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Articles 1 - 25 of 25
Full-Text Articles in Physical Sciences and Mathematics
The Case For Ict Work-Integrated Learning From Graduates In The Workplace, Anthony J. Koppi, Sylvia L. Edwards, Judy Sheard, Fazel Naghdy, Wayne Brookes
The Case For Ict Work-Integrated Learning From Graduates In The Workplace, Anthony J. Koppi, Sylvia L. Edwards, Judy Sheard, Fazel Naghdy, Wayne Brookes
Professor Fazel Naghdy
An online survey of recent ICT graduates in the workplace was carried out as part of a recent project funded by the Australian Learning and Teaching Council. The survey was concerned with the ICT curriculum in relation to workplace job requirements and university preparation for these requirements. The survey contained quantitative and qualitative components and findings from the former have been published (Koppi et al., 2009). This paper reports on a quantitative comparison of responses from graduates who had workplace experience and those who did not, and a qualitative analysis of text responses from all ICT graduates to open-ended questions …
Six D.O.F Haptic Rendered Simulation Of The Peg-In-Hole Assembly, Shen Dong, Fazel Naghdy, Yan Chen
Six D.O.F Haptic Rendered Simulation Of The Peg-In-Hole Assembly, Shen Dong, Fazel Naghdy, Yan Chen
Professor Fazel Naghdy
A new paradigm for programming of robotics manipulator to perform complex constrained motion tasks is being studied. The teaching of the manipulation skills to the machine starts by demonstmting those skills in a haptic -rendered virtual environment. Position and contact force and torque data generated in the virtual environment combined with a priori knowledge about the task is used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a case study. In the ftrst implementation of the virtual manipulahon envlfonment, a three …
Perception Of Human Gestures Through Observing Body Movements, Amir S. Hesami, Fazel Naghdy, David A. Stirling, Harold C. Hill
Perception Of Human Gestures Through Observing Body Movements, Amir S. Hesami, Fazel Naghdy, David A. Stirling, Harold C. Hill
Professor Fazel Naghdy
A new approach to modelling and classification of human gait is proposed. Body movements are obtained using a sensor suit that records inertial signals that are subsequently modelled on a humanoid frame with 23 degrees of freedom (DOF). Measured signals include position, velocity, acceleration, orientation, angular velocity and angular acceleration. Using a range of concurrent features extracted from the sensor signals, a system using induced symbolic classification models, such as decision trees or rule sets, has been used for classification of identity. It is anticipated that this approach will also enable the identification of a variety of gestures. The feasibility …
In Process Surface Roughness Estimation In Grinding, Li Xue, Fazel Naghdy, Christopher David Cook
In Process Surface Roughness Estimation In Grinding, Li Xue, Fazel Naghdy, Christopher David Cook
Professor Fazel Naghdy
An intelligent sensor system for on-line estimation of surface roughness in the grinding process is developed. The system consists of a statistical signal processing algorithm and a neuro-fuzzy model of surface roughness. The model is established using a set of experimental data. The sensor signals of acoustic emission CAE), normal force and tangential force generated in grinding zone are acquired online in real time. The surface roughness of the ground workpiece is measured offline and used as the target output of the model. A first order Sugeno-type neuro-fuzzy inference system is employed to optimize the model by minimizing a sum …
Development And Performance Analysis Of A Single Axis Linear Motor, Jeffrey W. Moscrop, Christopher David Cook, Fazel Naghdy
Development And Performance Analysis Of A Single Axis Linear Motor, Jeffrey W. Moscrop, Christopher David Cook, Fazel Naghdy
Professor Fazel Naghdy
The ever-increasing demands placed on industrial machine tool manufacturers, for greater speeds and accuracies, are beginning to exceed the capabilities of current machine tool technologies. However, the ongoing revolution in computer, sensor and actuator technologies has introduced the potential of economically meeting these higher demands through new approaches in machine tool design. One actuator technology currently influencing high precision industrial automation is the linear motor. This paper details the development of a single axis linear motor test-bed, replicating one axis of a laser cutting machine tool. Through analysis of system stiffness and torque disturbances, the performance of the linear motor …
