title: Modified serpentine motion of the snake robot

authors: Jin, Pinwei

subjects: snake robot

abstract: The frequent occurrence of earthquake in New Zealand drives the research on snake robot for search and rescue operation because of its elongated body shape and locomotion mimicry of the biological snake. Both features are in favour of moving the snake robot through the earthquake disaster area. To facilitate the robot control and information gathering, it is usually required to install a camera on the snake robot head so that the video images of the disaster area can be send back to the human operator. This thesis presents the simulation of a snake robot performing serpentine motion. A camera is attached on the snake robot head to obtain the video image along the line of sight. A remote controller is incorporated to control the advancement based on the video images. This simulation reveals that the video images from the camera oscillate seriously because the camera on the snake robot head follows serpenoid curve during the locomotion. As a result, both robot control and information gathering are affected. A solution is proposed to stabilize the snake robot head and its camera by introducing a correction at the joint between the robot head and its body. This correction aligns the camera sight direction with the moving direction of the snake robot to yield satisfactory video images. Finally, an actual snake robot is implemented with a wireless camera installed on the head to show the effect of correction. Experiments are conducted to control the advancement of snake robot remotely just based on the video images obtained from the camera. This greatly improves the performance of the snake robot.

text: Modified serpentine motion of the snake robot The frequent occurrence of earthquake in New Zealand drives the research on snake robot for search and rescue operation because of its elongated body shape and locomotion mimicry of the biological snake. Both features are in favour of moving the snake robot through the earthquake disaster area. To facilitate the robot control and information gathering, it is usually required to install a camera on the snake robot head so that the video images of the disaster area can be send back to the human operator. This thesis presents the simulation of a snake robot performing serpentine motion. A camera is attached on the snake robot head to obtain the video image along the line of sight. A remote controller is incorporated to control the advancement based on the video images. This simulation reveals that the video images from the camera oscillate seriously because the camera on the snake robot head follows serpenoid curve during the locomotion. As a result, both robot control and information gathering are affected. A solution is proposed to stabilize the snake robot head and its camera by introducing a correction at the joint between the robot head and its body. This correction aligns the camera sight direction with the moving direction of the snake robot to yield satisfactory video images. Finally, an actual snake robot is implemented with a wireless camera installed on the head to show the effect of correction. Experiments are conducted to control the advancement of snake robot remotely just based on the video images obtained from the camera. This greatly improves the performance of the snake robot.

year: 2015

title: Web crippling design of cold-formed stainless steel channels under interior-two-flange loading condition using deep belief network

authors: Fang, Zhiyuan (Arthur)

subjects: stainless steel

abstract: This research presents a deep-learning framework, namely a deep belief network (DBN), for analyzing the interior-two-flange web crippling performance of cold-formed stainless steel channels with centered and offset web holes. An elastoplastic finite element (FE) model, validated using 101 experimental results which were previously reported in the literature, generates a total of 43,200 data points for training the DBN. When compared to a total of 54 experimental results published in the literature, the DBN predictions were shown to be approximately 10% more conservative. Using the same large training data, the developed DBN model outperformed the Backpropagation Neural Network (a typical shallow artificial neural network) and the PaddlePaddle-based linear regression model. A parametric analysis was then performed using the DBN predictions to explore the effect of section size, web holes and bearing length. Design equations for (reduced) web crippling strength are proposed for the cold-formed stainless steel perforated channels, and the feasibility of the proposed equations was assessed by the conducted reliability analysis.

text: Web crippling design of cold-formed stainless steel channels under interior-two-flange loading condition using deep belief network This research presents a deep-learning framework, namely a deep belief network (DBN), for analyzing the interior-two-flange web crippling performance of cold-formed stainless steel channels with centered and offset web holes. An elastoplastic finite element (FE) model, validated using 101 experimental results which were previously reported in the literature, generates a total of 43,200 data points for training the DBN. When compared to a total of 54 experimental results published in the literature, the DBN predictions were shown to be approximately 10% more conservative. Using the same large training data, the developed DBN model outperformed the Backpropagation Neural Network (a typical shallow artificial neural network) and the PaddlePaddle-based linear regression model. A parametric analysis was then performed using the DBN predictions to explore the effect of section size, web holes and bearing length. Design equations for (reduced) web crippling strength are proposed for the cold-formed stainless steel perforated channels, and the feasibility of the proposed equations was assessed by the conducted reliability analysis.

