ORCID Profile
0000-0003-3306-6148
Current Organisation
RMIT University
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Manufacturing robotics | Distributed systems and algorithms | Cyberphysical systems and internet of things | Distributed computing and systems software
Publisher: IEEE
Date: 09-2015
Publisher: MDPI AG
Date: 28-07-2021
DOI: 10.3390/APP11156939
Abstract: This paper explores the problem of energy-efficient shortest path planning on off-road, natural, real-life terrain for unmanned ground vehicles (UGVs). We present a greedy path planning algorithm based on a composite metric routing approach that combines the energy consumption and distance of the path. In our work, we consider the Terramechanics between the UGV and the terrain soil to account for the wheel sinkage effect, in addition to the terrain slope and soil deformation limitations in the development of the path planning algorithm. As benchmarks for comparison, we use a recent energy-cost minimization approach, in addition to an ant colony optimization (ACO) implementation. Our results indicate that the proposed composite metric routing approach outperforms the state-of-the-art energy-cost minimization method in terms of the resulting path distance, with a negligible increase in energy consumption. Moreover, our results indicate also that the proposed greedy algorithm strongly outperforms the ACO implementation in terms of the quality of the paths obtained and the algorithm running time. In fact, the running time of our proposed algorithm indicates its suitability for large natural terrain graphs with thousands of nodes and tens of thousands of links.
Publisher: MDPI AG
Date: 12-10-2021
DOI: 10.3390/APP11209479
Abstract: In the last decade, Australian SMEs are steadily becoming more digitally engaged, but they still face issues and barriers to fully adopt Industry 4.0 (I4.0). Among the tools that I4.0 encompasses, digital twin (DT) and digital thread (DTH) technologies hold significant interest and value. Some of the challenges are the lack of expertise in developing the communication framework required for data collection, processing, and storing concerns about data and cyber security lack of knowledge of the digitization and visualisation of data and value generation for businesses from the data. This article aims to demonstrate the feasibility of DT implementation for small and medium-sized enterprises (SMEs) by developing a framework based on simple and low-cost solutions and providing insight and guidance to overcome technological barriers. To do so, this paper first outlines the theoretical framework and its components, and subsequently discusses a simplified and generalised DT model of a real-world physical asset that demonstrates how these components function, how they are integrated and how they interact with each other. An experimental scenario is presented to transform data harvested from a resistance temperature detector sensor connected with a WAGO 750-8102 Programmable Logic Controller for data storage and analysis, predictive simulation and modelling. Our results demonstrate that sensor data could be readily integrated from Internet-of-Things (IoT) devices and enabling DT technologies, where users could view real time data and key performance indicators (KPIs) in the form of a 3D model. Data from both the sensor and 3D model are viewable in a comprehensive history log through a database. Via this technological demonstration, we provide several recommendations on software, hardware, and expertise that SMEs may adopt to assist with their DT implementations.
Publisher: AIP Publishing
Date: 06-2019
DOI: 10.1063/1.5093073
Abstract: Mobile sensor networks (MSNs) are utilized in many sensing applications that require both target seeking and tracking capabilities. Dynamics of mobile agents and the interactions among them introduce new challenges in designing robust cooperative control mechanisms. In this paper, a distributed semiflocking algorithm inspired by Temnothorax albipennis migration model is proposed to address the above issues. Mobile agents under the control of the proposed semiflocking algorithm are capable of detecting targets faster and tracking them with lower energy consumption when compared with existing MSN motion control algorithms. Furthermore, the proposed semiflocking algorithm can operate energy-efficiently on both flat and uneven terrains. Simulation results demonstrate that the proposed semiflocking algorithm can provide promising performances in target seeking and tracking applications of MSNs.
