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Papers by Andrew R Plummer

Research paper thumbnail of Theoretical Studies of a Switched Inertance Hydraulic System in a Four-Port Valve Configuration

Research paper thumbnail of Passivity control with adaptive feed-forward filtering for real-time hybrid tests

IFAC Journal of Systems and Control, Jun 1, 2020

Research paper thumbnail of Distributed Actuation and Control of a Morphing Tensegrity Structure

Journal of Dynamic Systems Measurement and Control-transactions of The Asme, Mar 18, 2020

Research paper thumbnail of A simple method to estimate flow restriction for dual ventilation of dissimilar patients: The BathRC model

Research paper thumbnail of RETRACTED: Performance analysis of an energy-efficient variable supply pressure electro-hydraulic motion control system

Control Engineering Practice, 2016

Research paper thumbnail of Investigating Balance Control of a Hopping Bipedal Robot

Lecture Notes in Computer Science, 2019

Research paper thumbnail of On Efficiency Of Switched Inertance Control For Hydraulic Systems

Research paper thumbnail of Proc of the 2nd International Conference on Dynamics and Vibroacoustics of Machines (DVM2014)

Research paper thumbnail of The Design, Analysis and Testing of a Compact Electrohydrostatic Powered Ankle Prosthesis

This paper presents a prototype powered ankle prosthesis which can operate passively in most of t... more This paper presents a prototype powered ankle prosthesis which can operate passively in most of the gait cycle and provide assistance for toe push-off and subsequent foot dorsiflexion. The use of electrohydrostatic actuation (EHA) gives the ability to switch quickly and smoothly between passive and active modes. In this new powered ankle prosthesis, the motor-pump unit is integrated with the ankle joint and the battery and controller are held in a backpack. A 100W brushless DC motor is used driving a 0.45cc/rev gear pump. The motor runs in hydraulic fluid, pressurised to 60bar, avoiding the need for a pump shaft seal and a refeeding circuit for external leakage. A simulation model was developed to help analyse the performance characteristics of the EHA. The simulation results are compared with laboratory-based experiment results to validate the model. The compact prototype is suitable for prolonged testing with amputees, and an example set of results from amputee testing is presented.

Research paper thumbnail of The Design of a Powered Ankle Prosthesis With Electrohydrostatic Actuation

This paper presents the design and modelling of a new powered ankle prosthesis which combines ele... more This paper presents the design and modelling of a new powered ankle prosthesis which combines electrohydrostatic actuation with a controllable passive damper. The new powered ankle prosthesis can switch quickly between passive mode and powered assistance mode, and is intended to just give assistance at certain points within the gait cycles, such as during toe push-off. The design concept and a prototype built to demonstrate the concept are presented. A simulation model was developed to help analyse the performance characteristics. The structure and parameterisation of the simulation model are described. A comparison between simulation results and experiment results is undertaken in order to validate the model and assist in the optimisation of the design. Some results from an initial trial with amputees are included in the paper. According to subjective feedback from the amputees, the new powered ankle prosthesis provides sufficient force at push-off to assist with walking. Future investigations will be focusing on the compactness, weight reduction and control of the powered ankle prosthesis.

Research paper thumbnail of Instantaneous control of a vertically hopping leg's total step-time

Research paper thumbnail of Hydraulic running robots: The prospects for fluid power in agile locomotion

Research paper thumbnail of Towards Running Robots for Discontinuous Terrain

Lecture Notes in Computer Science, 2012

Research paper thumbnail of A survey of dynamic robot legged locomotion

ABSTRACT Robotics research is motivated by the desire to develop tools or machines to accomplish ... more ABSTRACT Robotics research is motivated by the desire to develop tools or machines to accomplish tasks in place of humans or undertake tough activities which cannot be done by human labour. In order to design advanced robots, one approach is the learn from mechanical structures and locomotion mechanisms of animals in the natural world. This survey focuses on legged dynamic locomotion of robots which are mammal-like and mammal sized. The paper shows that there are many different paradigms and platforms used for walking, running and hopping robot research. In order to present a general view of the dynamic locomotion of legged robots, the paper starts with introducing a brief history of this research area. Then balancing issues for robots which are walking or running are discussed. To help address the limitations of previous research, the last part will identify the concept of 'agile running'. Agile running involves developing control techniques and algorithms to allow a running robot to recover from disturbances caused by rough, slippery, shifting or uncertain terrain and rapidly execute desired changes in the direction and stride length.

