Academic literature on the topic 'Mechatronics and robotics not elsewhere classified'

Wearable electronic sensing devices are deemed to be a crucial technology of smart personal electronics. Strain and pressure sensors, one of the most popular research directions in recent years, are the key components of smart and flexible electronics. Graphene, as an advanced nanomaterial, exerts pre-eminent characteristics including high electrical conductivity, excellent mechanical properties, and flexibility. The above advantages of graphene provide great potential for applications in mechatronics, robotics, automation, human-machine interaction, etc.: graphene with diverse structures and leverages, strain and pressure sensors with new functionalities. Herein, the recent progress in graphene-based strain and pressure sensors is presented. The sensing materials are classified into four structures including 0D fullerene, 1D fiber, 2D film, and 3D porous structures. Different structures of graphene-based strain and pressure sensors provide various properties and multifunctions in crucial parameters such as sensitivity, linearity, and hysteresis. The recent and potential applications for graphene-based sensors are also discussed, especially in the field of human motion detection. Finally, the perspectives of graphene-based strain and pressure sensors used in human motion detection combined with artificial intelligence are surveyed. Challenges such as the biocompatibility, integration, and additivity of the sensors are discussed as well.

It is difficult to introduce highly versatile automation using robots to handling deformable objects such as thread, cloth, wire, long beams, and thin plates in plant production processes, compared to the handling of rigid objects. Office equipment handles deformable objects such as paper and plastic. Problems unique to these objects is caused by speeding up such equipment and demand for upgrading its accuracy. In agriculture and medical care, automatic, intelligent handling of deformable objects such as fruit and animals has long been desired and practical systems sought. Deformable objects whose handling should be versatiley and accurately automated are classified into two groups based on handling: (A) Flexible, mostly thin, fine objects capable of elastic deformation (B) Soft objects easily crushed, such as soft fruits or animals The problem in handling the first group is controlling object deformation of an infinite degree of freedom with a finite number of manipulated variables. In contrast, a significant problem in handling the second group is often how to handle them without exerting excessive stress and how to handle them safely and reliably. The handling of these two groups differ greatly in mechanics and control theory, and this special issue focuses on the first group — flexible objects — mechanical collection and transport studies, control, and software. Recent studies on their handling are classified into four groups for convenience based on handled objects and types of handling task: (a) Control of deformation, internal force, and vibration or path planning of flexible objects (mainly thin plates and beams) using single or multiple manipulators. (b) Task understanding in insertion of elastic into rigid parts and vice versa, and the study of human skills to help robots accomplish these task. (c) Approaches on improved accuracy, intelligent control, and vibration damping in handling and transfer of sheets and strings with low flexural rigidity, represented by paper or wire. (d) Strategies for grasping and unfolding sheets such as cloth whose flexural rigidity is almost nil. For (a), studies are active on deformation control by two robot hands attempting to grasp cloth. 1-3) In the automobile industry, so-called flexible fixtureless assembly systems are advancing in which two robots process or assemble parts in mid-air without a fixed table to reduce lead time and cost. These systems are mostly developed assuming handled parts are rigid. Nguyen et al. work assuming parts such as sheet metal whose deformation must be taken into consideration.1) Nakagaki et al. propose form estimation that considers even plastic deformation in wire handling by robots, in connection with the development of robots for electric wire installation.4) Many studies cover flexible wire as elastic beams,3-9) but comparatively few focus on bending deformation of thin plates. This special edition includes a paper by Kosuge et al. on thin-plate deformation control. Vibration control of grasped objects becomes important as speed increases. Matsuno kindly contributed his paper on optimum path planning in elastic plate handling. In controlling the deformation of elastic bodies, the mechanics of objects handled is often unknown. This special issue features a paper by Kojima et al. on an approach to this problem by adaptive feed-forward control. For (b), we consider