Publisher: IEEE
Date: 10-2014
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2019
Publisher: IEEE
Date: 05-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 05-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2021
Publisher: IEEE
Date: 05-2015
Publisher: IEEE
Date: 05-2015
Publisher: Institution of Engineering and Technology (IET)
Date: 2009
Publisher: IEEE
Date: 10-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2024
Publisher: Hindawi Limited
Date: 18-11-2022
DOI: 10.1155/2022/8172300
Abstract: With the increasing number of Internet of Things (IoT), Industry 4.0 (I4.0), and mobile devices, it can be expected that base stations will have to serve more and more clients with a limited number of antennas. For their broadcast channels, nonorthogonal multiple access (NOMA) and blind interference alignment (BIA) are two efficient and commonly adopted transmission schemes. This paper conducts a comparison study on these techniques on a 3-user 2 × 1 multiple-input single-output (MISO) broadcast channel with a limited number of transmit antennas. Specifically, space-time block coding based NOMA (STBC-NOMA) and NOMA-assisted beamforming (NOMA-BF) are compared with BIA. Both perfect and imperfect successive interference cancellation (SIC) have been considered for NOMA-based schemes, and the theoretical achievable rates of all schemes have been derived. Furthermore, with a given fairness constraint among end users, the power allocation (PA) problems have been solved for cases when accurate channel state information is available at the transmitter (CSIT) as well as when only path loss information is available. Numerical results show the following: (1) none of the schemes under this study can always outperform the others under different SNR regions. (2) With imperfect SIC, NOMA-BF, and STBC-NOMA both suffer from a significant performance loss under a high SNR condition. (3) Fairness PA with only path loss information provides similar performance as that with perfect CSIT, thus partial CSIT is adequate for system or scheme designs in practice.
Publisher: IEEE
Date: 05-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2016
Publisher: IEEE
Date: 09-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2010
Publisher: Wiley
Date: 23-01-2019
DOI: 10.1002/SPE.2680
Publisher: IEEE
Date: 10-2012
Publisher: MDPI AG
Date: 17-05-2023
DOI: 10.3390/S23104821
Abstract: The advent of the Internet of Things (IoT) has triggered an increased demand for sensing devices with multiple integrated wireless transceivers. These platforms often support the advantageous use of multiple radio technologies to exploit their differing characteristics. Intelligent radio selection techniques allow these systems to become highly adaptive, ensuring more robust and reliable communications under dynamic channel conditions. In this paper, we focus on the wireless links between devices equipped by deployed operating personnel and intermediary access-point infrastructure. We use multi-radio platforms and wireless devices with multiple and erse transceiver technologies to produce robust and reliable links through the adaptive control of available transceivers. In this work, the term ‘robust’ refers to communications that can be maintained despite changes in the environmental and radio conditions, i.e., during periods of interference caused by non-cooperative actors or multi-path or fading conditions in the physical environment. In this paper, a multi-objective reinforcement learning (MORL) framework is applied to address a multi-radio selection and power control problem. We propose independent reward functions to manage the trade-off between the conflicting objectives of minimised power consumption and maximised bit rate. We also adopt an adaptive exploration strategy for learning a robust behaviour policy and compare its online performance to conventional methods. An extension to the multi-objective state–action–reward–state–action (SARSA) algorithm is proposed to implement this adaptive exploration strategy. When applying adaptive exploration to the extended multi-objective SARSA algorithm, we achieve a 20% increase in the F1 score in comparison to one with decayed exploration policies.
Publisher: IEEE
Date: 05-2009
Publisher: IEEE
Date: 06-2016
Publisher: IEEE
Date: 04-2016
Publisher: IEEE
Date: 05-2017
Publisher: IEEE
Date: 05-2017
Publisher: IEEE
Date: 05-2018
Publisher: IEEE
Date: 10-2013
Publisher: IEEE
Date: 10-2014
Publisher: IEEE
Date: 05-2008
Publisher: IEEE
Date: 06-2014
Publisher: IEEE
Date: 2006
DOI: 10.1109/ISM.2006.122
Publisher: Elsevier BV
Date: 02-2022
Publisher: IEEE
Date: 05-2017
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2020
Publisher: American Medical Association (AMA)
Date: 05-2017
DOI: 10.1001/JAMAPSYCHIATRY.2016.3955
Abstract: Whether and under which conditions D-cycloserine (DCS) augments the effects of exposure-based cognitive behavior therapy for anxiety, obsessive-compulsive, and posttraumatic stress disorders is unclear. To clarify whether DCS is superior to placebo in augmenting the effects of cognitive behavior therapy for anxiety, obsessive-compulsive, and posttraumatic stress disorders and to evaluate whether antidepressants interact with DCS and the effect of potential moderating variables. PubMed, EMBASE, and PsycINFO were searched from inception to February 10, 2016. Reference lists of previous reviews and meta-analyses and reports of randomized clinical trials were also checked. Studies were eligible for inclusion if they were (1) double-blind randomized clinical trials of DCS as an augmentation strategy for exposure-based cognitive behavior therapy and (2) conducted in humans diagnosed as having specific phobia, social anxiety disorder, panic disorder with or without agoraphobia, obsessive-compulsive disorder, or posttraumatic stress disorder. Raw data were obtained from the authors and quality controlled. Data were ranked to ensure a consistent metric across studies (score range, 0-100). We used a 3-level multilevel model nesting repeated measures of outcomes within participants, who were nested within studies. In idual participant data were obtained for 21 of 22 eligible trials, representing 1047 of 1073 eligible participants. When controlling for antidepressant use, participants receiving DCS showed greater improvement from pretreatment to posttreatment (mean difference, -3.62 95% CI, -0.81 to -6.43 P = .01 d = -0.25) but not from pretreatment to midtreatment (mean difference, -1.66 95% CI, -4.92 to 1.60 P = .32 d = -0.14) or from pretreatment to follow-up (mean difference, -2.98, 95% CI, -5.99 to 0.03 P = .05 d = -0.19). Additional analyses showed that participants assigned to DCS were associated with lower symptom severity than those assigned to placebo at posttreatment and at follow-up. Antidepressants did not moderate the effects of DCS. None of the prespecified patient-level or study-level moderators was associated with outcomes. D-cycloserine is associated with a small augmentation effect on exposure-based therapy. This effect is not moderated by the concurrent use of antidepressants. Further research is needed to identify patient and/or therapy characteristics associated with DCS response.
