Dr. Robert Bicker MIMechE, CEng, PhD, MSc, BSc
Senior
Lecturer
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My
workplace coordinates are as follows: School of Mechanical and Systems
Engineering Newcastle University Tel:
0191 222 6219 Fax: 0191 222 8600 email: robert.bicker@newcastle.ac.uk |
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Welcome
to my web pages. I have include numerous illustrations of the very interesting
work that I have undertaken during my years at
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Robotics
Laboratory and some of our |
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Mobile robots and Industrial robotics |
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Bilateral force reflecting telerobotic systems |
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Embedded sensing and measurement systems |
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Multi-axis motion control systems |
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Condition Monitoring systems |
Health monitoring systems for power transmissions
and engines |
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Kinematics, dynamics and control systems |
IWARD (Intelligent Robot Swarm for Attendance, Recognition, Cleaning
and Delivery) – The project aim is to develop a ‘swarm’ of mobile robots for
use in the Healthcare sector. IWARD is funded through the EU. The project has
received considerable publicity in recent weeks, and the press have conjured up
names like Nursebot, Robonurse and ‘mechanized angels’ as
is their wont, whilst envisioning swarms of robots replacing nurses by the year
2010. The reality is that our aim is to develop a ‘swarm’ of 3 prototype robots
by 2010, which we hope will be capable of undertaking some basic tasks such as
cleaning, transporting blood and tissue samples to laboratories, etc., with
trials being carried out in a simulated hospital environment. We certainly do
not anticipate they will ever be able to replace the valuable role of nursing
staff! The team at
INTELICOPTER (INTELligent helICOPTER) The aim of this project is to develop a fully autonomous aerial robot. The robot platform is based on a Hiroba R60 model helicopter. See caption below.
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The picture to the right illustrates the concept design we have put forward for the prototype IWARD mobile robot. (This concept design was developed by Ben Towell). |
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The picture to the left illustrates the magnetic coil mounted on the end-effector of one of our old Puma 560 robots. Work is presently underway to re-engineer the control system of the robot to facilitate higher bandwidth communication for integration with a range of real-time sensing, including force and tracking. |
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The Hiroba R60 model helicopter is being developed as an autonomous aerial vehicle. The ‘Intelicopter’ system will comprise an on-board PC104 control processor, inertial measurement unit, altimeter, compass and differential GPS. (David Butler) |
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The mobile robot to the right is called Charlie2, and is named after my late colleague Dr. Charles Allen, formerly of the School of Electrical & Electronic Engineering |
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TMS (Transcranial Magnetic Stimulation) – This work is being undertaken
in collaboration with Stuart Baker of the
Telerobotics - I also have very specific research
interests in the field of robotics and telerobotics and have published a number
of papers and technical reports on these subjects. Much of the work undertaken
on the development of telerobotic systems has been directly related to the
needs of the nuclear industry, and is directed towards improving operator
performance and enhancing the capability of semi-autonomous and autonomous
remote handling systems. My current research in robotics research has focused
on the issue of maintaining stable force control in contacting tasks in which
the environment stiffness is unknown or varying - this includes tasks such as
deburring and polishing. Intelligent force control schemes have been
successfully developed based on fuzzy logic and neural networks, in
collaboration with Dr. Kevin Burn of
The Newcastle Telerobotic System which was originally developed through the EU TELEMAN programme has recently been updated. A neuro-fuzzy force reflecting controller has been implemented running under QNX by Watcharin Po-Ngean. To improve the system bandwidth the real-time axis control of the slave Puma 760, which was modified to run under the ESLAVE Ethernet protocol has been replaced by a dedicated PMAC II multi-axis controller – a Galil DMC2280 motion controller was evaluated but the Contour Mode performance was considered inadequate for this application. See captions below:
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Force reflecting master (Puma 260) |
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INGRID telerobotic demonstrator |
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Force controlled Sabre saw |
Force controlled peg-in-hole task |
Deburring using fuzzy force control |
And here’s some earlier work we did on
Telerobotics
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Me and my PhD rig (1985) |
Rate joystick with Puma 560 (1987) |
Rate joystick (Kevin Burn) |
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Our Master Slave Manipulator (Mini-Manip) |
One degree of freedom MSM (Po-ngaen, 2006) |
3D Kinaesthetic Virtual Reality System (Bashir 2005) |
Servo Position Systems - I have extensive experience in the design and implementation of microprocessor controlled position servo-systems. Over the years I have developed multi-axis servo-position control systems for a large number of applications, including re-engineering several robot controllers; large gantry manipulators; CNC gear-hobbing and co-ordinate measuring machines; along with numerous smaller devices. Many of these applications have been adopted the PMAC (I and II) motion controller from Delta-Tau. I also have experience with several other multi-axis controllers have included Galil, ServoToGo and Creonics.
