Publications

Kung, C.P. and Strickland, Paul, "Using Intelligent Algorithms To Guide A Best Solution Explanation Model For An Intelligent Tutoring System In Algebra Manipulation", 2nd International Conference on the Teaching of Mathematics (ICTM2), July 2002.

Kung, C.P. and Strickland, Paul , "Dynamic Generation of Effective Solution Feedbacks for Improving Students' Manipulation Skills in Algebra", Adaptive Systems for Web-Based Education, 2002

Strickland, Paul. "Mathebits: Terme und Gleichungen" is a piece of software for enhancing the learning of algebra, published by Westerman Schulbuchverlag, Braunschwieg, Germany 2003 (ISBN 3-14-362003-X). I contributed a library of "intelligent" routines to provide contextual hints, 2003 

Arshad F N, El-Rhalibi A, and Kelleher G, "Intermodal Transport Scheduling", Journal of Logistics Information Management, ISSN: 0957-6053, Vol 16, No 5, pp 363-372, 2003.

Arshad F N, Thompson B, Midwifery Interactive Learning Environments (MILE), Journal of the Royal College of Midwifery, Vol 6 No. 2 February 2003.

Kelleher G and Cavicchiolo P,Supporting Rescheduling using CSP,RMS and POB,  Journal of Intelligent Manufacturing, ISSN 0956-5515. 2001. 

Reyes A, Yu H, Kelleher G and Lloyd S,  Integrating Petri Nets and Heuristic Hybrid Search for Scheduling FMS,  Computers in Industry, 2001. 

Reyes A, Yu H & Kelleher G, Integrating Petri Nets and AI Technologies for FMS Scheduling, IEEE Transactions on Robotics and Automation.,2001.  

Reyes A, Yu H & Kelleher G, Advanced Scheduling Methodologies for Flexible Manufacturing Systems using Petri Nets and Heuristic Search, IEEE International Conference on Robotics and Automation. ICRA 2000. 

Reyes A, Yu H & Kelleher G, A PN reachability graph branching scheme with application to the scheduling of Flexible Manufacturing Systems. IFAC International Conference on Control Systems Design 2000. 

Reyes A, Yu H & Kelleher G, Petri net based scheduling of Flexible Manufacturing Systems using hybrid heuristic search, UKACC International Conference,CONTROL 2000

Arshad FN, El-Rhalibi A and Kelleher G, Information Management within Intermodal Transport Chain Scheduling, EMMSEC, Stockholm, eds: J. Roger, B Stanford-Smith, P T Kidd : IOS Press, ISBN 905199491 5. 1999. 

Reyes A, Yu H & Kelleher G, Petri Nets, Heuristic Search and Natural Evolution: A Promising Scheduling Algorithm for Job Shop Systems. Proceedings of the 3^rd International Symposia on Intelligent Industrial Automation. 1999. 

Arshad FN, El-Rhalibi A and Kelleher G, Pipeline Intermodal System to support Control Expedition and Scheduling, WESIC99, Newport, Wales, UK, Eds: G. Roberts et al. 1999 

Arshad FN, El-Rhalibi A and Kelleher G, CSP and GA for supporting Intermodal Transport Planning, Expert Systems'99, Peterhouse College, Cambridge, UK. Eds. R. Milne et al, 1999.  

Kelleher G and Cavicchiolo P, Intelligent Support of Rescheduling of Complex Manufacturing Domains - an Example Application, Second International Workshop on Intelligent Manufacturing Systems, Leuven, Belgium, 1999.

Strickland, P & Al-Jumeily D, A Computer Algebra System for Imrpoving Student's anipulation Skills in Algebra, International Journal of Computer Algebra in Mathematics Education, vol 6 number 1 (1999), pp 17-24

A. Ayesh, G. Kelleher and H. Yu,  Reasoning About Petri Nets Using Directed Domain Constraints: Mapping Petri Nets to STRIPS,  Internal Report, School of Computer and Mathematical Sciences, Liverpool John Moores University, 1998. 