three cases: (1) A cylindrical rigid body inserted into a hole on an elastic plate. (2) An elastic bar inserted into a hole on a rigid body. (3) A tubular elastic body put on a cylindrical rigid body. This special issue carries papers on these problems by Brata et al., Matsuno et al., and Hirai. For (2), a paper by Nakagaki et al.10) covers electric wire installation. For (3), the paper by Shima et al.11) covers insertion of a rigid axis into an elastic hose. Robot skill acquisition is an important issue in robotics in general, and the above papers should prove highly interesting and information because they treat studies by comparing robot and human skills in accomplishing work and acquiring concrete skills knowledge. For (c), attempts are made to theoretically analyze sheet handling mechanisms and control developed based on trial and error, and to structure design theory based on such analysis. These attempts are related to the increased accuracy and speed and enhanced intelligence of sheet-handling office automation equipment such as printers, facsimile machines, copiers, and automated teller machines. Yoshida et al. conducted a series of studies on the effects of guides forming paper feed paths and of inertia force of paper by approximating sheets with a chain of discrete masses and springs.12-14) This special edition also features a study on sheet sticking and jamming. Okuna et al. handles a system of similar nature, mechanical studying the form of paper guides.15) Introducing mechanisms to control the positioning of sheets is effective in raising sheet transfer accuracy. Feedback control that regulates feed roller skew angle as a manipulated variable is proposed.16) Increased reliability in separating single sheets from stacked effectively reduces the malfunction rate in sheet-handling equipment. Ways of optimizing the form of sheet-separation rollers17) and estimating frictional force between separation gates and sheets 18) are also proposed. This special issue contains a proposal by Nakazawa et al. of a mechanism that uses reactive sheet buckling force, made in connection with development of a newspaper page turner for the disabled as technology for separating single sheets. Dry frictional force is most widely used for transporting sheets, but is not stable and may even act as an obstacle to improving accuracy. Niino et al. propose a sheet transfer mechanism that uses electrostatic force.19) For improving the accuracy of flexible wire transmission, this special issue carries a study on transporting flexible thin wire through tension control at multiple points, from a study by Morimitsu et al. on optical fiber installation. The thickness of wire used in equipment is becoming increasingly slim and flexible, along with the equipment it is used in. Tension control in the production process is an important factor in the manufacture of such thin wire. Production efficiency constantly calls for increased transfer speed. It has thus become important to estimate air resistance and inertia and to measure and control the tension of running wire. Studies20,21) by Batra, Fraser, et al. which deal the motion of string in the spinning process provide good examples for learning analytical techniques for air drag and inertia. In string vibration where inertia dominates, attempts are made to control vibration by boundary shaking22,23) and feed-forward/back control.24) For (d), highly versatile robots for handling cloth are being developed, and the software technology for automatic cloth selection and unfolding by robot hands is a popular topic.25-27) Ono et al. comment on the nature of problems in developing intelligent systems for handling cloth and similar objects whose bending rigidity is low and which readily fold and overlap—a paper that will prove a good reference in basic approaches in this field. Mechanical analyses are indispensable to studies on (a) through (c). In contrast, information technology such as characteristic variable measurement, image processing, and discrimination, rather than mechanical analyses, play an important roles in studies on (d). This special issue features a study by Hamashima, Uraya et al. on cloth unfolding as an example of such studies. Studies up to now largely assumed that properties of grasped objects did not change environmental influences such as temperature and humidity. Such influence is often, however, a major factor in handling fiber thread and cloth. This special issue has a paper contributed by Taylor, who studies handling method to prevent influence by such environmental factors. The objective of this special issue will have been achieved if it aids those studying the handling of flexible objects by providing approaches and methodologies of researchers whose target objects differ and if it aids those planning to take up study in this field by providing a general view of this field. References: 1) Nguyen, W. and Mills, J., ""Multi-Robot Control For Plexible Fixtureless Assembly of Flexible Sheet Metal Auto Body Parts,"" Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 2340-2345, (1996). 