year: 2023-01

title: Ngā niho tēte o Pekehāua: An indigenous articulation of governance

authors: Mahuika, Rangimarie

subjects: Indigenous Governance

abstract: This thesis originally set out to examine the structures and models available within New Zealand for a post-settlement tribal governance framework that would meet the Office of Treaty Settlements requirements while empowering the needs and aspirations of Ngāti Rangiwewehi. During the course of the study, as a result of the fast-tracking of our tribal settlement this emphasis changed. With Ngāti Rangiwewehi electing to utilise the government recommended templates for the post-settlement entity, the research shifted to consider the evolution of governance within the tribe, looking at the ways tribal governance had developed from traditional practices to our current governance frameworks. It was anticipated that gaining a deeper understanding of the factors that have shaped and influenced our governance would also give us the necessary insights to adapt the Crown model the tribe had adopted to ensure it was able to meet Ngāti Rangiwewehi’s future aspirations. This belief was grounded in an understanding that prior to the arrival of Pākehā to Aotearoa/New Zealand Ngāti Rangiwewehi, along with all other iwi Māori, had their own systems of Governance. Our governance frameworks, encapsulated within our tikanga and kawa, operated to produce a strong, vibrant, and self-determining society. Through colonisation, and its imposed Western frameworks for governance within Aotearoa New Zealand, traditional Māori frameworks for law and governance were undermined, deconstructed, or marginalised to make way for the civilizing discourses and structures of the Settler, as enforced by the British Crown. Although the dominant system of law and frameworks for governance may have changed, Ngāti Rangiwewehi and Māori desires for self-determination have not.
Against this background the central question of this study has itself evolved, initially contemplating to what extent Ngāti Rangiwewehi might be able to remain self-determining in and through their post-settlement governance arrangements. The overwhelming conclusion the study could not avoid was that any governance approach drawn from the settler-colonial Eurocentric system currently dominant in New Zealand would be incapable of supporting tribal aspirations for self-determination. What was equally evident was the continued determination that the tribe, collectively and individually, maintained to mediate the imposed governance frameworks that interfere in our ability to fully exercise our tino rangatiratanga, or in our iwi-specific context, our tino Rangiwewehitanga. This observation led to the final iteration of the thesis question which asks what frameworks for governance would best empower Ngāti Rangiwewehi to be self-determining in and beyond this post-settlement governance era? Throughout the research what became apparent was the potential to utilise our traditional frameworks for governance, described and encapsulated within this study as Rangiwewehitanga, a decolonial paradigm for tribal governance. Viewed in this way, Rangiwewehitanga expands our understanding of governance beyond the limited perspectives imposed through colonization and requires our people to recognise and return to the wisdom of our ancestral teachings to craft the most appropriate pathways forward.

text: Ngā niho tēte o Pekehāua: An indigenous articulation of governance This thesis originally set out to examine the structures and models available within New Zealand for a post-settlement tribal governance framework that would meet the Office of Treaty Settlements requirements while empowering the needs and aspirations of Ngāti Rangiwewehi. During the course of the study, as a result of the fast-tracking of our tribal settlement this emphasis changed. With Ngāti Rangiwewehi electing to utilise the government recommended templates for the post-settlement entity, the research shifted to consider the evolution of governance within the tribe, looking at the ways tribal governance had developed from traditional practices to our current governance frameworks. It was anticipated that gaining a deeper understanding of the factors that have shaped and influenced our governance would also give us the necessary insights to adapt the Crown model the tribe had adopted to ensure it was able to meet Ngāti Rangiwewehi’s future aspirations. This belief was grounded in an understanding that prior to the arrival of Pākehā to Aotearoa/New Zealand Ngāti Rangiwewehi, along with all other iwi Māori, had their own systems of Governance. Our governance frameworks, encapsulated within our tikanga and kawa, operated to produce a strong, vibrant, and self-determining society. Through colonisation, and its imposed Western frameworks for governance within Aotearoa New Zealand, traditional Māori frameworks for law and governance were undermined, deconstructed, or marginalised to make way for the civilizing discourses and structures of the Settler, as enforced by the British Crown. Although the dominant system of law and frameworks for governance may have changed, Ngāti Rangiwewehi and Māori desires for self-determination have not.
Against this background the central question of this study has itself evolved, initially contemplating to what extent Ngāti Rangiwewehi might be able to remain self-determining in and through their post-settlement governance arrangements. The overwhelming conclusion the study could not avoid was that any governance approach drawn from the settler-colonial Eurocentric system currently dominant in New Zealand would be incapable of supporting tribal aspirations for self-determination. What was equally evident was the continued determination that the tribe, collectively and individually, maintained to mediate the imposed governance frameworks that interfere in our ability to fully exercise our tino rangatiratanga, or in our iwi-specific context, our tino Rangiwewehitanga. This observation led to the final iteration of the thesis question which asks what frameworks for governance would best empower Ngāti Rangiwewehi to be self-determining in and beyond this post-settlement governance era? Throughout the research what became apparent was the potential to utilise our traditional frameworks for governance, described and encapsulated within this study as Rangiwewehitanga, a decolonial paradigm for tribal governance. Viewed in this way, Rangiwewehitanga expands our understanding of governance beyond the limited perspectives imposed through colonization and requires our people to recognise and return to the wisdom of our ancestral teachings to craft the most appropriate pathways forward.

year: 2019