Adaptive Self-Organisation Of Wireless Ad-Hoc Control Networks, Fazel Naghdy, Nathan Simiana
Adaptive Self-Organisation Of Wireless Ad-Hoc Control Networks, Fazel Naghdy, Nathan Simiana
Professor Fazel Naghdy
A novel concept called Wireless ad-hoc Control Networks (WACNets), exploring an ad-hoc approach to networked distributed control, has been under study for the last five years in the research group. Such systems represent a new stage in the evolution of distributed control and monitoring. The work carried out in developing an adaptive self-organisation algorithm for WACNet is reported. The algorithm deploys a distance measure technique while satisfying the rules and assumptions developed for WACNet framework. The effectiveness of the algorithm is verified through computer simulation under a number of given scenarios. The results obtained show that the algorithm effectively drives …
Evaluation Of Human Gait Through Observing Body Movements, Amir S. Hesami, Fazel Naghdy, David A. Stirling, Harold C. Hill
Evaluation Of Human Gait Through Observing Body Movements, Amir S. Hesami, Fazel Naghdy, David A. Stirling, Harold C. Hill
Professor Fazel Naghdy
A new modelling and classification approach for human gait evaluation is proposed. The body movements are obtained using a sensor suit recording inertial signals that are subsequently modelled on a humanoid frame with 23 degrees of freedom (DOF). Measured signals include position, velocity, acceleration, orientation, angular velocity and angular acceleration. Using the features extracted from the sensory signals, a system with induced symbolic classification models, such as decision trees or rule sets, based on a range of several concurrent features has been used to classify deviations from normal gait. It is anticipated that this approach will enable the evaluation of …
Application Of A Fuzzy Controller To Seismically Excited Nonlinear Buildings, Mohammed Al-Dawod, Bijan Samali, Kenny Kwok, Fazel Naghdy
Application Of A Fuzzy Controller To Seismically Excited Nonlinear Buildings, Mohammed Al-Dawod, Bijan Samali, Kenny Kwok, Fazel Naghdy
Professor Fazel Naghdy
Focuses on the benchmark control problems for seismically excited nonlinear buildings defined by Ohtori et al. (2000). This benchmark study focuses on three typical steel structures, 3-, 9- and 20-storey buildings designed for the SAC project for Los Angeles in the California region. The first stage of applying the fuzzy controller to this benchmark study for the 3-storey building is reported. The main advantage of the fuzzy controller is its inherent robustness and ability to handle the non-linear behaviour of the structure. This benchmark study is based on a number of evaluation criteria and control constraints and these limitations are …
The Crisis In Ict Education: An Academic Perspective, Tony J. Koppi, Fazel Naghdy, Joe F. Chicharo, Judy Sheard, Sylvia Edwards, David Wilson
The Crisis In Ict Education: An Academic Perspective, Tony J. Koppi, Fazel Naghdy, Joe F. Chicharo, Judy Sheard, Sylvia Edwards, David Wilson
Professor Fazel Naghdy
A national Discipline-Based Initiative project for ICT, funded by the ALTC, has sought to identify the issues and challenges facing the sector. The crisis in ICT education spans high schools, universities and industry. The demand for skilled ICT graduates is increasing yet enrolments are declining. Several factors contribute to this decline including the perceived quality of teaching and a poor perception of the ICT profession amongst the general public. This paper reports on a consultation process with the academic community. Academic concerns include the capacity of the sector to survive the downturn, and improving relationships with industry which should benefit …
Issues In Australian Ict Education, Tony J. Koppi, Fazel Naghdy, Joe F. Chicharo
Issues In Australian Ict Education, Tony J. Koppi, Fazel Naghdy, Joe F. Chicharo
Professor Fazel Naghdy