2) Sun, D. and Shi, X. and Liu, Y., ""Modeling and Cooperation of Two-Arm Robotic System Manipulating a Deformable Object,"" Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 2346-2351, (1996). 3) Kosuge, K., Sakaki, M., Kanitani, K., Yoshida, H. and Fukuda, T., ""Manipulation of a Flexible Object by Dual Manipulators,"" IEEE International Conference on Robotics and Automation, 318-323, (1995). 4) Nakagaki, H., Kitagaki, K., Ogasawara, T. and Tukune H., ""Handling of a Flexible Wire -Detecting a Deformed Shape of the Wire by Vision and a Force Sensor,"" Annual Conference on Robotics and Mechatronics (ROBOMEC'96), 207-210, (1996). 5) Wakamatsu, H., Hirai, S. and Iwata, K., ""Static Analysis of Deformable Object Grasping Based on Bounded Force Closure,"" Trans. of JSML, 84-618 (C), 508-515, (1998). 6) Katoh, R. and Fujmoto, T., ""Study on Deformation of Elastic Object By Manipulator -Path Planning of End -Effector-,"" J. of the Robotics Society of Japan, 13-1, 157-160, (1995). 7) Yukawa, T., Uohiyama, M. and Inooka, M., ""Stability of Control System in Handling a Flexible Object by Rigid Arm Robots,"" JSME Annual Conference on Robotics and Mechatronics (ROBOMEC'95), 169-172, (1995). 8) Yukawa, T., Uohiyama, M. and Cbinata, G., ""Handling of a Vibrating Flexible Structure by a Robot,"" Trans. JSME, 61-583, 938-943, (1995). 9) Sun, D. and Liu, Y., ""Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam,"" Trans. of the ASME, 119, 736-742, (1997). 10) Nakagaki, H., Kitagaki, K. and Tukune, H., ""Contact Motion in Inserting a Flexible Wire into a Hole,"" Annual Conference on Robotics and Mechatronics (ROBOMEC'95), 175-178, (1995). 11) Shimaji, S., Brata, A. and Hattori, H., ""Robot Skill in Assembling a Cylinder into an Elastic Hose,"" Annual Conference on Robotics and Mechatronics (ROBOMEC'95), 752-755, (1995). 12) Yoshida, K. and Kawauchi, M., ""The Analysis of Deformation and Behavior of Flexible Materials (1st Reprt, Study of Spring-Mass Beam Model of the Sheet,"" Trans. of JSME, 58-552, 1474-1480, (1992). 13) Yoshida, K., ""Analysis of Deformation and Behavior of Flexible Materials (2nd Report, Static Analysis for Deformation of the Sheet in the Space Formed by Guide Plates),"" Trans. JSME, 60-570, 501-507, (1994). 14) Yoshida, K., ""Dynamic Analysis of Sheet Defofmation Using Spring-Mass-Beam Model,"" Trans. JSME, 63-615, 3926-3932 (1997). 15) Okuna, K., Nishigaito, T. and Shina, Y., ""Analysis of Paper Deformation Considering Guide Friction (Improvement of Paper Path for Paper-Feeding Mechanism),"" Trans. JSME, 60-575, 2279-2284, (1994). 16) Fujimura, H. and Ono, K., ""Analysis of Paper Motion Driven by Skew-Roll Paper Feeding System,"" Trans. JSME, 62-596, 1354-1360, (1996). 17) Shima, Y., Hattori, S., Kobayashi, Y. and Ukai, M., ""Optimum of Gate-Roller Shape in Paper Isolating Methods,"" Conference of Information, Intelligence and Precision Equipment (IIP'96), 61-62, (1996). 18) Suzuki, Y, Hattori, S., Shima, Y. and Ukai, M., ""Contact Analysis of Paper in Gate-Roller Handling Method"", Conference on Information, Intelligence and Precision Equipment (IIP'95), 19-20, (1995). 19) Niino, T., Egawa, S. and Higuchi, T., ""An Electrostatic Paper Feeder,"" J. of the Japan Society for Precision Engineering, 60-12,1761-1765, (1994). 20) Batra, S., Ghosh, T. and Zeidman, M., ""An Integrated Approach to Dynamic Analysis of the Ring Spinning Process , PartII: With Air Drag,"" Textile Research Journal, 59, 416-424, (1989). 21) Fraser, W., Ghosh, T. and Batra, S., ""On Unwinding Yarn from a Cylindrical Package,"" Proceedings of Royal Society of London, A, 436, 479-438, (1992). 22) Jacob, S., ""Control of Vibrating String Using Impedance Matching,"" Proceedings of the American Control Conference (San Francisco),468-472, (1993). 23) Lee, S. and Mote, C., ""Vibration Control of an Axially Moving String by Boundary Control,"" Trans. of the ASME, J. of Dynamic Systems, Measurement, and Control, 118, 66-74, (1996). 24) Ying, S. and Tan, C., ""Active Vibration Control of the Axially Moving String Using Space Feedforward and Feedback Controllers,"" Trans. ASME, J. of Vibration and Acoustics, 118, 306-312, (1996). 25) Ono, E., Ichijo, H. and Aisaka, N., ""Flexible Robotic Hand for Handling Fabric Pieces in Garment Manufacture,"" International Journal of Clothing Science and Technology, 4-5,18-23, (1992). 26) Paraschidis, K., Fahantidis, N, Petridis, V., Doulgeri, Z., Petrou, L. and Hasapis, G, ""A Robotic System for Handling Textile and Non Rigid Flat Materials,"" Computers in Industry, 26, 303-313, (1995). 27) Fahantidis, N., Paraschidis, K, Petridis, V., Doulgeri, Z., Petrou, L. and Hasapis, G., ""Robot Handling of Flat Textile Materials,"" IEEE Robotics & Automation Magazine, 4-1, 34-41, (1997).

