Tien-Fu Lu | University of Adelaide (original) (raw)

Papers by Tien-Fu Lu

Research paper thumbnail of A Novel Approach for Human Intention Recognition Based on Hall Effect Sensors and Permanent Magnets

Progress In Electromagnetics Research M

Research paper thumbnail of Assessment of different plume-tracing algorithms for indoor plumes

Research paper thumbnail of Magnetic Field Distribution of an Elliptical Permanent Magnet

Progress In Electromagnetics Research C

The magnetic field distribution of an axially magnetised cylinder with an elliptical profile is a... more The magnetic field distribution of an axially magnetised cylinder with an elliptical profile is analytically modelled and analysed in this paper. An accurate and fast-computed semi-analytical model is developed, based on the charge model and geometrical analysis, to compute three components of the magnetic field generated by this elliptical cylinder in three-dimensional space. The accuracy of the model is verified using Finite Element Analysis. The analytical expressions are efficient for calculating the implementation of the magnetic field, taking less than one millisecond to execute on a modern PC. Using the fast-computed analytical model, the distribution of the magnetic field of an axially magnetised cylinder with different elliptical profiles is studied and compared with that of a circular cylinder. The variations in magnetic field strength of axial, azimuthal and radial components can be used in novel sensing applications. The derived analytical model can be extended to calculate the magnetic field of arc-shaped elliptical and circular cylinders with axial magnetization, which can be used in Halbach arrangements.

Research paper thumbnail of Modelling of Magnetic Field Distributions of Elliptical Cylinder Permanent Magnets with Diametrical Magnetization

Journal of Magnetism and Magnetic Materials

Research paper thumbnail of An Embedded Sensor System for Real-Time Detecting 5-DOF Error Motions of Rotary Stages

Sensors

The geometric error motions of rotary stages greatly affect the accuracy of constructed machines ... more The geometric error motions of rotary stages greatly affect the accuracy of constructed machines such as machine tools, measuring instruments, and robots. In this paper, an embedded sensor system for real-time measurement of two radial and three angular error motions of a rotary stage is proposed, which makes use of a rotary encoder with multiple scanning heads to measure the rotational angle and two radial error motions and a miniature autocollimator to measure two tilt angular errors of the axis of rotation. The assembly errors of the grid disc of the encoder and the mirror for autocollimator are also evaluated and compensated. The developed measuring device can be fixed inside the rotary stage. In the experiments, radial error motions of two points on the axis (h = 5 mm and 60 mm) were measured and calibrated with LVDTs, and the data showed that the radial error motions of the axis were less than 20 μm, and the calibration residual errors were less than 2 μm. When intermittent ex...

Research paper thumbnail of Improving Load Capacity of Stick-Slip Actuators in Both Driving Directions via a Shared Driving Foot

Smart Materials and Structures

Research paper thumbnail of 3D stockpile modelling and quality calculation for continuous stockpile management

International Journal of Mineral Processing

ABSTRACT This paper describes an innovative method to calculate the quality of a stockpile in rea... more ABSTRACT This paper describes an innovative method to calculate the quality of a stockpile in real-time to improve the efficiency in stockpile blending operations. A stockpile is modelled as a grid of voxels (octants), which are used as geometric elements for both quality calculations and result storage. The quality calculation is based on the real geometric shape of the stockpile which is measured by a laser scanner. Furthermore, a BWR (Bucket Wheel Reclaimer), which is treated as a mobile robot arm, is incorporated into this model to predicate the quality of the reclaimed material. Thus, this 3D quality embedded model can be used to calculate, plan, control and predict the quality level of iron ore being stacked and/or reclaimed with a great degree of accuracy. This model provides an opportunity to monitor and track quality data throughout the blending operations. It will lead to proactive and continuous blending activities that fundamentally improve quality control and increase efficiency in stockpile management.

Research paper thumbnail of Formulation of a simple distributed-parameter model of multilayer piezoelectric actuators

Journal of Intelligent Material Systems and Structures

A multilayer piezoelectric actuator is a promising linear vibrator. In this article, a simple dis... more A multilayer piezoelectric actuator is a promising linear vibrator. In this article, a simple distributed-parameter analytical model of piezoelectric actuator, which can model vibration characteristics of piezoelectric actuator–based applications, is formulated. Based on the physical analysis of piezoelectric actuator, a simplification is proposed, justified and applied to fundamentals of thickness-extension-mode piezoelectricity. This simplification subtly enables piezoelectric actuator to be effectively modelled as a whole and allows for a formulation of a simple analytical model. Compared with other modelling methods in the literature, the proposed model with a small number of easily accessible parameters is easy to handle and extend with little compromised accuracy. The effectiveness of the proposed model has been validated by a three-dimensional finite element analysis model of piezoelectric actuator developed in commercial software ANSYS.

