproblemen hinsichtlich klassischer Produktionsziele, wie z.B. Durchlaufzeit und Kosten, zur Verfügung. Um den Anforderungen einer energieeffizienten und verschwendungsarmen Produktion zu begegnen, wird am Lehrstuhl für Arbeits- und Produktionssysteme ein Konzept zur energieeffizienten Sequenzierung unter Berücksichtigung klassischer Produktionsziele erstellt, dessen Systematik in diesem Beitrag vorgestellt wird.

Byun, KY, Fleming, P, Bennett, N, Gity, F, McNally, P, Morris, M, Ferain, I & Colinge, C 2011, 'Comprehensive investigation of Ge–Si bonded interfaces using oxygen radical activation', Journal of Applied Physics, vol. 109, no. 12, pp. 123529-123529.
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In this work, we investigate the directly bonded germanium-silicon interfaces to facilitate the development of high quality germanium silicon hetero integration at the wafer scale. X-ray photoelectron spectroscopy data is presented which provides the chemical composition of the germanium surfaces as a function of the hydrophilic bonding reaction at the interface. The bonding process induced long range deformation is detected by synchrotron x-ray topography. The hetero-interface is characterized by measuring forward and reverse current, and by high resolution transmission electron microscopy.

Choudhary, N, Bagga, R, Raveendran, A, Saha, SC & Dhaliwal, LK 2011, 'Second trimester abortion in women with and without previous uterine scar: Eleven years experience from a developing country', The European Journal of Contraception & Reproductive Health Care, vol. 16, no. 5, pp. 378-386.
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Deuse, J, Bohnen, F & Indra, M 2011, 'Pull-oriented precision strip manufacturing', Stahl und Eisen, vol. 131, no. 1, pp. 59-61.
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Nowadays, realizing rationalization of workflow is an essential competitive factor in the steel industry as well as in other industries. Due to this, principles of lean production gain in importance. This article describes the development of a concept of production control at ThyssenKrupp Nirosta Präzisionsband GmbH which focuses on these principles.

Deuse, J, Bohnen, F & Konrad, B 2011, 'Renaissance der Gruppentechnologie', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 5, pp. 337-341.
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Kurzfassung Obwohl die Gruppentechnologie mit der Motivation entwickelt wurde, in der variantenreichen Kleinserie positive Skaleneffekte zu erzielen, ist sie auch in Zeiten der „Lean Production” von hoher Relevanz. Die Autoren zeigen in diesem Beitrag anhand von Praxisbeispielen und aktuellen Forschungsvorhaben, wie Verfahren der Gruppentechnologie eingesetzt werden, um die Ziele schlanker Produktionssysteme, wie die Reduktion von Verschwendung oder Komplexität, durch Variantenbeherrschung zu erreichen.

Deuse, J, Eigner, M, Erohin, O, Krebs, M, Schallow, J & Schäfer, PD 2011, 'Intelligente Nutzung von implizitem Planungswissen der Digitalen Fabrik', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 6, pp. 433-437.
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Kurzfassung Produzierende Unternehmen setzen zunehmend digitale Planungswerkzeuge in der Produktentstehung ein, um die Produkt-sowie Prozesskomplexität zu beherrschen und auf stetig wachsenden Kosten- und Zeitdruck zu reagieren. In diesem Beitrag sollen ausgehend von dem aktuellen Handlungsbedarf zukünftige Entwicklungspotenziale der digitalen Planungsunterstützung vor dem Hintergrund des Product Lifecycle Management aufgezeigt werden. Hierzu werden Ansätze zur intelligenten Nutzung von implizitem Planungswissen der Digitalen Fabrik am Beispiel von Zeitdaten skizziert.

Douglas, C, Fildes, B & Gibson, T 2011, 'Modeling Occupants in Far-Side Impacts', Traffic Injury Prevention, vol. 12, no. 5, pp. 508-517.
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Far-side impacts are not part of any regulated NCAP, FMVSS, or similar test regime despite accounting for 43 percent of the seriously injured persons and 30 percent of the harm in U.S. side impact crashes. Furthermore, injuries to the head and thorax account for over half of the serious injuries sustained by occupants in far-side crashes. Despite this, there is no regulated or well-accepted anthropomorphic test device (ATD) or computer model available to investigate far-side impacts. As such, this presents an opportunity to assess a computer model that can be used to measure the effect of varying restraint parameters on occupant biomechanics in far-side impacts. Objective: This study sets out to demonstrate the modified TASS human facet model's (MOTHMO) capabilities in modeling whole-body response in far-side impacts. Method: MOTHMO's dynamic response was compared to that of postmortem human subjects (PMHS), WorldSID, and Thor-NT in a series of far-side sled tests. The advantages, disadvantages, and differences of using MOTHMO compared to ATDs were highlighted and described in terms of model design and instrumentation. Potential applications and improvements for MOTHMO were also recommended. Results: The results showed that MOTHMO is capable of replicating the seat belt-to-shoulder complex interaction, pelvis impacts, head displacement, neck and shoulder belt loading from inboard mounted belts, and impacts from multiple directions. Overall, the model performed better than Thor-NT and at least as well as WorldSID when compared to PMHS results. Though WorldSID and Thor-NT ATDs were capable of reproducing many of these impact loads, measuring the seat belt-to-shoulder complex interaction and thoracic deflection at multiple sites and directions was less accurately handled. Conclusion: This study demonstrated that MOTHMO is capable of modeling whole-body response in far-side impacts. Furthermore, MOTHMO can be used as a virtual design tool to explore the effect of var...

Droste, M, Steffen, M, Stausberg, JR & Deuse, J 2011, 'Benchmark zur schlanken Produktion in Unternehmensnetzwerken', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 12, pp. 944-948.
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Kurzfassung Benchmarking ist eine geeignete Methode, um den Umsetzungsgrad verschwendungsarmer Produktionsprozesse zu ermitteln. Hierfür sind Vertrauen und Transparenz unter den Teilnehmern wichtige Erfolgskriterien, da nur ein offener Austausch über Erfolge und Misserfolge einen Lernprozess ermöglichen. Einen solchen Rahmen bietet das Netzwerk Industrie RuhrOst (NIRO) e.V. Mit den Produktionsbetrieben werden Prozessaudits und Benchmark-Reisen innerhalb des Netzwerks durchgeführt. Der anschließende Erfahrungsaustausch fördert bilaterale Kooperationen und stärkt langfristig die Innovationsfähigkeit.

Eager, DM 2011, 'Playground equipment - certification and compliance', Education Matters, vol. Primary, pp. 32-34.

Gainder, S, Raveendran, A, Bagga, R, Saha, SC, Dhaliwal, LK & Bhansali, AK 2011, 'Phaeochromocytoma in pregnancy can mimic severe hypertensive disorders', Journal of Obstetrics and Gynaecology, vol. 31, no. 6, pp. 539-541.
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Hartung, J, Schallow, J, Deuse, J & Eerstl, H 2011, 'Effiziente PDM-Unterstützung durch Prozessstandards', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 11, pp. 817-821.
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Hartung, J, Schallow, J, Deuse, J & Ferstl, H 2011, 'Effiziente PDM-Unterstützung durch Prozessstandards', ZWF Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 11, pp. 817-821.
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A continuous and integrated data and process management in today's digital production planning represents a key success factor. Various continuous digital planning companies make use of ready-made IT-tools to support their planning processes. These IT-tools frequently define by their functionality the framework conditions of the planning processes. This article presents an industry-neutral "best practice" approach for the Integration of production planning processes. © Carl Hanser Verlag, München.

Jiang, ZY, Wang, SJ, Wei, DB, Li, HJ, Xie, HB, Wang, XD & Zhang, XM 2011, 'Study on Surface Roughness Muring Metal Manufacturing Process', Advanced Materials Research, vol. 325, pp. 731-736.
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In the paper, a crystal plasticity finite element method (CPFEM) model was developed based on ABAQUS to analyse the surface roughness transfer during metal manufacturing. The simulation result shows a good agreement with the experimental result in the flattening of surface asperity, and the surface roughness decreases significantly with an increase of reduction with considering friction effect. Lubrication can delay surface asperity flattening. The effect of surface roughness on produced metal defect (crack) was also studied, and the surface roughness affects the crack initiation significantly in cold strip rolling. In addition, the surface roughness variation along the metal plate width contributes to stress distribution and then inhibition of crack nucleation.

Jiang, ZY, Wei, DB, Tieu, K, Huang, JX, Zhang, AW, Shi, X & Jiao, SH 2011, 'Study on Oxidation of Stainless Steels During Hot Rolling', International Journal of Manufacturing, Materials, and Mechanical Engineering, vol. 1, no. 1, pp. 31-42.
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The oxidation of stainless steels 304 and 304L during hot rolling is studied in this paper. Results show the oxide scale thickness decreases significantly with an increase of reduction, and the oxide scales of both 304 and 304L stainless steels were found more deformable than the steel substrate. Surface roughness shows a complicated transfer during the hot rolling process due to the complexity of oxide scale characteristics. Also, surface roughness decreases with an increase of reduction. The friction coefficient increases with reduction in all cases, and the increase is more significant in the case of the 304 stainless steel than that of 304L stainless steel.