Robot audition, the ability of a robot to listen to several things at once with its own “ears,” is crucial to the improvement of interactions and symbiosis between humans and robots. Since robot audition was originally proposed and has been pioneered by Japanese research groups, this special issue on robot audition technologies of the Journal of Robotics and Mechatronics covers a wide collection of advanced topics studied mainly in Japan. Specifically, two consecutive JSPS Grants-in-Aid for Scientific Research (S) on robot audition (PI: Hiroshi G. Okuno) from 2007 to 2017, JST Japan-France Research Cooperative Program on binaural listening for humanoids (PI: Hiroshi G. Okuno and Patrick Danès) from 2009 to 2013, and the ImPACT Tough Robotics Challenge (PM: Prof. Satoshi Tadokoro) on extreme audition for search and rescue robots since 2015 have contributed to the promotion of robot audition research, and most of the papers in this issue are the outcome of these projects. Robot audition was surveyed in the special issue on robot audition in the Journal of Robotic Society of Japan, Vol.28, No.1 (2011) and in our IEEE ICASSP-2015 paper. This issue covers the most recent topics in robot audition, except for human-robot interactions, which was covered by many papers appearing in Advanced Robotics as well as other journals and international conferences, including IEEE IROS. This issue consists of twenty-three papers accepted through peer reviews. They are classified into four categories: signal processing, music and pet robots, search and rescue robots, and monitoring animal acoustics in natural habitats. In signal processing for robot audition, Nakadai, Okuno, et al. report on HARK open source software for robot audition, Takeda, et al. develop noise-robust MUSIC-sound source localization (SSL), and Yalta, et al. use deep learning for SSL. Odo, et al. develop active SSL by moving artificial pinnae, and Youssef, et al. propose binaural SSL for an immobile or mobile talker. Suzuki, Otsuka, et al. evaluate the influence of six impulse-response-measuring signals on MUSIC-based SSL, Sekiguchi, et al. give an optimal allocation of distributed microphone arrays for sound source separation, and Tanabe, et al. develop 3D SSL by using a microphone array and LiDAR. Nakadai and Koiwa present audio-visual automatic speech recognition, and Nakadai, Tezuka, et al. suppress ego-noise, that is, noise generated by the robot itself. In music and pet robots, Ohkita, et al. propose audio-visual beat tracking for a robot to dance with a human dancer, and Tomo, et al. develop a robot that operates a wayang puppet, an Indonesian world cultural heritage, by recognizing emotion in Gamelan music. Suzuki, Takahashi, et al. develop a pet robot that approaches a sound source. In search and rescue robots, Hoshiba, et al. implement real-time SSL with a microphone array installed on a multicopter UAV, and Ishiki, et al. design a microphone array for multicopters. Ohata, et al. detect a sound source with a multicopter microphone array, and Sugiyama, et al. identify detected acoustic events through a combination of signal processing and deep learning. Bando, et al. enhance the human-voice online and offline for a hose-shaped rescue robot with a microphone array. In monitoring animal acoustics in natural habitats, Suzuki, Matsubayashi, et al. design and implement HARKBird, Matsubayashi, et al. report on the experience of monitoring birds with HARKBird, and Kojima, et al. use a spatial-cue-based probabilistic model to analyze the songs of birds singing in their natural habitat. Aihara, et al. analyze a chorus of frogs with dozens of sound-to-light conversion device Firefly, the design and analysis of which is reported on by Mizumoto, et al. The editors and authors hope that this special issue will promote the further evolution of robot audition technologies in a diversity of applications.

