... The minimalist challenge was faced 'head on' with the decision to employ a helium b... more ... The minimalist challenge was faced 'head on' with the decision to employ a helium balloon robots with a payload of 93g. ... The design employs the Li-Ion 'Sony Minidisc' battery (LIP-12B), which gives 1500mAh at 3.6v for a weight of 50g. ... Interaction and Intelligent Behaviour” PhD ...
Abstract: This paper addresses and highlights some of the problems facing designers and those who... more Abstract: This paper addresses and highlights some of the problems facing designers and those who engineer small scale robots in the future. It specifically looks at the problem associated with a group of small-scale robots ascending a gradient field. In particular the ...
This paper reports on research that extends previous work in the area of following and flocking w... more This paper reports on research that extends previous work in the area of following and flocking with two-dimensionally constrained robots, into three dimensions using physical robots with limited local sensing but without direct communication. The motivation for this work stems from an interest in the emerging field of behaviour-based robotics and collective biological systems.
IEEE International Conference on Systems, Man and Cybernetics, 2002
... The minimalist challenge was faced 'head on' with the decision to employ a helium b... more ... The minimalist challenge was faced 'head on' with the decision to employ a helium balloon robots with a payload of 93g. ... The design employs the Li-Ion 'Sony Minidisc' battery (LIP-12B), which gives 1500mAh at 3.6v for a weight of 50g. ... Interaction and Intelligent Behaviour” PhD ...
Abstract A low-cost, biologically inspired underwater walking robot (see Fig. 1) has been designe... more Abstract A low-cost, biologically inspired underwater walking robot (see Fig. 1) has been designed and built to covertly explore the seabed and to determine properties of submerged objects in obscure and inaccessible underwater locations. This paper focuses on a ...
... raised (or addressed) by current biological data, and guiding us in the design of future ... ... more ... raised (or addressed) by current biological data, and guiding us in the design of future ... more complex WPG models in order to investigate the impact of different modula-tion strategies. ... We use, instead, an algorithm we call 'Snake', which takes a bio-inspired approach, causing ...
... raised (or addressed) by current biological data, and guiding us in the design of future ... ... more ... raised (or addressed) by current biological data, and guiding us in the design of future ... more complex WPG models in order to investigate the impact of different modula-tion strategies. ... We use, instead, an algorithm we call 'Snake', which takes a bio-inspired approach, causing ...
Electroactive Polymer Actuators and Devices (EAPAD) 2012, 2012
ABSTRACT Rodents are able to dexterously navigate confined and unlit environments by extracting s... more ABSTRACT Rodents are able to dexterously navigate confined and unlit environments by extracting spatial and textural information with their whiskers (or vibrissae). Vibrissal-based active touch is suited to a variety of applications where vision is occluded, such as search-and-rescue operations in collapsed buildings. In this paper, a compact dielectric elastomer vibrissal system (DEVS) is described that mimics the vibrissal follicle-sinus complex (FSC) found in rodents. Like the vibrissal FSC, the DEVS encapsulates all sensitive mechanoreceptors at the root of a passive whisker within an antagonistic muscular system. Typically, rats actively whisk arrays of macro-vibrissae with amplitudes of up to +/-25°. It is demonstrated that these properties can be replicated by exploiting the characteristic large actuation strains and passive compliance of dielectric elastomers. A prototype DEVS is developed using VHB 4905 and embedded strain gauges bonded to the root of a tapered whisker. The DEVS is demonstrated to produce a maximum rotational output of +/-22.8°. An electro-mechanical model of the DEVS is derived, which incorporates a hyperelastic material model and Euler- Bernoulli beam equations. The model is shown to predict experimental measurements of whisking stroke amplitude and whisker deflection.
This paper reports on research that extends previous work in the area of following and flocking w... more This paper reports on research that extends previous work in the area of following and flocking with two-dimensionally constrained robots, into three dimensions using physical robots with limited local sensing but without direct communication. The motivation for this work stems from an interest in the emerging field of behaviour-based robotics and collective biological systems.
Page 1. Using Templates for Defensive Wall Building with Autonomous Mobile Ant-Like Robots Chris ... more Page 1. Using Templates for Defensive Wall Building with Autonomous Mobile Ant-Like Robots Chris Melhuish1, Jason Welsby1 and Charles Edwards2 Intelligent Autonomous Systems (Engineering) Laboratory Faculty of Engineering ...
A general problem in robotics is how to best utilize sensors to classify the robot’s environment.... more A general problem in robotics is how to best utilize sensors to classify the robot’s environment. The BIOTACT project (BIOmimetic Technology for vibrissal Active Touch) is a collaboration between biologists and engineers that has led to many distinctive robots with artificial whisker sensing capabilities. One problem is to construct classifiers that can recognize a wide range of whisker sensations rather than constructing different classifiers for specific features. In this article, we demonstrate that a stationary naive Bayes classifier can perform such a general classification by applying it to various robot experiments. This classifier could be a key component of a robot able to learn autonomously about novel environments, where classifier properties are not known in advance.
