Derek W. Seward

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This research paper presents a method to integrate safety within the decision making process of a mobile robot. For this development, RCS-RMA (real-time control system- reference model architecture) [1] is employed as an architectural framework. POMDP (partially observable Markov decision processes) model is employed at a decision making level of RCS-RMA to(More)
This paper investigates the feasibility of constructing a humanoid robot using existing technology. Firstly, the adoption of the humanoid form is justified. The structure, strength and power capabilities of a human are analysed in engineering terms, and taken to represent the requirements specification for a humanoid robot. Technological alternatives to the(More)
Staff and students at Lancaster University have, for the past five years, been involved in the development of an autonomous robot excavator LUCIE the Lancaster University Computerised Intelligent Excavator. An excavator provides a good opportunity for development, as it is basically a highly efficient and well developed four degree-of-freedom manipulator(More)
This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its(More)
The designing and testing of the Petri net models for the mobile robot is done initially in component form, providing a model which is then automatically converted into a Gröbner basis to provide a simple means of reachability testing. Once the testing process is complete, the Petri net modules, which represent each of the components of the mobile robot are(More)