Keepanasseril, A, Saha, SC, Bagga, R, Vyas, S & Dhaliwal, LK 2011, 'Uterovaginal anastomosis for the management of congenital atresia of the uterine cervix', Gynecological Surgery, vol. 8, no. 2, pp. 161-164.
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Khazraei, K & Deuse, J 2011, 'A strategic standpoint on maintenance taxonomy', Journal of Facilities Management, vol. 9, no. 2, pp. 96-113.
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PurposeMaintenance, an essential element of facilities management and a fundamental requisite for increasing availability and sustaining stable processes, has been the focus of technical research for decades. However, there has not been a concrete and well‐structured classification of different maintenance types that is accepted globally. The need for such a widely acceptable classification is the main incentive to delve into and create a new maintenance taxonomy. This paper aims to address this issue.Design/methodology/approachThe paper gathers and reviews several examples of maintenance classifications and viewpoints from different geographical regions in the world. Afterwards, it integrates various maintenance‐related terms and terminologies with the authors' systematic‐thinking approach, systems thinking, based on which strategic thinking is formed. Consequently, this combination results in a globally acceptable systematic classification of maintenance.FindingsThe outcome of this scientific endeavour is a newly developed maintenance taxonomy, which is established according to the correct and clear‐cut use of the terminologies of strategy, policy and tactic, which correspondingly connote the art and science of what, the plan and guideline of how, and the style and methodology of how.Practical implicationsThis paper provides maintenance and facility stakeholders with a new maintenance taxonomy based on the available terminologies and practices taking into account the conception of strategy science. Such a classification cannot only ease the technical communication in this sector but also be accepte...

Khushaba, RN, Kodagoda, S, Lal, S & Dissanayake, G 2011, 'Driver Drowsiness Classification Using Fuzzy Wavelet-Packet-Based Feature-Extraction Algorithm', IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, vol. 58, no. 1, pp. 121-131.
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Driver drowsiness and loss of vigilance are a major cause of road accidents. Monitoring physiological signals while driving provides the possibility of detecting and warning of drowsiness and fatigue. The aim of this paper is to maximize the amount of drowsiness-related information extracted from a set of electroencephalogram (EEG), electrooculogram (EOG), and electrocardiogram (ECG) signals during a simulation driving test. Specifically, we develop an efficient fuzzy mutual-information (MI)- based wavelet packet transform (FMIWPT) feature-extraction method for classifying the driver drowsiness state into one of predefined drowsiness levels. The proposed method estimates the required MI using a novel approach based on fuzzy memberships providing an accurate-information content-estimation measure. The quality of the extracted features was assessed on datasets collected from 31 drivers on a simulation test. The experimental results proved the significance of FMIWPT in extracting features that highly correlate with the different drowsiness levels achieving a classification accuracy of 95%-97% on an average across all subjects. © 2011 IEEE.

Lorentzen, K, Maschek, T, Richter, R & Deuse, J 2011, 'Entwicklung einer Variabilitätstypologie', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 4, pp. 214-218.
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Kurzfassung Die meisten Unternehmen haben Initiativen zur kontinuierlichen Verbesserung von Produktionsprozessen ins Leben gerufen. Diese verfügen oftmals nur über einen unzureichenden Fokus und verlieren sich in wenig abgestimmten Einzelmaßnahmen. Der vorliegende Artikel leitet die Beherrschung von zeitlicher Variabilität als einen zentralen Fokus kontinuierlicher Verbesserungsprozesse her und beschreibt am Beispiel starr verketteter Fließprozesse eine Variabilitätstypologie als Grundlage für einen zielgerichteten Verbesserungsprozess.

Lu, HN, Gao, XH, Jiang, ZY, Wei, DB & Liu, XH 2011, 'Development of High Strength Hull Plate by Normal Hot Rolling and High Rate Cooling Process', Advanced Materials Research, vol. 148-149, pp. 253-258.
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This paper investigates the effects of normal hot rolling and high rate cooling (NHR+HRC) on microstructure and mechanical properties of the rolled EH 36 hull plate. Double-hit tests were carried out to study the effect of process parameters such as the deformation temperature and soaking time on microstructures of the tested steel, and explore optimal processing parameters. Single-hit compression with various parameters was developed and the microstructures of the tested steel are analyzed to determine the cooling rate and the final cooling temperature of the normal hot rolling and high rate cooling. This study will provide experimental and theoretical base on high-temperature rolling control system. Industrial trial was performed to produce regular products. The results show that the NHR+HRC is an effective and promising method to improve the product quality of high-strength hull plate.

Luo, Q & Tong, L 2011, '3D Model of Coupled Multi-physics Fields for PLZT Ceramics and Its Applications to Photostrictive Plates', Journal of Intelligent Material Systems and Structures, vol. 22, no. 1, pp. 17-30.
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This article investigates an extended 3D model for coupled opto-electro-thermo-mechanical fields in PbLaZrTi (PLZT) ceramics by incorporating the photovoltaic, optothermic, and pyroelectric effects into the existing thermopiezoelectic model. The 3D model is then used to establish novel governing equations for 0-3 polarized orthotropic PLZT plates. Actuating and sensing behaviors of 0-3 polarized PLZT plates subjected to light illumination and mechanical loading are then studied. Stress analysis is conducted for a 0-3 polarized PLZT plate with free boundary conditions. Analytical solution for a simply supported photostrictive plate partially subjected to light illumination is derived. Numerical results for free and simply supported photostrictive plates illuminated by light are calculated using the present formulations and finite element analysis.

Luo, Q & Tong, L 2011, 'Ultraviolet-light-induced multi-physics behaviors of 0–3 polarized transparent PLZT plates: I. Experimental testing', Smart Materials and Structures, vol. 20, no. 11, pp. 115004-115004.
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Luo, Q & Tong, L 2011, 'Ultraviolet-light-induced multi-physics behaviors of 0–3 polarized transparent PLZT plates: II. Finite element analysis and validation', Smart Materials and Structures, vol. 20, no. 11, pp. 115005-115005.
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Luo, Q, Luo, Z & Tong, L 2011, 'A variational principle and finite element formulation for multi-physics PLZT ceramics', Mechanics Research Communications, vol. 38, no. 3, pp. 198-202.
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This research presents an extended variational principle and a finite element formulation for multi-physics analysis of PLZT (lanthanum zirconate titanate) ceramics by including the photovoltaic and optothermic effects. The photo-induced electrical and thermal, and mechanical fields, as well as the heat source effect due to light illumination are all considered in the formulation. A generalized variation approach for advanced multi-physics PLZT problems is developed and then the relevant finite element formulation is established. © 2011 Elsevier Ltd. All rights reserved.

Luo, Z, Luo, Q, Tong, L, Gao, W & Song, C 2011, 'Shape morphing of laminated composite structures with photostrictive actuators via topology optimization', Composite Structures, vol. 93, no. 2, pp. 406-418.
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In this paper, a new design method is presented for achieving remote wireless shape morphing of laminated composite structures using topology optimization methods. A recently emerging family of smart materials, photostrictive materials, is introduced as the actuation discipline to implement the active control of optical structures by utilizing the photostriction mechanism, which arises from the superposition of photovoltaic effect and converse piezoelectric effect when exposed to the illumination of near ultraviolet light. In terms of the Mindlin plate theory of first-order shear deformation, a finite element formulation including multiphysics effects of photovoltaic, pyroelectric and thermal expansion is developed to model composite structures of ferroelectric materials polarized in 0-1 and 0-3 directions, respectively. The design is formulated as a multi-constrained optimization problem with a least square objective function to minimize structural shape errors. The topology optimization method is used as a systematic design approach to seek the optimal topologies of material layouts for both the photostrictive and host layers as well as the actuator light distribution. In terms of design sensitivity analysis, many gradient-based optimization algorithms can be applied to solve the problem effectively. Numerical examples are presented to demonstrate the effectiveness of this method in the field of active photonic control of laminated composite structures. © 2010 Elsevier Ltd.

Maschek, T, Konrad, B, Deuse, J, Hermanns, G, Weber, D & Schreckenberg, M 2011, 'Verkehrsforschung in der Produktionsflussanalyse', ZWF Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 11, pp. 833-837.
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Methods of Statistical physics have been successfully applied in the field of traffic research. Striking structural similarities between traffic and production Systems lead to the idea of combining both approaches. This article presents well-known methods of both research areas. Moreover, the advantages of a new combined approach for production-flow analysis are lined out.

Maschek, T, Konrad, B, Deuse, J, Hermanns, G, Weber, D & Schreckenberg, M 2011, 'Verkehrsforschung in der Produktionsflussanalyse', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 106, no. 11, pp. 833-837.
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Mathew, N, Jiang, Z & Wei, D 2011, 'Analysis of Multi-Layer Sandwich Structures by Finite Element Method', Advanced Science Letters, vol. 4, no. 8, pp. 3243-3248.
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An attempt has been made in optimizing the finite element model based on the non-linear explicit finite element LS-DYNA code to analyse the structural response of a multi-layer thin-walled sandwich structure with square core cells. Virtual testing of impact response is an efficient way to investigate the structural behaviour of sandwich structures. The developed simulation models assist in creating an efficient parametric study. This paper focuses on the structural deformation and the variation of the folding mechanism observed in the different cell structures. The energy absorption of the structures is also discussed in relation to the parametric study with the variation of the number of cells and layers. This study can hence provide a model of the structural deformation response and the energy absorption capability of a multi-layer sandwich structure. The developed models consider a complete mechanical characterisation of cellular Gore structures, and as well as the detailed cell wall deformation patterns, failure modes and the effect of multiple layers on the energy absorption capability to obtain a better understanding of the deformation behaviours of the structure, which is difficult using solely experimental observations.

Meng, X, Wang, S, Qiu, J, Zhang, Q, Zhu, JG, Guo, Y & Liu, D 2011, 'Robust Multilevel Optimization of PMSM Using Design for Six Sigma', IEEE Transactions on Magnetics, vol. 47, no. 10, pp. 3248-3251.
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In this paper, a robust optimization method based on design for six sigma (DFSS) is combined to the optimization of a surface mounted permanent synchronous machine (PMSM) by using multilevel genetic algorithm (MLGA). First, MLGA and DFSS are introduced in the robust optimization. Second, by taking into account the tolerances of the motor products, important input parameters could be varied with six sigma distribution and Monte Carlo simulation (MCS) method is used to reduce the calculation cost. Third, to verify the new algorithm, the presented algorithm is applied to the optimization of a PMSM. The results compared with those of traditional GA and MLGA and the discussion of the robust optimization combined with MLGA are presented. © 2011 IEEE.