N. Konstas, S. Lloyd, H. Yu and C.R. Chatwin,  Rule-Based Petri Net Modelling and Scheduling of a Flexible Manufacturing System,  Presented at 14th NCMR Conference 1998. 

A. Reyes-Moro, H. Yu and G. Kelleher,  Applying New Search Methodologies for Scheduling FMS using Petri Nets,  presented at the 17th AI Planning and Scheduling SIG, University of Huddersfield, 1998. 

H. Yu, S. Lloyd, G. Kelleher,  Closed-Loop Control and On-Line Scheduling of the Batch Process Plant,  IASTED International Conference on Intelligent Systems and Control, Halifax, Canada, 1-3 June, 1998. 

H. Yu,  Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators,  Journal of Robotica, Vol. 16, pp623-650, 1998. 

H. Yu, G. Kelleher, A. Ayesh,  A Petri Net Based Planning Method,  IASTED International Conference on Intelligent Systems and Control, Halifax, Canada, 1-3 June, 1998. 

H. Yu and S. Lloyd,  Petri Net-Based Closed-Loop Control and On-line Scheduling of the Batch Process Plant,  Presented at the CONTROL 98 UK, 1998. 

H. Yu,  Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators,  Journal of Robotica, Vol. 16, pp623-650, 1998.

Eng Huat Ng, Miguel Arevalillo Herráez, An Object Oriented Assessment Model for a Distance Learning System on the A Case Study,  Presented at Dublin - Ireland Conference, 1997. 

Strickland, P. and Al-Jumeily, D. Using Term Rewriting in an Intelligent Tutoring System for Algebra' Submitted to First International Conference on Declarative Programming Languages in Education, Southhampton 1997. 

T. C. Yang and H. Yu, Applying Structured Singular Values to a Class of Decentralised Stabilising Controller Design, Presented at Conference in Quantitative Feedback Theory and Other Methods and Applications, Glasgow, UK, 21-22 August, 1997.

H. Yu and S. Lloyd, Variable Structure Adaptive Control of Robot Manipulators, Institute of Electrical and Electronic Engineers, Journal of Control Theory and Applications, Vol. 144, No. 2, 1997. 

H. Yu and S. Lloyd, Combined Direct and Indirect Adaptive Control of Constrained Robots, International Journal of Control, Vol. 68, No.5, pp.955-970, 1997. 

H. Yu and T. C. Yang, Adaptive Variable Structure Control of Robot Manipulators with Exponentially Stable Trajectories, Presented at 5th IEEE Mediterranean Conference on Control and Systems, Cyprus, 21-23 July, 1997.

H. Yu, Robust Adaptive Force/Position Control of Mechanical Manipulators, Presented at the Twelfth International Conference on Systems Engineering, Coventry University, UK, 9-11 September 1997.

H. Yu, S. Lloyd, A. Yusuf, and C.V. Balakrishnan, Synthesising and Analysis of a Batch Processing System Using Petri Nets, Presented at the Twelfth International Conference on Systems Engineering, Coventry University, UK, 9-11 September 1997

Miguel Arevalillo Herráez, David R. Burton, Michael J. Lalor, David B. Clegg, Robust Unwrapper for Two-Dimensional Images,  Lasers, Optics and Vision for Productivity in Manufacturing I Conference, Besançon, France, June, 1996. 

Miguel Arevalillo Herráez, David R. Burton, Michael J. Lalor, Phase Wrap Reduction Using Fringe Pattern Projection,  Applied Optics and Opto-Electronics Conference, Reading - UK, Sept., 1996. 

A. Ayesh and G. Kelleher, An Introduction to The Generation of Directed Domain Constraints (DDC) From more Expressive STRIPS-like Models I: Disjunctive Sentences, presented at The 15th Workshop of the UK Planning & Scheduling Special Interest Group, Liverpool, UK, 1996. 