Research paper thumbnail of A simplified transfer matrix of multi-layer piezoelectric stack

Journal of Intelligent Material Systems and Structures

Research paper thumbnail of A Portable Live Cell Culture and Imaging System with Optional Umbilical Bioreactor Using a Modified Infant Incubator

Here, we present a staged approach for an innovative repurposing of a portable infant humidicrib ... more Here, we present a staged approach for an innovative repurposing of a portable infant humidicrib into a live cell growth, observation, and imaging system. Furthmore, humidicrib can support different variations of “umbilical” bioreactors, and can be used to conduct electrophysiology experiments and in situ immunohistochemistry. Modifications incorporate a closed loop carbon dioxide (CO2) concentration control system with umbilical CO2 and heating support for tailored bioreactors. The repurposing cost is inexpensive and allows for the continued observation and imaging of cells. This prototype unit has been used to continuously observe and image live primary neurons for up to 21 days. This demonstrates the repurposed units’ suitability for use in tissue culture based research, particularly where modifications to microscopes are required or where sensitive manipulation outside of a standard incubator is needed.

Research paper thumbnail of CAD-based intelligent robot vision system

This paper presents a system that integrates a CAD package and a vision system to attain a higher... more This paper presents a system that integrates a CAD package and a vision system to attain a higher level of intelligence and automation in manufacturing environments. The proposed vision system can achieve object recognition without tedious, manual teaching in advanced by adopting a simple recognition method and the use of CAD data. It can also on-line derive the 3D position

Research paper thumbnail of Modelling and Simulation Platform for Chemical Plume Tracking and Source Localization

Using autonomous robot to detect chemical emissions and track plumes caused by fire, toxic gas le... more Using autonomous robot to detect chemical emissions and track plumes caused by fire, toxic gas leakage and explosive at their early stages, and swiftly localize their sources can avoid risking human health and potentially save lives. The benefits of deploying autonomous robot(s) rather than human beings in performing such hazardous tasks are obvious. Even though using real robots to research, develop, and experiment in real environment are normally preferred, modelling and simulation are indeed sometimes better options when such as a consistent and repeatable complex environment with controllable variables (i.e. wind velocity and plume propagation in this case) for experiments is important. This chapter presents one out of many possible modelling and simulation approaches for the research related to chemical plume tracking and source localization using robots, and covers the modelling of robot, the modelling of the environment, and the integration of both to become a platform.

Research paper thumbnail of Car-Like Mobile Robot Reverse Parking: Using Fuzzy Logic Control Approach

2011 First International Conference on Robot, Vision and Signal Processing, 2011

ABSTRACT This study proposes a "pure skill-based" fuzzy logic control (FLC) app... more ABSTRACT This study proposes a "pure skill-based" fuzzy logic control (FLC) approach to reverse a car-like mobile robot(CLMR) into an empty parking bay automatically. The FLC approach was expressed in the form of fuzzy rules based on the knowledge of skilled human drivers. Range measurements were provided to help the CLMR avoid collisions during the parking. Simulations proved the effectiveness of the proposed FLC.

Research paper thumbnail of Automatic object detection and diagnosis for AUV operation using underwater imaging sonar

2008 3rd IEEE Conference on Industrial Electronics and Applications, 2008

Abstract-This paper presents the development of underwater sonar imaging to support the command, ... more Abstract-This paper presents the development of underwater sonar imaging to support the command, control and navigation of an AUV within a shallow milky-water environment. The aim of this study was to test an innovative methodology which uses underwater imaging sonar ...

