title: Modeling of inundation dynamics on Banda Aceh, Indonesia during the great Sumatra tsunamis December 26, 2004

authors: Prasetya, Gegar Sapta

subjects: Tsunami

abstract: The tsunami inundation flows on Banda Aceh, Indonesia reached 5 km inland during the December 26, 2004, event and devastated most of the houses, buildings, and infrastructure along the coast and killed more than 167,000 people. The overland flows from the northwest coast and the west coast collided at Lampisang village approximately 3.7 km from Ulee Lheue (northwest coast) and 6.8 km from Lhok Nga (west coast) as reported by survivors. Inundation modeling based on the nonlinear shallow-water wave equations reproduces the inundation pattern and demonstrates a colliding of the overland flows. The model suggests that wave characteristics on the northwest coast of Banda Aceh were different from those on the waves that impacted upon the west coast. The areas, which experienced higher inundation levels, did not always experience greatest overland flow speeds, and the damage areas mostly coincide with the flow speed distribution rather than the runup and inundation depth.

text: Modeling of inundation dynamics on Banda Aceh, Indonesia during the great Sumatra tsunamis December 26, 2004 The tsunami inundation flows on Banda Aceh, Indonesia reached 5 km inland during the December 26, 2004, event and devastated most of the houses, buildings, and infrastructure along the coast and killed more than 167,000 people. The overland flows from the northwest coast and the west coast collided at Lampisang village approximately 3.7 km from Ulee Lheue (northwest coast) and 6.8 km from Lhok Nga (west coast) as reported by survivors. Inundation modeling based on the nonlinear shallow-water wave equations reproduces the inundation pattern and demonstrates a colliding of the overland flows. The model suggests that wave characteristics on the northwest coast of Banda Aceh were different from those on the waves that impacted upon the west coast. The areas, which experienced higher inundation levels, did not always experience greatest overland flow speeds, and the damage areas mostly coincide with the flow speed distribution rather than the runup and inundation depth.

year: 2011

title: An efficient process to designing robotic end effectors for high value crops: Application on robotic apple fruitlet thinning

authors: Jangali, Rahul

abstract: High value crops continue to rely extensively on manual labour for labour intensive and expensive tasks like harvesting and thinning. Robotics is increasingly being investigated as a solution to combat labour shortages which threaten the sustainability and growth of the horticultural sector. However, the seasonal nature of high value crops offers only a short window of a few weeks to field tests one robotic end effector per season using the conventional process. This hinders the research and development timeline of robotic end effectors. This thesis presents an efficient design process, modified from existing design methods, to overcome this limitation by capitalising the remainder of the off-season window within a year, and thus reduces the robotic end effector development time. 


The efficient design process starts with co-design workshops involving growers and field visits to gather requirements, understand crop physiology, and determine the specific needs for identified crop management tasks. This information guides the development of several end effector concepts. Concepts with feasible potential are selected to progress to the prototype stage, which then undergo laboratory testing and comparative evaluations during off-season. The off-season investigation can only be possible by creation of an artificial crop structure that replicates the crop's physiology and is capable of testing the prototype's core mechanism principles repetitively. This structure is also optimised with enhancements and design optimisation of the end effectors, such that field testing time can be maximised to address issue unique to field conditions. This process then allows for extensive testing of various end effectors within a single year, significantly reducing the development duration. The process prioritises the generation of multiple viable end effector concepts while integrating feedback from growers. 

The efficient design process was implemented to develop robotic end effectors for apple fruitlet thinning. The design requirements for thinning fruitlets to 1 or 2 fruitlets from a cluster were identified after consultation with growers and a visit to the apple orchard. Nine concepts were generated and preliminarily tested in the field and consulted with growers. Four distinct concepts were then selected: 1) cutting that cuts the stalk, 2) suction based on grasping and rotating, 3) paraboloid based on grasping and rolling, and 4) piercing end effector based on spear piercing and rotate. These concepts were further developed into fully functional end effectors for laboratory evaluation, enabled by the development of an artificial structure that allows interchangeable fruitlets of all sizes and accommodating repetitive testing of the end effectors core mechanism principles. After an iterative process of testing, optimisation, and modifications of end effectors and artificial fruitlet structures, a comparative evaluation was performed to benchmark and quantify the capability of each end effector was conducted. 

