Barry Lennox

Barry Lennox
The University of Manchester · School of Electrical and Electronic Engineering

BEng, PhD

About

230
Publications
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2,859
Citations

Publications

Publications (230)
Article
Run to run (R2R) optimization based on unfolded Partial Least Squares (u-PLS) is a promising approach for improving the performance of batch and fed-batch processes as it is able to continuously adapt to changing processing conditions. Using this technique, the regression coefficients of PLS are used to modify the input profile of the process in or...
Article
With the announcement of the U.K. new nuclear build and the requirement to decommission old facilities, researchers require bespoke facilities to undertake experiments to inform decision making. This paper describes development of The University of Manchester’s Dalton Cumbrian Facility, a custom built research environment which incorporates a 5 MV...
Article
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This paper describes a simulation of an industrial-scale fed-batch fermentation that can be used as a benchmark in process systems analysis and control studies. The simulation was developed using a mechanistic model and validated using historical data collected from an industrial-scale penicillin fermentation process. Each batch was carried out in...
Article
A novel numerical optimization PLS-based algorithm to enable the identification of two-block two-way linear models is proposed. The approach is denoted Expanded PLS (E-PLS) and takes advantage of the simplicity of use of two-way models for batch processes and tackles its major limitation which is over-fitting. Over-fitting is caused when the varian...
Article
Control performance assessment (CPA) techniques provide an indication of how current controller performance compares with what would be considered to be ideal. The ideal performance is typically referred to as a ‘benchmark’. This paper argues that there are two fundamental requirements for any CPA algorithm. The first is that it should be able to d...
Article
Increasing the productivity of batch processes presents a complex challenge, with difficulties resulting from, amongst other things, the time-varying and non-linear characteristics that such processes exhibit. This paper presents an innovative optimisation technique which utilises a data-driven Gaussian process regression model, built on time-varyi...
Article
As robotics become more sophisticated, there are a growing number of generic systems being used for routine tasks in nuclear environments to reduce risk to radiation workers. The nuclear sector has called for more commercial-off-the-shelf (COTS) devices and components to be used in preference to nuclear specific hardware, enabling robotic operation...
Article
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This paper presents the Vega robot, which is a small, low cost, potentially disposable ground robot designed for nuclear decommissioning. Vega has been developed specifically to support characterization and inspection operations, such as 2D and 3D mapping, radiation scans and sample retrieval. The design and construction methodology that was follow...
Chapter
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Coordination of mobile robot teams has attracted significant attention in the area of robotics research. As one of the most important techniques used in the multi-robot systems, coverage has shown great potential to be applied to many real-world applications. In this paper, we aim to provide a novel path planning method for multi-robot coverage wit...
Chapter
Self-organised flocking behaviour, an emergent collective motion, appears in various physical and biological systems. It has been widely utilised to guide the swarm robotic system in different applications. In this paper, we developed a self-organised flocking mechanism for the homogeneous robotic swarm, which can achieve the collective motion with...
Preprint
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Progress in the last decade has brought about significant improvements in the accuracy and speed of SLAM systems, broadening their mapping capabilities. Despite these advancements, long-term operation remains a major challenge, primarily due to the wide spectrum of perturbations robotic systems may encounter. Increasing the robustness of SLAM algor...
Article
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Flocking is a social animals’ common behaviour observed in nature. It has a great potential for real-world applications such as exploration in agri-robotics using low-cost robotic solutions. In this paper, an extended model of a self-organised flocking mechanism using heterogeneous swarm system is proposed. The proposed model for swarm robotic syst...
Article
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Collection and interpolation of radiation observations is of vital importance to support routine operations in the nuclear sector globally, as well as for completing surveys during crisis response. To reduce exposure to ionizing radiation that human workers can be subjected to during such surveys, there is a strong desire to utilise robotic systems...
Article
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The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics in realistic scenarios is key to gaining stakeholder confidence but hindered by limited access to f...