Molla, MM, Saha, SC & Hossain, MA 2011, 'Radiation effect on free convection laminar flow along a vertical flat plate with streamwise sinusoidal surface temperature', MATHEMATICAL AND COMPUTER MODELLING, vol. 53, no. 5-6, pp. 1310-1319.
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Molla, MM, Saha, SC, Khan, MAI & Hossain, MA 2011, 'Radiation effects on natural convection laminar flow from a horizontal circular cylinder', Desalination and Water Treatment, vol. 30, no. 1-3, pp. 89-97.
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Oberst, S & Lai, JCS 2011, 'Chaos in brake squeal noise', Journal of Sound and Vibration, vol. 330, no. 5, pp. 955-975.
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Oberst, S & Lai, JCS 2011, 'Statistical analysis of brake squeal noise', Journal of Sound and Vibration, vol. 330, no. 12, pp. 2978-2994.
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Paul, G, Webb, S, Liu, D & Dissanayake, G 2011, 'Autonomous robot manipulator-based exploration and mapping system for bridge maintenance', ROBOTICS AND AUTONOMOUS SYSTEMS, vol. 59, no. 7-8, pp. 543-554.
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This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an unknown, 3D complex steel bridge structure using a 6 degree-of-freedom anthropomorphic robot manipulator instrumented with a laser range scanner. The proposed algorithm considers the trade-off between the predicted environment information gain available from a sensing viewpoint and the manipulator joint angle changes required to position a sensor at that viewpoint, and then obtains collision-free paths through safe, previously explored regions. Information gathered from multiple viewpoints is fused to achieve a detailed 3D map. Experimental results show that the AXBAM system explores and builds quality maps of complex unknown regions in a consistent and timely manner. © 2011 Elsevier B.V. All rights reserved.

Saha, SC 2011, 'Scaling of free convection heat transfer in a triangular cavity for Pr> 1', Energy and Buildings, vol. 43, no. 10, pp. 2908-2917.
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Saha, SC 2011, 'Unsteady natural convection in a triangular enclosure under isothermal heating', Energy and Buildings, vol. 43, no. 2-3, pp. 695-703.
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Saha, SC & Gu, YT 2011, 'Free convection in a triangular enclosure with fluid-saturated porous medium and internal heat generation', ANZIAM Journal, vol. 52, pp. 127-127.
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Saha, SC & Gu, YT 2011, 'Natural convection in a triangular enclosure due to non-uniform cooling on top', ANZIAM Journal, vol. 52, pp. 53-53.
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Saha, SC & Gu, YT 2011, 'Prandtl number scaling of natural convection of an inclined flat plate due to uniform surface heat flux', ANZIAM Journal, vol. 53, pp. 387-387.
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Saha, SC & Gu, YT 2011, 'Prandtl number scaling of natural convection of the flow on a heated inclined at plate', ANZIAM Journal, vol. 53, no. SUPPL.
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A new scaling analysis has been performed for the unsteady natural convection boundary layer under a downward facing inclined plate with uniform heat flux. The development of the thermal or viscous boundary layers is classified into three distinct stages including an early stage, a transitional stage and a steady stage, which is clearly identified in the analytical as well as in numerical results. Earlier scaling shows that the existing scaling laws of the boundary layer thickness, velocity and steady state time scales for the natural convection flow on a heated plate of uniform heat flux provide a very poor prediction of the Prandtl number dependency. However, those scalings performed very well with Rayleigh number and aspect ratio dependency. In this study, a modified Prandtl number scaling is developed using a triple-layer integral approach for Prandtl number larger than unity. In comparison to the direct numerical simulations, the new scaling performs considerably better than the previous scaling. © Austral. Mathematical Soc. 2012.

Saha, SC & Khan, MMK 2011, 'A review of natural convection and heat transfer in attic-shaped space', Energy and Buildings, vol. 43, no. 10, pp. 2564-2571.
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Saha, SC, Patterson, JC & Lei, C 2011, 'Scaling of Natural Convection of an Inclined Flat Plate: Sudden Cooling Condition', Journal of Heat Transfer, vol. 133, no. 4.
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The natural convection boundary layer adjacent to an inclined plate subject to sudden cooling boundary condition has been studied. It is found that the cold boundary layer adjacent to the plate is potentially unstable to Rayleigh–Bénard instability if the Rayleigh number exceeds a certain critical value. A scaling relation for the onset of instability of the boundary layer is achieved. The scaling relations have been developed by equating important terms of the governing equations based on the development of the boundary layer with time. The flow adjacent to the plate can be classified broadly into a conductive, a stable convective, or an unstable convective regime determined by the Rayleigh number. Proper scales have been established to quantify the flow properties in each of these flow regimes. An appropriate identification of the time when the instability may set in is discussed. A numerical verification of the time for the onset of instability is also presented in this study. Different flow regimes based on the stability of the boundary layer have been discussed with numerical results.

Saha, SC, Xu, F & Mamun Molla, M 2011, 'Scaling Analysis of the Unsteady Natural Convection Boundary Layer Adjacent to an Inclined Plate for Pr > 1 Following Instantaneous Heating', Journal of Heat Transfer, vol. 133, no. 11.
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The unsteady natural convection boundary layer adjacent to an instantaneously heated inclined plate is investigated using an improved scaling analysis and direct numerical simulations. The development of the unsteady natural convection boundary layer following instantaneous heating may be classified into three distinct stages including a start-up stage, a transitional stage, and a steady state stage, which can be clearly identified in the analytical and numerical results. Major scaling relations of the velocity and thicknesses and the flow development time of the natural convection boundary layer are obtained using triple-layer integral solutions and verified by direct numerical simulations over a wide range of flow parameters.

Tseng, H-J, Cheng, R-C, Wu, S-H, Blamires, SJ & Tso, I-M 2011, 'Trap barricading and decorating by a well-armored sit-and-wait predator: extra protection or prey attraction?', Behavioral Ecology and Sociobiology, vol. 65, no. 12, pp. 2351-2359.
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Vidal-Calleja, TA, Berger, C, Solà, J & Lacroix, S 2011, 'Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain', Robotics and Autonomous Systems, vol. 59, no. 9, pp. 654-674.
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This paper addresses the cooperative localization and visual mapping problem with multiple heterogeneous robots. The approach is designed to deal with the challenging large semi-structured outdoors environments in which aerial/ground ensembles are to evolve. We propose the use of heterogeneous visual landmarks, points and line segments, to achieve effective cooperation in such environments. A large-scale SLAM algorithm is generalized to handle multiple robots, in which a global graph maintains the relative relationships between a series of local sub-maps built by the different robots. The key issue when dealing with multiple robots is to find the link between them, and to integrate these relations to maintain the overall geometric consistency; the events that introduce these links on the global graph are described in detail. Monocular cameras are considered as the primary extereoceptive sensor. In order to achieve the undelayed initialization required by the bearing-only observations, the well-known inverse-depth parametrization is adopted to estimate 3D points. Similarly, to estimate 3D line segments, we present a novel parametrization based on anchored Plcker coordinates, to which extensible endpoints are added. Extensive simulations show the proposed developments, and the overall approach is illustrated using real-data taken with a helicopter and a ground rover. © 2011 Elsevier B.V. All rights reserved.

Yuan, S, Skinner, BT, Huang, S, Liu, DK, Dissanayake, G, Lau, H & Pagac, D 2011, 'A job grouping approach for planning container transfers at automated seaport container terminals', ADVANCED ENGINEERING INFORMATICS, vol. 25, no. 3, pp. 413-426.
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This paper proposes a practical job grouping approach, which aims to enhance the time related performance metrics of container transfers in the Patrick AutoStrad container terminal, located in Brisbane, Australia. It first formulates a mathematical model of the automated container transfers in a relatively complex environment. Apart from the consideration on collision avoidance of a fleet of large vehicles in a confined area, it also deals with many other difficult practical challenges such as the presence of multiple levels of container stacking and sequencing, variable container orientations, and vehicular dynamics that require finite acceleration and deceleration times. The proposed job grouping approach aims to improve the makespan of the schedule for yard jobs, while reducing straddle carrier waiting time by grouping jobs using a guiding function. The performance of the current sequential job allocation method and the proposed job grouping approach are evaluated and compared statistically using a pooled t-test for 30 randomly generated yard configurations. The experimental results show that the job grouping approach can effectively improve the schedule makespan and reduce the total straddle carrier waiting time. © 2011 Elsevier Ltd. All rights reserved.

Zhang, A, Jiang, Z, Jiao, S & Wei, D 2011, 'Microstructure and adherence of vitreous enamel to low carbon steel', International Journal of Surface Science and Engineering, vol. 5, no. 5/6, pp. 369-369.
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The microstructure and adherence of vitreous enamel to low carbon steel substrate with different compositions were evaluated by using optical microscopy, scanning electron microscopy and the bending test method. The condition of the bubbles, the fish-scaling resistance, and the adherence strength were also analysed by microscopic methods. The results show that the microstructures of the enamel layers are similar for the two steels, while the addition of titanium and vanadium to the steel degrades the adherence. The mechanism of enamel-steel interface adherence could be explained as mainly mechanical interlocking, chemical bonding subsequent to a series of chemical reactions. Fe-rich dendrites can only be found in the bubbles located inside the interface transit zone.

Zhang, AW, Jiao, SH, Jiang, ZY, Sun, QS & Wei, DB 2011, 'The Influence of Enamel Firing Process on Microstructure and Mechanical Properties of Steel Substrate', Advanced Materials Research, vol. 194-196, pp. 144-149.
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The as-rolled and enamel fired microstructure and mechanical properties of two low carbon steels with different compositions were analysed in the paper. The results show that the grains do not coarsen in lab firing process, and could be refined after industrial enamel firing process. The strength can keep stable in the firing process and the impact energy could be enhanced greatly under the industrial enamel firing process. The surface decarburized layer was occurred as a result of chemical reaction among the carbon in steel and water, oxides in the enamel frit.

