Hafan Chevron right Pobl Chevron right Yr Athro Roger Grosvenor
Yr Athro Roger Grosvenor
Timau a rolau for Roger Grosvenor
Cyhoeddiad
2019
Al-Zughaibi, A. et al. 2019. Design and investigation of PA controller for driving nonlinear electro hydraulic actuator with new active suspension system model. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233 (13), pp.3460-3479. (10.1177/0954407018822254 )
Hill, J. L. et al. 2019. The practical exploitation of tacit machine tool intelligence. International Journal of Advanced Manufacturing Technology 104 (5-8), pp.1693-1707. (10.1007/s00170-019-03963-0 )
Qin, J. et al. 2019. Deep learning-driven particle swarm optimisation for additive manufacturing energy optimisation. Journal of Cleaner Production , pp.118702. (10.1016/j.jclepro.2019.118702 )
Rojo Zazueta, E. et al. 2019. An initial characterisation of a tidal stream turbine on a drive train test rig. Presented at: 13th European Wave and Tidal Energy Conference Naples, Italy 1-4 September 2019. Published in: Vicinanza, D. ed. Proceedings of the 13th European Wave and Tidal Energy Conference . Naples, Italy: EWTEC. , pp.1-8.
Al-Zughaibi, A. , Xue, Y. and Grosvenor, R. 2019. A new insight into modelling passive suspension real test rig system with consideration of nonlinear friction forces. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233 (8), pp.2257-2266. (10.1177/0954407018764942 )
2018
Qin, J. , Liu, Y. and Grosvenor, R. 2018. Multi-source data analytics for AM energy consumption prediction. Advanced Engineering Informatics 38 , pp.840-850. (10.1016/j.aei.2018.10.008 )
Allmark, M. et al. 2018. The specification and testing of a horizontal axis tidal turbine rotor monitoring approach.. International Journal of Prognostics and Health Management 9 (2), pp.1-15. 025.
Hill, J. et al. 2018. CNC spindle signal investigation for the prediction of cutting tool health. Presented at: Fourth European Conference of the PHM Society Utrecht, The Netherlands 3-6 July 2018. Published in: Kulkarni, C. S. and Tinga, T. eds. Proceedings of the European Conference of the PHM Society . Vol. 4 .Vol. 1. Prognostics and Health Management Society.
2017
Allmark, M. , Grosvenor, R. and Prickett, P. 2017. An approach to the characterisation of the performance of a tidal stream turbine. Renewable Energy 111 , pp.849-860. (10.1016/j.renene.2017.05.010 )
Qin, J. , Liu, Y. and Grosvenor, R. 2017. A framework of energy consumption modelling for additive manufacturing using Internet of Things. Procedia CIRP Conference on Manufacturing System 63 , pp.307-312. (10.1016/j.procir.2017.02.036 )
Ahmed, Z. , Prickett, P. and Grosvenor, R. 2017. Assessing uneven milling cutting tool wear using component measurement. Presented at: COMADEM 2017: 30th International Congress & Exhibition on Condition Monitoring and Diagnostic Engineering Management Preston and Grange-Over-Sands, UK 10-13 July 2017. 30th International Conference on Condition Monitoring and Diagnostic Engineering Management . , pp.262-269.
Morrison, E. et al. 2017. Loadings on a tidal turbine during installation using CFD modelling. Presented at: 12th European Wave and Tidal Energy Conference (EWTEC) Cork, Ireland 27 August - 1 September 2017.
Allmark, M. , Prickett, P. and Grosvenor, R. 2017. Detection of tidal stream turbine rotor imbalance
faults for turbulent flow conditions and optimal
tip speed ratio control. Presented at: 12th European Wave and Tidal Energy Conference (EWTEC) Cork, Ireland 27 August - 1 September 2017.
Grosvenor, R. , Prickett, P. and He, J. 2017. An assessment of structure-based sensors in the condition monitoring of tidal stream turbines. Presented at: 2017 Twelfth International Conference on Ecological Vehicles and Renewable Energies (EVER) Monte Carlo, Monaco 11-13 April 2017. 2017 Twelfth International Conference on Ecological Vehicles and Renewable Energies (EVER) . IEEE(10.1109/EVER.2017.7935942 )
Ismail, H. A. , Packianather, M. S. and Grosvenor, R. I. 2017. Multi-objective invasive weed optimization of the LQR controller. International Journal of Automation and Computing 14 (3), pp.321-339. (10.1007/s11633-017-1061-3 )
Ahmed, Z. J. , Prickett, P. w. and Grosvenor, R. I. 2017. The difficulties of the assessment of tool life in
CNC milling. Presented at: The International Conference for Students on Applied Engineering Newcastle, United Kingdom 20-21 October 2016. Published in: Al-Shibaany, Z. Y. A. and Hameed, A. F. eds. 2016 International Conference for Students on Applied Engineering (ICSAE) Proceedings . Piscataway, NJ: IEEE. , pp.452-457. (10.1109/ICSAE.2016.7810234 )
Al-Khafaji, A. A. G. and Grosvenor, R. I. 2017. Experimental model-based approach to integrated prognostic and health management of a non-linear liquid level system. International Journal of Comadem , pp.-.
Karras, K. et al. 2017. Damage detection of a composite bearing liner using Acoustic Emission.. Presented at: BSSM 12th International Conference on Advances in Experimental Mechanics Sheffield, UK 21 - 31 August 2017.
Qin, J. , Liu, Y. and Grosvenor, R. 2017. Data analytics for energy consumption of digital manufacturing systems using Internet of Things method. Presented at: IEEE International Conference on Automation Science and Engineering Xi'an, China 20-23 August 2017.
2016
Karras, K. et al. 2016. Damage detection of a PTFE liner matrix composite through the use of acoustic emission. Presented at: British Society for Strain Measurement 11th International Conference on Advances in Experimental Mechanics Exeter, UK 5th - 7th September 2016.
