Craig West

Craig West
Bristol Robotics Laboratory

MEng Mechatronic Engineering

About

16
Publications
2,042
Reads
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173
Citations
Additional affiliations
October 2014 - present
Lancaster University
Position
  • PhD Student

Publications

Publications (16)
Article
Full-text available
A novel, semi-autonomous radiological scanning system for inspecting irregularly shaped and radiologically uncharacterised objects in various orientations is presented. The system utilises relatively low cost, commercial-off-the-shelf (COTS) electronic components, and is intended for use within relatively low to medium radioactive dose environments...
Article
Full-text available
We describe the implementation of a bespoke two arm hydraulically actuated robotic platform which is used to semi-autonomously cut approximately 50 mm diameter pipes of three different materials: cardboard, ABS plastic and aluminium. The system is designed to be utilised within radiologically active environments where human access is limited due to...
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...
Conference Paper
Full-text available
A novel, semi-autonomous radiological scanning system for inspecting uncharacterised objects is presented. The research utilises commercially available off-the-shelf (COTS) electronic components, intended for use in relatively low radioactive dose environments. To illustrate the concept, a Microsoft Kinect, a Universal Robots UR3 (6 degree of freed...
Article
Full-text available
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...
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
This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation common...
Conference Paper
The need for nuclear decommissioning is increasing globally, as power stations and other nuclear facilities reach the end of their operational life. Currently a lot of decommissioning tasks are carried out by workers in protectiveair fed suits, this is slow, expensive and dangerous. The work that is described here aims to develop a flexible mobile...
Conference Paper
Full-text available
A mobile camera is used to support an assisted teleoperation pipe-cutting system for nuclear decommissioning. The base system consists of dual-manipulators with a single mounted Kinect camera. The user selects the object from an on-screen image, whilst the computer control system automatically grasps the pipe with one end-effector and positions the...
Conference Paper
Full-text available
The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whil...
Article
Full-text available
The robotic platform in this study has dual, seven-function, hydraulically actuated manipulators, which are being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as pipe cutting. The article concerns the identification of state-dependent parameter (SDP) models for joint angle control. Compared to earlie...
Conference Paper
Full-text available
The research behind this article primarily concerns the development of mobile robots for nuclear decommissioning. The robotic platform under study has dual, seven-function, hydraulically actuated manipulators, for which the authors are developing a vision based, assisted teleoperation interface for common decommissioning tasks such as pipe cutting....
Article
Full-text available
This article concerns the problem of dynamic modeling and parameter estimation for a seven degree of freedom hydraulic manipulator. The laboratory example is a dual–manipulator mobile robotic platform used for research into nuclear decommissioning. In contrast to earlier control model orientated research using the same machine, the article develops...
Article
Full-text available
In this paper the problem of dynamic modeling and parameter estimation of a seven degree of freedom hydraulic manipulator is investigated. The numerical model is developed in Simulink using Sim Mechanic and Simscape toolboxes with unknown/uncertain parameters. The aim of this paper is to develop a mechanism that enables us to find a feasible set of...
Conference Paper
The definition, formulation, and importance of vehicle 'critical speed' have been well documented in the vehicle dynamics literature. One of the main current research directions in vehicle dynamics and control is to enhance the understanding of characteristics of driver-vehicle systems. However, no efforts have been attempted in the literature to d...

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Projects

Project (1)
Project
Control systems and adaptive planning algorithms for robots working on complex tasks in extreme environments, such as waste handling, cutting and navigation.