Zhang, XM, Jiang, ZY, Wei, DB, Liu, XH & Wang, GD 2011, 'Finite Element Modeling of Casting Roll during Twin-Roll Strip Casting', Advanced Materials Research, vol. 145, pp. 287-292.
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In twin-roll thin strip casting, the temperature distribution of casting roll affects the roll thermal stress, and influences the thermal deformation, the generation of roll surface cracks, the strip shape, and the service life of casting roll. In this paper, the temperature distributions of casting roll have been analysed, the effects of the roll sleeve thickness on the temperature field and thermal stress of casting roll have been simulated and discussed. The developed temperature model of casting roll is helpful in optimising the processing parameters and the design of casting roll during twin-roll thin strip casting.

Abeywardena, D, Kodagoda, S, Munasinghe, R & Dissanayake, G 1970, 'A virtual odometer for a Quadrotor Micro Aerial Vehicle', Proceedings of the 2011 Australasian Conference on Robotics and Automation, Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Monash University, Melbourne, pp. 1-8.
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This paper describes the synthesis and evaluation of a 'virtual odometer' for a Quadrotor Micro Aerial Vehicle. Availability of a velocity estimate has the potential to enhance the accuracy of mapping, estimation and control algorithms used with quadrotors, increasing the effectiveness of their applications. As a result of the unique dynamic characteristics of the quadrotor, a dual axis accelerometer mounted parallel to the propeller plane provides measurements that are directly proportional to vehicle velocities in that plane. Exploiting this insight, we encapsulate quadrotor dynamic equations which relate acceleration, attitude and the aerodynamic propeller drag in an extended Kalman filter framework for the purpose of state estimation. The result is a drift free estimation of lateral and longitudinal components of translational velocity and roll and pitch components of attitude of the quadrotor. Real world data sets gathered from two different quadrotor platforms, together with ground truth data from a Vicon system, are used to evaluate the effectiveness of the proposed algorithm and demonstrate that drift free estimates for the velocity and attitude can be obtained.

Ahmad, A, Huang, S, Wang, JJ & Dissanayake, G 1970, 'A new state vector for range-only SLAM', 2011 Chinese Control and Decision Conference (CCDC), 2011 23rd Chinese Control and Decision Conference (CCDC), IEEE, Mianyang, Sichuan, China, pp. 3404-3409.
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This paper considers the simultaneous localization and mapping (SLAM) problem where the range-only sensor is used. Landmark initialization is a critical issue in range-only SLAM due to the lack of bearing information from the robot to the landmarks. A new state vector is proposed to be used in solving the range-only SLAM. In the new state vector, the landmark position is represented in different ways under different situations. This new representation avoids the need of multiple hypotheses on the landmark positions implemented in most of the existing range-only SLAM algorithms. Simulation and experimental results demonstrate the effectiveness of the new range-only SLAM algorithm using the new state vector within the least squares framework. © 2011 IEEE.

Ahmed Talukder, S & Huynh, P 1970, 'Effects of Number of Stator Blades on the Performance of a Torque Converter', Proceedings of the 2011 ASME International Mechanical Engineering Congress & Exposition, International Mechanical Engineering Congress & Exposition, ASME, Denver, Colorado, USA, pp. 1-5.
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Torque converter (TC) is a totally enclosed hydrodynamic turbomachine, used most often in automobiles for the smooth transfer of power and speed change from the engine to the transmission, and torque magnification. A typical TC has 3 major components: a pump that is attached directly to the TC cover and connected to the engine shaft, a turbine connected to the transmission shaft, and a stator connected to the transmission housing via a one-way clutch and providing guidance for the fluid flow. In this work, effects of the number of stator blades on the performance of a TC are investigated numerically, using a commercial Computational Fluid Dynamics (CFD) software package. The standard k-epsilon turbulence model was used. A Newtonian fluid whose properties correspond to industrial oil was used for the working fluid. The range of speed ratio (between turbine's speed and pump's) of 0.2-0.8 was considered. It was found that as the stator blades' number increases (here from 13 to 19), the TC's efficiency and torque ratio vary significantly, passing through minimum and generally also reaching a maximum.

Binghuang Cai, Shoudong Huang, Dikai Liu, Shuai Yuan, Dissanayake, G, Lau, H & Pagac, D 1970, 'Optimisation model and exact algorithm for autonomous straddle carrier scheduling at automated container terminals', 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE.
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Cai, B, Huang, S, Liu, D, Yuan, S, Dissanayake, G, Lau, H, Pagac, D & IEEE 1970, 'Optimisation Model and Exact Algorithm for Autonomous Straddle Carrier Scheduling at Automated Container Terminals', 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, San Francisco, California, USA, pp. 3686-3693.
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In this paper, an optimisation model based on Pickup and Delivery Problem with Time Windows (PDPTW), and an exact algorithm based on Branch-and-Bound with Column Generation (BBCG), are presented for Autonomous Straddle Carriers Scheduling (ASCS) problem at automated container terminals. The ASCS problem is firstly modeled into a PDPTW, which is formulated as a Binary Integer Programming (BIP) and then solved by Column Generation (CG) in the Branch-and-Bound (BB) framework. The BBCG algorithm is also compared to another two exact algorithms [i.e., Binary integer Programming with Dynamic Programming (BPDP) and Exhaustive Search with Permutation and Combination (ESPC)] for the ASCS problem solving. Based on the map of an actual automated container terminal, simulation results and discussions are presented to demonstrate the effectiveness and efficiency of the presented model and algorithm for autonomous vehicle scheduling. © 2011 IEEE.

Carmichael, MG & Dikai Liu 1970, 'Towards using musculoskeletal models for intelligent control of physically assistive robots', 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Boston, MA, pp. 8162-8165.
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With the increasing number of robots being developed to physically assist humans in tasks such as rehabilitation and assistive living, more intelligent and personalized control systems are desired. In this paper we propose the use of a musculoskeletal model to estimate the strength of the user, from which information can be utilized to improve control schemes in which robots physically assist humans. An optimization model is developed utilizing a musculoskeletal model to estimate human strength in a specified dynamic state. Results of this optimization as well as methods of using it to observe muscle-based weaknesses in task space are presented. Lastly potential methods and problems in incorporating this model into a robot control system are discussed. © 2011 IEEE.

Chotiprayanaku, P, Liu, D & Dissanayake, G 1970, 'An Extended Hand Movement Model for Haptic-Based Remote Operation of Infrastructure Maintenance Robots', 28th International Symposium on Automation and Robotics in Construction (ISARC 2011), 28th International Symposium on Automation and Robotics in Construction, International Association for Automation and Robotics in Construction (IAARC), Seoul, Korea, pp. 1196-1202.
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Chotiprayanakul, P, Liu, D & Paul, G 1970, 'Effect of View Distance and Movement Scale on Haptic-Based Teleoperation of Industrial Robots in Complex Environments', Proceedings of the 28th International Symposium on Automation and Robotics in Construction (ISARC 2011), International Association for Automation and Robotics in Construction (IAARC), Seoul, Korea, pp. 1019-1024.
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Chotiprayanakul, P, Liu, D & Paul, G 1970, 'Effect of View Distance and Movement Scale on Haptic-Based Teleoperation of Industrial Robots in Complex Environments', 28th International Symposium on Automation and Robotics in Construction (ISARC 2011), 28th International Symposium on Automation and Robotics in Construction, International Association for Automation and Robotics in Construction (IAARC), Seoul, Korea, pp. 1019-1024.
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This paper presents the study on the effect of view distance and movement scale on performance of haptic based teleoperation of a sandblasting robot in complex steel bridge maintenance environments. The operational performance, measured by the Index of Performance (IP), is defined based on the speed and the control accuracy of the manipulator. View distance (i.e. the distance between a display space and an object movement space) and movement scale between hand movement and manipulator movement, which are normally selected empirically, have significant effect the performance. In this paper, an experimental approach is used for determining view distance and movement scale. The sandblasting robotic system is used as an example industrial application in the experiments. Results of the experiments show a range of the view distance and the movement scale that can improve the performance of haptic-based teleoperation of industrial robots in complex environments.

Dissanayake, G, Huang, S, Wang, Z & Ranasinghe, R 1970, 'A review of recent developments in Simultaneous Localization and Mapping', 2011 6th International Conference on Industrial and Information Systems, 2011 IEEE 6th International Conference on Industrial and Information Systems (ICIIS), IEEE, Sri Lanka, pp. 477-482.
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Simultaneous Localization and Mapping (SLAM) problem has been an active area of research in robotics for more than a decade. Many fundamental and practical aspects of SLAM have been addressed and some impressive practical solutions have been demonstrated. The aim of this paper is to provide a review of the current state of the research on feature based SLAM, in particular to examine the current understanding of the fundamental properties of the SLAM problem and associated issues with the view to consolidate recent achievements. © 2011 IEEE.

Herath, DC, Chapman, T, Tomkins, A, Elliott, L, David, M, Cooper, A, Burnham, D & Kodagoda, S 1970, 'A study on wearable robotics — Comfort is in the context', 2011 IEEE International Conference on Robotics and Biomimetics, 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, Phuket, Thailand, pp. 2969-2974.
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WITU (Wearable Indoor Tracking Unit) is a wearable robotic device that aids indoor navigation by building maps and localizing the user within them. Applications of such a device include search and rescue, travel aid in large and complex buildings, museum guides among others where external localization information such as from a GPS is not available. However, WITU relies on human intelligence both to maintain long term consistency of its location estimates and to efficiently manage its limited memory and processing capacity. This alludes to a symbiotic relationship between the user and the device and here we look at this symbiotic relationship from an end user perspective. Thus, in order to have a successful interaction, we argue that the user needs to feel comfortable wearing the device while carrying out the intended tasks. We hypothesize that this perceived comfort is dependent on the context in which the device is used. We test our hypothesis on three different scenarios; search and rescue worker, dementia patient in a long care facility and a person at a party which acts as the baseline. Results indicate an important consequence for the development of such wearable robotic systems.