Qin, J. , Liu, Y. and Grosvenor, R. 2016. A categorical framework of manufacturing for industry 4.0 and beyond. Procedia CIRP 52 , pp.173-178. (10.1016/j.procir.2016.08.005 )
Tatum, S. et al. 2016. Wave-current interaction effects on tidal stream turbine performance and loading characteristics. International Journal of Marine Energy 14 , pp.161-179. (10.1016/j.ijome.2015.09.002 )
Ismail, H. et al. 2016. The application of IWO in LQR controller design for the Robogymnast. Presented at: SAI Intelligent Systems Conference 2015 (IntelliSys) London, UK 10-11 November 2015. 2015 SAI Intelligent Systems Conference (IntelliSys 2015) . Institute of Electrical and Electronics Engineers (IEEE). , pp.274-279. (10.1109/IntelliSys.2015.7361154 )
2015
Allmark, M. J. et al. 2015. Tidal Steam Turbine blade fault diagnosis using
time-frequency analyses. Presented at: Eleventh European Wave and Tidal Energy Conference EWTEC2015 Nantes, France 6-11 Sptember 2015. , pp.1-10.
Short, J. , Prickett, P. W. and Grosvenor, R. I. 2015. Development and application of a process diagnostic system for the desulphurisation process. Presented at: 6th International Congress on the Science and Technology of Steelmaking (ICS2015) Beijing, China 12-14 May 2015.
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2015. dsPIC-based advanced data acquisition system for Monitoring, Control and Security Applications. Presented at: 2015 12th International Bhurban Conference on Applied Sciences and Technology (IBCAST) Islamabad, Pakistan 13-17 January 2015. 2015 12th International Bhurban Conference on Applied Sciences and Technology (IBCAST 2015) . Institute of Electrical and Electronics Engineers (IEEE). , pp.293-299. (10.1109/IBCAST.2015.7058519 )
2014
Short, J. , Grosvenor, R. I. and Prickett, P. W. 2014. The development of a process charge expert system for a Basic Oxygen Steelmaking plant.. Presented at: 18th International Conference on Knowledge-Based and Intelligent Information & Engineering Systems Gdynia, Poland 15-17 September 2014.
Grosvenor, R. I. and Prickett, P. W. 2014. Fast and robust milling cutter tool breakage detection within a distributed microcontroller-based condition monitoring system. Presented at: The 27th International Congress of Condition Monitoring and Diagnostic Engineering Management Brisbane, Australia 16-18 September 2014. Proceedings of Condition Monitoring and Diagnostic Engineering Management . , pp.1-8.
Grosvenor, R. I. and Prickett, P. W. 2014. The monitoring and validation of scale model tidal steam turbines. Presented at: The 27th International Congress of Condition Monitoring and Diagnostic Engineering Management Brisbane, Australia 16-18 September 2014. Proceedings of Condition Monitoring and Diagnostic Engineering Management . , pp.1-8.
Grosvenor, R. I. et al. 2014. Performance and condition monitoring of tidal stream turbines. Presented at: Second European Conference of the Prognostics and Health Management Society 2014 Nantes, France 8-10 July 2014. Published in: Bregon, A. and Daigle, M. J. eds. European Conference of Prognostics and Health Management Society 2014 . Vol. 1 .PHM Society. , pp.543-551.
Owen, R. J. et al. 2014. A repairable mechanical system reliability assessment methodology applied in a steelmaking context. Quality and Reliability Engineering International 30 (7), pp.1093-1107. (10.1002/qre.1526 )
2012
Mason-Jones, A. et al. 2012. Non-dimensional scaling of tidal stream turbines. Energy 44 (1), pp.820-829. (10.1016/j.energy.2012.05.010 )
Prickett, P. W. , Davies, G. and Grosvenor, R. I. 2012. The development of a knowledge-based electricity power station condenser management system. In: Graña, M. et al., Advances in Knowledge-Based and Intelligent Information and Engineering Systems . Frontiers in Artificial Intelligence and Applications Vol. 243.Amsterdam: IOS Press. , pp.1408-1417. (10.3233/978-1-61499-105-2-1408 )
Prickett, P. W. , Frankowiak, M. and Grosvenor, R. I. 2012. Microcontroller-based process monitoring and management using embedded Petri-nets. Robotics and Computer-Integrated Manufacturing 28 (5), pp.602-612. (10.1016/j.rcim.2012.03.001 )
2011
Byrne, C. B. B. et al. 2011. An investigation into the possible effects of cavitation on a horizontal axis tidal turbine. Presented at: 9th European Wave and Tidal Energy Conference 2011 Southampton, UK 5- 9 Sep 2011. Proceedings of the 9th European Wave and Tidal Energy Conference, Southampton, UK, 5th-9th September 2011 . Southampton: University of Southampton
Byrne, C. B. B. et al. 2011. Consideration of the condition based maintenance of marine tidal turbines. Presented at: 9th European Wave and Tidal Energy Conference (EWTEC) Southampton, UK 5-9 September 2011.
Grosvenor, R. I. and Prickett, P. W. 2011. A discussion of the prognostics and health management aspects of embedded condition monitoring systems. Presented at: Annual Conference of the Prognostics and Health Management Society Montreal, Canada 25-29 September 2011. Published in: Celaya, J. R. , Saha, S. and Saxena, A. eds. Proceedings Annual Conference of the Prognostics and Health Management Society 2011, Montreal, Canada . PHM Society. , pp.502-509.
