Flexible Object Manipulation

Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid bodies, and they may stretch and compress. In this thesis, I explore two major types of flexible materials: cloth and string. For rigid bodies, one of the most basic problems in manipulation is the development of immobilizing grasps. The same problem exists for flexible objects. I have shown that a simple polygonal piece of cloth can be fully immobilized by grasping all convex vertices and no more than one third of the concave vertices. I also explored simple manipulation methods that make use of gravity to reduce the number of fingers necessary for grasping. I have built a system for folding a T-shirt using a 4 DOF arm and a fixed-length iron bar which simulates two fingers. The main goal with string manipulation has been to tie knots without the use of any sensing. I have developed single-piece fixtures capable of tying knots in fishing line, solder, and wire, along with a more complex track-based system for autonomously tying a knot in steel wire. I have also developed a series of different fixtures that use compressed air to tie knots in string. Additionally, I have designed four-piece fixtures, which demonstrate a way to fully enclose a knot during the insertion process, while guaranteeing that extraction will always succeed

Novel Approaches for Structural Health Monitoring

The thirty-plus years of progress in the field of structural health monitoring (SHM) have left a paramount impact on our everyday lives. Be it for the monitoring of fixed- and rotary-wing aircrafts, for the preservation of the cultural and architectural heritage, or for the predictive maintenance of long-span bridges or wind farms, SHM has shaped the framework of many engineering fields. Given the current state of quantitative and principled methodologies, it is nowadays possible to rapidly and consistently evaluate the structural safety of industrial machines, modern concrete buildings, historical masonry complexes, etc., to test their capability and to serve their intended purpose. However, old unsolved problematics as well as new challenges exist. Furthermore, unprecedented conditions, such as stricter safety requirements and ageing civil infrastructure, pose new challenges for confrontation. Therefore, this Special Issue gathers the main contributions of academics and practitioners in civil, aerospace, and mechanical engineering to provide a common ground for structural health monitoring in dealing with old and new aspects of this ever-growing research field

Bridges Structural Health Monitoring and Deterioration Detection Synthesis of Knowledge and Technology

INE/AUTC 10.0

Design and Implementation of the Kinect Controlled Electro-Mechanical Skeleton (K.C.E.M.S)

Mimicking real-time human motion with a low cost solution has been an extremely difficult task in the past but with the release of the Microsoft Kinect motion capture system, this problem has been simplified. This thesis discusses the feasibility and design behind a simple robotic skeleton that utilizes the Kinect to mimic human movements in near real-time. The goal of this project is to construct a 1/3-scale model of a robotically enhanced skeleton and demonstrate the abilities of the Kinect as a tool for human movement mimicry. The resulting robot was able to mimic many human movements but was mechanically limited in the shoulders. Its movements were slower then real-time due to the inability for the controller to handle real-time motions. This research was presented and published at the 2012 SouthEastCon. Along with this, research papers about the formula hybrid accumulator design and the 2010 autonomous surface vehicle were presented and published

Object Tracking

Object tracking consists in estimation of trajectory of moving objects in the sequence of images. Automation of the computer object tracking is a difficult task. Dynamics of multiple parameters changes representing features and motion of the objects, and temporary partial or full occlusion of the tracked objects have to be considered. This monograph presents the development of object tracking algorithms, methods and systems. Both, state of the art of object tracking methods and also the new trends in research are described in this book. Fourteen chapters are split into two sections. Section 1 presents new theoretical ideas whereas Section 2 presents real-life applications. Despite the variety of topics contained in this monograph it constitutes a consisted knowledge in the field of computer object tracking. The intention of editor was to follow up the very quick progress in the developing of methods as well as extension of the application

Mobile phone technology as an aid to contemporary transport questions in walkability, in the context of developing countries