Article
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In this paper, a novel 3-degree-of-freedom (DOF) nanopositioner was investigated in order to position objects with nanometer scale accuracy. Nanopositioners are used in a variety of real-world applications, e.g. biomedical technology and nanoassembly. In this work, a nanopositioner was firstly designed with the flexure diaphragm guider, capacitive...
Article
Full-text available
This paper describes a novel autonomous ground vehicle that is designed for exploring unknown environments which contain sources of ionising radiation, such as might be found in a nuclear disaster site or a legacy nuclear facility. While exploring the environment, it is important that the robot avoids radiation hot spots to minimise breakdowns. Bro...
Article
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There are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. The swarm system contains two types of robots— leaders and followers . A novel control protocol and an...
Article
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The impact of gamma radiation on a commercial off the shelf microcontroller board has been investigated. Three different tests have been performed to ascertain the radiation tolerance of the device from a nuclear decommissioning deployment perspective. The first test analyses the effect of radiation on the output voltage of the on-board voltage reg...
Article
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Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strate...
Article
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This brief proposes a bearing-only collision-free formation coordination strategy for networked heterogeneous robots, where each robot only measures the relative bearings of its neighbors to achieve cooperation. Different from many existing studies that can only guarantee global asymptotic stability (i.e., the formation can only be formed over an i...
Article
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The optimisation and control of Cell Free Protein Synthesis (CFPS) presents an ongoing challenge due to the complex synergies and nonlinearities that cannot be fully explained in first principle models. This paper explores the use of multivariate statistical tools for analysing data‐sets collected from the CFPS of Cereulide mAb. During the collecti...
Chapter
Flocking is a common behaviour observed in social animals such as birds and insects, which has received considerable attention in swarm robotics research studies. In this paper, a homogeneous self-organised flocking mechanism was implemented using simulated robots to verify a collective model. We identified and proposed solutions to the current gap...
Chapter
Swarm robotics is mainly inspired by the collective behaviour of social animals in nature. Among different behaviours such as foraging and flocking performed by social animals; aggregation behaviour is often considered as the most basic and fundamental one. Aggregation behaviour has been studied in different domains for over a decade. In most of th...
Article
Material characterisation in nuclear environments is an essential part of decommissioning processes. This paper explores the feasibility of deploying commercial off the shelf (COTS) laser induced breakdown spectroscopy (LIBS) and Raman spectroscopy, for use in a decommissioning hot cell environment, to inform waste operation decision making. To ope...
Preprint
Full-text available
This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unknown environment without a map. An efficient training strategy is proposed to allow a robot to learn from both human experience data and self-exploratory data. A game forma...
Article
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Ground robotic vehicles are often deployed to inspect areas where radioactive floor contamination is a prominent risk. However, the accuracy of detection could be adversely affected by enhanced radiation signal through self-contamination of the robot occurring over the course of the inspection. In this work, it was hypothesised that a six-legged ro...
Article
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The effects of Total Ionizing Dose (TID) on electrical components is a key parameter to evaluate the life span of wireless sensor nodes for possible deployment in nuclear decommissioning environments. The aim of this study was to experimentally evaluate the effects of TID on capacitance, internal resistance and the self-discharge characteristic of...
Article
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Autonomous exploration is an important application of multi-vehicle systems, where a team of networked robots are coordinated to explore an unknown environment collaboratively. This technique has earned significant research interest due to its usefulness in search and rescue, fault detection and monitoring, localization and mapping, etc. In this pa...
Article
The design and test of a robot-compatible, radiation detection instrument providing simultaneous γ-ray imaging and γ-ray spectroscopy is described. The sensing system comprises a cerium bromide inorganic scintillation detector and a cylindrical, lead slot collimator that is configured with a robot-compatible, on-board data acquisition system. The m...
Article