A. Ayesh, An Investigation Into Formal Models Of Change In Artificial Intelligence, presented at AISB96 Postgraduate Workshop, Brighton, UK, 1996. 

A. Ayesh, Domain Concepts: Definition, Constraints and Properties, Liverpool John Moores University, Liverpool, Technical Report (unpublished) 1996.

A. Ayesh and G. Kelleher, Generating Directed Domain Constraints (DDC) From more Expressive STRIPS-like Models I: Disjunctive Sentences, Liverpool Jonh Moores University, Liverpool 1996. 

J. E. Spragg and G. Kelleher, A Discipline for Reactive Rescheduling, presented at The Third International Conference on Artificial Intelligence Planning Systems (AIPS 96), Edinburgh, Scotland, 1996. 

A. El Rhalibi, F. Prunet,  A Hybrid Methodology for Synthesis of Function Charts for Control Systems,  presented at the 5th IEEE ETFA'96. Nov. 18-21 1996, HAWAI - KAUAI. 

Strickland, P. TREEFROG: Assessment Software on the World-Wide Web, Mathskills Newsletter, University of Hull, October 1996. Available from URL http://www.hull.ac.uk/mathskills/newsletters/issue2/no2.htm 

H. Yu and S. Lloyd, An Efficient Robust Adaptive Control Law for Robot Manipulators, IMechE, Proceedings Part C, Journal of Mechanical Engineering Science, pp. 363-372, 1996. 

H. Yu and S. Lloyd, Adaptive Motion and Force Control of Manipulators during Constrained Motion Tasks, Proc. The 13th IFAC World Congress, San Fransisco, USA, pp. 259--264, 1996.

Arshad F N, Kelleher G and Ward P S,  Creating Interactive Learning Environments: Delivering Effective Computer-based Advice,  LEA. Immediate Publishing, 1995. ISBN: 1-898931-0101, 1995. (book) 

G. Kelleher, Domain Constraints, Liverpool John Moores University, Liverpool 1995. 

G. Kelleher and J. E. Spragg, A Discipline For Reactive Scheduling, Liverpool John Moores University, Liverpool, Technical Report CMS 13, 1995. 

S. Lloyd, H. Yu and C. V. Balakrishnan, Petri Net Modelling and Scheduling of Flow Shop Systems with Different Storage Policies, Proc. The 8th IFAC Symposium on Information Control Problems in Manufacturing Systems, Beijing, China, 11-13 Oct. 1995.

S. Lloyd, H. Yu and N. Konstas, Flexible Manufacturing Systems Scheduling Using Petri Net Modelling and a Branch & Bound Search, Proc. IEEE International Symposium on Assembly and Task Planning, Pittsburgh, USA, pp. 141--146, Aug. 1995. 

A. El Rhalibi, F. Prunet, C. Durante,  From Modelling using Function Charts for Control Systems to Analysis using Petri Nets, presented at the MASCOTS'95 International Workshop on Modelling, Analysis and Simulation of Computer and Telecommunication Systems. January 18 - 20, 1995 Durham, North Carolina, USA. 

A. El Rhalibi, D. Crestani, F. Prunet, C. Durante,  Petri Nets, F.C.C.S., and Synchronous languages to specify Discrete Events Systems : a Comparative Synthesis on Validation power,  presented at the ETFA'95 INRIA / IEEE Symposium on Emerging Technologies & Factory Automation. Invited Session. October 10-13, 1995 Paris, France. 

Strickland, P.  Algebraic Assessment of Mathematical Responses Using the SLOTH Authoring System,  International Conference on Technology in Mathematics Teaching, Napier University Edinburgh, September 1995. 

H. Yu,  Adaptive Control of Robot Manipulators Using a Popov Hyperstability Approach, IMechE, Proceedings Part I: Journal of Systems and Control Engineering, Vol. 209, No. 2, pp. 93-100, 1995. 