Mason-Jones, A. et al. 2011. Scaling of a prototype tidal stream turbine using non-dimensional parameters. Presented at: 9th European Wave and Tidal Conference 2011 Southampton, UK 5-9 September 2011. Proceedings of the 9th European Wave and Tidal Conference, Southampton, Uk, 5th-9th September 2011 . Southampton: University of Southampton
O'Doherty, D. M. et al. 2011. Interaction of marine turbines in close proximity. Presented at: 9th European Wave and Tidal Conference 2011 Southampton, UK 5-9 September 2011. Proceedings of the 9th European Wave and Tidal Conference, Southampton, UK, 5th-9th September 2011 . Southampton: University of Southampton
Prickett, P. W. , Davies, G. and Grosvenor, R. I. 2011. A SCADA based Power Plant Monitoring and Management System. Lecture Notes in Computer Science 6883 (3), pp.433-442. (10.1007/978-3-642-23854-3_46 )
Prickett, P. W. , Davies, G. and Grosvenor, R. I. 2011. Practical implementation of robust condition based backwash initiation using SCADA. Lecture Notes in Computer Science 6884 , pp.425-434. (10.1007/978-3-642-23866-6_45 )
Prickett, P. W. , Siddiqui, R. and Grosvenor, R. I. 2011. The development of an end-milling process depth of cut monitoring system. International Journal of Advanced Manufacturing Technology 52 (1-4), pp.89-100. (10.1007/s00170-010-2711-6 )
Prickett, P. W. , Siddiqui, R. A. and Grosvenor, R. I. 2011. A microcontroller-based end milling cutter monitoring and management system. International Journal of Advanced Manufacturing Technology 55 (9-12), pp.855-867. (10.1007/s00170-010-3135-z )
2010
Alyami, M. , Grosvenor, R. I. and Prickett, P. W. 2010. A Microcontroller-based Approach to Monitoring Pneumatic Actuators. International Journal of Production Research 48 (11), pp.3193-3205. (10.1080/00207540902812102 )
Prickett, P. W. , Grosvenor, R. I. and Alyami, M. 2010. Microcontroller-based monitoring of pneumatic systems. Presented at: 5th International Federation of Automatic control (IFAC) Symposium on Mechatronic Systems Cambridge, USA, pp.614-619. (10.3182/20100913-3-US-2015.00008 )
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2010. An overview of a microcontroller based approach to intelligent machine tool monitoring. Lecture Notes in Computer Science 6277 , pp.371-380. (10.1007/978-3-642-15390-7_38 )
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2010. An Overview of a Microcontroller based approach to Intelligent Machine Tool Monitoring. Presented at: 14th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems (KES 2010) Cardiff, UK, pp.371-380.
2009
Frankowiak, M. R. , Grosvenor, R. I. and Prickett, P. W. 2009. Microcontroller-Based process Monitoring using Petri-Nets. EURASIP Journal on Embedded Systems 2009 282708. (10.1155/2009/282708 )
Owen, R. J. et al., 2009. Upgrading the Descaling System in a Hot Rolling Mill - A Practical Method for Quantifying the Descaling Systems Reliability. Presented at: 5th European Rolling Conference, The Institute of Materials, Minerals and Mining London, UK
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2009. An embedded microcontroller-based milling process management system. Presented at: INDIN 2009, 7th IEEE International Conference on Industrial Informatics Cardiff, UK 23-26 June 2009. 7th IEEE International Conference in Industrial Informatics (INDIN 2009) 23-26 2009 June (Cardiff, UK) . Piscataway, NJ, USA: IEEE. , pp.744-749.
2008
Alyami, M. et al., 2008. A pressure based approach to the monitoring of a pneumatic parallel gripper using a dsPIC. Presented at: Proceedings of Congress and Exhibition Condition Monitoring and Diagnostic Engineering Management (COMADEM 2008) Prague, Czech Republic, pp.33-42.
Edwards, P. M. , Grosvenor, R. I. and Prickett, P. W. 2008. A Method for Detecting Incorrectly Evacuated Filament Lamps. Lightening Research and Technology 40 (2), pp.127-132. (10.1177/1477153507085113 )
Siddiqui, R. A. et al. 2008. On-line measurement of process parameters for eMonitoring applications. Presented at: Proceedings of the 21th Diagnostic Engineering Management COMADEM Prague, Czech Republic, pp.435-444.
2007
Amer, W. , Grosvenor, R. I. and Prickett, P. W. 2007. Machine tool condition monitoring using sweeping filter techniques. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 221 (1), pp.103-117. (10.1243/09596518JSCE133 )
Prickett, P. W. and Grosvenor, R. I. 2007. A microcontroller-based milling process monitoring and management system. Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture 221 (2), pp.357-362. (10.1243/09544054JEM556SC )
Siddiqui, R. A. et al., 2007. Multi-band infinite impulse response filtering using microcontrollers for e-monitoring applications. Journal of Microprocessors and Microsystems 31 (6), pp.370-380. (10.1016/j.micpro.2007.02.007 )
2006
Amer, W. , Grosvenor, R. I. and Prickett, P. W. 2006. Sweeping filters and tooth rotation energy estimation (TREE) techniques for machine tool condition monitoring. International Journal of Machine Tools and Manufacture 46 (9), pp.1045-1052. (10.1016/j.ijmachtools.2005.07.031 )
Ahsan, Q. , Grosvenor, R. I. and Prickett, P. W. 2006. Distributed on-line system for process plant monitoring. Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Engineering Manufacture 220 (2), pp.61-77. (10.1243/09544089JPME53 )
Ahsan, Q. et al., 2006. Distributed process monitoring and management. Presented at: Proceedings IEEE ICEIS Islamabad, Pakistan, pp.336-341.
Edwards, P. M. , Grosvenor, R. I. and Prickett, P. W. 2006. A review of lamp condition monitoring technologies. Lighting Journal 71 (5), pp.31-38.
2005
Frankowiak, M. R. , Grosvenor, R. I. and Prickett, P. W. 2005. A Petri-net based distributed monitoring system using PIC microcontrollers. Microprocessors and Microsystems 29 (5), pp.189-196. (10.1016/j.micpro.2004.08.003 )
Frankowiak, M. R. , Grosvenor, R. I. and Prickett, P. W. 2005. A review of the evolution of microcontroller-based machine and process monitoring. International Journal of Machine Tools and Manufacture 45 (4-5), pp.573-582. (10.1016/j.ijmachtools.2004.08.018 )
Ahsan, Q. et al., 2005. An adaptable e-monitoring system for multi-loop processes. Presented at: Condition Monitoring and Diagnostic Engineering Management (COMADEM) Cranfield, UK, pp.211-220.
Ahsan, Q. et al., 2005. A compact monitoring system for process valves. Presented at: 10th IEEE International Conference on Emerging Technologies and Factory Automation Catania, Italy, pp.1034-1046.
Amer, W. et al., 2005. Machine tool condition monitoring system using tooth rotation energy system (TREE) techniques. Presented at: 10th IEEE International Conference on Emerging Technologies and Factory Automation Catania, Italy, pp.529-536.
Brown, C. , Grosvenor, R. I. and Fernando German, A. 2005. Algoritmo de paso variable el seguimento del punto de maxima potencia en sistemas fotovoltaicos. Energética XXI: Revista de Generación de Energía (48), pp.70-73.
