Tree pruning/inspection robot climbing mechanism design, kinematics study and intelligent control : a thesis presented in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Mechatronics at Massey University, Manawatu Campus, New Zealand

Forestry plays an important role in New Zealand’s economy as its third largest export earner. To achieve New Zealand Wood Council’s export target of $12 billion by 2022 in forest and improve the current situation that is the reduction of wood harvesting area, the unit value and volume of lumber must be increased. Pruning is essential and critical for obtaining high-quality timber during plantation growing. Powerful tools and robotic systems have great potential for sustainable forest management. Up to now, only a few tree-pruning robotic systems are available on the market. Unlike normal robotic manipulators or mobile robots, tree pruning robot has its unique requirements and features. The challenges include climbing pattern control, anti-free falling, and jamming on the tree trunk etc. Through the research on the available pole and tree climbing robots, this thesis presents a novel mechanism of tree climbing robotic system that could serve as a climbing platform for applications in the forest industry like tree pruning, inspection etc. that requires the installation of powerful or heavy tools. The unique features of this robotic system include the passive and active anti-falling mechanisms that prevent the robot falling to the ground under either static or dynamic situations, the capability to vertically or spirally climb up a tree trunk and the flexibility to suit different sizes of tree trunk. Furthermore, for the convenience of tree pruning and the fulfilment of robot anti-jamming feature, the robot platform while the robot climbs up should move up without tilting. An intelligent platform balance control system with real-time sensing integration was developed to overcome the climbing tilting problem. The thesis also presents the detail kinematic and dynamic study, simulation, testing and analysis. A physical testing model of this proposed robotic system was built and tested on a cylindrical rod. The mass of the prototype model is 6.8 Kg and can take 2.1 Kg load moving at the speed of 42 mm/s. The trunk diameter that the robot can climb up ranges from 120 to 160 mm. The experiment results have good matches with the simulations and analysis. This research established a basis for developing wheel-driven tree or pole climbing robots. The design and simulation method, robotic leg mechanism and the control methodologies could be easily applied for other wheeled tree/pole climbing robots. This research has produced 6 publications, two ASME journal papers and 4 IEEE international conference papers that are available on IEEE Xplore. The published content ranges from robotic mechanism design, signal processing, platform balance control, and robot climbing behavior optimization. This research also brought interesting topics for further research such as the integration with artificial intelligent module and mobile robot for remote tree/forest inspection after pruning or for pest control

A graph-based mathematical morphology reader

This survey paper aims at providing a "literary" anthology of mathematical morphology on graphs. It describes in the English language many ideas stemming from a large number of different papers, hence providing a unified view of an active and diverse field of research

Binary Particle Swarm Optimization based Biclustering of Web usage Data

Web mining is the nontrivial process to discover valid, novel, potentially useful knowledge from web data using the data mining techniques or methods. It may give information that is useful for improving the services offered by web portals and information access and retrieval tools. With the rapid development of biclustering, more researchers have applied the biclustering technique to different fields in recent years. When biclustering approach is applied to the web usage data it automatically captures the hidden browsing patterns from it in the form of biclusters. In this work, swarm intelligent technique is combined with biclustering approach to propose an algorithm called Binary Particle Swarm Optimization (BPSO) based Biclustering for Web Usage Data. The main objective of this algorithm is to retrieve the global optimal bicluster from the web usage data. These biclusters contain relationships between web users and web pages which are useful for the E-Commerce applications like web advertising and marketing. Experiments are conducted on real dataset to prove the efficiency of the proposed algorithms

Predictive biometrics: A review and analysis of predicting personal characteristics from biometric data

Interest in the exploitation of soft biometrics information has continued to develop over the last decade or so. In comparison with traditional biometrics, which focuses principally on person identification, the idea of soft biometrics processing is to study the utilisation of more general information regarding a system user, which is not necessarily unique. There are increasing indications that this type of data will have great value in providing complementary information for user authentication. However, the authors have also seen a growing interest in broadening the predictive capabilities of biometric data, encompassing both easily definable characteristics such as subject age and, most recently, `higher level' characteristics such as emotional or mental states. This study will present a selective review of the predictive capabilities, in the widest sense, of biometric data processing, providing an analysis of the key issues still adequately to be addressed if this concept of predictive biometrics is to be fully exploited in the future

The Signal Data Explorer: A high performance Grid based signal search tool for use in distributed diagnostic applications

We describe a high performance Grid based signal search tool for distributed diagnostic applications developed in conjunction with Rolls-Royce plc for civil aero engine condition monitoring applications. With the introduction of advanced monitoring technology into engineering systems, healthcare, etc., the associated diagnostic processes are increasingly required to handle and consider vast amounts of data. An exemplar of such a diagnosis process was developed during the DAME project, which built a proof of concept demonstrator to assist in the enhanced diagnosis and prognosis of aero-engine conditions. In particular it has shown the utility of an interactive viewing and high performance distributed search tool (the Signal Data Explorer) in the aero-engine diagnostic process. The viewing and search techniques are equally applicable to other domains. The Signal Data Explorer and search services have been demonstrated on the Worldwide Universities Network to search distributed databases of electrocardiograph data