Publisher: IEEE
Date: 05-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 11-2012
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2022
Publisher: MDPI AG
Date: 25-01-2021
DOI: 10.3390/APP11031097
Abstract: This paper provides an overview of the current state-of-the-art digital twin and digital thread technology in industrial operations. Both are transformational technologies that have the advantage of improving the efficiency of current design and manufacturing. Digital twin is an important element of the Industry 4.0 digitalization process however, the huge amount of data that are generated and collected by a digital twin offer challenges in handling, processing and storage. The paper aims to report on the development of a new framework that combines the digital twin and digital thread for better data management in order to drive innovation, improve the production process and performance and ensure continuity and traceability of information. The digital twin/thread framework incorporates behavior simulation and physical control components, in which these two components rely on the connectivity between the twin and thread for information flow and exchange to drive innovation. The twin/thread framework encompasses specifications that include organizational architecture layout, security, user access, databases and hardware and software requirements. It is envisaged that the framework will be applicable to enhancing the optimization of operational processes and traceability of information in the physical world, especially in an Industry Shipyard 4.0.
Publisher: IEEE
Date: 05-2011
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2018
Publisher: IEEE
Date: 06-2015
Publisher: IEEE
Date: 05-2008
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 11-2018
Publisher: MDPI AG
Date: 12-12-2020
DOI: 10.20944/PREPRINTS202012.0298.V1
Abstract: This paper provides an overview of the current state-of-the-art digital twin and digital thread technology in industrial operations. Both are transformational technologies that have the advantage of improving the efficiency of current design and manufacturing. Digital twin is an important element of the Industry 4.0 digitalization process however, the huge amount of data that are generated and collected by digital twin offer challenges in handling, processing and storage. The paper aims to report on the development of a new framework that combines the digital twin and digital thread for better data management in order to drive innovation, improve the production process and performance, and to ensure continuity and traceability of information. The digital twin/thread framework incorporated behavior simulation and physical control components, in which these two components rely on the connectivity between the twin and thread for information flow and exchange to drive innovation. The twin/thread framework encompasses specifications that include organizational architecture layout, security, user access, cloud computing set-up, and hardware and software requirements. It is envisaged that the framework will be applicable to enhancing optimization of operational processes and traceability of information in the physical world, especially in Industry Shipyard 4.0.