This research is motivated by a marimba instrument soloist in performing his repertoire must be able to become a reliable music player and make a positive contribution to music lovers. This study aims to describe the solo playing technique by interpreting the Concerto in G Major RV 310 repertoire through the two mallet technique with string quartet accompaniment and realizing the solo play by interpreting the A Whole New World repertoire through the four mallet technique with the Marimba Instrument according to the needs of today's performances. The repertoire presented is the repertoire of Concerto in G Major Rv 310 and A Whole New World. This repertoire has been considered to be played according to the great or achievement of the percussion instrument. The research approach used in this study is a qualitative approach that is useful for analyzing phenomena and for interpreting data. Based on the repertoire analysis of Concerto in G Major Rv 310, several obstacles were found in playing it, namely there was a double stroke technique played in an allegro tempo. The repertoire of the Concerto in G Major Rv 310 baroque era, there is a lot of ornamentation on the melody, and the phrases of songs that have a clear theme. While the repertoire of A Whole New World is classified as modern music (popular) which is a simple choral composition that is logical and easy to digest. Keywords: description, interpretation, instrument, marimba. AbstrakPenelitian ini dilatarbelakangi oleh seorang solis instrumen marimba dalam mempertunjukkan repertoarnya harus mampu menjadi pemain musik yang handal dan memberikan konstribusi positif kepada penikmat musik. Penelitian ini bertujuan mendeskripsikan teknik permainan solis dengan cara menginterpretasikan repertoar Concerto in G Major RV 310 melalui teknik dua mallet dengan iringan kwartet string dan mewujudkan permainan solis dengan cara menginterpretasikan repertoar A Whole New World melalui teknik empat mallet dengan instrumen marimba sesuai dengan kebutuhan pertunjukan saat ini. Repertoar yang disajikan yaitu repertoar Concerto in G Major Rv 310 dan A Whole New World. Repertoar ini telah dipertimbangkan untuk dimainkan sesuai dengan great atau capaian instrument perkusi. Pendekatan penelitian yang digunakan dalam penelitian ini adalah pendekatan kualitatif yang berguna untuk menganalisis fenomena dan untuk menginterpretasikan data. Berdasarkan analisis repertoar Concerto in G Major Rv 310, ditemukan beberapa kendala dalam memainkannya, yaitu terdapat teknik double stroke yang dimainkan dalam tempo allegro. Repertoar Concerto in G Major Rv 310 zaman barok, banyak terdapat ornamentasi pada melodi, dan frase lagu-lagu yang memiliki tema yang jelas. Sedangkan repertoar A Whole New World tergolong musik modern (popular) yang mudah dipahami.Kata Kunci: deskripsi, interpretasi, instrumen, marimba. Authors:Ade Febri Yulfita : Institut Seni Indonesia PadangpanjangFerry Herdianto : Institut Seni Indonesia Padangpanjang References:Arsyad, J., Putrianti, A., & Khadijah, K. (2020). Implementasi Alat Musik Perkusi Dalam Kemampuan Mengelola Emosional Anak Usia Dini di RA Az-Zahwa. Jurnal Raudhah, 8(2).Batallas, P.M. (2013). La marimba como Patrimonio Cultural Inmaterial. Fuente: Trabajo De Campo.David Samuel. (1982). Musical Approach to For Mallet Tecnique Volume 1. New York: New York Press.Dewatara, G. W., & Agustin, S. M. (2019). Pemasaran Musik pada Era Digital Digitalisasi Industri Musik dalam Industri 4.0 di Indonesia. WACANA: Jurnal Ilmiah Ilmu Komunikasi, 18(1), 1-10.Herdianto, F. (2021). Pertunjukan Solis Marimba dengan Repertoar The Variantions on Theme (From The Malay’s “Pucuk Pisang”). Jurnal Sitakara, 6(1), 1-12.Herfanda, F. R. (2014). Bentuk pertunjukan musik perkusi Paguyuban Sayung Hore (PSH) di Semarang. Jurnal Seni Musik, 3(1).Hoffman, G., & Weinberg, G. (2010, May). Gesture-based human-robot jazz improvisation. In 2010 IEEE international conference on robotics and automation (pp. 582-587). IEEE.Hugh M. Miller. (1996). Pengantar Apresiasi Musik. Terjemahan B.Triyono PS. Yogyakarta: Institut Seni Indonesia Yogyakarta.Sinaga, S. S. (2017). Pemanfaatan Pemutaran Musik Trhadap Psikologis Pasien Pada Klinik Ellena Skin Care Di Kota Surakarta. Jurnal Seni Musik, 6(2).Moleong, Lexy J. (2010). Metodologi Penelitian Kualitatif. Bandung: Remaja Rosdakarya.Prier Sj, Karl –Edmund. (1993). Sejarah Musik Jilid 2. Pusat Musik Liturgi: Yogyakarta.Pono, Banoe. (1984). Pengantar Alat Musik. Jakarta: CV Baru.Yang, N., Savery, R., Sankaranarayanan, R., Zahray, L., & Weinberg, G. (2020). Mechatronics-driven musical expressivity for robotic percussionists. arXiv preprint arXiv:2007.14850.Saryono dan Anggraeni, Mekar Dwi. (2010). Metodologi Penelitian Kualitatif Dalam Bidang Kesehatan. Yogyakarta: Nuha Medika.Sugiyono. (2014). Metode Penelitian Kuantitatif, Kualitatif dan R dan D. Bandung: Alfabeta.