Eyers, D. R. , Grosvenor, R. I. and Prickett, P. W. 2005. Welding station condition monitoring using bluetooth enabled sensors and intelligent data management. Presented at: Sensors and Their Applications XIII University of Greenwich at Medway, Kent, UK 6–8 September 2005. Vol. 15 .Journal of Physics Conference Series Vol. 15. London: Institute of Physics Publishing. , pp.143-148. (10.1088/1742-6596/15/1/024 )
Siddiqui, R. A. et al. 2005. The role of emerging technologies in e-monitoring. Presented at: COMADEM International Conference on Condition Monitoring and Diagnostic Engineering Management Cranfield, UK, pp.263-271.
2004
James, M. , Grosvenor, R. I. and Prickett, P. W. 2004. e-Distribution: internet-based management of a merchandiser supply chain. Supply Chain Management: An International Journal 9 (1), pp.7-15. (10.1108/13598540410517539 )
Ahsan, Q. et al., 2004. Sweeping filter technique for frequency analysis. Presented at: Quality, Reliability, and Maintenance (QRM) Oxford, UKPEP Ltd. , pp.185-189.
Ahsan, Q. , Grosvenor, R. I. and Prickett, P. W. 2004. A reduced traffic software model for distributed monitoring systems. Presented at: The 17th International Congress & Exhibition on Condition Monitoring and Diagnostic Engineering Management (COMADEM) Cambridge, UK, pp.204-213.
Ahsan, Q. , Grosvenor, R. I. and Prickett, P. W. 2004. Distributed control loop performance monitoring architecture. Presented at: Control 2004 Bath, UKUniversity of Bath
Amer, W. et al., 2004. Machine tool signal analysis using sweeping filter technique. Presented at: Quality, Reliability, and Maintenance (QRM 2004) Oxford, UKPEP Ltd. , pp.189-193.
Amer, W. , Grosvenor, R. I. and Prickett, P. W. 2004. A distributed system based on sweeping filters for machine tool monitoring. Presented at: Congress & Exhibition on Condition Monitoring And Diagnostic Engineering Management (COMADEM 2004 International) Cambridge, UK, pp.195-203.
2003
Prickett, P. W. , Grosvenor, R. I. and Jennings, A. D. 2003. E-monitoring: process monitoring using the internet. International Journal of COMADEM 6 (4), pp.9-17.
Ahsan, Q. et al., 2003. Design of a process and condition monitoring system using PIC based analogue data acquisition. Presented at: Condition Monitoring and Diagnostic Engineering Management (COMADEM) Vaxjo, Sweden, pp.227-235.
Amer, W. et al., 2003. PIC micro-controller based machine tool monitoring system.. Presented at: Congress and Exhibition on Condition Monitoring amd Diagnostic Engineering Managemen (COMADEM 2003) Vaxjo, Sweden, pp.219-225.
Frankiowak, M. R. et al., 2003. Distributed monitoring system using pic microcontroller technologies. Presented at: ICOM 2003 International conference on Mechatronics Loughborough, UK 2003. Published in: Parkin, R. M. , Al-Habaibeh, A. and Jackson, M. R. eds. ICOM 2003 - International Conference on Mechatronics Proceedings ICOM (Loughborough, UK) . Wiley. , pp.415-420.
Grosvenor, R. I. and Prickett, P. W. 2003. Intelligent process monitoring and management – time for a return to sensor-based methods. Presented at: Sensors and Their Applications XII Limerick, Ireland 2-4 September 2003. 12th Conference on Sensors and their Applications, Limerick , Ireland. . IOP Publishing. , pp.497-502.
Pritchard, R. et al., 2003. Data acquisition for product testing and quality control. Presented at: International Congress on Condition Monitoring and Diagnostic Engineering Management (COMADEM 2003) Vaxjo, SwedenVaxjo University Press. , pp.237-244.
2002
Frankowiak, M. R. et al., 2002. A microcontroller based distributed monitoring system using a petri-net approach. Presented at: 15th International Congress on Condition Monitoring & Diagnostic Engineering Management (Conadem International) Birmingham, UK 2-4 September 2002. Published in: Rao, R. K. N. and Nandi, A. K. eds. Condition monitoring and diagnostic engineering management : COMADEM : proceedings of the 15th international congress, 2nd-4th September 2002, Birmingham, UK . Comadem. , pp.37-44.
Grosvenor, R. I. et al. 2002. Intelligent process monitoring and management. Presented at: The IEE Seminar on Control Loop Performance Assessment London, UKVol. 9 ., pp.1-5.
Jennings, A. D. et al., 2002. Process and condition monitoring using the Internet (e-monitoring). Presented at: 15th International Congress on Condition Monitoring & Diagnostic Engineering Management (Conadem International) Birmingham, UK, pp.45-52.
2001
Frankowiak, M. R. et al., 2001. Technology advances and the current state of Petri net-based condition monitoring. Presented at: Sensors and Their Applications XI London, UK September 2001. Published in: Grattan, K. T. V. and Khan, S. H. eds. Sensors and Their Applications XI . Series in Sensors London, UK: Taylor and Francis. , pp.39-44.
Frankowiak, M. R. et al., 2001. Design of a PIC based data acquisition system for process and condition monitoring. Presented at: 14th International Congress Condition Monitoring and Diagnostic Engineering Management (COMADEM 2001) Manchester, UK 4-6 September 2001. Published in: Starr, A. G. and Rao, B. eds. Condition monitoring and diagnostic engineering management (COMADEM 2001) : proceedings of the 14th international congress, 4-6 September 2001, Manchester, UK . Elsevier Science. , pp.481-488.
Jennings, A. D. et al., 2001. A distributed data processing system for process and condition monitoring. Presented at: 14th International Congress on Condition Monitoring and Diagnostic Engineering Management (COMADEM) Manchester, UK 4-6 September 2001. Published in: Starr, A. and Rao, B. K. N. eds. Condition Monitoring and Diagnostic Engineering Management . Elsevier. , pp.375-381.
John, E. G. and Grosvenor, R. I. 2001. Failure distribution curve fitting using spreadsheet add-ins. International Journal of Electrical Engineering Education 38 (2), pp.165-172.