I have also been involved in developing
several other CNC machines and robot systems here at
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CNC Gear measuring machine |
Re-engineered Dainichi Robot (Tourlos 2005) |
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Double pendulum golf robot |
CNC Gear hobbing machine (Abood 2003) |
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Mechatronics - Over the last twenty years I have applied real-time digital control and data acquisition to a wide variety of applications including testing and measuring equipment. My expertise in engineering design coupled with in-depth knowledge of real-time computing, sensors and actuators (i.e. Mechatronics), has allowed me the privilege of getting involved in developing test equipment for use in both the dental and medical fields. During this last two years I have developed several prototype mechatronic devices for testing the wear properties of materials used in dental restoration in collaboration with Professor John McCabe (School of Dentistry, University of Newcastle), and also for evaluating the flexibility of colonscopes (Professor Duncan Bell, Consultant Gastroenterologist, Norwich Health Authority, and Dr. K. Burn).
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Evaluation of transverse stiffness of colonscopes |
Koken Bowel Model Trainer |
Dental material rolling ball rig |
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Condition
Monitoring and Engine Development – The Design Unit here at the
Simulation & Modelling - I have in the past been actively involved in the modelling and control of flexible structures, using both H-infinity techniques and Modal Filters. Many of the early simulation models were developed using CSMP, then ACSL, although in recent years I have concentrated on using MATLAB. This work has recently taken on a new direction in developing strategies based on fuzzy logic and adaptive neural networks to the control of flexible manipulators, ic engines and power transmission condition monitoring systems.
Journal papers:
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Zhongxu
Hu, Bicker R, Marshall C and Taylor P M. Computer vision for shoe upper profile
measurement via upper and sole conformal matching. Optics and Lasers in
Engineering 2007, 45(1), 183-190.
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J.
Haigh, D.A. Hofmann and R. Bicker. Validation of a software tool for optimizing
the design of low noise, high strength gears. Proc. IMechE, Part G, Journal
of Aerospace Engineering 2007, 221(1), 73-84
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Zhongxu
Hu, Bicker R, and Marshall C. Prediction of depth removal in leather surface
grit blasting using neural networks and Box-Behnken design of experiments. Int
Journal of Advanced Manufacturing Technology 2006.
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Burn
K, Home G, Short M and Bicker R. A software tool for automating the design of
robot fuzzy force controllers. Robotica 2005, 23(2), 247-256.
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Hu
Zhongxu, Zhong Li, Bicker R and Marshall C. Robust Output Tracking Control of
Nonholonomic Mobile Robots Via Higher Order Sliding Mode. Journal of
Non-Linear Studies 2004, 11(1), 23-35.
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Fujii
K, Carrick TE, Bicker R and McCabe JF. Effect of applied load on surface contact
fatigue of dental filling materials. Dental Materials 2004, 20,
931-938.
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Frazer
RC, Bicker R, Cox B, Harary H, Härtig F, 'An
International Comparison of Involute Gear Profile Measurement', Metrologia, Vol 41, No. 1, pp12-16, February
2004.