Nowadays visual information is extracted using a variety of physical methods and cannot always be easily perceived by the human eye, properly recognized and classified. Such large amounts of information provided by the modern image-making equipment is difficult and sometimes impossible objectively evaluate. Research of digital images carried out at the Klaipėda University with a focus on marine research topic. The combination of new underwater technology as remotely operating vehicles, high-resolution video imagery, and seafloor mosaics creating provides new opportunities for marine geological or biological studies. While these underwater techniques are now well-engineered, there is still a lack of methods for the automatic analysis of the acquired image data. In this paper, the video mosaic quality and processing problems discussed. Believes that the versatility of abstract techniques to tailor the fields of biomedical sciences, applied robotics and elsewhere. This could be listed as a main purpose of presented work.

Although robotics research has seen advances over the last decades robots are still not in widespread use outside industrial applications. Yet a range of proposed scenarios have robots working together, helping and coexisting with humans in daily life. In all these a clear need to deal with a more unstructured, changing environment arises. I herein present a system that aims to overcome the limitations of highly complex robotic systems, in terms of autonomy and adaptation. The main focus of research is to investigate the use of visual feedback for improving reaching and grasping capabilities of complex robots. To facilitate this a combined integration of computer vision and machine learning techniques is employed. From a robot vision point of view the combination of domain knowledge from both imaging processing and machine learning techniques, can expand the capabilities of robots. I present a novel framework called Cartesian Genetic Programming for Image Processing (CGP-IP). CGP-IP can be trained to detect objects in the incoming camera streams and successfully demonstrated on many different problem domains. The approach requires only a few training images (it was tested with 5 to 10 images per experiment) is fast, scalable and robust yet requires very small training sets. Additionally, it can generate human readable programs that can be further customized and tuned. While CGP-IP is a supervised-learning technique, I show an integration on the iCub, that allows for the autonomous learning of object detection and identification. Finally this dissertation includes two proof-of-concepts that integrate the motion and action sides. First, reactive reaching and grasping is shown. It allows the robot to avoid obstacles detected in the visual stream, while reaching for the intended target object. Furthermore the integration enables us to use the robot in non-static environments, i.e. the reaching is adapted on-the- fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. The second integration highlights the capabilities of these frameworks, by improving the visual detection by performing object manipulation actions.

"Robot soccer provides a fertile environment for the development of artificial intelligence techniques. Robot controls require high speed lower level reactive layers as well as higher level deliberative functions. This thesis focuses on a number of aspects in the robot soccer arena. Topics covered include boundary avoidance strategies, vision detection and the application of evolutionary learning to find fuzzy controllers for the control of mobile robot. A three input, two output controller using two angles and a distance as the input and producing two wheel velocity outputs, was developed using evolutionary learning. Current wheel velocities were excluded from the input. The controller produced was a coarse control permitting only either forward or reverse facing impact with the ball. A five input controller was developed which expanded upon the three input model by including the current wheel velocities as inputs. The controller allowed both forward and reverse facing impacts with the ball. A five input hierarchical three layer model was developed to reduce the number of rules to be learnt by an evolutionary algorithm. Its performance was the same as the five input model. Fuzzy clustering of evolved paths was limited by the information available from the paths. The information was sparse in many areas and did not produce a controller that could be used to control the robots. Research was also conducted on the derivation of simple obstacle avoidance strategies for robot soccer. A new decision region method for colour detection in the UV colour map to enable better detection of the robots using an overhead vision system. Experimental observations are given." -- abstract.

Australian fruit growers face huge losses due to the damage sustained from flying vertebrate pests such as birds and flying foxes. Growers spend hundreds of thousands of dollars in combating these pests due to the strict stipulations by the Department of Environment and Resource Management requiring all deterrent measures to be non-lethal. Some of the counter measures include canopy netting, tunnel netting, odour repellents, sounds, lights, scare guns, fruit bags and chemicals. These methods involve high capital and periodic maintenance costs and are rendered ineffective over a period of time since these pests are intelligent enough to find ways to overcome such obstacles. Thus, fruit growers are trying to find more effective methods to control the problem while trying to minimize their costs. Emerging trends in this area, particularly in the United States of America (USA), include the use of drones, automatic detection and warning systems, which in turn, can trigger a particular type of deterrent system and thereby protect crops. Infrared/laser scanning technologies has been found effective in detecting pests in small confined areas. Such technologies are usually customised to suit a particular geographical area and also the type of flying vertebrate pests being combated. This project is geared towards the development of a detection system which can effectively detect the presence of lorikeets in a lychee orchard in the Burnett region. Acoustic detection of bird species in the field environment is a challenging endeavour due to a complex mix of sound sources. Although there are several approaches to detect them, they are effective in only some particular situations. For example, infrared technology is effective in detecting pests in small confined area because of number of hardware components required while visual observation techniques require large amount of processing power. This shortcoming has prompted a study into the development of a sensor unit that can effectively detect flying vertebrate pests like lorikeets within the specified range under conditions typically found in lychee orchards. In this research, a new portable sensing device which uses a combination of acoustic sensors that can be used trigger a beacon or a sound whenever lorikeets are detected, was used. This sensor was tested during the lychee season of 2015/16 and has been found to be effective in detecting lorikeets up to 20 metres, with the detection rate ranging from 71% to 30% in the range of 2 metres to 12 metres. The detection system was customized to be effective in a specified range to detect lorikeet calls in lychee orchards. It is very cost effective and portable. Further, this is the first time that such a detection system has been used in a lychee orchard in the Wide Bay Burnett region and in wider Australia itself. These preliminary efforts possess great potential to explore the development of such devices to entail better crop management practices in the region.