Huynh, BP 1970, 'Numerical Investigation of Slider Bearings With Limited Corrugation and Power-Law Lubricant', Volume 6: Fluids and Thermal Systems; Advances for Process Industries, Parts A and B, ASME 2011 International Mechanical Engineering Congress and Exposition, ASMEDC, pp. 271-275.
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Performance of slider bearings of infinite width but having corrugation of limited extent is investigated numerically, using a commercial Computational Fluid Dynamics (CFD) software package. Lubricant is assumed to be a fluid of power-law type. Over a range of the power-law index, effects of the corrugated section’s location on pressure distribution in the bearing’s fluid film and its load supporting capacity is considered. Load-supporting capacity increases with power-law index n, but saturates when n reaches about 1.7. Ratio of load-supporting capacities between corrugated bearing and smooth-surface bearing varies significantly with respect to n when n < [about 0.8], but stays nearly constant at higher n value. Larger corrugation-wave amplitude enhances the difference in load-supporting capacity between corrugated bearings and the smooth-surface one.

Huynh, P 1970, 'NUMERICAL INVESTIGATION OF SLIDER BEARINGS WITH LIMITED CORRUGATION AND POWER-LAW LUBRICANT', Proceedings of the 2011 ASME International Mechanical Engineering Congress & Exposition, International Mechanical Engineering Congress & Exposition, ASME, Denver, Colorado, USA, pp. 1-5.
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Performance of slider bearings of infinite width but having corrugation of limited extent is investigated numerically, using a commercial Computational Fluid Dynamics (CFD) software package. Lubricant is assumed to be a fluid of power-law type. Over a range of the power-law index, effects of the corrugated section's location on pressure distribution in the bearing's fluid film and its load supporting capacity is considered. Loadsupporting capacity increases with power-law index n, but saturates when n reaches about 1.7. Ratio of load-supporting capacities between corrugated bearing and smooth-surface bearing varies significantly with respect to n when n < [about 0.8], but stays nearly constant at higher n value. Larger corrugation-wave amplitude enhances the difference in loadsupporting capacity between corrugated bearings and the smooth-surface one.

Khushaba, RN, Kodagoda, S, Lal, S & Dissanayake, G 1970, 'Intelligent driver drowsiness detection system using Uncorrelated Fuzzy Locality Preserving Analysis', 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE.
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Khushaba, RN, Kodagoda, S, Lal, S, Dissanayake, G & IEEE 1970, 'Intelligent Driver Drowsiness Detection System Using Uncorrelated Fuzzy Locality Preserving Analysis', 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, San Francisco, USA, pp. 4608-4614.
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One of the leading causes of automobile accidents is related to driving impairment due to drowsiness. A large percentage of these accidents occur due to drivers' unawareness of the degree of impairment. An automatic detection of drowsiness levels could lead to lower accidents and hence lower fatalities. However, the significant fluctuations of the drowsiness state within a short time poses a major challenge in this problem. In response to such a challenge, we present the Uncorrelated Fuzzy Locality Preserving Analysis (UFLPA) feature projection method. The proposed UFLPA utilizes the changes in driver behavior, by means of the corresponding Electroencephalogram (EEG), Electrooculogram (EOG), and Electrocardiogram (ECG) signals to extract a set of features that can highly discriminate between the different drowsiness levels. Unlike existing methods, the proposed UFLPA takes into consideration the fuzzy nature of the input measurements while preserving the local discriminant and manifold structures of the data. Additionally, UFLPA also utilizes Singular Value Decomposition (SVD) to avoid the singularity problem and produce a set of uncorrelated features. Experiments were performed on datasets collected from thirty-one subjects participating in a simulation driving test with practical results indicating the significance of the results achieved by UFLPA of 94%â95% accuracy on average across all subjects.

Khushaba, RN, Kodagoda, S, Liu, D & Dissanayake, G 1970, 'Electromyogram (EMG) based fingers movement recognition using Neighborhood Preserving Analysis with QR-decomposition', 2011 Seventh International Conference on Intelligent Sensors, Sensor Networks and Information Processing, 2011 Seventh International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), IEEE, Adelaide - Australia, pp. 1-6.
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Surface Electromyogram (EMG) signals recorded from an amputee's residual muscles have been investigated as a source of control for prosthetic devices for many years. Despite the extensive research focus on the EMG control of arm and gross hand movements, more dexterous individual and combined prosthetic fingers control has not received the same amount of attention. To facilitate such a control scheme, the first and the most significant step is the extraction of a set of highly discriminative feature set that can well separate between the different fingers movements and to do so in a computationally efficient manner. In this paper, an accurate and efficient feature projection method based on Fuzzy Neighborhood Preserving Analysis (FNPA) with QR-decomposition, is proposed and denoted as FNPA. Unlike existing attempts in fuzzy linear discriminant analysis, the objective of the proposed FNPA is to minimize the distance between samples that belong to the same class and maximize the distance between the centers of different classes, while taking into account the contribution of the samples to the different classes. The method also aims to efficiently overcome the singularity problems of classical LDA and Fuzzy LDA. The proposed FNPA is validated on EMG datasets collected from nine subjects performing 10 classes of individual and combined fingers movements. Practical results indicate the significance of FNPA in comparison to many other feature projection methods with an average accuracy of 91%, using only two EMG electrodes. © 2011 IEEE.

Khushaba, RN, Kodagoda, S, Liu, D & Dissanayake, G 1970, 'Electromyogram (EMG) based fingers movement recognition using neighborhood preserving analysis with QR-decomposition', 2011 Seventh International Conference on Intelligent Sensors, Sensor Networks and Information Processing, 2011 Seventh International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), IEEE.
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King, EA, Parnell, J & O'Malley, VP 1970, 'The assessment and control of road traffic noise: A comparison between Irish and Australian policy', Proceedings of the Institute of Acoustics, pp. 1105-1112.
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To address the problem of environmental noise, the European Commission issued Directive 2002/49/EC which requires relevant authorities to prepare strategic noise maps and action plans. While the Directive has had a significant impact on EU Member States, outside of Europe it has had no discernable impact. This paper presents a review of the approach adapted in Ireland to the management of road traffic noise and compares it to current practices in Australia; with particular emphasis on New South Wales, i.e. we compare the approaches on an EU Member State (Ireland) with a non-EU State (Australia). In Ireland, the National Roads Authority (NRA) has been defined as a noise mapping body charged with the responsibility of preparing strategic noise maps for the national road network in accordance with the Directive. Subsequent to the transposition of the Directive, the NRA issued guidelines on the treatment of noise for national road schemes in 2004. In Australia, the NSW Office of Environment and Heritage (OEH) recently released its updated Road Noise Policy document outlining a policy for acceptable road traffic noise limits. This paper summarizes the strategies adopted by both jurisdictions and lessons learnt from each approach are explored, leading to suggestions for potential improvements to the current noise assessment and control strategies of both States.

Kirchner, N, Alempijevic, A & Dissanayake, G 1970, 'Nonverbal robot-group interaction using an imitated gaze cue', Proceedings of the 6th international conference on Human-robot interaction, HRI'11: International Conference on Human-Robot Interaction, ACM, Lausanne, Switzerland, pp. 497-504.
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Ensuring that a particular and unsuspecting member of a group is the recipient of a salient-item hand-over is a complicated interaction. The robot must effectively, expediently and reliably communicate its intentions to advert any tendency within the group towards antinormative behaviour. In this paper, we study how a robot can establish the participant roles of such an interaction using imitated social and contextual cues. We designed two gaze cues, the first was designed to discourage antinormative behaviour through individualising a particular member of the group and the other to the contrary. We designed and conducted a feld experiment (456 participants in 64 trials) in which small groups of people (between 3 and 20 people) assembled in front of the robot, which then attempted to pass a salient object to a particular group member by presenting a physical cue, followed by one of two variations of a gaze cue. Our re-sults showed that presenting the individualising cue had a significant (z=3.733, p=0.0002 ) effect on the robot's ability to ensure that an arbitrary group member did not take the salient object and that the selected participant did.

Lammers, T, Grussenmeyer, R & Kersten, W 1970, 'Complexity Management in Distribution Networks – Reviewing Current Approaches', Poznan University of Technology, Poland, pp. 9-25.

Li, H, Jiang, Z, Wei, D & Han, J 1970, 'Crystal plasticity finite element modelling of surface roughness and texture of metals', Proceedings of the 10th International Conference on Technology of Plasticity, ICTP 2011, International Conference on Technology of Plasticity, Aachen, Germany, pp. 906-911.
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A crystal plasticity finite element method (CPFEM) model was developed to analyse the surface roughness transfer and texture of metals during metal forming. In order to investigate the crystal slip mechanism and influence of different polycrystalline models (Taylor-type model and finite element polycrystalline model) on finite element modelling, the uniaxial compression of FCC pure aluminium was carried out in laboratory, and the Taylor-type and finite element polycrystalline models are separately employed in the finite element software ABAQUS to simulate the development of the deformation texture by rate dependent crystal constitutive equations during three different deformation modes (free compression, uniaxial planar compression and uniaxial tensile). The results obtained from the three different deformation modes show the same tendency that, with an increase of strain, the silk texture tends to be stronger and sharper. Both Taylor-type and finite element models can predict the tendency and silk texture. The simulation result is in good agreement with the experimental result in the surface asperity flattening process, and with an increase of reduction, the surface roughness tends to decrease significantly, lubrication can hinder the surface asperity flattening process effectively. © 2011 IBF (RWTH Aachen) & IUL (TU Dortmund).