Turner, J. R. et al., 2001. The design and implementation of a data acquisition and control system using fieldbus technologies. Presented at: 14th International Congress on Condition Monitoring and Diagnostic Engineering Management (COMADEM 2001) Manchester, UK, pp.391-398.
Articles
Al-Zughaibi, A. et al. 2019. Design and investigation of PA controller for driving nonlinear electro hydraulic actuator with new active suspension system model. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233 (13), pp.3460-3479. (10.1177/0954407018822254 )
Hill, J. L. et al. 2019. The practical exploitation of tacit machine tool intelligence. International Journal of Advanced Manufacturing Technology 104 (5-8), pp.1693-1707. (10.1007/s00170-019-03963-0 )
Qin, J. et al. 2019. Deep learning-driven particle swarm optimisation for additive manufacturing energy optimisation. Journal of Cleaner Production , pp.118702. (10.1016/j.jclepro.2019.118702 )
Al-Zughaibi, A. , Xue, Y. and Grosvenor, R. 2019. A new insight into modelling passive suspension real test rig system with consideration of nonlinear friction forces. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233 (8), pp.2257-2266. (10.1177/0954407018764942 )
Qin, J. , Liu, Y. and Grosvenor, R. 2018. Multi-source data analytics for AM energy consumption prediction. Advanced Engineering Informatics 38 , pp.840-850. (10.1016/j.aei.2018.10.008 )
Allmark, M. et al. 2018. The specification and testing of a horizontal axis tidal turbine rotor monitoring approach.. International Journal of Prognostics and Health Management 9 (2), pp.1-15. 025.
Allmark, M. , Grosvenor, R. and Prickett, P. 2017. An approach to the characterisation of the performance of a tidal stream turbine. Renewable Energy 111 , pp.849-860. (10.1016/j.renene.2017.05.010 )
Qin, J. , Liu, Y. and Grosvenor, R. 2017. A framework of energy consumption modelling for additive manufacturing using Internet of Things. Procedia CIRP Conference on Manufacturing System 63 , pp.307-312. (10.1016/j.procir.2017.02.036 )
Ismail, H. A. , Packianather, M. S. and Grosvenor, R. I. 2017. Multi-objective invasive weed optimization of the LQR controller. International Journal of Automation and Computing 14 (3), pp.321-339. (10.1007/s11633-017-1061-3 )
Al-Khafaji, A. A. G. and Grosvenor, R. I. 2017. Experimental model-based approach to integrated prognostic and health management of a non-linear liquid level system. International Journal of Comadem , pp.-.
Qin, J. , Liu, Y. and Grosvenor, R. 2016. A categorical framework of manufacturing for industry 4.0 and beyond. Procedia CIRP 52 , pp.173-178. (10.1016/j.procir.2016.08.005 )
Tatum, S. et al. 2016. Wave-current interaction effects on tidal stream turbine performance and loading characteristics. International Journal of Marine Energy 14 , pp.161-179. (10.1016/j.ijome.2015.09.002 )
Owen, R. J. et al. 2014. A repairable mechanical system reliability assessment methodology applied in a steelmaking context. Quality and Reliability Engineering International 30 (7), pp.1093-1107. (10.1002/qre.1526 )
Mason-Jones, A. et al. 2012. Non-dimensional scaling of tidal stream turbines. Energy 44 (1), pp.820-829. (10.1016/j.energy.2012.05.010 )
Prickett, P. W. , Frankowiak, M. and Grosvenor, R. I. 2012. Microcontroller-based process monitoring and management using embedded Petri-nets. Robotics and Computer-Integrated Manufacturing 28 (5), pp.602-612. (10.1016/j.rcim.2012.03.001 )
Prickett, P. W. , Davies, G. and Grosvenor, R. I. 2011. A SCADA based Power Plant Monitoring and Management System. Lecture Notes in Computer Science 6883 (3), pp.433-442. (10.1007/978-3-642-23854-3_46 )
Prickett, P. W. , Davies, G. and Grosvenor, R. I. 2011. Practical implementation of robust condition based backwash initiation using SCADA. Lecture Notes in Computer Science 6884 , pp.425-434. (10.1007/978-3-642-23866-6_45 )
Prickett, P. W. , Siddiqui, R. and Grosvenor, R. I. 2011. The development of an end-milling process depth of cut monitoring system. International Journal of Advanced Manufacturing Technology 52 (1-4), pp.89-100. (10.1007/s00170-010-2711-6 )
Prickett, P. W. , Siddiqui, R. A. and Grosvenor, R. I. 2011. A microcontroller-based end milling cutter monitoring and management system. International Journal of Advanced Manufacturing Technology 55 (9-12), pp.855-867. (10.1007/s00170-010-3135-z )
Alyami, M. , Grosvenor, R. I. and Prickett, P. W. 2010. A Microcontroller-based Approach to Monitoring Pneumatic Actuators. International Journal of Production Research 48 (11), pp.3193-3205. (10.1080/00207540902812102 )
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2010. An overview of a microcontroller based approach to intelligent machine tool monitoring. Lecture Notes in Computer Science 6277 , pp.371-380. (10.1007/978-3-642-15390-7_38 )
Frankowiak, M. R. , Grosvenor, R. I. and Prickett, P. W. 2009. Microcontroller-Based process Monitoring using Petri-Nets. EURASIP Journal on Embedded Systems 2009 282708. (10.1155/2009/282708 )
Edwards, P. M. , Grosvenor, R. I. and Prickett, P. W. 2008. A Method for Detecting Incorrectly Evacuated Filament Lamps. Lightening Research and Technology 40 (2), pp.127-132. (10.1177/1477153507085113 )
Amer, W. , Grosvenor, R. I. and Prickett, P. W. 2007. Machine tool condition monitoring using sweeping filter techniques. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 221 (1), pp.103-117. (10.1243/09596518JSCE133 )
Prickett, P. W. and Grosvenor, R. I. 2007. A microcontroller-based milling process monitoring and management system. Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture 221 (2), pp.357-362. (10.1243/09544054JEM556SC )
Siddiqui, R. A. et al., 2007. Multi-band infinite impulse response filtering using microcontrollers for e-monitoring applications. Journal of Microprocessors and Microsystems 31 (6), pp.370-380. (10.1016/j.micpro.2007.02.007 )
Amer, W. , Grosvenor, R. I. and Prickett, P. W. 2006. Sweeping filters and tooth rotation energy estimation (TREE) techniques for machine tool condition monitoring. International Journal of Machine Tools and Manufacture 46 (9), pp.1045-1052. (10.1016/j.ijmachtools.2005.07.031 )
Ahsan, Q. , Grosvenor, R. I. and Prickett, P. W. 2006. Distributed on-line system for process plant monitoring. Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Engineering Manufacture 220 (2), pp.61-77. (10.1243/09544089JPME53 )
Edwards, P. M. , Grosvenor, R. I. and Prickett, P. W. 2006. A review of lamp condition monitoring technologies. Lighting Journal 71 (5), pp.31-38.