The aim of this project was to develop a Real Time Code Generator for power electronic control applications with a graphical input medium from the simulation software'Simulink'. The Real Time Code Generator (RTCG) converts the block diagram model into 'C' code. The generated code is targeted to the Digital Signal Processor based controller board. The RTCG is mainly suited for power electronic control applications in real time. It gives the user a complete control over the hardware functionality and the sequence of the program. Complex control strategies can be implemented in the space of a week whereas conventional programming would have taken months to be completed. Also, the engineer need not have an indepth knowledge of 'C' programming. The RTCG was used to control a 10 kW PWM rectifier. Different types of control systems were implemented on the PWM rectifier using the RTCG. The DSI102 Digital Signal Processor based board is the controller for the RTeG. It is manufactured by dSpace GmbH. It is an independent add-on card for IBM PC's. DS1102 card contains two state-of-the-art Texas Instruments DSP processors; the TMS320C31 and the TMS320P14. The different control techniques are the predictive current control, model based control and the vector current control. Using these control techniques, the PWM rectifier was able to transfer power bidirectionally at unity power factor with a regulated DC link voltage. Briefly, the predictive current control brings the actual current equal to the demand current in one switching cycle. The vector current control is almost as good as the predictive current control but it takes approximately three switching cycles to bring the actual current equal to the demand current. The model based control removes the ripple usually present in the output of the conventional rectifier. The predictive current control or the vector current control can be used in conjunction with the model based control.

In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.

Stringent regulatory requirements and modern diesel engine technologies have engaged automotive manufacturers and researchers in accurately predicting and controlling diesel engine-out emissions. As a result, engine control systems have become more complex and opaquer, increasing the development time and costs. To address this challenge, Model-based control methods are an effective way to deal with the criticality of the system study and controls. And physics-based combustion engine modeling is a key to achieve it. This thesis focuses on development and validation of a physics-based model for both engine and emissions using model-based design tools from MATLAB & Simulink. Engine model equipped with exhaust gas circulation and variable geometry turbine is adopted from the previously done work which was then integrated with the combustion and emission model that predicts the heat release rates and NO_x emission from engine. Combustion model is designed based on the mass fraction burnt from CA10 to CA90 and then NO_x predicted using the extended Zeldovich mechanism. The engine models are tuned for both steady state and dynamics test points to account for engine operating range from the performance data. Various engine and combustion parameters are estimated using parameter estimation toolbox from MATLAB and Simulink by applying least squared solver to minimize the error between measured and estimated variables. This model is validated against the virtual engine model developed in GT-power for Cummins 6.7L turbo diesel engine. To account the harmonization of the testing cycles to save engine development time globally, a world harmonized stationary cycle (WHSC) is used for the validation. Sub-systems are validated individually as well as in loop with a complete model for WHSC. Engine model validation showed promising accuracy of more than 88.4 percent in average for the desired parameters required for the NO_x prediction. NO_x estimation is accurate for the cycle except warm up and cool down phase. However, NO_x prediction during these phases is limited due to actual NO_x measured data for tuning the model for real time NO_x estimation. Results are summarized at the end to compare the trend of NO_x estimation from the developed combustion and emission model to show the accuracy of in-cylinder parameters and required for the NO_x estimation.

The miniaturization and thinning of wearable, soft robotics and medical devices are soon to require higher performance modeling as the physical flexibility causes direct impacts on the electrical characteristics of the circuit – changing its behavior. As a representative flexible electronic component, the organic field effect transistor (OFET) has attracted much attention in its manufacturing as well as applications. However, as the strain and stress effects are integrated into multiphysics modelers with deeper interactions, the computational complexity and accuracy of OFET modeling is resurfacing as a limiting bottleneck.

The dissertation was organized into three interrelated studies. In the first study, the Mass-Spring-Damper (MSD) model for an inverted staggered thin film transistor (TFT) was proposed to investigate the TFT’s internal stress/strain fields, and the strain effects on the overall characteristics of the TFT. A comparison study with the finite element analysis (FEA) model shows that the MSD model can reduce memory usage and raises the computational convergence speed for rendering the same results as the FEA. The second study developed the generalized solid-state model by incorporating the density of trap states in the band structure of organic semiconductors (OSCs). The introduction of trap states allows the generalized solid-state model to describe the electrical characteristics of both inorganic TFTs and organic field-effect transistors (OFETs). It is revealed through experimental verification that the generalized solid-state model can accurately characterize the bending induced electrical properties of an OFET in the linear and saturation regimes. The third study aims to model the transient and steady-state dynamics of an arbitrary organic semiconductor device under mechanical strain. In this study, the fractional drift-diffusion (Fr-DD) model and its computational scheme with high accuracy and high convergence rate were proposed. Based on simulation and experimental validation, the transconductance and output characteristics of a bendable OFET were found to be well determined by the Fr-DD model not only in the linear and saturation regimes, but also in the subthreshold regime.