Li, HC, Jiang, ZY, Tieu, AK, Sun, WH & Wei, DB 1970, 'Experimental study on wear and friction of work roll material with 4% Cr and added Ti in cold rolling', Wear, 18th International Conference on Wear of Materials (WOM), Elsevier BV, Philadelphia, PA, pp. 2500-2511.
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Cold rolling is one of the most essential elements in the manufacture of flat products of metals. Work roll wear is always a topic of interest to many researchers. In this paper, the disc-to-disc tests of the material with 4% Cr and that with 4% Cr + Ti were carried out respectively under the conditions of dry contact and emulsion lubricant of 3.9% Quakerol N680-2-DPD. The wear and friction patterns were discussed by correlating the disc surface morphologies and the microstructures of both materials. The surface roughness of the disk of the material with 4% Cr + Ti deteriorates much slower than that with 4% Cr under the condition of lubrication. The material with 4% Cr + Ti is characterised as carbonitrades precipitated in a fine tempered martensite matrix while coarse carbides (M(7)C(3)) exist in the material with 4% Cr. The disk of the material with 4% Cr + Ti wears differently to that with 4% Cr. Delamination may become an important wear mechanism earlier in the case of 4% Cr than that of 4% Cr + Ti. Micro spalling and pitting occur after 120 min of wear in the case of 4% Cr, but not in the case of 4% Cr + Ti until 330 min. Detached carbides are responsible for the abrasive wear on both discs at the late stage. Ti alters the friction pattern due to surface regeneration that resulted from the abrasive effect of carbonitrades. Generally, the wear-resistance of roll material may be improved by 175% by introducing added Ti. The outcome is beneficial for developing new materials for prolonging the service life of the cold work roll. (C) 2011 Elsevier B.V. All rights reserved.

Li, HJ, Jiang, ZY, Wei, DB, Han, JT & Tieu, AK 1970, 'Study on surface asperity flattening during uniaxial planar compression', Wear, 18th International Conference on Wear of Materials (WOM), Elsevier BV, Philadelphia, PA, pp. 1778-1784.
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In order to develop the relationship between surface roughness, friction and texture in the uniaxial planar compression, Al 6061 samples are compressed in a channel-die to conduct plane-strain compression experiments. Molly bond is selected as a lubricant in a group of samples. The other group of samples is compressed without lubrication. The tool is polished smoothly: all the samples are prepared with the same method to retain the same surface roughness. Finite element modelling of the surface asperity flattening is carried out with ABAQUS under the same experimental conditions, original random textures are employed in the two dimensional model. The same surface roughness (R(a)) obtained from the experiment is also employed on the top surface of the sample. The constitutive model and time-integration procedure have been implemented into the implicit finite element code ABAQUS using user material subroutine UMAT. Both the calculated results and the experimental results show a same tendency: the lubrication can constrain the process of surface asperity flattening. When the reduction is less than 10%, the effect of lubrication on surface asperity flattening is not significant. If the reduction is 10-40%, the lubrication plays a satisfactory role during the compression. With an increase of reduction, the lubrication will be damaged, and then the sample compressed with and without lubrication keeps a similar tendency of change. (C) 2011 Elsevier B.V. All rights reserved.

Lin, D & Huynh, P 1970, 'Effects of Guide Vanes in Transition Flow from a Round Pipe to a Rectangular Chamber', Proceedings of the 2011 ASME International Mechanical Engineering Congress & Exposition, International Mechanical Engineering Congress & Exposition, ASME, Denver, Colorado, USA, pp. 1-7.
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In an effort to design a rectangular-box chamber for model testing and flow visualization, to be fitted into an existing horizontal axial-flow pump circuit, shown in Fig.1[1], a computational study has been conducted into the flow of water as it expands from a 400-mm-diameter round pipe into a 3-Drectangular- box configuration. The geometry is asymmetric; the chamber's bottom is aligned with the pipe's bottom, but the pipe's top is expanded into the chamber's top, shown in Fig. 2. A commercial Computational Fluid Dynamics (CFD) software package is used to simulate the isothermal turbulent flow, using the standard K-epsilon turbulence model. The study examines the benefits of the guide vane in reducing the transition region's length and producing the desirable flow pattern in the test chamber.

Liu, M, Huang, S, Dissanayake, G & IEEE 1970, 'Feature Based SLAM Using Laser Sensor Data with Maximized Information Usage', 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE International Conference on Robotics and Automation, IEEE, Shanghai, China, pp. 1811-1816.
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This paper formulates the SLAM problem using 2D laser data as an optimization problem. The environment is modeled as a set of curves and the variables of the optimization problem are the robot poses as well as the parameters describing the curves. There are two key differences between this SLAM formulation and existing SLAM methods. First, the environment is represented by continuous curves instead of point clouds or occupancy grids. Second, all the laser readings, including laser beams which returns its maximum range value, have been included in the objective function. As the objective function to be optimized contains discontinuities, it can not be solved by standard gradient based approaches and thus a Genetic Algorithm (GA) based method is applied. Matching of laser scans acquired from relatively far apart robot poses is achieved by applying GA on top of the Iterative closest point (ICP) algorithm. The new SLAM formulation and the use of a global optimization algorithm successfully avoid the convergence to local minimum for both the scan matching and the SLAM problem. Both simulated and experimental data are used to demonstrate the effectiveness of the proposed techniques. © 2011 IEEE.

Lozano, A, Peters, G & Liu, D 1970, 'Analysis of an Arthropodal System for Design of a Climbing Robot', 28th International Symposium on Automation and Robotics in Construction (ISARC 2011), 28th International Symposium on Automation and Robotics in Construction, International Association for Automation and Robotics in Construction (IAARC), Seoul, Korea, pp. 832-838.
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This paper will discuss research on ant locomotion, especially in climbing adaptability and transversing steel bridge configurations, for the design of a climbing robot for inspection and condition assessment of complex steel bridge structures. Experiments in ant locomotion were performed and captured using high-speed video equipment capable of recording at 1000fps. Analysis of the data found that certain body postures in ants are adopted before proceeding with their intended direction, such as when climbing a vertical obstacle. Information on ant body posture, compliance and movement in climbing will also be presented. Furthermore, the working volumes of ant leg pairs are determined through computer aided analysis, which provides essential data for determining possible ant foot positions for locomotion. Discussions on how the findings can be used in designing a climbing robot is also presented.

LOZANO, A, PETERS, G, LIU, D & WALDRON, K 1970, 'STUDY OF ANT LOCOMOTION IN SURFACE TRANSITIONS FOR CLIMBING ROBOT DESIGN', Field Robotics, Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, WORLD SCIENTIFIC, Paris, France, pp. 174-181.
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Many climbing robots designed based on simple representations of the arthropod body have proven to be able to move on relatively flat surfaces and simple environments. However these robots are not able to navigate in complex environments such as steel bridges. This paper presents experimental studies on ant locomotion, particularly focusing on ant leg gait and posture when traversing a variety of complex surfaces, with the aim of providing climbing robot designers a better understanding of biological ant locomotion through a complex terrain. © 2012 by World Scientific Publishing Co. Pte. Ltd.

Lu, HN, Wei, DB, Jiang, ZY, Manabe, K & Furushima, T 1970, 'Study on size effect in micro cross wedge rolling', Special Edition: 10th International Conference on Technology of Plasticity, ICTP 2011, International Conference on Technology of Plasticity, pp. 962-967.
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This paper introduces a novel microforming process - Micro Cross Wedge Rolling (MCWR) that is very promising in the field of microforming. Numerical simulation has been conducted to Investigate the size effect and dimension accuracy in MCWR. A finite element model of the MCWR process for manufacturing the stepped axisymmetrical microparts using flat wedge tools has been established utilizing AN- SYS/LS-DYNA. The final diameter in the middle part of the workpiece ranges from 0.9 to 0.6 mm. The effect of the geometrical and process parameters such as forming angle α, stretching angle β and reduction ΔA have been studied. The grain sizes of 50, 75 and 100 μm have been considered. The distribution of the stress In the core region relating to the occurring of Internal defects has also been investigated. The effect of grained heterogeneity on the height of surface asperity after rolling Is assessed quantitatively. © 2011 Wiley-VCH Verlag GmbH & Co. KGaA. Weinheim.

Mahmood, F & Huynh, BP 1970, 'Flow About an Oscillating Plate Used to Extract Sea-Wave Energy', Volume 6: Fluids and Thermal Systems; Advances for Process Industries, Parts A and B, ASME 2011 International Mechanical Engineering Congress and Exposition, ASMEDC, pp. 855-861.
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As a sea wave comes to the shore then recedes from it, there is significant energy associated with the movement of the wave’s water. One way to extract this energy is to have the moving water push and pull on an oscillating vane. This work examines numerically the flow and forces associated with such a vane in a typical wave condition, using a commercial Computational Fluid Dynamics (CFD) software package. The vane is a rectangular plate hinged at one edge and oscillating about it. Effects of plates shape on the flow pattern and developed forces are investigated. Changing the plate shapes can results in more energy extraction from the device.

Mahmood, F & Huynh, P 1970, 'Flow About an Oscillating Plate Used to Extract Sea-Wave Energy', Proceedings of the 2011 ASME International Mechanical Engineering Congress & Exposition, International Mechanical Engineering Congress & Exposition, ASME, Denver, Colorado, USA, pp. 1-7.
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As a sea wave comes to the shore then recedes from it, there is significant energy associated with the movement of the wave's water. One way to extract this energy is to have the moving water push and pull on an oscillating vane. This work examines numerically the flow and forces associated with such a vane in a typical wave condition, using a commercial Computational Fluid Dynamics (CFD) software package. The vane is a rectangular plate hinged at one edge and oscillating about it. Effects of plates shape on the flow pattern and developed forces are investigated. Changing the plate shapes can results in more energy extraction from the device.

Manamperi, P, Brooks, PA, Kaluarachchi, W, Peters, G, Ho, A, Lie, S, To, AW, Paul, G, Rushton-Smith, D, Webb, SS, Liu, D & Dissanayake, G 1970, 'Robotic Grit-blasting: Engineering Challenges', Austroads 8th Bridge Conference: Sustainable Bridges: The Thread of Society, Austroads Bridge Conference, 2011 Austroads Bridge Conference (ABC 2011), Sydney, Australia, pp. 321-330.
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Infrastructure shortage and aging are worldwide issues. Australia, in particular, faces unique challenges in maintaining infrastructures such as roadways and bridges. Corrosion is the primary cause of failure in steel bridges, and is minimised by painting the steel structure. Stripping of rust and deteriorated paint by grit-blasting is an effective and practical method. However, grit-blasting operation is extremely labour intensive and hazardous. It is one of the biggest expenditure items in bridge maintenance operations. Robotics technologies can provide effective solutions to assist bridge maintenance workers in grit blasting. Since 2005, the NSW Roads & Traffic Authority (RTA) and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney have been working together in developing a robotic system for assisting bridge maintenance workers, with the ultimate objective of preventing human exposure to hazardous and dangerous dust containing rust, paint particles and lead, relieving human workers from labor intensive tasks, and reducing costs associated with bridge maintenance. A prototype robotic system has been developed and tested in both lab setup and on-site. Many engineering issues have been identified for deploying such a system in the field. This paper will present these issues and discuss the solutions.