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Hu
Zhongxu, Bicker R and Marshall C. Position/Force control of manipulator based
force measurement and its application to gear deburring. Journal of
Intelligent and Fuzzy Systems 2003, 14(4), 215-223
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Burn K, Bicker R
& Bell D, 'A novel
instrument for the measurement and analysis of endoscopes used in colonoscopy',
Int. Journal of COMADEM, Vol 4, No 6, pp24-32, October 2003.
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Burn
K, Short M and Bicker R, 'Adaptive
and non-linear fuzzy force control applied to robots operating in uncertain
environments', Journal of Robotic Systems, Vol. 20, No. 7, pp391-400, July
2003.
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Hancock J, Bell GD, Dogramadzi S, Burn K, Bicker R and
Allen CR, 'Effect of temperature on the relative stiffness (flexural rigidity)
of Celestin and Savory-Gilliard Oesophageal dilators', submitted to International
Journal of Gastroenterology & Hepatology, (GUT), January 2003.
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Taylor PM, Bicker R, Abbott PJ, Pollet DM, 'Parameters affecting
low-force frictional characteristics of fabrics in automated handling systems
', Transactions of the Institute of Measurement & Control, Vol24,1 (2001),
pp15-31.
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Bicker R, Taylor PMT, Reedman DC & Brady S, ’An investigation into a rolling process for the
attachment of resin rubber soles to shoes’, Transactions of the Institute of
Measurement & Control, Vol23 (2001), pp301-313.
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Burn K & Bicker R, 'Design of a non-linear force
controller using fuzzy logic techniques: Proc Inst Mech Engrs. Vol 214, Part 1,
pp197-206, 2000.
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Yoneyama
Y, McCabe J.F, Hosoi T & Bicker R, 'An impacting ball test for Denture Soft
Lining Materials', Journal of Dental Research, Vol 79, Special Issue 2000.
Abstracts:
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Bell GD, Butler J, Dogramadzi
S, Hancock J, Nylander D, Painter J, Burn K & Bicker R, 'The in-vitro
assessment of a novel continent and disposable corrugated sigmoid stiffening-overtube
for colonoscopy', International Journal of Gostroenterology & Hepatology,
GUT, Vol 50, Supplement II, No 372, April 02.
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Burn K, Bicker R, Bell GD,
Dogramdzi S, Allen CR, 'A New Method for Rapidly Measuring the Flexural
Rigidity of Endoscopes', International Journal of Gostroenterology &
Hepatology, GUT, Vol 50, Supplement II, No 358, April 2002.
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Dogramadzi S, Burn K, Bicker
R, Bell GD, 'The effect of temperature on the flexural rigidity of various
commercially available colonoscopes and gastroscopes', International Journal of
Gostroenterology & Hepatology, GUT, Vol 50, Supplement II, No 146, April
2002.
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Hancock J, Dogramadzi S, Bell
GD, Allen CR, Burn K, Fletcher I, & Bicker R, 'Use pressure sensitive
gloves to determine the mechanical work done during either OGD or colonoscopy:
A pilot study in 10 patients', Int Journal of Gostroenterology &
Hepatology, GUT, Vol 50, Supplement II, No 385, April 2002.
Refereed Conference Publications:
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Bicker
R, Burn K, Pongaen W, Zhongxu Hu, ‘Historical development of
remote-teleoperation’. Accepted for publication in IFToMM 2nd Int.
Conference on History of Machines & Mechanisms,
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Abood
A, Bicker R, Pennell AJ, ‘Cutting Forces in Gear Hobbing’. Accepted for
publication at IFToMM 13th World Congress,
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Pongaen W, Bicker R,
Zhongxu Hu, Burn K, ‘Neuro Fuzzy Inference Control of a Single
Axis Teleoperator’. Accepted for publication in IFToMM 13th World Congress,
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Bicker
R & Burn K, ' Robotic Deburring using a fuzzy force controller', pp439-445,
Proceedings of 13th CISM-IFToMM Symposium on the Theory &
Practice of Robots & Manipulators (ROMANSY'2000), Zakopane, July 2000, ISBN
3-211-83333-1, Springer-Verlag.