H. Yu and S. Lloyd, Adaptive Control of Robot Manipulators Including Motor Dynamics, Proc. IMechE, Proceedings Part I, Journal of Systems and Control Engineering, Vol. 209, No. 3, pp. 207--217, 1995. 

H. Yu and S. Lloyd, Adaptive Control of Robot Manipulators Including Motor Dynamics, Proc. American Control Conference Seatle, USA, pp. 3803--3807, 21-23 June 1995.

Arshad F, Methven R and Ward P,  Project System 'EVE' - An Education and Training System for Midwifery.  IT - Supporting Professional Education, Edinburgh, 4-5 March, 1994. 

Arshad F, Conkar L and Ward P,  Interactive Learning Environments on a Campus Network.  Association for Learning Technology Conference, University of Hull, September. Also in ALT Journal., 1994.

Hunter L, Betham M, Fuller A, Arshad F N, Ward P S and Parrott C,  Hypertext for learning about 19th Century Periodicals.  Edited by Lorna Hughes and Stuart Lee. Monograph. Oxford Centre for Textual Studies. Series 1. ISBN: 0 9523301 0 6, 1994.

A. El Rhalibi, M.H. Gentil, D. Crestani, C. Durante,  New High Level Testability Measure : Description and Evaluation,  presented at the 12th IEEE - VLSI Test Symposium Cherry-Hill, New Jersey, USA, April 25 - 28, 1994. 

A. El Rhalibi, M.H. Gebtil, D. Crestani, C. Durante,  New Testability Measure for High Level Description of Circuits,  presented at The Third Annual Atlantic Test Workshop Nîmes, France, June 2 -3, 1994.

A. El Rhalibi, F. Prunet, C. Durante,  Analysis of Function Charts for Control Systems using Petri Nets,  presented at the ETFA'94 Seiken / IEEE Symposium on Emerging Technologies & Factory Automation Novel Disciplines for the Next Century - November 6-10, 1994 Tokyo, Japan. 

A. El Rhalibi, V. Chapurlat, F. Prunet,  Modular Specification, Structured Analysis and Simulation of Distributed Control System : The ACSY-R Model,  presented at the ICARCV'94 - Third International Conference on Automation, Robotics and Computer Vision. November 8 - 11, 1994, Shangri-La Hotel, Singapore. 

S. Lloyd and H. Yu, Petri Net Model Reference Closed-Loop Control of the Batch Process Plant, Proc. I. Chem. E., Food Process Engineering, University of Bath, UK, 19-21 Sept. 1994

H. Yu, L.D. Seneviratne and S.W.E. Earles, Exponentially Stable Robust Control Law For Robot Manipulators, Institute of Electrical and Electronic Engineers, Journal of Control Theory and Applications, Vol. 141, No. 6, pp. 389-395, 1994.

Arshad F N, Methven, R and Ward P S,  System EVE - An Information and Learning System for Midwifery.  Proc. International Confederation of Midwives; 23rd Triennial Congress, Vancouver, Canada, May, 1993. 

G. Kelleher, Planning for the Support of Computer Users, Int. J. Man-Machine Studies, pp. 925-964, 1993. G. Kelleher, Planning for the Support of Computer Users, Int. J. Man-Machine Studies, pp. 925-964, 1993. 

H. Yu, L.D. Seneviratne and S.W.E. Earles, A Robust Model Reference Adaptive Control for Robot Manipulators Using Sliding Mode, Proc. IMCC The Sixth International Manufacturing Conference with China, Hong Kong, March, 1993. 

H. Yu, L.D. Seneviratne and S.W.E. Earles, Robust Adaptive Control for Robot Manipulators Using a Combined method, Proc. IEEE International Conference on Robotics Automation, Atlanta, USA, vol. 1, pp. 612-617, May, 1993 

H. Yu, L.D. Seneviratne and S.W.E. Earles, Combined Adaptive Control of Constrained Robot Manipulators, Proc. IEEE/RSJ Conference on Intelligent Robots and Systems, Yokohama, Japan, pp. 740--746, July, 1993. 