Miro, JV, Black, R, De Bruijn, F, Dissanayake, G & IEEE 1970, 'Semi-Autonomous Competency Assessment of Powered Mobility Device Users', 2011 IEEE INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR), IEEE International Conference on Rehabilitation Robotics, IEEE, Zurich, Switzerland, pp. 1-6.
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This paper describes a stand-alone sensor package and algorithms for aiding the assessment by an occupational therapist whether a person has the capacity to safely and effectively operate a powered mobility device such as a walking aid or a wheelchair. The sensor package employed consists of a laser range finder, an RGB camera and an inertial measurement unit that can be attached to any mobility device with minimal modifications. Algorithms for capturing the data received by the sensor package and for generating the map of the environment as well as the trajectory of the mobility device have been developed. Such information presents occupational therapists with the capability to provide a quantitative assessment of whether patients are ready to be safely deployed with mobile aids for their daily activities. Preliminary evaluation of the sensor package and associated algorithms based on experiments, conducted at the premises of the Prince of Wales Hospital in Sydney, are presented. © 2011 IEEE.

Miro, JV, Zhou, W, Dissanayake, G & IEEE 1970, 'A Strategy for Efficient Observation Pruning in Multi-Objective 3D SLAM', 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, San Francisco, CA, USA, pp. 1640-1646.
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An efficient automatic solution to the feature-based simultaneous localisation and mapping (SLAM) of mobile robots operating in conditions where a number of competing objectives operate simultaneously is proposed. The formulation quantitatively measures the merit of incoming data with respect to multiple priorities, automatically adjusting the amount of observations to be used in the estimation process for the best possible combined outcome. The methodology enables a selection mechanism which can efficiently exploit the observations available to the robot to best fulfil the objectives of differing tasks throughout the course of a mission, e.g. localisation, mapping, exploration, feature distribution, searching for specific objects or victims, etc. The work is particularly motivated by navigation in three-dimensional terrains, and an example considering the objectives of robot localisation and map expansion in a search and rescue environment using an RGB-D camera is utilised for discussion and results. © 2011 IEEE.

Musiol, J, Zaeh, MF & Guertler, MR 1970, 'Contribution on modelling the remote ablation cutting', International Congress on Applications of Lasers & Electro-Optics, ICALEO® 2011: 30th International Congress on Laser Materials Processing, Laser Microprocessing and Nanomanufacturing, Laser Institute of America, pp. 369-377.
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Remote Ablation Cutting (RAC) with continuous wave lasers holds a lot of untapped potential for laser material processing. High speed cutting for thin metal sheets and foils as well as box or tube processing without inside spatter contamination are only two benefits. In order to develop RAC further for an industrial application, gaining of a better understanding of the process mechanisms is essential. In this article, main influencing parameters are investigated and a first model to describe the process behaviour is presented. For that purpose different experimental methods like high speed camera observations and longitudinal cross-sections along the cutting kerf were adapted to the special requirements of the RAC. With this article a further step to achieve the goal of a fundamental understanding of the process shall be contributed.

Nguyen, CN & Huynh, P 1970, 'Water Loss by Evaporation From Partially Covered Water Bodies', Proceedings of the 2011 ASME International Mechanical Engineering Congress & Exposition, International Mechanical Engineering Congress & Exposition, ASME, Denver, Colorado, USA, pp. 1-6.
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Fresh water is a very precious commodity in most parts of the world; and mch of it is held in lakes and reservoirs. Yet significant amount of this water is continuously lost due to evaporation, especially during hot seasons. One way to reduce this loss is to cover the water surface. However, due to its often large size, it is not practical to cover it totally. Furthermore, environmental considerations (like access to the water for water birds, not turning the water bodies into 'hot soup', etc.) would render such attempt at total cover very undesirable. Instead, it is proposed here to partially cover these water bodies with floating covers which are of manageable size and easy to manufacture. They are supported by floats and leave an air gap (for environmental reasons) above the water surface. In this work, the covers are of hexagonal shape; and when used they together cover about 60% of the water surface area. Measurements have been conducted in situ of day-time evaporation levels from covered and uncovered water tanks, along with weather data (wind speed and direction, air temperature, solar radiation, and humidity) during a summer season (excluding rainy days) at a Sydney suburb. Results have shown that depending on the weather, reduction of evaporation in the range of 5 - 30% has been achieved with the covers. Results from this work also helps with understanding the evaporation process from lakes and reservoir, and the design of better covers.

Niktash, A & Huynh, P 1970, 'NUMERICAL STUDY OF VENTILATION FLOW THROUGH A TWO DIMENSIONAL ROOM FITTED WITH A WINDCATCHER', Proceedings of the 2011 ASME International Mechanical Engineering Congress & Exposition, International Mechanical Engineering Congress & Exposition, ASME, Denver, Colorado, USA, pp. 1-6.
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A windcatcher is a natural ventilation device fitted on the roof of a building and divided internally into two halves to deliver fresh outside air into the building's interior, and induce the stale air to the outside, working by pressure difference between outside and inside of the building. In this work, air flow through a two-dimensional but real-sized room fitted with a windcatcher is investigated numerically, using a commercial computational fluid dynamics (CFD) software package. The standard K-å turbulence model is used. Flow pattern and flow velocity are considered in terms of the windcatchers location, inlet velocity, the shape of the windcatchers bottom and the length of the windcatchers bottom. It is found that when inlet velocity is not too low, the windcatcher's shape at its bottom strongly affects flow pattern and flow velocity in the room. This leads to a way of improving the windcatcher's effectiveness in ventilating the living area (lower part) of a room.

O'Callaghan, ST, Singh, SPN, Alempijevic, A & Ramos, FT 1970, 'Learning navigational maps by observing human motion patterns', 2011 IEEE International Conference on Robotics and Automation, 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Shanghai, China, pp. 4333-4340.
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Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian positional traces. A continuous probabilistic function is determined using Gaussian process learning and used to infer the direction a robot should take in different parts of the environment. The approach learns and filters noise in the data producing a smooth underlying function that yields more natural movements. Our method combines prior conventional planning strategies with most probable trajectories followed by people in a principled statistical manner, and adapts itself online as more observations become available. The use of learning methods are automatic and require minimal tuning as compared to potential fields or spline function regression. This approach is demonstrated testing in cluttered office and open forum environments using laser and vision sensing modalities. It yields paths that are similar to the expected human behaviour without any a priori knowledge of the environment or explicit programming.

Patel, M, Valls Miro, J & Dissanayake, G 1970, 'Activity recognition from the interactions between an assistive robotic walker and human users', Proceedings of the 6th international conference on Human-robot interaction, HRI'11: International Conference on Human-Robot Interaction, ACM, Lausanne, Switzerland, pp. 221-222.
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Detection of individuals' intention from a sequence of actions is an open and complex problem. In this paper we present a smart walker as mobility aid which can interpret the users' behaviour patterns to recognize their intentions and consequently act as an intelligent assistant. The result of the experiments performed in this paper demonstrates the potential of dynamic bayesian networks (DBN), in relation to their dynamic and unsupervised nature, for realistic human-robot interaction modelling.

Sehestedt, S, Kodagoda, S & Dissanayake, G 1970, 'Robust people tracking and SHMM learning using SHMMs', Proceedings of the 2011 Australasian Conference on Robotics and Automation, Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc., Melbourne, pp. 1-6.
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For effective Human Robot Interaction (HRI), it is necessary for the robot to be aware of its human peers and be able to anticipate and predict their actions. This paper explores an improved strategy for people tracking using Sampled Hidden Markov Models (SHMM) for capturing common human motion patterns. Such an SHMM contains rich information about human spatial behavior and it can be learned online during robot operation. The proposed integration of people tracking and learning offers significant improvements to the outcomes when compared to existing techniques. Real world experiments that demonstrate the viability and effectiveness of the approach are presented.

Shi, L, Kodagoda, S & Ranasinghe, R 1970, 'Fast indoor scene classification using 3D point clouds', Proceedings of the 2011 Australasian Conference on Robotics and Automation, Australasian Conference on Robotics and Automation, The ACRA 2011 Organising Committee, Monash University, Melbourne Australia, pp. 1-7.
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A representation of space that includes both geometric and semantic information enables a robot to perform high-level tasks in complex environments. Identifying and categorizing environments based on onboard sensors are essential in these scenarios. The Kinect™, a 3D low cost sensor is appealing in these scenarios as it can provide rich information. The downside is the presence of large amount of information, which could lead to higher computational complexity. In this paper, we propose a methodology to efficiently classify indoor environments into semantic categories using Kinect™ data. With a fast feature extraction method along with an efficient feature selection algorithm (DEFS) and, support vector machines (SVM) classifier, we could realize a fast scene classification algorithm. Experimental results in an indoor scenario are presented including comparisons with its counterpart of commonly available 2D laser range finder data.