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Burn
K, Bicker R, and Cox CS, ' A Neuro-Fuzzy Controller Applied to Robotic Force
Control', pp390-393, Proc. of 29th International Symposium on Robotics
(ISR'98), 1998, ISBN 0 9524454 7 6,
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Bicker
R & Burn K, 'A Novel approach to Force Control using Neuro-fuzzy
techniques' Proc. of the 12th CISM-IFToMM Symposium on the Theory &
Practice of Robots & Manipulators (ROMANSY'98), pp137-144, July 1998,
Paris, ISBN 3-211-83143-6, Springer-Verlag.
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Bicker
R, Frazer RC and Wehmeyer D, 'Verifying Position Errors in CNC Gear Measuring
Instruments using a Laser Interferometer with Dynamic Data Capture', submitted
for presentation at Lambdamap 2001.
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Name of Candidate |
Title of Thesis |
Year |
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Currently being supervised: Completion
date (Anticipated)
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Adel Gheblawi |
Mechatronic testing of dental materials |
(2009) |
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Ahmed Onsy |
Intelligent gearbox health monitoring |
(2009) |
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David Butler |
Autonomous control of a model helicopter |
(2008) |
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Osama Mahmoud |
Engine condition monitoring using neural
networks |
(2008) |
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Steven Clugston |
Intelligent engine control using torque
feedback |
(2007) |
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John Haigh |
Design and testing of large marine gears |
(2007) |
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Jason Ngu |
Design of a magneto-rheological fluid
tactile array |
(2007) |
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Stavros Toulos |
Force controlled robotic deburring |
(2007) |
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PhDs Successfully defended:
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R.C. Frazer |
Measurement uncertainty in gear metrology |
(2007) |
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C. Marshall |
Trajectory control over 3D surfaces |
(2006) |
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Watcharin Po-ngaen |
Intelligent neuro-fuzzy telerobotic force
control |
2006 |
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S. Rankov |
Structural &
metric design of a class of finishing robot |
2005 |
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Abdouslam M Bashir |
Design and evaluation of a
virtual/augmented reality system with kineasthetic feedback |
2005 |
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P. Abbott |
Investigation of textile
properties influencing performance of robot grippers |
2004 |
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Ali Muzhir Abood |
Analysis of cutting forces in gear hobbing process |
2003 |
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D. Taslakova |
Design of modular robots |
2003 |
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Ow Sin Ming |
Force control in telerobotics |
1997 |
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Orestes Tsakalotos |
Dynamics & vibration control of a flexible arm |
1994 |
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Kevin Burn |
Force control in tele-manipulation |
1994 |
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Said Al-Annaz |
Active control of flexible structures |
1993 |
MPhil's currently being
supervised:
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Wenhoe Cai |
Intelligent |
Completed 2007 |
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Balamurugan Karunamurthy |
Design of a 3-axis Ultrasonic Motor |
Completed 2006 |
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Elias Katirtsigianoglou |
Integration of Design, FEA and Testing |
Completed 2007 |
Up until 2004 I was a member of the Executive
Committee of the International Federation for the Promotion of
Mechanism & Machine Science (IFToMM), and for the last eight years was Honorary
Treasurer. I am currently a member of two IFToMM Technical Committees, namely, Robots
and Manipulators and Gearing.
For over ten years I have been a Visiting
Professor at the Center for Intelligent Machines and Robots (CIMAR) at the
Since the early 80's I have purchased and
otherwise acquired a large number of industrial robots, and have also designed
and developed several special purpose manipulators arms. Several of our robots
have been re-engineered to improve their performance and facilitate real-time
communications for improved sensor based control. Two photographs showing
different views of the laboratory are shown below, along with the robots we currently
have.
