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Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human-Robot Interaction

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IEEE Transactions on Cognitive and Developmental Systems 2024年第3期17卷 510-524页

作者： Wu, Huayang Zhu, Chengzhi Cheng, Long Yang, Chenguang Li, Yanan University of Sussex Department of Engineering and Design BrightonBN1 9RH United Kingdom South China University of Technology Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering Guangzhou510640 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China University of Liverpool Department of Computer Science LiverpoolL69 3BX United Kingdom

Recent advances in physiological human motor control research indicate that human endpoint stiffness magnitude increases linearly with grasp force. Based on these findings, a scheme was proposed in this paper to integrate the linear quadratic estimation (LQE) filter with the stiffness model inferred from grasp force, which can simultaneously estimate the human arm's stiffness and motion intention. Then, an online variable impedance controller (VIC) was designed based on previous estimations for physical human-robot interaction (pHRI). The proposed stiffness model and estimation method were validated through experiments using a planar robotic interface. In order to assess its performance in practical pHRI tasks, the implementation of human arm stiffness and intention estimation combining with VIC was extended to a teleoperation peg-in-hole and robot-assisted rehabilitation tasks. The experimental results demonstrate that the proposed method can effectively estimate human motion intention and arm stiffness simultaneously. Compared to existing methods, the proposed VIC enhances pHRI in terms of increased flexibility, effective guidance, and reduced human effort. © 2016 IEEE.

关键词： Human robot interaction

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An Improved Heap-Based Optimizer for Challenging Landscapes and Real-World engineering Applications

SSRN

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SSRN 2024年

作者： Eita, Mohammad A. Elaziz, Mohamed Abd Department of Computer and Control Engineering Faculty of Engineering Tanta University Tanta31733 Egypt Department of Mathematics Faculty of Science Zagazig University Zagazig44519 Egypt

In this paper, the exploitation capability and balance of Heap-Based Optimizer (HBO) are improved by making some modifications to propose two variants of the improved heap-based optimizer. To improve the exploitative behavior, HBO is integrated with two well-known algorithm which have an excellent exploitation. The first one is Interior Point (IP) which is a derivative-based optimizer. The second one is the Nelder-Mead (NM) algorithm which is a derivative-free optimizer. Moreover, the two variants maintain the excellent exploratory behavior of HBO. Subsequently, The proposed algorithms perform a superior balance between the exploration and exploitation. The performance of proposed algorithms is evaluated through ninety seven benchmark functions including twenty nine very challenging CEC-BC2017 benchmark functions versus eight highly-cited optimizers including the best algorithm of the CEC-BC-2017 competition (EBO-CMAR). The exploration and exploitation capability of the proposed algorithms is tested using forty four multimodal and twenty four unimodal functions, respectively. In the first two experiments, Friedman mean rank test shows HBO-IP and HBO-NM outperforms and achieve 1st and 2nd ranks, respectively. In the last experiment, twenty nine CEC-BC-2017 benchmark functions are used. Friedman test shows that HBO-IP and HBO-NM secure 2nd and 3rd ranks, respectively, after EBO-CMAR;however, Bonferroni method based multiple comparison test (MCT) shows that the difference in ranks between EBO-CMAR and the proposed algorithms is statistically insignificant. Furthermore, Friedman test shows that the overall ranks of the HBO-IP and HBO-NM are 1st and 2nd for all ninety seven functions. The applicability of the proposed algorithms is shown through solving three engineering problems. The behavior is superior or equivalent to the other optimizers. © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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Broadband usage for rural communities in the North Island of Aotearoa New Zealand

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Intelligent and Converged Networks 2022年第3期3卷 244-259页

作者： Ming Xiang William Liu Edmund Lai Jairo Gutierrez Luca Chiaraviglio Jinsong Wu Control Science and Engineering South China University of TechnologyGuangzhou 510300Chinaand also with the South China Sea Institute of Planning and Environmental ResearchMinistry of Natural ResourcesGuangzhou 510300China Department of Computer Science and Software Engineering School of EngineeringComputer and Mathematical SciencesAuckland University of TechnologyAuckland 1010New Zealand Department of Electronic Engineering University of Rome“Tor Vergata”Rome 00133Italy Consorzio Nazionale Interuniversitario per le Telecomunicazioni(CNIT) Parma 43124Italy Department of Electrical Engineering Universidad de ChileSantiago 92101Chile