... The minimalist challenge was faced 'head on' with the decision to employ a helium b... more ... The minimalist challenge was faced 'head on' with the decision to employ a helium balloon robots with a payload of 93g. ... The design employs the Li-Ion 'Sony Minidisc' battery (LIP-12B), which gives 1500mAh at 3.6v for a weight of 50g. ... Interaction and Intelligent Behaviour” PhD ...
Abstract: This paper addresses and highlights some of the problems facing designers and those who... more Abstract: This paper addresses and highlights some of the problems facing designers and those who engineer small scale robots in the future. It specifically looks at the problem associated with a group of small-scale robots ascending a gradient field. In particular the ...
This paper reports on research that extends previous work in the area of following and flocking w... more This paper reports on research that extends previous work in the area of following and flocking with two-dimensionally constrained robots, into three dimensions using physical robots with limited local sensing but without direct communication. The motivation for this work stems from an interest in the emerging field of behaviour-based robotics and collective biological systems.
IEEE International Conference on Systems, Man and Cybernetics, 2002
... The minimalist challenge was faced 'head on' with the decision to employ a helium b... more ... The minimalist challenge was faced 'head on' with the decision to employ a helium balloon robots with a payload of 93g. ... The design employs the Li-Ion 'Sony Minidisc' battery (LIP-12B), which gives 1500mAh at 3.6v for a weight of 50g. ... Interaction and Intelligent Behaviour” PhD ...
Abstract A low-cost, biologically inspired underwater walking robot (see Fig. 1) has been designe... more Abstract A low-cost, biologically inspired underwater walking robot (see Fig. 1) has been designed and built to covertly explore the seabed and to determine properties of submerged objects in obscure and inaccessible underwater locations. This paper focuses on a ...
... raised (or addressed) by current biological data, and guiding us in the design of future ... ... more ... raised (or addressed) by current biological data, and guiding us in the design of future ... more complex WPG models in order to investigate the impact of different modula-tion strategies. ... We use, instead, an algorithm we call 'Snake', which takes a bio-inspired approach, causing ...
... raised (or addressed) by current biological data, and guiding us in the design of future ... ... more ... raised (or addressed) by current biological data, and guiding us in the design of future ... more complex WPG models in order to investigate the impact of different modula-tion strategies. ... We use, instead, an algorithm we call 'Snake', which takes a bio-inspired approach, causing ...
Electroactive Polymer Actuators and Devices (EAPAD) 2012, 2012
ABSTRACT Rodents are able to dexterously navigate confined and unlit environments by extracting s... more ABSTRACT Rodents are able to dexterously navigate confined and unlit environments by extracting spatial and textural information with their whiskers (or vibrissae). Vibrissal-based active touch is suited to a variety of applications where vision is occluded, such as search-and-rescue operations in collapsed buildings. In this paper, a compact dielectric elastomer vibrissal system (DEVS) is described that mimics the vibrissal follicle-sinus complex (FSC) found in rodents. Like the vibrissal FSC, the DEVS encapsulates all sensitive mechanoreceptors at the root of a passive whisker within an antagonistic muscular system. Typically, rats actively whisk arrays of macro-vibrissae with amplitudes of up to +/-25°. It is demonstrated that these properties can be replicated by exploiting the characteristic large actuation strains and passive compliance of dielectric elastomers. A prototype DEVS is developed using VHB 4905 and embedded strain gauges bonded to the root of a tapered whisker. The DEVS is demonstrated to produce a maximum rotational output of +/-22.8°. An electro-mechanical model of the DEVS is derived, which incorporates a hyperelastic material model and Euler- Bernoulli beam equations. The model is shown to predict experimental measurements of whisking stroke amplitude and whisker deflection.
This paper reports on research that extends previous work in the area of following and flocking w... more This paper reports on research that extends previous work in the area of following and flocking with two-dimensionally constrained robots, into three dimensions using physical robots with limited local sensing but without direct communication. The motivation for this work stems from an interest in the emerging field of behaviour-based robotics and collective biological systems.
Page 1. Using Templates for Defensive Wall Building with Autonomous Mobile Ant-Like Robots Chris ... more Page 1. Using Templates for Defensive Wall Building with Autonomous Mobile Ant-Like Robots Chris Melhuish1, Jason Welsby1 and Charles Edwards2 Intelligent Autonomous Systems (Engineering) Laboratory Faculty of Engineering ...
A general problem in robotics is how to best utilize sensors to classify the robot’s environment.... more A general problem in robotics is how to best utilize sensors to classify the robot’s environment. The BIOTACT project (BIOmimetic Technology for vibrissal Active Touch) is a collaboration between biologists and engineers that has led to many distinctive robots with artificial whisker sensing capabilities. One problem is to construct classifiers that can recognize a wide range of whisker sensations rather than constructing different classifiers for specific features. In this article, we demonstrate that a stationary naive Bayes classifier can perform such a general classification by applying it to various robot experiments. This classifier could be a key component of a robot able to learn autonomously about novel environments, where classifier properties are not known in advance.
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Papers by Jason Welsby