This session at the Australian Software Engineering Conference is concerned with ICT education from the holistic perspective of preparation in high schools, the university experience, transition to the workforce, and the contribution by industry, government, and professional bodies. The project to ascertain the issues and challenges facing the national ICT education sector is supported by the Carrick institute as a discipline-based initiative. Consultations to date with various stakeholders have revealed numerous concerns that include: the dispersed nature of the ICT sector; erroneous perceptions of ICT disciplines; decline in enrolments; gender imbalance; lack of industry involvement; and balancing knowledge with generic …
3d Geometric Modelling Of Hand-Woven Textile, Hooman Shidanshidi, Fazel Naghdy, Golshah Naghdy, Diana Wood Conroy
3d Geometric Modelling Of Hand-Woven Textile, Hooman Shidanshidi, Fazel Naghdy, Golshah Naghdy, Diana Wood Conroy
Professor Fazel Naghdy
Geometric modeling and haptic rendering of textile has attracted significant interest over the last decade. A haptic representation is created by adding the physical properties of an object to its geometric configuration. While research has been conducted into geometric modeling of fabric, current systems require time-consuming manual recognition of textile specifications and data entry. The development of a generic approach for construction of the 3D geometric model of a woven textile is pursued in this work. The geometric model would be superimposed by a haptic model in the future work. The focus at this stage is on hand-woven textile artifacts …
Real-Time Haptic Modeling And Simulation For Prosthetic Insertion, Catherine A. Todd, Fazel Naghdy
Real-Time Haptic Modeling And Simulation For Prosthetic Insertion, Catherine A. Todd, Fazel Naghdy
Professor Fazel Naghdy
In this work a surgical simulator is produced which enables a training otologist to conduct a virtual, real-time prosthetic insertion. The simulator provides the Ear, Nose and Throat surgeon with real-time visual and haptic responses during virtual cochlear implantation into a 3D model of the human Scala Tympani (ST). The parametric model is derived from measured data as published in the literature and accounts for human morphological variance, such as differences in cochlear shape, enabling patient-specific pre- operative assessment. Haptic modeling techniques use real physical data and insertion force measurements, to develop a force model which mimics the physical behavior …
Fuzzy Stability Control Of Robotic Manipulator With Input Delays, Haiping Du, Fazel Naghdy, David A. Stirling
Fuzzy Stability Control Of Robotic Manipulator With Input Delays, Haiping Du, Fazel Naghdy, David A. Stirling
Professor Fazel Naghdy
This paper studies the stabilisation control problem of a robotic manipulator with input delays. To deal with the highly nonlinear dynamics of a robotic manipulator, the model-based Takagi-Sugeno (T-S) fuzzy control strategy is applied. With representing the nonlinear robotic manipulator model as a T-S fuzzy model, sufficient conditions for designing a controller such that the system is stabilised with given decay rate are derived by constructing a less conservative Lyapunov-Krasovskii functional and using a tighter bounding technology for cross terms and the free weighting matrix approach. With appropriate derivation, all the required conditions are expressed as linear matrix inequalities (LMIs). …
Dynamic Modelling, Validating And Fine-Tuning Of Engineering Curriculum, Fazel Naghdy
Dynamic Modelling, Validating And Fine-Tuning Of Engineering Curriculum, Fazel Naghdy
Professor Fazel Naghdy
The undergraduate Engineering schools in Australia are required to embed and assess the Competency Standards defined by the Engineers Australia in their curriculum. At the same time, embedding graduate attributes in the curriculum has become an important element in the quality assurance processes of universities. The embedding and mapping are only the first step in a long term process. The mapping should be validated empirically and reviewed in a repeating cycle towards an effective and optimal curriculum. This will require a rigorous action learning process for creating and cyclic validation of a living curriculum. The conceptual development and early stages …
Empirical Modelling Of Human Gaits For Bipedal Robots, Matthew Field, David A. Stirling, Fazel Naghdy, Zengxi Pan
Empirical Modelling Of Human Gaits For Bipedal Robots, Matthew Field, David A. Stirling, Fazel Naghdy, Zengxi Pan
Professor Fazel Naghdy