Research paper thumbnail of Towards Running Robots for Discontinuous Terrain (Extended Abstract)

Research paper thumbnail of Implementation of closed loop signal shaping in a hydraulic system

International Conference on Mechatronics, 2012

Research paper thumbnail of Fluid Power and Motion Control (FPMC 2008)

Centre for Power Transmission and Motion Control, Sep 1, 2008

Research paper thumbnail of Dataset for BathRC Ventilation model

This dataset contains: (a) Experimentally measured pressure-flow data from testing of ventilator ... more This dataset contains: (a) Experimentally measured pressure-flow data from testing of ventilator circuits with a variety of configurations and circuit components. These data are useful in characterising circuit components and validating ventilation circuit models, in particular the BathRC model. (b) A spreadsheet implementing the BathRC model to compute inspiration restrictor requirements for ventilating two patients from a single ventilator.

Research paper thumbnail of Bivariate grid-connection speed control of hydraulic wind turbines

Journal of the Franklin Institute, 2021

Research paper thumbnail of Soft Controllable Carbon Fibre-based Piezoresistive Self-Sensing Actuators

Actuators, 2020

Soft robots and devices exploit deformable materials that are capable of changes in shape to allo... more Soft robots and devices exploit deformable materials that are capable of changes in shape to allow conformable physical contact for controlled manipulation. While the use of embedded sensors in soft actuation systems is gaining increasing interest, there are limited examples where the body of the actuator or robot is able to act as the sensing element. In addition, the conventional feedforward control method is widely used for the design of a controller, resulting in imprecise position control from a sensory input. In this work, we fabricate a soft self-sensing finger actuator using flexible carbon fibre-based piezoresistive composites to achieve an inherent sensing functionality and design a dual-closed-loop control system for precise actuator position control. The resistance change of the actuator body was used to monitor deformation and fed back to the motion controller. The experimental and simulated results demonstrated the effectiveness, robustness and good controllability of ...

Research paper thumbnail of Theoretical Studies of a Switched Inertance Hydraulic System in a Four-Port Valve Configuration

Research paper thumbnail of Passivity control with adaptive feed-forward filtering for real-time hybrid tests

IFAC Journal of Systems and Control, Jun 1, 2020

Research paper thumbnail of Distributed Actuation and Control of a Morphing Tensegrity Structure

Journal of Dynamic Systems Measurement and Control-transactions of The Asme, Mar 18, 2020

Research paper thumbnail of A simple method to estimate flow restriction for dual ventilation of dissimilar patients: The BathRC model

Research paper thumbnail of RETRACTED: Performance analysis of an energy-efficient variable supply pressure electro-hydraulic motion control system

Control Engineering Practice, 2016

Research paper thumbnail of Investigating Balance Control of a Hopping Bipedal Robot

Lecture Notes in Computer Science, 2019

Research paper thumbnail of On Efficiency Of Switched Inertance Control For Hydraulic Systems

Research paper thumbnail of Proc of the 2nd International Conference on Dynamics and Vibroacoustics of Machines (DVM2014)

Research paper thumbnail of The Design, Analysis and Testing of a Compact Electrohydrostatic Powered Ankle Prosthesis

This paper presents a prototype powered ankle prosthesis which can operate passively in most of t... more This paper presents a prototype powered ankle prosthesis which can operate passively in most of the gait cycle and provide assistance for toe push-off and subsequent foot dorsiflexion. The use of electrohydrostatic actuation (EHA) gives the ability to switch quickly and smoothly between passive and active modes. In this new powered ankle prosthesis, the motor-pump unit is integrated with the ankle joint and the battery and controller are held in a backpack. A 100W brushless DC motor is used driving a 0.45cc/rev gear pump. The motor runs in hydraulic fluid, pressurised to 60bar, avoiding the need for a pump shaft seal and a refeeding circuit for external leakage. A simulation model was developed to help analyse the performance characteristics of the EHA. The simulation results are compared with laboratory-based experiment results to validate the model. The compact prototype is suitable for prolonged testing with amputees, and an example set of results from amputee testing is presented.