The emerging global middle class, which is expected to double by 2050 desires more walkable, liveable neighbourhoods, and as distances between work and other amenities increases, cities are becoming less monocentric and becoming more polycentric. African cities could be described as walking cities, based on the number of people that walk to their destinations as opposed to other means of mobility but are often not walkable. Walking is by far the most popular form of transportation in Africa’s rapidly urbanising cities, although it is not often by choice rather a necessity. Facilitating this primary mode, while curbing the growth of less sustainable mobility uses requires special attention for the safety and convenience of walking in view of a Global South context. In this regard, to further promote walking as a sustainable mobility option, there is a need to assess the current state of its supporting infrastructure and begin giving it higher priority, focus and emphasis. Mobile phones have emerged as a useful alternative tool to collect this data and audit the state of walkability in cities. They eliminate the inaccuracies and inefficiencies of human memories because smartphone sensors such as GPS provides information with accuracies within 5m, providing superior accuracy and precision compared to other traditional methods. The data is also spatial in nature, allowing for a range of possible applications and use cases. Traditional inventory approaches in walkability often only revealed the perceived walkability and accessibility for only a subset of journeys. Crowdsourcing the perceived walkability and accessibility of points of interest in African cities could address this, albeit aspects such as ease-of-use and road safety should also be considered. A tool that crowdsources individual pedestrian experiences; availability and state of pedestrian infrastructure and amenities, using state-of-the-art smartphone technology, would over time also result in complete surveys of the walking environment provided such a tool is popular and safe. This research will illustrate how mobile phone applications currently in the market can be improved to offer more functionality that factors in multiple sensory modalities for enhanced visual appeal, ease of use, and aesthetics. The overarching aim of this research is, therefore, to develop the framework for and test a pilot-version mobile phone-based data collection tool that incorporates emerging technologies in collecting data on walkability. This research project will assess the effectiveness of the mobile application and test the technical capabilities of the system to experience how it operates within an existing infrastructure. It will continue to investigate the use of mobile phone technology in the collection of user perceptions of walkability, and the limitations of current transportation-based mobile applications, with the aim of developing an application that is an improvement to current offerings in the market. The prototype application will be tested and later piloted in different locations around the globe. Past studies are primarily focused on the development of transport-based mobile phone applications with basic features and limited functionality. Although limited progress has been made in integrating emerging advanced technologies such as Augmented Reality (AR), Machine Learning (ML), Big Data analytics, amongst others into mobile phone applications; what is missing from these past examples is a comprehensive and structured application in the transportation sphere. In turn, the full research will offer a broader understanding of the iii information gathered from these smart devices, and how that large volume of varied data can be better and more quickly interpreted to discover trends, patterns, and aid in decision making and planning. This research project attempts to fill this gap and also bring new insights, thus promote the research field of transportation data collection audits, with particular emphasis on walkability audits. In this regard, this research seeks to provide insights into how such a tool could be applied in assessing and promoting walkability as a sustainable and equitable mobility option. In order to get policy-makers, analysts, and practitioners in urban transport planning and provision in cities to pay closer attention to making better, more walkable places, appealing to them from an efficiency and business perspective is vital. This crowdsourced data is of great interest to industry practitioners, local governments and research communities as Big Data, and to urban communities and civil society as an input in their advocacy activities. The general findings from the results of this research show clear evidence that transport-based mobile phone applications currently available in the market are increasingly getting outdated and are not keeping up with new and emerging technologies and innovations. It is also evident from the results that mobile smartphones have revolutionised the collection of transport-related information hence the need for new initiatives to help take advantage of this emerging opportunity. The implications of these findings are that more attention needs to be paid to this niche going forward. This research project recommends that more studies, particularly on what technologies and functionalities can realistically be incorporated into mobile phone applications in the near future be done as well as on improving the hardware specifications of mobile phone devices to facilitate and support these emerging technologies whilst keeping the cost of mobile devices as low as possible

Undergraduate engineering and built environment project conference 2017: book of abstracts - Toowoomba, Australia, 18-22 September 2017

Book of Abstracts of the USQ Undergraduate Engineering and Built Environment Conference 2017, held Toowoomba, Australia, 18-22 September 2017. These proceedings include extended abstracts of the verbal presentations that are delivered at the project conference. The work reported at the conference is the research undertaken by students in meeting the requirements of courses ENG4111/ENG4112 Research Project

Numerical modelling of additive manufacturing process for stainless steel tension testing samples

Nowadays additive manufacturing (AM) technologies including 3D printing grow rapidly and they are expected to replace conventional subtractive manufacturing technologies to some extents. During a selective laser melting (SLM) process as one of popular AM technologies for metals, large amount of heats is required to melt metal powders, and this leads to distortions and/or shrinkages of additively manufactured parts. It is useful to predict the 3D printed parts to control unwanted distortions and shrinkages before their 3D printing. This study develops a two-phase numerical modelling and simulation process of AM process for 17-4PH stainless steel and it considers the importance of post-processing and the need for calibration to achieve a high-quality printing at the end. By using this proposed AM modelling and simulation process, optimal process parameters, material properties, and topology can be obtained to ensure a part 3D printed successfully