Frankowiak, M. R. , Grosvenor, R. I. and Prickett, P. W. 2005. A Petri-net based distributed monitoring system using PIC microcontrollers. Microprocessors and Microsystems 29 (5), pp.189-196. (10.1016/j.micpro.2004.08.003 )
Frankowiak, M. R. , Grosvenor, R. I. and Prickett, P. W. 2005. A review of the evolution of microcontroller-based machine and process monitoring. International Journal of Machine Tools and Manufacture 45 (4-5), pp.573-582. (10.1016/j.ijmachtools.2004.08.018 )
Brown, C. , Grosvenor, R. I. and Fernando German, A. 2005. Algoritmo de paso variable el seguimento del punto de maxima potencia en sistemas fotovoltaicos. Energética XXI: Revista de Generación de Energía (48), pp.70-73.
James, M. , Grosvenor, R. I. and Prickett, P. W. 2004. e-Distribution: internet-based management of a merchandiser supply chain. Supply Chain Management: An International Journal 9 (1), pp.7-15. (10.1108/13598540410517539 )
Prickett, P. W. , Grosvenor, R. I. and Jennings, A. D. 2003. E-monitoring: process monitoring using the internet. International Journal of COMADEM 6 (4), pp.9-17.
John, E. G. and Grosvenor, R. I. 2001. Failure distribution curve fitting using spreadsheet add-ins. International Journal of Electrical Engineering Education 38 (2), pp.165-172.
Book sections
Conferences
Rojo Zazueta, E. et al. 2019. An initial characterisation of a tidal stream turbine on a drive train test rig. Presented at: 13th European Wave and Tidal Energy Conference Naples, Italy 1-4 September 2019. Published in: Vicinanza, D. ed. Proceedings of the 13th European Wave and Tidal Energy Conference . Naples, Italy: EWTEC. , pp.1-8.
Hill, J. et al. 2018. CNC spindle signal investigation for the prediction of cutting tool health. Presented at: Fourth European Conference of the PHM Society Utrecht, The Netherlands 3-6 July 2018. Published in: Kulkarni, C. S. and Tinga, T. eds. Proceedings of the European Conference of the PHM Society . Vol. 4 .Vol. 1. Prognostics and Health Management Society.
Ahmed, Z. , Prickett, P. and Grosvenor, R. 2017. Assessing uneven milling cutting tool wear using component measurement. Presented at: COMADEM 2017: 30th International Congress & Exhibition on Condition Monitoring and Diagnostic Engineering Management Preston and Grange-Over-Sands, UK 10-13 July 2017. 30th International Conference on Condition Monitoring and Diagnostic Engineering Management . , pp.262-269.
Morrison, E. et al. 2017. Loadings on a tidal turbine during installation using CFD modelling. Presented at: 12th European Wave and Tidal Energy Conference (EWTEC) Cork, Ireland 27 August - 1 September 2017.
Allmark, M. , Prickett, P. and Grosvenor, R. 2017. Detection of tidal stream turbine rotor imbalance
faults for turbulent flow conditions and optimal
tip speed ratio control. Presented at: 12th European Wave and Tidal Energy Conference (EWTEC) Cork, Ireland 27 August - 1 September 2017.
Grosvenor, R. , Prickett, P. and He, J. 2017. An assessment of structure-based sensors in the condition monitoring of tidal stream turbines. Presented at: 2017 Twelfth International Conference on Ecological Vehicles and Renewable Energies (EVER) Monte Carlo, Monaco 11-13 April 2017. 2017 Twelfth International Conference on Ecological Vehicles and Renewable Energies (EVER) . IEEE(10.1109/EVER.2017.7935942 )
Ahmed, Z. J. , Prickett, P. w. and Grosvenor, R. I. 2017. The difficulties of the assessment of tool life in
CNC milling. Presented at: The International Conference for Students on Applied Engineering Newcastle, United Kingdom 20-21 October 2016. Published in: Al-Shibaany, Z. Y. A. and Hameed, A. F. eds. 2016 International Conference for Students on Applied Engineering (ICSAE) Proceedings . Piscataway, NJ: IEEE. , pp.452-457. (10.1109/ICSAE.2016.7810234 )
Karras, K. et al. 2017. Damage detection of a composite bearing liner using Acoustic Emission.. Presented at: BSSM 12th International Conference on Advances in Experimental Mechanics Sheffield, UK 21 - 31 August 2017.
Qin, J. , Liu, Y. and Grosvenor, R. 2017. Data analytics for energy consumption of digital manufacturing systems using Internet of Things method. Presented at: IEEE International Conference on Automation Science and Engineering Xi'an, China 20-23 August 2017.
Karras, K. et al. 2016. Damage detection of a PTFE liner matrix composite through the use of acoustic emission. Presented at: British Society for Strain Measurement 11th International Conference on Advances in Experimental Mechanics Exeter, UK 5th - 7th September 2016.
Ismail, H. et al. 2016. The application of IWO in LQR controller design for the Robogymnast. Presented at: SAI Intelligent Systems Conference 2015 (IntelliSys) London, UK 10-11 November 2015. 2015 SAI Intelligent Systems Conference (IntelliSys 2015) . Institute of Electrical and Electronics Engineers (IEEE). , pp.274-279. (10.1109/IntelliSys.2015.7361154 )
Allmark, M. J. et al. 2015. Tidal Steam Turbine blade fault diagnosis using
time-frequency analyses. Presented at: Eleventh European Wave and Tidal Energy Conference EWTEC2015 Nantes, France 6-11 Sptember 2015. , pp.1-10.