New Zealand government’s Rural Broadband Initiative(RBI)aims to invest 400 million New Zealand dollar to provide 99%of New Zealanders with access to 50 Mbps peak broadband speed,with the remaining 1%at 10 Mbps by *** 2017,stage 1 of the RBI has been completed,and research is needed to find out the level of usage,proficiency,and productivity achieved by ***,a survey was carried out to learn whether the rural residents and their communities are making good use of the new fast broadband *** survey collected data from 217 rural residents from North Island,and the results indicate that about half of the interview respondents are satisfied with the new broadband speed and the reliability which is offered by RBI stage ***,there is about 28%of the respondents disagreed with *** majority of the Internet uses for rural residents are information searching,reading news,online entertainment,and online *** that,only a small proportion of respondents know how to utilize the Internet in their work/business and benefit/profit from it,e.g.,using cloud technology capabilities and online marketing campaigns,*** ***,we argue that information and communications technologies(ICT)adoption is not only the availability of the infrastructure but also the beneficial outcomes of Internet *** other words,Internet skills in-depth training and education need to catch up with the infrastructure deployment,which is useful to fuel the digital productivity and inclusion for booming rural *** survey data-driven findings presented in this paper could serve as a reference to inform government policymakers and those who wish to create,invest,and take actions to speed up the economic and social growth of rural communities in Aotearoa New Zealand through the Internet while shifting from the Internet speed and traffic volume-driven to a more effective Internet connectivity and value-added driven rural economy.

关键词： data driven approach data-supported decision and policy making digital exclusion information and communications technologies(ICT)adoption effective connectivity rural broadband usage rural economic development

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Enriching Physical-Virtual Interaction in AR Gaming by Tracking Identical Real Objects

arXiv

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arXiv 2025年

作者： Yu, Liuchuan Huang, Ching-I Wang, Hsueh-Cheng Yu, Lap-Fai Computer Science Department George Mason University FairfaxVA United States Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Taiwan Faculty of Electrical and Computer Engineering Department and Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Taiwan Faculty of Computer Science Department George Mason University FairfaxVA United States

Augmented reality (AR) games, particularly those designed for headsets, have become increasingly prevalent with advancements in both hardware and software. However, the majority of AR games still rely on pre-scanned or static scenes, and interaction mechanisms are often limited to controllers or hand-tracking. Additionally, the presence of identical objects in AR games poses challenges for conventional object tracking techniques, which often struggle to differentiate between identical objects or necessitate the installation of fixed cameras for global object movement tracking. In response to these limitations, we present a novel approach to address the tracking of identical objects in an AR scene to enrich physical-virtual interaction. Our method leverages partial scene observations captured by an AR headset, utilizing the perspective and spatial data provided by this technology. Object identities within the scene are determined through the solution of a label assignment problem using integer programming. To enhance computational efficiency, we incorporate a Voronoi diagram-based pruning method into our approach. Our implementation of this approach in a farm-to-table AR game demonstrates its satisfactory performance and robustness. Furthermore, we showcase the versatility and practicality of our method through applications in AR storytelling and a simulated gaming robot. Our video demo is available at: https://***/ rPGkLYuKvCQ. Copyright © 2025, The Authors. All rights reserved.

关键词： Computational efficiency

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Gain Scheduling Position control for Fully-Actuated Morphing Multi-Rotor UAVs

Gain Scheduling Position Control for Fully-Actuated Morphing...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Youssef Aboudorra Aaron Saini Antonio Franchi Robotics and Mechatronics Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work presents techniques for scheduling the position controller gains for a class of fully-actuated morphing multi-rotor UAVs that use synchronized tilting to change their actuation capabilities. The feasible set of forces and torques that can be produced by the platform changes with the tilting angle, thus the tracking and disturbance rejection capabilities also change. To exploit the platform limits, two methods are proposed for gain scheduling using a simplified example, then one method is tested in simulation with an omnidirectional morphing multi-rotor (OmniMorph). The simulation results show that the developed techniques achieve consistent position tracking performance along the range of tilting angles when rejecting step disturbance forces of values close to the maximum force capabilities. The proposed methods offer a trade-off between simplicity and accuracy, that could be potentially applied for any multi-rotor with synchronized tilting capabilities. A video summary can be found in: https://***/kH-rrO8gWeU

关键词： Accuracy Processor scheduling Attitude control Simulation Force Rotors Position control

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Pneumonia Detection from X-ray Images Using Convolutional Neural Networks

Pneumonia Detection from X-ray Images Using Convolutional Ne...