Taha, T, Miro, JV, Dissanayake, G & IEEE 1970, 'A POMDP Framework for Modelling Human Interaction with Assistive Robots', 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE International Conference on Robotics and Automation, IEEE, Shanghai, China, pp. 544-549.
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This paper presents a framework for modelling the interaction between a human operator and a robotic device, that enables the robot to collaborate with the human to jointly accomplish tasks. States of the system are captured in a model based on a partially observable Markov decision process (POMDP). States representing the human operator are motivated by behaviours from the psychology of the human action cycle. Hierarchical nature of these states allows the exploitation of data structures based on algebraic decision diagrams (ADD) to efficiently solve the resulting POMDP. The proposed framework is illustrated using two examples from as-sistive robotics; a robotic wheel chair and an intelligent walking device. Experimental results from trials conducted in an office environment with the wheelchair is used to demonstrate the proposed technique. © 2011 IEEE.

Talukder, SA & Huynh, BP 1970, 'Effects of Number of Stator Blades on the Performance of a Torque Converter', Volume 6: Fluids and Thermal Systems; Advances for Process Industries, Parts A and B, ASME 2011 International Mechanical Engineering Congress and Exposition, ASMEDC, pp. 949-953.
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Torque converter (TC) is a totally enclosed hydrodynamic turbomachine, used most often in automobiles for the smooth transfer of power and speed change from the engine to the transmission, and torque magnification. A typical TC has 3 major components: a pump that is attached directly to the TC cover and connected to the engine shaft, a turbine connected to the transmission shaft, and a stator connected to the transmission housing via a one-way clutch and providing guidance for the fluid flow. In this work, effects of the number of stator blades on the performance of a TC are investigated numerically, using a commercial Computational Fluid Dynamics (CFD) software package. The standard k-epsilon turbulence model was used. A Newtonian fluid whose properties correspond to industrial oil was used for the working fluid. The range of speed ratio (between turbine’s speed and pump’s) of 0.2–0.8 was considered. It was found that as the stator blades’ number increases (here from 13 to 19), the TC’s efficiency and torque ratio vary significantly, passing through minimum and generally also reaching a maximum.

Thomas, C, Busch, F, Kuhlenkoetter, B & Deuse, J 1970, 'Process and Human Safety in Human-Robot-Interaction - A Hybrid Assistance System for Welding Applications', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Springer Berlin Heidelberg, pp. 112-121.
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The paper focuses on work and process safety in robot assisted welding operations and discusses technical means to ensure a safe and ergonomic human-robot-interaction with overlapping workspaces. It discusses the development of a multi-robot assistance system to reduce labour-intensive manual handling of heavy parts in welding of tubular and framework constructions. The research is part of the project "rorarob" [1],[2],[3] and is supported by a demonstrator at TU Dortmund University. Parts of the research are contemporaneous published in [4]. © 2011 Springer-Verlag.

Valls Miro, J, De Bruijn, F, Dissanayake, G, Boisard, O & Ton, P 1970, 'Robot-Assisted Inspection of Concrete Box Girders in Bridges', Proceedings for the Austroads Conference 2011: Sustainable Bridges - The Thread of Society, Austroads Bridge Conference, Austroads Ltd., Sydney, pp. 335-346.
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This paper describes a robotic solution to the structural health inspection of concrete box girders. A combination of sensors including a laser range finder, a depth (RGB-D) camera, an inertial measurement unit and a high-resolution camera are mounted on a tracked robot. The robot can be driven inside a box girder even when there are steps present, to collect high-resolution images of the concrete structure. Software that allows the information captured to be registered with a 3D geometric map of the inside of a box girder, and a visualization tool that can be used to evaluate location-annotated highly-detailed surface condition pictures by the human operator has been developed. The proposed remote evaluation technique makes it feasible to safely monitor areas over a sequence of inspections, leading to more effective maintenance procedures. The effectiveness of the system is illustrated using data gathered during a field trial where the robot was deployed within the Overpass at Huntleyâs Point, in the junction between Victoria Road and Burns Bay Road in Sydney. Functionality to automatically identify defects/regions of interest is also being investigated. It is anticipated that supplementing manual inspection tasks with robotic aids will mitigate the risk to manual entry into a confined space with a consequential saving in associated cost. This project is collaboration between the University of Technology Sydney (UTS) and the Roads & Traffic Authority (RTA) of NSW.

Wang, S, Kodagoda, S, Wang, Z & Dissanayake, G 1970, 'Multiple sensor based terrain classification', Proceedings of the 2011 Australasian Conference on Robotics and Automation, Australasian Conference on Robotics and Automation, Australasion Conference on Robotics and Automation, Melbourne, Australia, pp. 1-7.
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In the context of road vehicles, knowledge of terrain types is useful for improving passenger safety and comfort. This paper presents a method for terrain classification based on multiple sensors including an accelerometer, wheel encoders and a camera. The vertical accelerations and the speed of the vehicle together with a dynamic vehicle model are used to predict the road profile. Features extracted from the road profile are fused with image features to produce a speed invariant feature set. A supervised learning algorithm based on Neural network (NN) is used to classify different road types. Experiments carried out on an instrumented road vehicle (CRUISE), by manually driving on a variety of road types at different speeds are presented to demonstrate that the fusion of multiple sensory cues can significantly improve the road type classification accuracy.

Wei, DB, Huang, JX, Zhang, AW, Jiang, ZY, Tieu, AK, Shi, X & Jiao, SH 1970, 'The effect of oxide scale of stainless steels on friction and surface roughness in hot rolling', Wear, 18th International Conference on Wear of Materials (WOM), Elsevier BV, Philadelphia, PA, pp. 2417-2425.
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Friction is one of the most significant physical phenomena influencing metal forming. The deformation or fracture of oxide scale significantly affects the roll-strip interface behaviour. Sticking occurs frequently during hot rolling of stainless steels especially ferritic stainless steels, which causes surface defects of both steel products and rolls. It is important to characterize the features of the oxide scale in hot rolling of stainless steel strips, but few studies have been carried out. This paper focuses on the deformation of oxide scale and roll-strip interface characteristics in hot rolling of austenitic stainless steel 304L and ferritic stainless steel 430. Oxidation tests in a short time in humid air with water vapour content of 7.0 vol.% were carried out using Gleeble 3500 thermo-mechanical simulator, and the oxidation characteristics of 304L and 430 steels were obtained. The deformation, surface morphology of oxide scale of the steels, and the friction in hot rolling were studied in hot rolling tests. Thick oxide scale of 304L steel shows high lubricative effect while the breaking of thin oxide scales of 430 steel may make the steel substrate to contact with the roll, which counteracts the lubricative effect of the oxide scale and results in friction coefficient increasing with an increase of reduction. A FEM simulation has been developed to analyse the deformation behaviour of oxide scale and surface roughness transfer during hot rolling of stainless steels and the model describing the rough surface profiles of the scales and steel has been integrated into the simulation. (C) 2011 Elsevier B.V. All rights reserved.

Wong, CS, Bennett, NS, McNally, PJ, Galiana, B, Tejedor, P, Benedicto, M, Molina-Aldareguia, JM, Monaghan, S, Hurley, PK & Cherkaoui, K 1970, 'Multi-technique characterisation of MOVPE-grown GaAs on Si', Microelectronic Engineering, EMRS 2010 Spring Meeting on Post-Si-CMOS Electronic Devices - The Role of Ge and III-V Materials, Elsevier BV, Strasbourg, FRANCE, pp. 472-475.
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Yang, L, Deuse, J & Droste, M 1970, 'Energy efficiency at energy intensive factory - A facility planning approach', 2011 IEEE 18th International Conference on Industrial Engineering and Engineering Management, IE and EM 2011, pp. 699-703.
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Due to energy shortage and energy price increase, energy efficiency is a significant challenge for most factories. In order to get more benefit and become more competitive in the market, energy efficiency should be considered in early planning phase as an essential factor. However, the energy efficiency was often ignored in planning phase in the past decades. For these purposes, a new approach, which can effectively support the analysis and design of facility planning, is presented in this paper. This approach introduces energy efficiency as a key criterion into the planning process. At the same time, material transport costs and manpower costs are also taken into account with the purpose of performing good facility planning from both energy and economic aspects. A practical case study is carried out to validate the correctness and effectiveness of the presented approach. © 2011 IEEE.

Zhang, Y, Cheng, X, Wei, D, Wang, X & Jiang, Z 1970, 'Study on solidification during twin-roll casting of magnesium alloy', Proceedings of the 10th International Conference on Technology of Plasticity, ICTP 2011, International Conference on Technology of Plasticity, Aachen, Germany, pp. 15-19.
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The process of vertical twin-roll casting including pouring, solidifying, rolling and cooling can be accomplished in a very short time. Some important process parameters in roll casting that are difficult to be obtained experimentally may be acquired by employing numerical simulation. In this paper, a numerical simulation has been conducted based on a 2D finite element model of vertical twin-roll strip casting coupling temperature, flow, and thermal stress. The influences of key process parameters including submerged nozzle depth and nozzle spray angle have been studied. The distribution of thermal stress was obtained and its effect on the cracks in the casting strip was discussed. © 2011 IBF (RWTH Aachen) & IUL (TU Dortmund).

Zhao, L, Huang, S, Yan, L, Dissanayake, G & IEEE 1970, 'Parallax Angle Parametrization for Monocular SLAM', 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE International Conference on Robotics and Automation, IEEE, Shanghai, China, pp. 3117-3124.
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This paper presents a new unified feature para-metrization approach for monocular SLAM. The parametrization is based on the parallax angle and can reliably represent both nearby and distant features, as well as features in the direction of camera motion and features observed only once. A new bundle adjustment (BA) algorithm using the proposed parallax angle parametrization is developed and shown to be more reliable as compared with existing BA algorithms that use Euclidean XYZ or inverse depth parametrizations. A new map joining algorithm that allows combining a sequence of local maps generated using BA with the proposed parametrization, that avoids the large computational cost of a global BA, and can automatically optimize the relative scales of the local maps without any loss of information, is also presented. Extensive simulations and a publicly available large-scale real dataset with centimeter accuracy ground truth are used to demonstrate the accuracy and consistency of the BA and map joining algorithms using the new parametrization. Especially, since the relative scales are optimized automatically in the proposed BA and map joining algorithms, there is no need to compute any relative scales even for a loop more than 1km. © 2011 IEEE.