Short, J. , Prickett, P. W. and Grosvenor, R. I. 2015. Development and application of a process diagnostic system for the desulphurisation process. Presented at: 6th International Congress on the Science and Technology of Steelmaking (ICS2015) Beijing, China 12-14 May 2015.
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2015. dsPIC-based advanced data acquisition system for Monitoring, Control and Security Applications. Presented at: 2015 12th International Bhurban Conference on Applied Sciences and Technology (IBCAST) Islamabad, Pakistan 13-17 January 2015. 2015 12th International Bhurban Conference on Applied Sciences and Technology (IBCAST 2015) . Institute of Electrical and Electronics Engineers (IEEE). , pp.293-299. (10.1109/IBCAST.2015.7058519 )
Short, J. , Grosvenor, R. I. and Prickett, P. W. 2014. The development of a process charge expert system for a Basic Oxygen Steelmaking plant.. Presented at: 18th International Conference on Knowledge-Based and Intelligent Information & Engineering Systems Gdynia, Poland 15-17 September 2014.
Grosvenor, R. I. and Prickett, P. W. 2014. Fast and robust milling cutter tool breakage detection within a distributed microcontroller-based condition monitoring system. Presented at: The 27th International Congress of Condition Monitoring and Diagnostic Engineering Management Brisbane, Australia 16-18 September 2014. Proceedings of Condition Monitoring and Diagnostic Engineering Management . , pp.1-8.
Grosvenor, R. I. and Prickett, P. W. 2014. The monitoring and validation of scale model tidal steam turbines. Presented at: The 27th International Congress of Condition Monitoring and Diagnostic Engineering Management Brisbane, Australia 16-18 September 2014. Proceedings of Condition Monitoring and Diagnostic Engineering Management . , pp.1-8.
Grosvenor, R. I. et al. 2014. Performance and condition monitoring of tidal stream turbines. Presented at: Second European Conference of the Prognostics and Health Management Society 2014 Nantes, France 8-10 July 2014. Published in: Bregon, A. and Daigle, M. J. eds. European Conference of Prognostics and Health Management Society 2014 . Vol. 1 .PHM Society. , pp.543-551.
Byrne, C. B. B. et al. 2011. An investigation into the possible effects of cavitation on a horizontal axis tidal turbine. Presented at: 9th European Wave and Tidal Energy Conference 2011 Southampton, UK 5- 9 Sep 2011. Proceedings of the 9th European Wave and Tidal Energy Conference, Southampton, UK, 5th-9th September 2011 . Southampton: University of Southampton
Byrne, C. B. B. et al. 2011. Consideration of the condition based maintenance of marine tidal turbines. Presented at: 9th European Wave and Tidal Energy Conference (EWTEC) Southampton, UK 5-9 September 2011.
Grosvenor, R. I. and Prickett, P. W. 2011. A discussion of the prognostics and health management aspects of embedded condition monitoring systems. Presented at: Annual Conference of the Prognostics and Health Management Society Montreal, Canada 25-29 September 2011. Published in: Celaya, J. R. , Saha, S. and Saxena, A. eds. Proceedings Annual Conference of the Prognostics and Health Management Society 2011, Montreal, Canada . PHM Society. , pp.502-509.
Mason-Jones, A. et al. 2011. Scaling of a prototype tidal stream turbine using non-dimensional parameters. Presented at: 9th European Wave and Tidal Conference 2011 Southampton, UK 5-9 September 2011. Proceedings of the 9th European Wave and Tidal Conference, Southampton, Uk, 5th-9th September 2011 . Southampton: University of Southampton
O'Doherty, D. M. et al. 2011. Interaction of marine turbines in close proximity. Presented at: 9th European Wave and Tidal Conference 2011 Southampton, UK 5-9 September 2011. Proceedings of the 9th European Wave and Tidal Conference, Southampton, UK, 5th-9th September 2011 . Southampton: University of Southampton
Prickett, P. W. , Grosvenor, R. I. and Alyami, M. 2010. Microcontroller-based monitoring of pneumatic systems. Presented at: 5th International Federation of Automatic control (IFAC) Symposium on Mechatronic Systems Cambridge, USA, pp.614-619. (10.3182/20100913-3-US-2015.00008 )
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2010. An Overview of a Microcontroller based approach to Intelligent Machine Tool Monitoring. Presented at: 14th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems (KES 2010) Cardiff, UK, pp.371-380.
Owen, R. J. et al., 2009. Upgrading the Descaling System in a Hot Rolling Mill - A Practical Method for Quantifying the Descaling Systems Reliability. Presented at: 5th European Rolling Conference, The Institute of Materials, Minerals and Mining London, UK
Siddiqui, R. A. , Grosvenor, R. I. and Prickett, P. W. 2009. An embedded microcontroller-based milling process management system. Presented at: INDIN 2009, 7th IEEE International Conference on Industrial Informatics Cardiff, UK 23-26 June 2009. 7th IEEE International Conference in Industrial Informatics (INDIN 2009) 23-26 2009 June (Cardiff, UK) . Piscataway, NJ, USA: IEEE. , pp.744-749.
Alyami, M. et al., 2008. A pressure based approach to the monitoring of a pneumatic parallel gripper using a dsPIC. Presented at: Proceedings of Congress and Exhibition Condition Monitoring and Diagnostic Engineering Management (COMADEM 2008) Prague, Czech Republic, pp.33-42.
Siddiqui, R. A. et al. 2008. On-line measurement of process parameters for eMonitoring applications. Presented at: Proceedings of the 21th Diagnostic Engineering Management COMADEM Prague, Czech Republic, pp.435-444.
Ahsan, Q. et al., 2006. Distributed process monitoring and management. Presented at: Proceedings IEEE ICEIS Islamabad, Pakistan, pp.336-341.
Ahsan, Q. et al., 2005. An adaptable e-monitoring system for multi-loop processes. Presented at: Condition Monitoring and Diagnostic Engineering Management (COMADEM) Cranfield, UK, pp.211-220.