A computer vision system and path planning systems were developed and integrated with the end effectors to facilitate this evaluation. This shows that the vacuum suction end effector consistently reached a 100\% success rate from 90° pitch angle on single fruitlets, and also maintained this success rate at a 90° pitch angle in a fruitlet cluster in all positions, followed by cutting and paraboloid with 80\% success rate on a single fruitlet. In contrast, the spear piercing mechanism consistently under performed and was excluded from the field testing. The field test in apple orchards under real world conditions indicated that the suction end effector achieved the highest success rate, reaching 70\%, followed by cutting end effector with 44\% and paraboloid with 26\%, showing trends consistent with lab evaluations. The primary causes of failure are positioning errors and occlusion. Thus, the efficient design process developed the suitable suction end effector to be integrated with the overall robotic platform for further development within a single year, compared to a minimum of two years using a conventional process.

text: An efficient process to designing robotic end effectors for high value crops: Application on robotic apple fruitlet thinning High value crops continue to rely extensively on manual labour for labour intensive and expensive tasks like harvesting and thinning. Robotics is increasingly being investigated as a solution to combat labour shortages which threaten the sustainability and growth of the horticultural sector. However, the seasonal nature of high value crops offers only a short window of a few weeks to field tests one robotic end effector per season using the conventional process. This hinders the research and development timeline of robotic end effectors. This thesis presents an efficient design process, modified from existing design methods, to overcome this limitation by capitalising the remainder of the off-season window within a year, and thus reduces the robotic end effector development time. 


The efficient design process starts with co-design workshops involving growers and field visits to gather requirements, understand crop physiology, and determine the specific needs for identified crop management tasks. This information guides the development of several end effector concepts. Concepts with feasible potential are selected to progress to the prototype stage, which then undergo laboratory testing and comparative evaluations during off-season. The off-season investigation can only be possible by creation of an artificial crop structure that replicates the crop's physiology and is capable of testing the prototype's core mechanism principles repetitively. This structure is also optimised with enhancements and design optimisation of the end effectors, such that field testing time can be maximised to address issue unique to field conditions. This process then allows for extensive testing of various end effectors within a single year, significantly reducing the development duration. The process prioritises the generation of multiple viable end effector concepts while integrating feedback from growers. 

The efficient design process was implemented to develop robotic end effectors for apple fruitlet thinning. The design requirements for thinning fruitlets to 1 or 2 fruitlets from a cluster were identified after consultation with growers and a visit to the apple orchard. Nine concepts were generated and preliminarily tested in the field and consulted with growers. Four distinct concepts were then selected: 1) cutting that cuts the stalk, 2) suction based on grasping and rotating, 3) paraboloid based on grasping and rolling, and 4) piercing end effector based on spear piercing and rotate. These concepts were further developed into fully functional end effectors for laboratory evaluation, enabled by the development of an artificial structure that allows interchangeable fruitlets of all sizes and accommodating repetitive testing of the end effectors core mechanism principles. After an iterative process of testing, optimisation, and modifications of end effectors and artificial fruitlet structures, a comparative evaluation was performed to benchmark and quantify the capability of each end effector was conducted. 

A computer vision system and path planning systems were developed and integrated with the end effectors to facilitate this evaluation. This shows that the vacuum suction end effector consistently reached a 100\% success rate from 90° pitch angle on single fruitlets, and also maintained this success rate at a 90° pitch angle in a fruitlet cluster in all positions, followed by cutting and paraboloid with 80\% success rate on a single fruitlet. In contrast, the spear piercing mechanism consistently under performed and was excluded from the field testing. The field test in apple orchards under real world conditions indicated that the suction end effector achieved the highest success rate, reaching 70\%, followed by cutting end effector with 44\% and paraboloid with 26\%, showing trends consistent with lab evaluations. The primary causes of failure are positioning errors and occlusion. Thus, the efficient design process developed the suitable suction end effector to be integrated with the overall robotic platform for further development within a single year, compared to a minimum of two years using a conventional process.

