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Tott-Buswell, Jacques (author), Prendergast, Luke J. (author), Gavin, Kenneth (author)Monopiles are the most common Offshore Wind Turbine (OWT) foundations due to their simplicity in design, fabrication, and installation. However, large new-generation turbines have led to significant changes in monopile dimensions, necessitating extensive finite element analyses and ground investigations to meet design requirements. While Cone...journal article 2024
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Bier, H.H. (author), Hidding, A.J. (author), Khademi, S. (author), van Engelenburg, C.C.J. (author), Prendergast, J.M. (author), Peternel, L. (author)Real-world applications of Artificial Intelligence (AI) in architecture have been explored more recently at Technical University (TU) Delft by integrating AI in Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods. These embed robotics into building processes and buildings by linking computational design with robotic...conference paper 2024
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Zaga, Cristina (author), Lupetti, M.L. (author), Forster, D. (author), Murray-Rust, D.S. (author), Prendergast, J.M. (author), Abbink, D.A. (author)In Industry 5.0, cognitive robots and workers will engage in evolving and reciprocal relations, which we call worker-robot relationships (WRRs). To enable evidence-based work futures with workers, we must co-develop WRRs and understand their impact on work, workers, management, and society. To this end, we posit that the HRI field should work...conference paper 2024
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Belli, I. (author), Joshi, S.D. (author), Prendergast, J.M. (author), Beck, I.L.Y. (author), Della Santina, C. (author), Peternel, L. (author), Seth, A. (author)The complexity of the human shoulder girdle enables the large mobility of the upper extremity, but also introduces instability of the glenohumeral (GH) joint. Shoulder movements are generated by coordinating large superficial and deeper stabilizing muscles spanning numerous degrees-of-freedom. How shoulder muscles are coordinated to stabilize...journal article 2023
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Maessen, Rosa E.S. (author), Prendergast, J.M. (author), Peternel, L. (author)Skill propagation among robots without human involvement can be crucial in quickly spreading new physical skills to many robots. In this respect, it is a good alternative to pure reinforcement learning, which can be time-consuming, or learning from human demonstration, which requires human involvement. In the latter case, there may not be...journal article 2023
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Beck, I.L.Y. (author), Belli, I. (author), Peternel, L. (author), Seth, A. (author), Prendergast, J.M. (author)In this research, we propose a novel method to estimate and monitor rotator cuff tendon strains during active robotic-assisted rehabilitation. This is a significant step forward from our previous work which estimated these tendon strains during passive exercises (i.e., no muscle activity). Physiotherapists adopt a cautious approach to...conference paper 2023
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Popken, M.H.J. (author), Prendergast, J.M. (author), Wiertlewski, M. (author), Peternel, L. (author)Humans can effortlessly grasp various objects when the fingers are in direct physical interaction with the object. However, the same actions become complicated when grasping has to be performed via a teleoperated remote robot due to a lack of direct contact and reduced sensory information. Having a fully autonomous remote robot can eliminate the...conference paper 2023
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Bier, H.H. (author), Khademi, S. (author), van Engelenburg, C.C.J. (author), Prendergast, J.M. (author), Peternel, L. (author)While half of all construction tasks can be fully automated the other half relies to a certain degree on human support. This paper presents a Computer Vision (CV) and Human–Robot Interaction/Collaboration (HRI/C) supported Design-to-Robotic-Assembly (D2RA) approach that links computational design with robotic assembly. This multidisciplinary...journal article 2022
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Balvert, S. (author), Prendergast, J.M. (author), Belli, I. (author), Seth, A. (author), Peternel, L. (author)In this work, we propose a method for monitoring and managing rotator-cuff (RC) tendon strains in human-robot collaborative physical therapy for shoulder rehabilitation. We integrate a high-resolution biomechanical model with a collaborative industrial robot arm and an impedance controller to provide feedback to a human subject, therapist or...conference paper 2022
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Li, Q. (author), Gavin, Kenneth (author), Askarinejad, A. (author), Prendergast, L. J. (author)The influence of combined loading on the response of monopiles used to support offshore wind turbines (OWTs) is investigated in this paper. In current practice, resistance of monopiles to vertical and lateral loading is considered separately. As OWT size has increased, the slenderness ratio (pile length, L, normalised by diameter, D) has...journal article 2022