Views of the Robot Laboratory are shown
below.
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Robot Manipulators:
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Robot Type |
Real-time Interface |
Application |
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ESLAVE and PMAC II GALIL DMC2800 |
Telerobotic slave, and deburring Contour surface tracking (IRIST) |
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Puma 560 Mark 2 (x2) |
ALTER |
Vision/force Teaching Robots |
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Puma
560 Mark 1 (x2) |
Servo-2-Go |
Teaching robot |
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PMAC |
Telerobotic master |
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DDCMP |
Teaching |
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PMAC I |
Robotic gear deburring |
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Teaching |
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None |
Teaching demonstration only (circa 1980) |
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None |
Teaching demonstration only |
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ServoToGo |
3-axis Virtual Reality System |
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Master Slave Manipulator - Teaching Demonstration only |
Real-time Multi-Axis Motion Control
Several of our Puma robots have been modified
to facilitate real-time path control. The External-ALTER real-time path control
option is a standard protocol adopted by Unimation and is implemented through a
standard RS-422 serial interface. External-ALTER uses either incremental or
absolute path modification in both world and tool-coordinates. The ESLAVE
interface provides a 3.6 ms communication rate, whilst ALTER and SLAVE are
restricted to 28ms. SLAVE and ESLAVE are adaptations developed specially by Staubli-Unimation,
and are not commercially available. They are essentially joint based protocols
and require the external computer to solve both forward and inverse kinematic
solutions in real-time. SLAVE uses an RS-422 serial interface whereas ESLAVE is
Ethernet based.
I have considerable hands-on experience (over
12 years) with the Delta-Tau PMAC range of motion controllers that provide
real-time communication rates better than 1ms using DPRAM. Recent experience
with the Galil DMC2800 controller on the other hand has shown that this is
restricted to 4ms using the Contour mode. ServoToGo offer a high-performance
low-cost solution which has been integrated in VisiTact.
The Advanced Technologies Incorporated
(ATI) force/torque sensors are used for studies in real-time force control. The
150/600 series transducers have been retrofitted with an in-house prototype
interface that facilitates data transmission in excess of 2kHz. Initially based
around a T800 transputer with a parallel processor architecture, now with a PCI
interface and PIC processor.
Other equipment available within the
laboratory includes several prototype robots developed for such diverse
application as tele-manipulation, golf swing analysis and shoe sole processing.
Several of the systems are integrated with conveyor systems, CCD cameras and
vision systems incorporating structured light lasers.
Some of our
industrial robots:
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Unimate Puma 761 – Force controlled drilling |
Unimate Puma 560 Mark 1 |
Unimate Apprentice robot |
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Hirata ARM Base |
Unimate Puma 560 Mark 2 |
ASEA Irb6 |
Some of our Bespoke
Robots and Mechatronic Systems
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Automated Shoe – Sole Assembly |
IRIST grit-blasting robot |
RTX Robots |
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Improved Roughing Integrated Sensor Technology (IRIST) |
IRIST Structured Imaging System |
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I am Degree Programme Director for the MSc in Mechatronics
(5095) The MSc. programme in Mechatronics has been running since 2001 and in
that time over 60 students have graduated. The course is offered jointly with
the
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Module |
Title |
Summary of course content |
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MEC3001/8001 |
Mechatronics Design |
Introduction to the principles of mechatronic and design |
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MEC3002/8002 |
Sensors & Actuators |
Measurement systems and sensors. Actuator types and integration |
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MEC4007/8007 |
Robotics |
Design of Robot manipulators, kinematics, control and sensor fusion |
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MEC4004/4005 |
Design of Mechanical Power Transmissions |
Gearbox and power transmission design |
I have been involved in Teaching Company Schemes for many years. The schemes are funded jointly by the Knowledge Transfer Partnership (KTP) and a collaborating company. The programmes usually run for two years and help to promote strong interaction between the companies and universities, and also facilitate the recruitment and subsequent development of Engineering Graduates within the collaborating companies. The Teaching Company Associates (TCA's) are employed by the University to work on specific projects of work that add significant value to company product development. The University of Newcastle has recognized the importance of these schemes by setting up a specialist Teaching Company Unit dedicated to the promotion of TCS within the region.