Modelling of human motion through a discrete sequence of motion primitives, retaining elements of skillful or unique motion of an individual is addressed. Using wireless inertial motion sensors, a skeletal model of the fluid human gait was gathered. The posture of the human model is described by nine sets of euler angles for each sample. An intrinsic classification algorithm known as Minimum Message Length encoding (MML) is deployed to segment the stream of data and subsequently formulate certain Gaussian Mixture Models (GMM) that contain a plausible range of motion primitives. The removal of certain less seemingly important modes has been …
Discrete-Event Modelling, Simulation And Control Of A Distributed Manipulation Environment, Fazel Naghdy, N. Anjum
Discrete-Event Modelling, Simulation And Control Of A Distributed Manipulation Environment, Fazel Naghdy, N. Anjum
Professor Fazel Naghdy
Conventional robotics has proved to be inflexible and non-generic. The concept of Distributed Manipulation Environment (DME) is introduced to overcome some of these shortcomings. This concept proposes a distributed approach to robotics and flexible automation. The work is concerned with modelling, simulation and event based control of DME. The modelling, conducted both at the atomic and the coupled level, is quite generic and provides a framework for static and dynamic behaviour analysis of DME systems. The simulation models serve as a mean of performance evaluation of the system on a computer before the actual implementation in real time. The event-based …
Service Discovery In Wireless Ad-Hoc Control Networks, Shengrong Bu, F. Naghdy
Service Discovery In Wireless Ad-Hoc Control Networks, Shengrong Bu, F. Naghdy
Professor Fazel Naghdy
A new concept in distributed control systems called Wireless Ad-hoc Control Networks (WACNets) is developed. WACNets is formed by a collection of nodes with the ability to sense, actuate and control. The network does not have a fixed structure, but evolves and self organises itself according to the control requirements of the system. The service discovery developed for WACNets is reported. A review of the existing Service Discovery Protocol (SDPs) including Jini, Salutation, Universal Plug and Play (UPnP), and Bluetooth technology is carried out. An overview of WACNets is provided. The service discovery protocol developed for WACNets is introduced and …
Adaptive Modeling Of Vehicle Mirror Vibrations By Predictive Compensation, Antoine Larchez, Fazel Naghdy
Adaptive Modeling Of Vehicle Mirror Vibrations By Predictive Compensation, Antoine Larchez, Fazel Naghdy
Professor Fazel Naghdy
The external and internal mirrors used particularly in high mass recreational and commercial vehicles are prone to vibrations. Under certain conditions, this leads to blurring of the reflected images above the tolerable levels for the human vision. While such vibrations are quite disturbing, they can compromise the driver’s safety on the road. An adaptive predictive system is designed to compensate for the mirror vibrations under different driving conditions. The realtime adaptive modeling of the vibrations using ARMA for the purpose of their prediction is reported.
Human Motion Recognition Through Fuzzy Hidden Markov Model, X. Zhang, F. Naghdy
Human Motion Recognition Through Fuzzy Hidden Markov Model, X. Zhang, F. Naghdy
Professor Fazel Naghdy
A new type of Hidden Markov Model (HMM) developed based on the fuzzy clustering result is proposed for identification of human motion. By associating the human continuous movements with a series of human motion primitives, the complex human motion could be analysed as the same process as recognizing a word by alphabet. However, because the human movements can be multi-paths and inherently stochastic, it is indisputable that a more sophisticated framework must be applied to reveal the statistic relationships among the different human motion primitives. Hence, based on the human motion recognition results derived from the fuzzy clustering function, HMM …
Virtual Cochlear Implant Insertion For Medical Education, C. Todd, F. Naghdy
Virtual Cochlear Implant Insertion For Medical Education, C. Todd, F. Naghdy
Professor Fazel Naghdy
A surgical simulator has been developed for the purpose of training otologists in cochlear implantation. The simulation provides real-time visual and haptic feedback during implant insertion into the human Scala Tympani (ST). The benefits and possible outcomes for this type of simulator are presented. Methods for model generation are discussed, for anatomical and prosthetic structures used in the simulation. Development of the interactive model with force-feedback is presented, with results.