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Prendergast, J.M. (author), Balvert, Stephan (author), Driessen, Tom (author), Seth, A. (author), Peternel, L. (author)In this work, we explore using computational musculoskeletal modeling to equip an industrial collaborative robot with awareness of the internal state of a patient to safely deliver physical therapy. A major concern of robot-mediated physical therapy is that robots may unwittingly injure patients. For patients with shoulder injuries this...journal article 2021
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Li, Q (author), Prendergast, L. J. (author), Askarinejad, A. (author), Chortis, G. (author), Gavin, Kenneth (author)The majority of offshore wind turbines are founded on large-diameter, open-ended steel monopiles. Monopiles must resist lateral loads and overturning moments because of environmental (wind and wave) actions, whereas vertical loads tend to be comparatively small. Recent developments in turbine sizes and increases in hub heights have resulted...journal article 2020
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Li, Q. (author), Prendergast, Luke J. (author), Askarinejad, A. (author), Gavin, Kenneth (author)The majority of installed offshore wind turbines are supported on large-diameter, open-ended steel pile foundations, known as monopiles. These piles are subjected to vertical and lateral loads while in service. In current design practice, interaction of vertical and lateral loads are not considered, rather piles are designed to resist...review 2020
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Prendergast, Luke J. (author), Gandina, Putri (author), Gavin, Kenneth (author)This paper investigates the applicability of Cone Penetration Test (CPT)-based axial capacity approaches, used for estimating pile static capacity, to the prediction of pile driveability. An investigation of the influence of various operational parameters in a driveability study is conducted. A variety of axial capacity approaches (IC-05, UWA...journal article 2020
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Chortis, G. (author), Askarinejad, A. (author), Prendergast, L.J. (author), Li, Q. (author), Gavin, Kenneth (author)The influence of scour on the lateral response of monopile foundations for offshore wind turbines is investigated in this paper. Application of lateral load-displacement (p-y) curves to predict the lateral pile behaviour is subject to uncertainty as many of the presently used design approaches have been derived for long, slender piles. These...journal article 2020
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Prendergast, L. J. (author), Wu, W. H. (author), Gavin, Kenneth (author)The dynamic response of structures in contact with soil is receiving increasing interest and there is a growing need for more accurate models capable of simulating the behaviour of these systems. This is particularly important in the field of offshore wind turbines, where accurate estimates of system frequency are needed to avoid resonance, and...journal article 2019
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Byrne, T. (author), Gavin, Kenneth (author), Prendergast, L.J. (author), Cachim, P. (author), Doherty, P. (author), Chenicheri Pulukul, S. (author)Offshore pile driving is a high-risk activity as delays can be financially punitive. Experience of pile driving for offshore jacket structures where pile diameters are typically < 2 m has led to the development of empirical pile driveability models with proven predictive capability. The application of these methods to larger diameter piles...journal article 2018
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Wu, W. H. (author), Prendergast, L.J. (author), Gavin, Kenneth (author)Accurate characterisation of soil behaviour in Dynamic-Soil-Structure Interaction (DSSI) applications remains a significant challenge. Knowledge of the operational soil-structure interaction stiffness is important for applications ranging from earthquake engineering to offshore structures subjected to wind and wave loading. A number of...journal article 2018
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Li, Q. (author), Prendergast, L.J. (author), Askarinejad, A. (author), Gavin, Kenneth (author)Pile foundations used for offshore wind structures are subjected to large lateral loading from wind and waves while in service as well as significant vertical loading from the top structure. Erosion of soil from around these structures, termed scour, poses a significant problem for the structural stability. In order to better understand the...conference paper 2018
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Prendergast, L.J. (author), Ademovic, Naida (author), Limongelli, Maria Pina (author), Gavin, Kenneth (author), Zanini, Mariano (author), Faleschini, Flora (author)In infrastructural networks, bridges can be considered key elements and their functionality must be preserved. Floods (leading to scour erosion) and earthquakes could be considered among the most critical natural events that may become more frequent with climate change, causing significant damage to bridges. Several regions in Europe have both...conference paper 2018
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