In the past I have been associated with schemes involving Northern Engineering
Industries (now part of Rolls-Royce) and Bonas Engineering (2 schemes), both
located in
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Name of Company |
Location |
Associate |
Outline of Project |
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GT Aldona Seals |
Peterlee, Durham |
Ian Hazlewood |
Control of Manufacturing Processes |
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GT Alpha Processes |
Peterlee, Durham |
Martin Dodd |
Integration of 3D CAD in SME's |
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Miller Welding |
Blaydon, Gateshead |
Kevin Brown |
3D Design and Solid Modelling in SME's |
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Miller Welding |
Cramlington, Northumberland |
Elias Katirtsigianoglou |
Field Testing Analysis Facility |
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Blaydon, |
Eneko Unceta |
Manufacturing Processes |
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Chris Hussey |
CAE applied to Jig and Tool Design |
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Institution of Mechanical Engineers - Monitored Professional
Development Scheme: |
I am a Registered Interviewer for the IMechE,
and regularly sit on interview panels. I am also actively involved with the
professional development of young Graduate Engineers, and am registered as a
I have been a member of staff at Newcastle University since 1981, completing my PhD, entitled 'Force Control in Telemanipulation' in 1989.
Prior to joining the University I was employed by Northern Engineering
Industries [NEI] Nuclear Systems, Gateshead. I had joined NEI in 1977, directly
after graduating from Newcastle University with First Class Honours in
Mechanical Engineering. Within four years of taking up this appointment I had
been promoted to Group Leader, obtained CEng with the IMechE, was a member of
the Welding Institute, and had completed a Diploma in Welding Technology and a
MSc in Materials Engineering at Newcastle Polytechnic (now
The work of the Welding Systems Development Group at NEI was primarily involved with developing automated welding systems for use in the nuclear industry, and the group comprised 10 Graduate Engineers and Technicians. Whilst at NEI I was directly involved in the following design and development programmes:
- TIG orbital welding systems for stainless steel pipe in reactor fabrication.
- TIG internal bore welding systems for steam boilers.
- Automatic TIG welding sequencers and controllers.
- Flux cored welding repair procedures for repair of nuclear reactors.
- Robotic Mig welding systems for manufacture of nuclear boiler components.
Before entering University as an undergraduate I had completed an Apprenticeship at NEI Reyrolle (now part of Rolls-Royce) followed by two years as a Draughtsman. I then went on to spend two years as a Laboratory Technician at Hebburn Technical College, before leaving to take my first degree.
QUALIFICATIONS:
1981-1989 Doctor of Philosophy,
1978-81 MSc. in Materials Engineering, Newcastle Polytechnic (Part-time study);
1974-77 BSc.(Hons) in
Mechanical Engineering,
1972-74 Higher National Certificate in Mechanical Technology (with Distinction);
1970-72 City & Guilds Full Tech. Cert. in Research & Development, (with Distinction);
Other Qualifications and Distinctions:
1980 Elected to Corporate Membership of Institution of Mechanical Engineers;
1980 Registered as a Chartered Engineer;
1978 Diploma in Welding Technology, (Newcastle Polytechnic);
1978 Elected to Membership of the Welding Institute;
PERSONAL INTERESTS & ACTIVITIES:
I continue to lead an active lifestyle that includes playing 5-aside football and golf on a weekly basis, and up until recently squash. I have always had a fascination for finding out how things work, and not surprisingly I am particularly fond of taking things apart - you name it I will probably have fixed it! Anything from watches and clocks, domestic appliances, cars, hi-fi's, robots (of course) and machine tools etc.
Last updated 02 March 07 by Robert Bicker