H. Yu, L.D. Seneviratne and S.W.E. Earles, Adaptive Force/Motion Control of Constrained Robot Manipulators, Proc. The 2nd IEEE Conference on Control Applications, Vancouver, B.C., pp. 505-510, Sept. 1993

Ward PS and Arshad F N,  Case Study: The Midwifery System - an Interactive Multimedia System for the Delivery of Education & Training Materials.  Proc. of Seventh International Conference on Educational Technology, Quebec Canada May 1992. 

Arshad F N, Kelleher G and Ward P S,  Control in Multimedia Presentation Systems.  Proc. of the AI Symposium - 6th International Conference on System Research Informatics and Cybernetics. August 13-16, Baden-Baden, Germany, 1992.

G. Kelleher and A. G. Cohn, Automatically Synthesising Domain Constraints from Operator Descriptions, presented at Proceedings European Conference on Artificial Intelligence, Chester, 1992. 

L.D. Seneviratne, H. Yu and S.W.E. Earles, An Efficient Algorithm for the Third-order Robot Dynamics, Proc. ESDA European Joint Conference on Engineering Systems and Analysis, Istanbul, Turkey, pp. 189--195, June, 1992.

L.D. Seneviratne, H. Yu and S.W.E. Earles, An Efficient Algorithm for Robot Arm Dynamics Including Motor Effects, Proc. IEEE International Workshop on Emerging Technologies and Factory Automation, Melbourne, Australia, pp. 550--555, August 1992. 

H. Yu, L.D. Seneviratne and S.W.E. Earles, A New Class of Adaptive Control Laws for Robot Manipulators, Proc. ESDA European Joint Conference on Engineering Systems and Analysis, Istanbul, Turkey, 181--188, June, 1992. 

H. Yu, L.D. Seneviratne and S.W.E. Earles, Adaptive Control of Robot Manipulators, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, North Carolina, USA, vol. 1, pp. 293--298, July, 1992.

S. Wu, Y. Zhang and H. Yu, Adaptive Control (Book, in Chinese), Chinese Mechanical Publishing Editions, 1991.

Arshad F N and Kelleher G,  Learning with a Computer-based Advisor, Hypermedia and Artificial Intelligence, Special Edition: Current Psychology Research & Reviews. Summer, Vol 9, No 2, 1990. 

Arshad F N and Kelleher G,  On-line Knowledge-based Advisor for Learning,  In Advanced Research on Computers in Education. R Lewis and S Otsuki (ed), North-Holland. 1990.

 Arshad F N and Kelleher G,  Planning in LOLA (Leeds On-Line Adviser), Proceedings of PEG89, Uppsala, Sweden, 1989. 

S. Wu, H. Yu and W. Zhang, Decoupling Control Scheme for a kind of System with Nonminum phase,  Journal of Northeast Institute of Heavy Machinery, China, No. 1, 1989.

Y. Zhang, S Wu and H. Yu,  A New Structure of Model Reference Adaptive Control Systems,  Awarded Paper; Electrical Automation Conference of P. R. China, September, 1986.

Clowes, Cole I, Arshad F N, Hockley A and Hopkin C,  User Modelling Techniques for Interactive Systems, In Johnson P and Cook S (eds) People and Computers: Designing the Interface. London: Cambridge University Press. 1985. 

Y. Zhang, S Wu and H. Yu,  Design Methods of Model Reference Adaptive Control Systems,  Journal of Northeast Institute of Heavy Machinery, China, No. 3, 1985. 

Y. Zhang, S Wu and H. Yu,  A Novel Design Method of Model Reference Adaptive Control Systems,  Journal of Northeast Institute of Heavy Machinery, China, No. 4, 1985. 

Y. Zhang, S Wu and H. Yu,  Feasible Design Methods of MRACS and its Application in the Hydraulic System,  Proceedings of International Conference on Industrial Process Modelling and Control, Vol.1, Hang Zhou, P. R. China, June, 1985.