With a stable center of mass, pneumatic-aided movement, and the ability to scale multiple terrain types, the uniquely efficient and lightweight form of spiders has changed the way we think about robotic design. While the number of papers on arachnid biomechanics and spider-based biomimetic robots has been increasing in recent years, the style of analysis and the motion-types analyzed have barely changed since the 1980s. Current analyses are based on a force plate and treadmill design, in which the spider is induced into an escape run. This environmental change can affect the movements of the spider. Here I propose a novel method of testing the biomechanical and kinematic properties of spiders using a tank with a built-in sensor matrix which allows for a more natural environment for the specimens and provides force data from individual legs. The system detects a minimum force of .0196 N and has a sampling rate of 1,000 samples /second, which allows for the analysis of forces during the step. Aphonopelma seemanni, a tarantula commonly used in such research, but whose forces during movement have to date not been analyzed, was recorded walking across the matrix, and the forces, step patterns, joint angles, and center of mass deviations were recorded. Walking indicated significantly different step pattern traits than current literature, and forces per leg (.07281 N±.0235) recorded were much smaller than expected in comparison to other spiders. Statistical analysis also indicated no changes in walking movement over a range of temperatures, which also varies from literature. These findings indicate that further research on spiders should be done with respect to walking gaits in order to improve upon current biomimetic models.

Appendix D, CD content can be found with print thesis held at Turitea library, Palmerston North. Content: Empty APCG program Empty RSLogix5000 l5k file Empty RSLogix5000 ACD file Real Life project - APCG program (only partial) Real Life project - RSLogix5000 l5k file (only partial) Real Life project - RSLogix5000 ACD file (only partial)
A competitive edge is one of the requirements of a successful business. Tools, which increase an engineer s productivity and minimize cost, can be considered as a competitive edge. The objective of this thesis was to design, create, and implement Automatic PLC Code Generator (APCG) software. A secondary objective was to demonstrate that the use of the APCG software will lead to improved project efficiency and enhanced profit margin. To create the APCG software, the MS Excel and Visual Basic for Applications (VBA) programs were used as the platform. MS Excel sheets were used as a user interface, while VBA creates the PLC code from the information entered by the engineer. The PLC code, created by the APCG software, follows the PLC structure of the Realcold Milmech Pty. Ltd, as well as the research Automatic generation of PLC code beyond the nominal sequence written by Guttel et al [1]. The APCG software was used to design and create a PLC code for one of the projects undertaken by Realcold Milmech Pty. Ltd. By using APCG software, time to design, create, and test the PLC code was improved when compared to the budgeted time. In addition, the project's profit margin was increased. Based on the results of this thesis it is expected that the APCG software will be useful for programmers that tend to handle a variety of projects on a regular basis, where programming in a modular way is not appropriate.

Soft materials have gained increasing prominence in science and technology over the last few decades. This shift from traditional rigid materials to soft, compliant materials have led to the emergence of a new class of devices which can interact with humans safely, as well as reduce the disparity in mechanical compliance at the interface of soft human tissue and rigid devices.

One of the largest application of soft materials has been in the field of flexible electronics, especially in wearable sensors. While wearable sensors for physical attributes such as strain, temperature, etc. have been popular, they lack applications and significance from a healthcare perspective. Point-of-care (POC) devices, on the other hand, provide exceptional healthcare value, bringing useful diagnostic tests to the bedside of the patient. POC devices, however, have been developed for only a limited number of health attributes. In this dissertation I propose and demonstrate wireless, wearable POC devices to measure and communicate the level of various analytes in and the properties of multiple biofluids: blood, urine, wound exudate, and sweat.

Along with sensors, another prominent area of soft materials application has been in actuators and robots which mimic biological systems not only in their action but also in their soft structure and actuation mechanisms. In this dissertation I develop design strategies to improve upon current soft robots by programming the storage of elastic strain energy. This strategy enables us to fabricate soft actuators capable of programmable and low energy consuming, yet high speed motion. Collectively, this dissertation demonstrates the use of soft compliant materials as the foundation for developing new sensors and actuators for human use and interaction.