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International Conference on control Systems and computer science (CSCS)

作者： Viorel Dediu Andreea Udrea Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science Univesity Politehnica of Bucharest Bucharest Romania

Pneumonia is one of the top causes of death in Romania and early detection of this disease improves the recovery chances and shortens the length of hospitalization. In this work, we develop a solution for automatic pneumonia detection based on convolutional neural networks. Four network models are investigated. They are trained on 4.163 images from a public dataset and tested on 530 images. The best results are obtained by one of the proposed models conducting to a sensitivity of 98.72%, an accuracy of 89.81%, and ROC 93.46%. Thus, this research proposes a lightweight screening tool that can help triaging the patients with pneumonia.

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Optimizing Membrane Distillation Configuration for Superior Heat and Mass Transfer

Optimizing Membrane Distillation Configuration for Superior ...

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2024 International Conference on Emerging Trends in Smart Technologies, ICETST 2024

作者： Arslan, Muhammad Haizhen, Xian Nouman Khalid Khan, M. Ali, Kashif Baig, Zaid Bin Tariq North China Electric Power University School Of Energy Power And Mechanical Engineering Beijing China University Of Engineering & Technology School Of Mechanical Engineering Lahore Pakistan North China Electric Power University School Of Renewable And Clean Energy Beijing China North China Electric Power University Department Of Control And Computer Science Beijing China

ISBN: (纸本)9798331515850

Membrane distillation (MD) has emerged as a promising technique for desalination and water purification, offering potential advantages in terms of energy efficiency and operational flexibility. However, challenges related to heat and mass transfer inefficiencies limit its widespread adoption. This study explores the use of innovative materials and optimized configurations to enhance heat and mass transfer in direct contact membrane distillation (DCMD) systems. By integrating advanced hybrid membranes with nano-coating techniques and evaluating their performance through simulation-based methodologies, we demonstrate significant improvements in thermal conductivity, mass transfer efficiency, and fouling resistance. The results indicate that the newly developed hybrid membranes not only enhance heat and mass transfer rates but also maintain high separation efficiency, ultimately leading to improved overall system performance. These findings provide a foundation for the further development of MD technologies and suggest pathways for overcoming existing limitations, paving the way for more sustainable and efficient water treatment solutions. © 2024 IEEE.

关键词： Desalination

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Transforming stroop task cognitive assessments with multimodal inverse reinforcement learning

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Smart Health 2025年 36卷

作者： Abbasi, Ali Gong, Jiaqi Korivand, Soroush Department of Control and Computer Engineering Polytechnic University of Turin Italy Department of Computer Science The University of Alabama United States Department of Mechanical Engineering Mississippi State University United States

Stroop tasks, recognized for their cognitively demanding nature, hold promise for diagnosing and monitoring neurodegenerative diseases. Understanding how humans allocate attention and resolve interference in the Stroop test remains a challenge;yet addressing this gap could reveal key opportunities for early-stage detection. Traditional approaches overlook the interplay between overt behavior and underlying neural processes, limiting insights into the complex color-word associations at play. To tackle this, we propose a framework that applies Inverse Reinforcement Learning (IRL) to fuse electroencephalography (EEG) signals with eye-tracking data, bridging the gap between neural and behavioral markers of cognition. We designed a Stroop experiment featuring congruent and incongruent conditions to evaluate attention allocation under varying levels of interference. By framing gaze as actions guided by an internally derived reward, IRL uncovers hidden motivations behind scanning patterns, while EEG data — processed with advanced feature extraction — reveals task-specific neural dynamics under high conflict. We validate our approach by measuring Probability Mismatch, Target Fixation Probability-Area Under the Curve, Sequence Score, and MultiMatch metrics. Results show that the IRL-EEG model outperforms an IRL-Image baseline, demonstrating improved alignment with human scanpaths and heightened sensitivity to attentional shifts in incongruent trials. These findings highlight the value of integrating neural data into computational models of cognition and illuminate possibilities for early detection of neurodegenerative disorders, where subclinical deficits may first emerge. Our IRL-based integration of EEG and eye-tracking further supports personalized cognitive assessments and adaptive user interfaces. © 2025 The Authors