The robotic shepherding problem has earned significant research interest over the last few decades due to its potential application in precision agriculture. In this paper, we first modeled the sheep flocking behavior using adaptive protocols and artificial potential field methods. Then we designed a coordination algorithm for the robotic dogs. An...
Article
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Swarm robotics focuses on decentralised control of large numbers of simple robots with limited capabilities. Decentralised control in a swarm system requires a reliable communication link between the individuals that is able to provide linear and angular distances between the individuals-Range & Bearing. This study presents the development of an op...
Article
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Pheromones are chemical substances released into the environment by an individual animal, which elicit stereotyped behaviours widely found across the animal kingdom. Inspired by the effective use of pheromones in social insects, pheromonal communication has been adopted to swarm robotics domain using diverse approaches such as alcohol, RFID tags an...
Article
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The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically...
Article
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Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distrib...
Article
An important envisaged application of legged robots is the exploration and mapping of extreme environments with an unknown terrain. Corin is a hexapod designed at the University of Manchester, which is able to perform motions using footholds on surfaces perpendicular to the ground plane. This allows it to be able to navigate through confined and na...
Article
Acoustic pulse reflectometry is a method of non-destructive testing used for locating and characterising features and defects in gas-filled objects such as tubes, pipes, and ducts. A sound wave is emitted into the waveguide and travels in the axial direction until it is partially or fully reflected at changes in cross-section. The recorded reflecti...
Article
Full-text available
The use of robotics in harsh environments, such as nuclear decommissioning, has increased in recent years. Environments such as the Fukushima Daiichi accident site from 2011 and the Sellafield legacy ponds highlight the need for robotic systems capable of deployment in hazardous environments unsafe for human workers. To characterise these environme...
Article
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Advances in technology have seen mobile robots becoming a viable solution to many global challenges. A key limitation for tetherless operation, however, is the energy density of batteries. Whilst significant research is being undertaken into new battery technologies, wireless power transfer may be an alternative solution. The majority of the availa...
Article
Full-text available
This article presents an improved batch-to-batch optimisation technique that is shown to be able to bring the yield closer to its set-point from one batch to the next. In addition, an innovative Model Predictive Control technique is proposed that over multiple batches, reduces the variability in yield that occurs as a result of random variations in...
Article
Full-text available
Nuclear decommissioning is a global challenge with high costs associated with it due to the hazardous environments created by radioactive materials. Most nuclear decommissioning sites contain significant amounts of pipework, the majority of which is uncharacterised with regards radioactive contamination. If there is any uncertainty as to the contam...
Chapter
Despite various existing works on intuitive human-robot interaction (HRI) for teleoperation of robotic manipulators, to the best of our knowledge, the following research question has not been investigated yet: Can we have a teleoperated robotic manipulator that simply copies a human operator’s bare hand posture and gesture in a real-time manner wit...
Chapter
This paper presents the interpolation of motion primitives and the foothold planner for a hexapod which utilises advanced motions to navigate through complex environments such as narrow pathways and large holes which are surrounded by walls. Advanced motions are concerned with the use of vertical surfaces for footholds and currently consists of two...
Chapter
The need for nuclear decommissioning is increasing globally, as power stations and other facilities utilising nuclear reaches the end of their operational life. Currently the majority of decommissioning tasks are carried out by workers in protective air fed suits, which is slow, expensive and dangerous. The work presented here is the early stages i...
Article
Full-text available
Inspection and monitoring of wet nuclear storage facilities such as spent fuel pools or wet silos is performed for a variety of reasons, including nuclear security and characterisation of storage facilities prior to decommissioning. Until now such tasks have been performed by personnel or, if the risk to health is too high, avoided. Tasks are often...
Article
Full-text available
Mobile robots are playing a significant role in Higher Education science and engineering teaching, as they offer a flexible platform to explore and teach a wide-range of topics such as mechanics, electronics and software. Unfortunately the widespread adoption is limited by their high cost and the complexity of user interfaces and programming tools....