Research paper thumbnail of The Design of a Powered Ankle Prosthesis With Electrohydrostatic Actuation

This paper presents the design and modelling of a new powered ankle prosthesis which combines ele... more This paper presents the design and modelling of a new powered ankle prosthesis which combines electrohydrostatic actuation with a controllable passive damper. The new powered ankle prosthesis can switch quickly between passive mode and powered assistance mode, and is intended to just give assistance at certain points within the gait cycles, such as during toe push-off. The design concept and a prototype built to demonstrate the concept are presented. A simulation model was developed to help analyse the performance characteristics. The structure and parameterisation of the simulation model are described. A comparison between simulation results and experiment results is undertaken in order to validate the model and assist in the optimisation of the design. Some results from an initial trial with amputees are included in the paper. According to subjective feedback from the amputees, the new powered ankle prosthesis provides sufficient force at push-off to assist with walking. Future investigations will be focusing on the compactness, weight reduction and control of the powered ankle prosthesis.

Research paper thumbnail of Instantaneous control of a vertically hopping leg's total step-time

Research paper thumbnail of Hydraulic running robots: The prospects for fluid power in agile locomotion

Research paper thumbnail of Towards Running Robots for Discontinuous Terrain

Lecture Notes in Computer Science, 2012

Research paper thumbnail of A survey of dynamic robot legged locomotion

ABSTRACT Robotics research is motivated by the desire to develop tools or machines to accomplish ... more ABSTRACT Robotics research is motivated by the desire to develop tools or machines to accomplish tasks in place of humans or undertake tough activities which cannot be done by human labour. In order to design advanced robots, one approach is the learn from mechanical structures and locomotion mechanisms of animals in the natural world. This survey focuses on legged dynamic locomotion of robots which are mammal-like and mammal sized. The paper shows that there are many different paradigms and platforms used for walking, running and hopping robot research. In order to present a general view of the dynamic locomotion of legged robots, the paper starts with introducing a brief history of this research area. Then balancing issues for robots which are walking or running are discussed. To help address the limitations of previous research, the last part will identify the concept of 'agile running'. Agile running involves developing control techniques and algorithms to allow a running robot to recover from disturbances caused by rough, slippery, shifting or uncertain terrain and rapidly execute desired changes in the direction and stride length.

Research paper thumbnail of Towards Running Robots for Discontinuous Terrain (Extended Abstract)

Research paper thumbnail of Implementation of closed loop signal shaping in a hydraulic system

International Conference on Mechatronics, 2012

Research paper thumbnail of Fluid Power and Motion Control (FPMC 2008)

Centre for Power Transmission and Motion Control, Sep 1, 2008

Research paper thumbnail of Dataset for BathRC Ventilation model

This dataset contains: (a) Experimentally measured pressure-flow data from testing of ventilator ... more This dataset contains: (a) Experimentally measured pressure-flow data from testing of ventilator circuits with a variety of configurations and circuit components. These data are useful in characterising circuit components and validating ventilation circuit models, in particular the BathRC model. (b) A spreadsheet implementing the BathRC model to compute inspiration restrictor requirements for ventilating two patients from a single ventilator.

Research paper thumbnail of Bivariate grid-connection speed control of hydraulic wind turbines

Journal of the Franklin Institute, 2021

Research paper thumbnail of Soft Controllable Carbon Fibre-based Piezoresistive Self-Sensing Actuators

Actuators, 2020

Soft robots and devices exploit deformable materials that are capable of changes in shape to allo... more Soft robots and devices exploit deformable materials that are capable of changes in shape to allow conformable physical contact for controlled manipulation. While the use of embedded sensors in soft actuation systems is gaining increasing interest, there are limited examples where the body of the actuator or robot is able to act as the sensing element. In addition, the conventional feedforward control method is widely used for the design of a controller, resulting in imprecise position control from a sensory input. In this work, we fabricate a soft self-sensing finger actuator using flexible carbon fibre-based piezoresistive composites to achieve an inherent sensing functionality and design a dual-closed-loop control system for precise actuator position control. The resistance change of the actuator body was used to monitor deformation and fed back to the motion controller. The experimental and simulated results demonstrated the effectiveness, robustness and good controllability of ...