year: 2025

title: Ka pūhia te puna o te kauae runga, kia pūheke ai ngā wai ki te kauae raro: Investigating the inclusion of Māori in engineering - A Māori engineers’ journey

authors: Poli, Teresa

subjects: Engineering

abstract: This thesis explored views held by Māori and non- Māori regarding te ao Māori across the engineering system of education, academia, and industry, in understanding what challenges and experiences Māori engineers may face. 
While there are incremental and progressive changes beginning to be seen in the engineering industry when working with iwi Māori, the history of engineering itself is intertwined with colonial contributions that have oppressed Māori. These historical influences continue to impact Māori today as they navigate educational pathways and enter the engineering profession. Colonisation, with its consequences such as stealing te reo, and various forms of cultural oppression, has led to Māori feeling disconnected from the engineering profession. It has also resulted in invisible cultural labour being placed on Māori, as we transition into a profession attempting to rectify the historic wrongs of the past. It was realised a gap existed in engineering education, failing to adequately equip graduates with the essential skills needed for success as engineers in Aotearoa. This gap was particularly evident in the cultural skills necessary for effective collaboration with clients, as well as for working harmoniously with Māori colleagues.
The research framework employed in this rangahau was He waka hourua, symbolising the journey towards a vision where Māori not only hold mana but also a sense of belonging in the field of engineering. This framework recognises the importance of both Māori and Pākehā voices, with a preference for Māori engineers taking a leading role in steering the direction towards the envisioned destination. The data collection process involved the use of Surveys and Whakawhiti kōrero methodologies, gathering both quantitative and qualitative information that played a crucial role in shaping the research findings.
Woven throughout this rangahau are the personal experiences shared by the author, and her journey as a wahine Māori engineer through the engineering system, anchored by her Māoritanga. Throughout, this rangahau analogies of waka are utilised as an acknowledgement of the great engineering feats developed by Māori, and paying homage to the idea that Māori have always been engineers, drawing from characteristics and traits passed down from atua and tīpuna.
The author highlights the scarcity of literature dedicated to supporting the kaupapa of enhancing the mana of Māori in engineering. Rather than providing definitive answers to address the challenges that diminish Māori mana in engineering, this thesis serves as a foundational point, anchored at the wharf, for future rangatira to continue the voyage. Enhancing the mana of Māori in engineering presents an enduring wero, but there is optimism for the future of Māori in engineering, as we carve out institutionalism, we begin to make space on our waka.

text: Ka pūhia te puna o te kauae runga, kia pūheke ai ngā wai ki te kauae raro: Investigating the inclusion of Māori in engineering - A Māori engineers’ journey This thesis explored views held by Māori and non- Māori regarding te ao Māori across the engineering system of education, academia, and industry, in understanding what challenges and experiences Māori engineers may face. 
While there are incremental and progressive changes beginning to be seen in the engineering industry when working with iwi Māori, the history of engineering itself is intertwined with colonial contributions that have oppressed Māori. These historical influences continue to impact Māori today as they navigate educational pathways and enter the engineering profession. Colonisation, with its consequences such as stealing te reo, and various forms of cultural oppression, has led to Māori feeling disconnected from the engineering profession. It has also resulted in invisible cultural labour being placed on Māori, as we transition into a profession attempting to rectify the historic wrongs of the past. It was realised a gap existed in engineering education, failing to adequately equip graduates with the essential skills needed for success as engineers in Aotearoa. This gap was particularly evident in the cultural skills necessary for effective collaboration with clients, as well as for working harmoniously with Māori colleagues.
The research framework employed in this rangahau was He waka hourua, symbolising the journey towards a vision where Māori not only hold mana but also a sense of belonging in the field of engineering. This framework recognises the importance of both Māori and Pākehā voices, with a preference for Māori engineers taking a leading role in steering the direction towards the envisioned destination. The data collection process involved the use of Surveys and Whakawhiti kōrero methodologies, gathering both quantitative and qualitative information that played a crucial role in shaping the research findings.
Woven throughout this rangahau are the personal experiences shared by the author, and her journey as a wahine Māori engineer through the engineering system, anchored by her Māoritanga. Throughout, this rangahau analogies of waka are utilised as an acknowledgement of the great engineering feats developed by Māori, and paying homage to the idea that Māori have always been engineers, drawing from characteristics and traits passed down from atua and tīpuna.
The author highlights the scarcity of literature dedicated to supporting the kaupapa of enhancing the mana of Māori in engineering. Rather than providing definitive answers to address the challenges that diminish Māori mana in engineering, this thesis serves as a foundational point, anchored at the wharf, for future rangatira to continue the voyage. Enhancing the mana of Māori in engineering presents an enduring wero, but there is optimism for the future of Māori in engineering, as we carve out institutionalism, we begin to make space on our waka.

year: 2024