关键词： Cognitive assessment EEG Eye-tracking Inverse reinforcement learning Neurodegenerative diseases

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Towards Responsible AI Music: an Investigation of Trustworthy Features for Creative Systems

arXiv

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arXiv 2025年

作者： de Berardinis, Jacopo Porcaro, Lorenzo Meroño-Peñuela, Albert Cangelosi, Angelo Buckley, Tess Department of Computer Science University of Liverpool United Kingdom Department of Computer Control and Management Engineering Sapienza University of Rome Italy Department of Informatics King’s College London United Kingdom Department of Computer Science University of Manchester United Kingdom Association of AI Ethicists

Generative AI is radically changing the creative arts, by fundamentally transforming the way we create and interact with cultural artefacts. While offering unprecedented opportunities for artistic expression and commercialisation, this technology also raises ethical, societal, and legal concerns. Key among these are the potential displacement of human creativity, copyright infringement stemming from vast training datasets, and the lack of transparency, explainability, and fairness mechanisms. As generative systems become pervasive in this domain, responsible design is crucial. Whilst previous work has tackled isolated aspects of generative systems (e.g., transparency, evaluation, data), we take a comprehensive approach, grounding these efforts within the Ethics Guidelines for Trustworthy Artificial Intelligence produced by the High-Level Expert Group on AI appointed by the European Commission – a framework for designing responsible AI systems across seven macro requirements. Focusing on generative music AI, we illustrate how these requirements can be contextualised for the field, addressing trustworthiness across multiple dimensions and integrating insights from the existing literature. We further propose a roadmap for operationalising these contextualised requirements, emphasising interdisciplinary collaboration and stakeholder engagement. Our work provides a foundation for designing and evaluating responsible music generation systems, calling for collaboration among AI experts, ethicists, legal scholars, and artists. This manuscript is accompanied by a website: https://***/raim-framework/. Copyright © 2025, The Authors. All rights reserved.

关键词： Generative adversarial networks

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A Machine Learning based Real-Time Application for Engagement Detection 9

A Machine Learning based Real-Time Application for Engagemen...

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9th Scholar's Yearly Symposium of Technology, engineering and Mathematics, SYSTEM 2023

作者： Iacobelli, Emanuele Russo, Samuele Napoli, Christian Department of Computer Control and Management Engineering Sapienza University of Rome Roma00185 Italy Department of Psychology Sapienza University of Rome Roma00185 Italy Institute for Systems Analysis and Computer Science Italian National Research Council Roma00185 Italy Department of Computational Intelligence Czestochowa University of Technology Czestochowa42-201 Poland

The study of human engagement has significantly grown in recent years, particularly accelerated by the interaction with a growing number of smart computing machines [1, 2, 3]. Engagement estimation has significant importance across various domains of study, including advertising, marketing, human-computer interaction, and healthcare [4, 5, 6]. In this paper, we propose a real-time application that leverages a single RGB camera to capture user behavior. Our approach implements a novel method for estimating human engagement in real-world scenarios by extracting valuable information from the combination of facial expressions and gaze direction analysis. To acquire this data, we employed fast and accurate machine learning algorithms from the external library dlib, along with custom versions of Residual Neural Networks implemented from scratch. For training our models, we used a modified version of the DAiSEE dataset, a multi-label user affective states classification dataset that collects frontal videos of 112 different people recorded in real-world scenarios. In the absence of a baseline for comparing the results obtained by our application, we conducted experiments to assess its robustness in estimating engagement levels, leading to very encouraging results. © 2023 Copyright for this paper by its authors.

关键词： Eye tracking

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