Shape-Vq-Based Lossless Hybrid Adpcm/Dct Coder, J. Wang, F. Naghdy
Shape-Vq-Based Lossless Hybrid Adpcm/Dct Coder, J. Wang, F. Naghdy
Professor Fazel Naghdy
The discrete cosine transform (DCT) has been shown as an optimum encoder for sharp edges in an image (Andrew and Ogunbona, 1997). A conventional lossless coder employing differential pulse code modulation (DPCM) suffers from significant deficiencies in regions of discontinuity, because the simple model cannot capture the edge information. This problem can be partially solved by partitioning the image into blocks that are supposedly statistically stationary. A hybrid lossless adaptive DPCM (ADPCM)/DCT coder is presented, in which the edge blocks are encoded with DCT, and ADPCM is used for the non-edge blocks. The proposed scheme divides each input image into …
Application Of Competitive Clustering To Acquisition Of Human Manipulation Skills, S. Dong, F. Naghdy
Application Of Competitive Clustering To Acquisition Of Human Manipulation Skills, S. Dong, F. Naghdy
Professor Fazel Naghdy
The work carried out to explore the feasibility of reconstructing human constrained motion manipulation skills is reported. This is achieved by tracing and learning the manipulation performed by a human operator in a haptic rendered virtual environment. The peg-in-hole insertion problem is used as a case study. In the developed system, position and contact force and torque as well as orientation data generated in the haptic rendered virtual environment combined with a priori knowledge about the task are used to identify and learn the skills in the newly demonstrated task. The data obtained from the virtual environment is classified into …
Skill Acquisition In Transfer Of Manipulation Skills From Human To Machine Through A Haptic Virtual Environment, Y. Chen, F. Naghdy
Skill Acquisition In Transfer Of Manipulation Skills From Human To Machine Through A Haptic Virtual Environment, Y. Chen, F. Naghdy
Professor Fazel Naghdy
A new paradigm for programming a robotics manipulator is developed. It is intended that the teaching of the machine will begin with the necessary skills being demonstrated by the human operator in a virtual environment with tactile sensing (haptics). Position and contact force and torque data generated in the virtual environment combined with a priori knowledge about the task is used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a case study. The overall concept is described. The methodologies developed to …
Application Of Mml To Motor Skills Acquisition, Chao Sun, Fazel Naghdy, David A. Stirling
Application Of Mml To Motor Skills Acquisition, Chao Sun, Fazel Naghdy, David A. Stirling
Professor Fazel Naghdy
Study on modeling human psychomotor behaviour based on tracked motion data is reported. The motion data is acquired through various integrated inertial sensors, and represented as Euler angles and accelerations. The Minimum Message Length (MML) algorithm is used to identify frames of intrinsic segmentations and to acquire a classification basis for unsupervised machine learning. The classification model can ultimately be deployed in recognizing certain skilled behaviors. The prior results are analyzed as FSMs' (Finite State Machines) to extract the potential rules underlying behaviors. The progress made so far and plan for further work is reported.
Monitoring Of Wheel Dressing Operations For Precision Grinding, Li Xue, Fazel Naghdy, C. Cook
Monitoring Of Wheel Dressing Operations For Precision Grinding, Li Xue, Fazel Naghdy, C. Cook
Professor Fazel Naghdy
In grinding operation, on-line process monitoring of dressing will ensure the quality of the grinding wheel and will achieve reproducible surface finish. The results of a study conducted to evaluate the feasibility and effectiveness of Acoustic Emission (AE) sensors in online monitoring of dressing is reported. Two aspects of the process are addressed. The first is the detection of undesired wheel conditions, such as an out-of-round wheel and wheel contour errors. The other is improving the surface finish of the ground workpiece by monitoring the dressing parameters. Experimental results indicate that AE signal can be effectively used to identify the …