Ahsan, Q. et al., 2005. A compact monitoring system for process valves. Presented at: 10th IEEE International Conference on Emerging Technologies and Factory Automation Catania, Italy, pp.1034-1046.
Amer, W. et al., 2005. Machine tool condition monitoring system using tooth rotation energy system (TREE) techniques. Presented at: 10th IEEE International Conference on Emerging Technologies and Factory Automation Catania, Italy, pp.529-536.
Eyers, D. R. , Grosvenor, R. I. and Prickett, P. W. 2005. Welding station condition monitoring using bluetooth enabled sensors and intelligent data management. Presented at: Sensors and Their Applications XIII University of Greenwich at Medway, Kent, UK 6–8 September 2005. Vol. 15 .Journal of Physics Conference Series Vol. 15. London: Institute of Physics Publishing. , pp.143-148. (10.1088/1742-6596/15/1/024 )
Siddiqui, R. A. et al. 2005. The role of emerging technologies in e-monitoring. Presented at: COMADEM International Conference on Condition Monitoring and Diagnostic Engineering Management Cranfield, UK, pp.263-271.
Ahsan, Q. et al., 2004. Sweeping filter technique for frequency analysis. Presented at: Quality, Reliability, and Maintenance (QRM) Oxford, UKPEP Ltd. , pp.185-189.
Ahsan, Q. , Grosvenor, R. I. and Prickett, P. W. 2004. A reduced traffic software model for distributed monitoring systems. Presented at: The 17th International Congress & Exhibition on Condition Monitoring and Diagnostic Engineering Management (COMADEM) Cambridge, UK, pp.204-213.
Ahsan, Q. , Grosvenor, R. I. and Prickett, P. W. 2004. Distributed control loop performance monitoring architecture. Presented at: Control 2004 Bath, UKUniversity of Bath
Amer, W. et al., 2004. Machine tool signal analysis using sweeping filter technique. Presented at: Quality, Reliability, and Maintenance (QRM 2004) Oxford, UKPEP Ltd. , pp.189-193.
Amer, W. , Grosvenor, R. I. and Prickett, P. W. 2004. A distributed system based on sweeping filters for machine tool monitoring. Presented at: Congress & Exhibition on Condition Monitoring And Diagnostic Engineering Management (COMADEM 2004 International) Cambridge, UK, pp.195-203.
Ahsan, Q. et al., 2003. Design of a process and condition monitoring system using PIC based analogue data acquisition. Presented at: Condition Monitoring and Diagnostic Engineering Management (COMADEM) Vaxjo, Sweden, pp.227-235.
Amer, W. et al., 2003. PIC micro-controller based machine tool monitoring system.. Presented at: Congress and Exhibition on Condition Monitoring amd Diagnostic Engineering Managemen (COMADEM 2003) Vaxjo, Sweden, pp.219-225.
Frankiowak, M. R. et al., 2003. Distributed monitoring system using pic microcontroller technologies. Presented at: ICOM 2003 International conference on Mechatronics Loughborough, UK 2003. Published in: Parkin, R. M. , Al-Habaibeh, A. and Jackson, M. R. eds. ICOM 2003 - International Conference on Mechatronics Proceedings ICOM (Loughborough, UK) . Wiley. , pp.415-420.
Grosvenor, R. I. and Prickett, P. W. 2003. Intelligent process monitoring and management – time for a return to sensor-based methods. Presented at: Sensors and Their Applications XII Limerick, Ireland 2-4 September 2003. 12th Conference on Sensors and their Applications, Limerick , Ireland. . IOP Publishing. , pp.497-502.
Pritchard, R. et al., 2003. Data acquisition for product testing and quality control. Presented at: International Congress on Condition Monitoring and Diagnostic Engineering Management (COMADEM 2003) Vaxjo, SwedenVaxjo University Press. , pp.237-244.
Frankowiak, M. R. et al., 2002. A microcontroller based distributed monitoring system using a petri-net approach. Presented at: 15th International Congress on Condition Monitoring & Diagnostic Engineering Management (Conadem International) Birmingham, UK 2-4 September 2002. Published in: Rao, R. K. N. and Nandi, A. K. eds. Condition monitoring and diagnostic engineering management : COMADEM : proceedings of the 15th international congress, 2nd-4th September 2002, Birmingham, UK . Comadem. , pp.37-44.
Grosvenor, R. I. et al. 2002. Intelligent process monitoring and management. Presented at: The IEE Seminar on Control Loop Performance Assessment London, UKVol. 9 ., pp.1-5.
Jennings, A. D. et al., 2002. Process and condition monitoring using the Internet (e-monitoring). Presented at: 15th International Congress on Condition Monitoring & Diagnostic Engineering Management (Conadem International) Birmingham, UK, pp.45-52.
Frankowiak, M. R. et al., 2001. Technology advances and the current state of Petri net-based condition monitoring. Presented at: Sensors and Their Applications XI London, UK September 2001. Published in: Grattan, K. T. V. and Khan, S. H. eds. Sensors and Their Applications XI . Series in Sensors London, UK: Taylor and Francis. , pp.39-44.
Frankowiak, M. R. et al., 2001. Design of a PIC based data acquisition system for process and condition monitoring. Presented at: 14th International Congress Condition Monitoring and Diagnostic Engineering Management (COMADEM 2001) Manchester, UK 4-6 September 2001. Published in: Starr, A. G. and Rao, B. eds. Condition monitoring and diagnostic engineering management (COMADEM 2001) : proceedings of the 14th international congress, 4-6 September 2001, Manchester, UK . Elsevier Science. , pp.481-488.
Jennings, A. D. et al., 2001. A distributed data processing system for process and condition monitoring. Presented at: 14th International Congress on Condition Monitoring and Diagnostic Engineering Management (COMADEM) Manchester, UK 4-6 September 2001. Published in: Starr, A. and Rao, B. K. N. eds. Condition Monitoring and Diagnostic Engineering Management . Elsevier. , pp.375-381.
Turner, J. R. et al., 2001. The design and implementation of a data acquisition and control system using fieldbus technologies. Presented at: 14th International Congress on Condition Monitoring and Diagnostic Engineering Management (COMADEM 2001) Manchester, UK, pp.391-398.