Publisher: IEEE
Date: 10-2012
Publisher: IEEE
Date: 10-2012
Publisher: MDPI AG
Date: 06-04-2023
DOI: 10.3390/APP13074635
Abstract: While traditional industrial robots participate in repetitive manufacturing processes from behind caged safety enclosures, collaborative robots (cobots) offer a highly flexible and human-interactive solution to manufacturing automation. Rather than operating from within cages, safety features such as force and proximity sensors and programmed protection zones allow cobots to work safely, close to human workers. Cobots can be configured to either stop or slow their motion if they come in contact with a human or obstacle or enter a protection zone, which may be a high pedestrian traffic area. In this way, a task can be ided into sub-processes allocated to the cobot or the human based on suitability, capability or human preference. The flexible nature of the cobot makes it ideal for low-volume, ‘just-in-time’ manufacturing however, this requires frequent reprogramming of the cobot to adapt to the dynamic processes. This paper reviews relevant cobot programming and control methods currently used in the manufacturing industry and alternative solutions proposed in the literature published from 2018 to 2023. The paper aims to (1) study the features and characteristics of existing cobot programming and control methods and those proposed in the literature, (2) compare the complexity of the task that the cobot is to perform with the skills needed to program it, (3) determine who is the ideal person to perform the programming role, and (4) assess whether the cobot programming and control methods are suited to that person’s skillset or if another solution is needed. The study is presented as a guide for potential adopters of cobots for manufacturing and a reference for further research.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2011
Publisher: IEEE
Date: 06-2014
Publisher: IEEE
Date: 10-2016
Publisher: IEEE
Date: 05-2010
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2020
Publisher: IEEE
Date: 11-2014
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2019
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2012
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2023
Publisher: IEEE
Date: 05-2018
Publisher: IEEE
Date: 10-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2011
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2022
Publisher: MDPI AG
Date: 21-09-2022
DOI: 10.3390/APP12199450
Abstract: IAQ monitoring studies have gained renewed interest post COVID-19. Furthermore, accessibility to the corresponding enabling technologies has improved considerably in terms of cost and requisite knowledge. This paper aims to outline the key decisions involved for researchers and building managers alike to seek to implement their own environmental monitoring study using commercially available hardware and software. To do so, this paper first outlines the essential elements or building blocks of an IoT architecture, detailing the design criteria for selecting various hardware and software. Secondly, it outlines the process of integrating these different components and the flow of data from IoT device to databases and end-user applications. To demonstrate this process, an IAQ monitoring study was conducted at an open-plan office. Our results demonstrated the framework can be adapted to different worksites with minor modifications and provide the flexibility to interchange components. The data collected can be easily integrated into open-source analytic software for visualization and to make informed decisions to manage IAQ. It is through this process that we provide recommendations on how other users may adopt similar frameworks.
Publisher: Springer Science and Business Media LLC
Date: 23-12-2016
Publisher: IEEE
Date: 05-2015
Publisher: Elsevier BV
Date: 04-2023
Publisher: MDPI AG
Date: 26-01-2023
DOI: 10.3390/S23031395
Abstract: Conventional heating ventilation and air-conditioning (HVAC) controllers have been designed to mainly control the temperature of a confined compartment, such as a room or a cabin of a vehicle. Other important parameters related to the thermal comfort and indoor air quality (IAQ) of the confined compartment have often been ignored. In this project, IAQ in the vehicle cabin was represented by its carbon dioxide (CO2) concentration, and the occupants’ thermal comfort levels were estimated with the predicted mean vote (PMV) index. A new fuzzy logic controller (FLC) was designed and developed using the MATLAB fuzzy logic toolbox and Simulink to provide a nonlinear mapping between the measured values, i.e., PMV, temperature, CO2, and control parameters (recirculation flaps, blower’s speed, and refrigerant mass flow rate) of a vehicle HVAC system. The new FLC aimed to regulate both in-cabin PMV and CO2 values without significantly increasing overall energy consumption. To evaluate the effectiveness of the proposed FLC, a cabin simulator was used to mimic the effects of different HVAC variables and indoor/outdoor environmental settings, which represented the in-cabin PMV and IAQ readings. Results demonstrated that the new FLC was effective in regulating the in-cabin PMV level and CO2 concentration, at desirable levels, by adaptively controlling the opening and closing of the recirculation flap based on in-cabin temperature and CO2 readings, while maintaining an average-to-good energy consumption level. The proposed FLC could be applied to a large variety of HVAC systems by utilizing low-cost sensors, without the need to significantly modify the internal design of the HVAC system.
Publisher: MDPI AG
Date: 17-08-2023
DOI: 10.3390/APP13169333
Abstract: Industry 4.0 (I4.0) grants businesses in the manufacturing sector significant benefits in terms of productivity and efficiency however, industries must strive to reach a level of technological readiness and acquire the necessary expertise to implement and integrate I4.0 technologies to enhance their processes. This paper presents a framework designed to provide guidance to businesses within the manufacturing industry to improve efficiency and productivity. The framework was developed and refined in collaboration with a leading cold-chain insulated packaging manufacturer based in Melbourne, Australia. The proposed framework was designed and implemented utilising off-the-shelf sensing, processing, and visualisation components, which can be integrated into existing machinery, thereby achieving a cost-effective retrofit. Experimental results showed that a system developed using the proposed framework can accurately measure material consumption in terms of length. The system provides the building blocks for the manufacturer to avoid downtime by preventing the machine from running out of raw materials.
Publisher: IEEE
Date: 07-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2017
Publisher: Informa UK Limited
Date: 13-01-2023
Start Date: 06-2024
End Date: 06-2029
Amount: $5,000,000.00
Funder: Australian Research Council
View Funded Activity