Stuart C Burgess

Multi-modal locomotion: from animal to application

The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms.

A PARAMETRIC STUDY OF THE ENERGY DEMANDS OF CAR TRANSPORTATION: A CASE STUDY OF TWO COMPETING COMMUTER ROUTES IN THE UK

Abstract This paper presents a parametric study of the energy demands of car transportation on two competing inter-city commuter routes in the UK for all main categories of automotive vehicles. The commuter routes are between Bristol and Bath: one is fast and flat, the other is relatively hilly and with tighter speed restrictions. Energy demands were found to be closely related to the vehicle mass because almost all external forces on the car are either directly or indirectly influenced by the mass of the vehicle. Exposure to the wind was found to be an important parameter that can significantly affect fuel consumption. Reducing vehicle mass is an important way of improving the performance of the car. However, there are limits to what can be achieved in weight reduction because of safety requirements and the desire of car owners to have many luxury items in modern cars. The official European fuel consumption and emissions test is limited in the extent to which it measures parameters that affect fuel consumption. For example, the test does not measure the frontal area or drag coefficient of the car. The design of the route and traffic operation can have a very significant influence on the efficiency of car transportation and therefore it is necessary to consider route design in whole-life analysis.

Introducing OEE as a measure of lean Six Sigma capability

Purpose – The current paradigm for assessing overall equipment effectiveness (OEE) is challenged as being anachronistic to the needs of businesses that now require a more holistic indicator of plant and process effectiveness. The purpose of this paper is to introduce a new framework that expands the original OEE measure to inform business performance at multiple levels focusing on adding benchmarkable indicators of asset management effectiveness and process capability. The ability to compare internal performance against external competition and vice verse is argued as being a critical attribute of any performance measurement system.Design/methodology/approach – The research methodology taken incorporated an action research approach using a pilot study combining case study research with an action research process of planning, observing and reflecting summarized as taking an action case research design.Findings – The OEE and related literature is replete with many different enhancements to the original OEE ...

From Natural Flyers to the Mechanical Realization of a Flapping Wing Micro Air Vehicle

This paper presents a novel micro air vehicle (MAV) design that seeks to reproduce the unsteady aerodynamics of insects in their flight. Many prototype MAVs have been developed around the world over the last decade, with various wing configurations, e.g. fixed, rotary, flapping or hybrid. Many of these projects aim to implement the insect flight mechanics and their associated aerodynamic benefits onto a miniature flying robot. In this paper, the mechanical realization of a flapping wing MAV is described, where a novel parallel crank rocker mechanism has been designed to produce the wing flapping motion. Various potential actuators are outlined, with recommendation made for the best suited actuator for powering flight. A brief account of the development and manufacture of the MAV prototype is also given.

The development of a value improvement model for repetitive processes (VIM)

Purpose – The purpose of this paper is to introduce a value improvement model (VIM) for repetitive processes applicable to any business where people and/or plant provide a service to support the overall business objective. Arguing competitive advantage can be realised through different amalgams of productive and strategic resources, the VIM introduced focuses on aligning resource bundles and influencing factors creating efficacious, efficient and effective processes by applying Lean thinking and Six Sigma tools and techniques more holistically.Design/methodology/approach – The research methodology taken incorporated a case study approach complimented by the action research process of planning, observing and reflecting summarized as an action case study research design. The case study data examine the development of a management cycle of value improvement on an inter‐terminal shuttle transportation system within a busy international airport.Findings – The VIM has been proven as a useful model for understan...

Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton

This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (∼>50mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions.

Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles through empirical and numerical modelling of the common guillemot, Uria aalge

The common guillemot, Uria aalge, a member of the auk family of seabirds, exhibits locomotive capabilities in both aerial and aquatic substrates. Simplistic forms of this ability have yet to be achieved by robotic vehicle designs and offer significant potential as inspiration for future concept designs. In this investigation, we initially investigate the power requirements of the guillemot associated with different modes of locomotion, empirically determining the saving associated with the retraction of the wing during aquatic operations. A numerical model of a morphing wing is then created to allow power requirements to be determined for different wing orientations, taking into account the complex kinematic and inertial dynamics associated with the motion. Validation of the numerical model is achieved by comparisons with the actual behaviour of the guillemot, which is done by considering specific mission tasks, where by the optimal solutions are found utilizing an evolutionary algorithm, which are found to be in close agreement with the biological case.

A Non-Raster Scanning Approach in Atomic Force Microscopy Using a Combined Contour Prediction Algorithm

Abstract In this paper, we present a novel non-raster scanning algorithm for high-speed imaging in Atomic Force Microscopy. In contrast to recent non-raster scanning algorithms for string-like samples, the proposed algorithm is developed for cells and other simple specimen samples. This algorithm collects data in the vicinity of the specimen to create sample contours at different heights to build the 3D topography of the target sample. During the scan process, the tip is steered based on a prediction of the contour curvature and contour tangent. The proposed scanning trajectory follows the contour of the sample and avoids crossing the specimen, while minimizing the possible excitation of resonances of the cantilever. For the prediction of the curvature and tangent of the contour, the current partially obtained contour and a previous contour scan are used: a prediction from both contours is suitably combined by a weighting algorithm derived from a reliability evaluation of both predictions. This permits the creation of topographical images of specific interest at a reduced scanning time in comparison to some prevalent non-raster scan algorithms and raster scans. Simulation results are provided.

A bio-inspired condylar hinge joint for mobile robots

This paper presents a bio-inspired design of hinge joint for mobile robots based on the human knee joint. The joint mimics the curved profiles of the femur and tibia bones and also mimics the four-bar motion of the cruciate ligaments. The bio-inspired design has the same desirable features of a natural knee joint including compactness, a moving centre of rotation, high strength, high stiffness and locking in the upright position. These characteristics are important for mobile robots where there are often tight space and mass limitations. Numerical analysis and experimental tests have shown that the new hinge joint has superior performance to a pin jointed hinge in terms of stiffness and mechanical advantage.

Improved visualisation of the design space using nested performance charts

Abstract Performance charts are an important visual means by which designers explore the design space and optimise the performance of products and systems. Traditional performance charts are usually limited to one or two design variables. However, many design problems have more than two important design variables. This paper presents a new concept of performance chart that can plot the performance of a product or system as a function of more than two design variables. The paper illustrates the new type of chart with the example of the design optimisation of a large mechanical structure that has four design variables.