Research paper thumbnail of Classification and general kinematic models of 3-DOF planar parallel manipulators

2006 7th International Conference on Computer-Aided Industrial Design and Conceptual Design, 2006

This paper presents a new classification for 3-DOF planar parallel manipulators (PPM) with symmet... more This paper presents a new classification for 3-DOF planar parallel manipulators (PPM) with symmetrical configurations and workspace, and the resulted general forms of kinematic model. Under the proposed scheme, 3-DOF PPMs can be classified into two categories. Following this classification, the forward kinematics of category 1 and category 2 are derived and presented in this study, which are featured with a sixth order polynomial and a second order polynomial, respectively. The presented forward kinematic models are ready to be computerized and implemented unlike the classifications and models derived by other researchers requiring much more derivation before they could be implemented

Research paper thumbnail of Investigation on the Uniform-Electrical-Field Assumption for Modelling Multi-layer Piezoelectric Actuators

2014 8th Asia Modelling Symposium, 2014

Research paper thumbnail of A Simple Distributed Parameter Analytical Model of Multi-layer Piezoelectric Actuators

2014 8th Asia Modelling Symposium, 2014

Research paper thumbnail of The advancement of an autonomous underwater vehicle (AUV) technology

2008 3rd IEEE Conference on Industrial Electronics and Applications, 2008

Abstract-An autonomous underwater vehicle (AUV) test-bed was jointly upgraded by DSTO and the Uni... more Abstract-An autonomous underwater vehicle (AUV) test-bed was jointly upgraded by DSTO and the University of Adelaide as an introduction of advanced technologies into its system. This AUV will serve as a platform to support further research dealing with underwater robotic ...

Research paper thumbnail of Trajectory Following with a three-DOF Micro-motion Stage

This paper presents the position control of a three-DOF (degree-of-freedom) micro-motion stage. T... more This paper presents the position control of a three-DOF (degree-of-freedom) micro-motion stage. This stage provides micro scale planar motion along the x and y axis and rotational motion along the z axis. It uses a 3 RRR (three revolute-revolute-revolute) ∞exure hinge based compliant mechanism driven by three piezo- electric stack actuators to achieve the micro motion along x, y and

Research paper thumbnail of Three-port equivalent circuit of multi-layer piezoelectric stack

Sensors and Actuators A: Physical, 2015

Research paper thumbnail of A Novel Approach for Human Intention Recognition Based on Hall Effect Sensors and Permanent Magnets

Progress In Electromagnetics Research M

Research paper thumbnail of Assessment of different plume-tracing algorithms for indoor plumes

Research paper thumbnail of Magnetic Field Distribution of an Elliptical Permanent Magnet

Progress In Electromagnetics Research C

The magnetic field distribution of an axially magnetised cylinder with an elliptical profile is a... more The magnetic field distribution of an axially magnetised cylinder with an elliptical profile is analytically modelled and analysed in this paper. An accurate and fast-computed semi-analytical model is developed, based on the charge model and geometrical analysis, to compute three components of the magnetic field generated by this elliptical cylinder in three-dimensional space. The accuracy of the model is verified using Finite Element Analysis. The analytical expressions are efficient for calculating the implementation of the magnetic field, taking less than one millisecond to execute on a modern PC. Using the fast-computed analytical model, the distribution of the magnetic field of an axially magnetised cylinder with different elliptical profiles is studied and compared with that of a circular cylinder. The variations in magnetic field strength of axial, azimuthal and radial components can be used in novel sensing applications. The derived analytical model can be extended to calculate the magnetic field of arc-shaped elliptical and circular cylinders with axial magnetization, which can be used in Halbach arrangements.

Research paper thumbnail of Modelling of Magnetic Field Distributions of Elliptical Cylinder Permanent Magnets with Diametrical Magnetization

Journal of Magnetism and Magnetic Materials

Research paper thumbnail of An Embedded Sensor System for Real-Time Detecting 5-DOF Error Motions of Rotary Stages

Sensors

The geometric error motions of rotary stages greatly affect the accuracy of constructed machines ... more The geometric error motions of rotary stages greatly affect the accuracy of constructed machines such as machine tools, measuring instruments, and robots. In this paper, an embedded sensor system for real-time measurement of two radial and three angular error motions of a rotary stage is proposed, which makes use of a rotary encoder with multiple scanning heads to measure the rotational angle and two radial error motions and a miniature autocollimator to measure two tilt angular errors of the axis of rotation. The assembly errors of the grid disc of the encoder and the mirror for autocollimator are also evaluated and compensated. The developed measuring device can be fixed inside the rotary stage. In the experiments, radial error motions of two points on the axis (h = 5 mm and 60 mm) were measured and calibrated with LVDTs, and the data showed that the radial error motions of the axis were less than 20 μm, and the calibration residual errors were less than 2 μm. When intermittent ex...

Research paper thumbnail of Improving Load Capacity of Stick-Slip Actuators in Both Driving Directions via a Shared Driving Foot

Smart Materials and Structures

Research paper thumbnail of 3D stockpile modelling and quality calculation for continuous stockpile management

International Journal of Mineral Processing

ABSTRACT This paper describes an innovative method to calculate the quality of a stockpile in rea... more ABSTRACT This paper describes an innovative method to calculate the quality of a stockpile in real-time to improve the efficiency in stockpile blending operations. A stockpile is modelled as a grid of voxels (octants), which are used as geometric elements for both quality calculations and result storage. The quality calculation is based on the real geometric shape of the stockpile which is measured by a laser scanner. Furthermore, a BWR (Bucket Wheel Reclaimer), which is treated as a mobile robot arm, is incorporated into this model to predicate the quality of the reclaimed material. Thus, this 3D quality embedded model can be used to calculate, plan, control and predict the quality level of iron ore being stacked and/or reclaimed with a great degree of accuracy. This model provides an opportunity to monitor and track quality data throughout the blending operations. It will lead to proactive and continuous blending activities that fundamentally improve quality control and increase efficiency in stockpile management.

Research paper thumbnail of Formulation of a simple distributed-parameter model of multilayer piezoelectric actuators

Journal of Intelligent Material Systems and Structures

A multilayer piezoelectric actuator is a promising linear vibrator. In this article, a simple dis... more A multilayer piezoelectric actuator is a promising linear vibrator. In this article, a simple distributed-parameter analytical model of piezoelectric actuator, which can model vibration characteristics of piezoelectric actuator–based applications, is formulated. Based on the physical analysis of piezoelectric actuator, a simplification is proposed, justified and applied to fundamentals of thickness-extension-mode piezoelectricity. This simplification subtly enables piezoelectric actuator to be effectively modelled as a whole and allows for a formulation of a simple analytical model. Compared with other modelling methods in the literature, the proposed model with a small number of easily accessible parameters is easy to handle and extend with little compromised accuracy. The effectiveness of the proposed model has been validated by a three-dimensional finite element analysis model of piezoelectric actuator developed in commercial software ANSYS.

Research paper thumbnail of A simplified transfer matrix of multi-layer piezoelectric stack

Journal of Intelligent Material Systems and Structures

Research paper thumbnail of A Portable Live Cell Culture and Imaging System with Optional Umbilical Bioreactor Using a Modified Infant Incubator

Here, we present a staged approach for an innovative repurposing of a portable infant humidicrib ... more Here, we present a staged approach for an innovative repurposing of a portable infant humidicrib into a live cell growth, observation, and imaging system. Furthmore, humidicrib can support different variations of “umbilical” bioreactors, and can be used to conduct electrophysiology experiments and in situ immunohistochemistry. Modifications incorporate a closed loop carbon dioxide (CO2) concentration control system with umbilical CO2 and heating support for tailored bioreactors. The repurposing cost is inexpensive and allows for the continued observation and imaging of cells. This prototype unit has been used to continuously observe and image live primary neurons for up to 21 days. This demonstrates the repurposed units’ suitability for use in tissue culture based research, particularly where modifications to microscopes are required or where sensitive manipulation outside of a standard incubator is needed.

Research paper thumbnail of CAD-based intelligent robot vision system

This paper presents a system that integrates a CAD package and a vision system to attain a higher... more This paper presents a system that integrates a CAD package and a vision system to attain a higher level of intelligence and automation in manufacturing environments. The proposed vision system can achieve object recognition without tedious, manual teaching in advanced by adopting a simple recognition method and the use of CAD data. It can also on-line derive the 3D position

Research paper thumbnail of Modelling and Simulation Platform for Chemical Plume Tracking and Source Localization

Using autonomous robot to detect chemical emissions and track plumes caused by fire, toxic gas le... more Using autonomous robot to detect chemical emissions and track plumes caused by fire, toxic gas leakage and explosive at their early stages, and swiftly localize their sources can avoid risking human health and potentially save lives. The benefits of deploying autonomous robot(s) rather than human beings in performing such hazardous tasks are obvious. Even though using real robots to research, develop, and experiment in real environment are normally preferred, modelling and simulation are indeed sometimes better options when such as a consistent and repeatable complex environment with controllable variables (i.e. wind velocity and plume propagation in this case) for experiments is important. This chapter presents one out of many possible modelling and simulation approaches for the research related to chemical plume tracking and source localization using robots, and covers the modelling of robot, the modelling of the environment, and the integration of both to become a platform.

Research paper thumbnail of Car-Like Mobile Robot Reverse Parking: Using Fuzzy Logic Control Approach

2011 First International Conference on Robot, Vision and Signal Processing, 2011

ABSTRACT This study proposes a "pure skill-based" fuzzy logic control (FLC) app... more ABSTRACT This study proposes a "pure skill-based" fuzzy logic control (FLC) approach to reverse a car-like mobile robot(CLMR) into an empty parking bay automatically. The FLC approach was expressed in the form of fuzzy rules based on the knowledge of skilled human drivers. Range measurements were provided to help the CLMR avoid collisions during the parking. Simulations proved the effectiveness of the proposed FLC.

Research paper thumbnail of Automatic object detection and diagnosis for AUV operation using underwater imaging sonar

2008 3rd IEEE Conference on Industrial Electronics and Applications, 2008

Abstract-This paper presents the development of underwater sonar imaging to support the command, ... more Abstract-This paper presents the development of underwater sonar imaging to support the command, control and navigation of an AUV within a shallow milky-water environment. The aim of this study was to test an innovative methodology which uses underwater imaging sonar ...

Research paper thumbnail of Classification and general kinematic models of 3-DOF planar parallel manipulators

2006 7th International Conference on Computer-Aided Industrial Design and Conceptual Design, 2006

This paper presents a new classification for 3-DOF planar parallel manipulators (PPM) with symmet... more This paper presents a new classification for 3-DOF planar parallel manipulators (PPM) with symmetrical configurations and workspace, and the resulted general forms of kinematic model. Under the proposed scheme, 3-DOF PPMs can be classified into two categories. Following this classification, the forward kinematics of category 1 and category 2 are derived and presented in this study, which are featured with a sixth order polynomial and a second order polynomial, respectively. The presented forward kinematic models are ready to be computerized and implemented unlike the classifications and models derived by other researchers requiring much more derivation before they could be implemented

Research paper thumbnail of Investigation on the Uniform-Electrical-Field Assumption for Modelling Multi-layer Piezoelectric Actuators

2014 8th Asia Modelling Symposium, 2014

Research paper thumbnail of A Simple Distributed Parameter Analytical Model of Multi-layer Piezoelectric Actuators

2014 8th Asia Modelling Symposium, 2014

Research paper thumbnail of The advancement of an autonomous underwater vehicle (AUV) technology

2008 3rd IEEE Conference on Industrial Electronics and Applications, 2008

Abstract-An autonomous underwater vehicle (AUV) test-bed was jointly upgraded by DSTO and the Uni... more Abstract-An autonomous underwater vehicle (AUV) test-bed was jointly upgraded by DSTO and the University of Adelaide as an introduction of advanced technologies into its system. This AUV will serve as a platform to support further research dealing with underwater robotic ...

Research paper thumbnail of Trajectory Following with a three-DOF Micro-motion Stage

This paper presents the position control of a three-DOF (degree-of-freedom) micro-motion stage. T... more This paper presents the position control of a three-DOF (degree-of-freedom) micro-motion stage. This stage provides micro scale planar motion along the x and y axis and rotational motion along the z axis. It uses a 3 RRR (three revolute-revolute-revolute) ∞exure hinge based compliant mechanism driven by three piezo- electric stack actuators to achieve the micro motion along x, y and

Research paper thumbnail of Three-port equivalent circuit of multi-layer piezoelectric stack

Sensors and Actuators A: Physical, 2015

Research paper thumbnail of Development of a robot reverse engineering (RRE) system

8th International Conference on Manufacturing Engineering, 27-30 August, Sydney, pp 389-394, 2000

Robot reverse engineering is a novel field of robot application. As opposed to a conventional lar... more Robot reverse engineering is a novel field of robot application. As opposed to a conventional large object measuring device such as large scale coordinate measuring machine, the industrial robot may achieve more flexibility, faster response and less cost in large object measurement tasks. Robot reverse engineering is a practical utilisation of industrial robots in metrology. With more degrees of freedom and flexibility, industrial robots are able to satisfy the large object measurement requirements. With a dual-frequency ultrasonic length measurement method consisting of one transmitter and three receivers, the position of a robot end-effector can be determined by the triangulation method. The robot carries a contact triggered probe, a non-contact laser probe and a CCD camera to accomplish large object online measurement jobs. All the measured data will then be collected and manipulated to establish the CAD model and generate machining codes for use in CAM. This paper presents an approach to using a robot in this novel application of reverse engineering.