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IEEE International Conference on Systems, Man and Cybernetics

作者： Viet Thuan Nguyen Chouki Sentouh Philippe Pudlo Jean-Christophe Popieul CNRS UMR 8201 – LAMIH - Laboratory of Industrial and Human Automation control Mechanical engineering and Computer science Hauts-de-France Polytechnic University Valenciennes France

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

This paper proposes a novel approach for designing an assistance system via haptic joystick force feedback on an electric wheelchair using model-based shared control approach. Assistance system supports wheelchair users through haptic force at joystick which can make the user-wheelchair interaction becomes more intuitive. Firstly Tagaki-Sugeno fuzzy model is used to build an augmented model of user-wheelchair system to deal with non-linear nature of system. Unknown input observers are developed to estimate wheelchair position errors which are considered as user intention based on joystick motions. Fuzzy logic optimal controller is synthesized by Linear Matrix Inequalities method to provide assistance haptic forces feedback to user via joystick. Simulation and experimental results show that this assistance system can predict the desired motion of user and reduce user hand force thanks to haptic force at joystick.

关键词： Wheelchairs Force Force feedback Predictive models Observers Systems support Linear matrix inequalities

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How developers believe Invisibility impacts NFRs related to User Interaction

How developers believe Invisibility impacts NFRs related to ...

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IEEE International Conference on Requirements Engineering

作者： Rainara Maia Carvalho Rossana M. C. Andrade Káthia M. Oliveira Computer Science Department (DC) Federal University of Ceará Fortaleza Brazil Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science Université Polytechnique Hauts-de-France Valenciennes LAMIH UMR CNRS 8201 France

ISBN: (数字)9781728174389

ISBN: (纸本)9781728174396

The advance of Ubiquitous Computing (UbiComp) and Internet of Things (IoT) brought a new set of Non-Functional Requirements (NFRs), especially related to human-computer Interaction (HCI). Invisibility is one of these NFRs, and it refers to either the merging of technology in the user environment or the decrease of the interaction workload. This new NFR may impact traditional NFRs (e.g., Usability), revealing positive correlations, when one NFR helps another, and negative correlations, when a procedure favors an NFR but creates difficulty for another one. Software engineers need to know about these correlations, so they can select appropriate strategies to satisfy Invisibility and traditional NFRs. Correlations between NFRs are usually stored in catalogs, which is a well-defined body of knowledge gathered from previous experience. Although Invisibility has been recently cataloged with development strategies, the literature still lacks catalogs with correlations for this NFR. Therefore, this work aims at capturing and cataloging invisibility correlations for UbiComp and IoT systems. To do that, we also propose to systematize the definition of correlations using the following well-defined research methods: Interview, Content Analysis and Questionnaire. As a result, we defined a catalog with 110 positive and negative correlations with 9 NFRs. This well-defined body of knowledge is useful for supporting software engineers to select strategies to satisfy Invisibility and other NFRs related to user interaction.

关键词： Correlation Pervasive computing Usability Interviews Security Internet of Things human computer interaction

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A Biomechanical Model of Hand-Joystick Interaction of Powered Wheelchair User

A Biomechanical Model of Hand-Joystick Interaction of Powere...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Viet Thuan Nguyen Chouki Sentouh Philippe Pudlo Jean-Christophe Popieul Laboratory of Automation Control Mechanical Engineering Computer Science Industrial and Human French National Center for Scientific Research (CNRS) UMR 8201 University of Valenciennes and Hainaut-Cambresis Valenciennes France

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Understanding and predicting the behavior of the powered wheelchair users play an important role in developing the driver assistance systems for the intelligent wheelchair. This article presents a model of wheelchair users, from the point of view of control engineering, based on the interaction between the human hand-joystick and the lumped-parameter model of the human hand muscle system. The interaction between hand and joystick is represented by a robot arm with a four-bar closed-chain mechanism. This mechanism is operated by four musculotendon units based on Hill's muscle model. This configuration allows simulating whole motions of the joystick as well as the evolutions of muscle activities during maneuvering the powered wheelchair. The advantage of this model is the integration of the biomechanical parameters of the muscular system of the human hand, which is very useful for simulating the defects related to the degree of physical impairment of wheelchair users. To validate the proposed model, we compare the simulation outputs of the user model with the previously published experimental results in the framework of the Wheelchair Skills Test (v. 4.1). The simulation results show that the proposed model can reflect the difficulties at the biomechanical level of users in driving the wheelchair.

关键词： Biomechanics Biological system modeling Wheelchairs Simulation Muscles Manipulators Mobile robots

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Risk Perception Biases and the Resilience of Ethics for Complying with COVID-19-Pandemic-Related Safety Measures

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Journal of Risk Analysis and Crisis Response 2021年第2期11卷 87-90页

作者： Rajaonah, Bako Zio, Enrico Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH UMR CNRS 8201) Université Polytechnique Hauts-de-France Valenciennes F-59313 France Centre de Recherche sur les Risques et les Crises MINES ParisTech/PSL Université Paris Sophia Antipolis France Department of Energy Politecnico di Milano Milan Italy

This perspective paper presents factors that bias COVID-19-related risk judgments and risk decisions, such as cognitive biases, affect heuristics, mental models of risk and trust. The goal is to gain knowledge about the difficulty of risk communication in inducing attitudinal and behavioral changes regarding protective measures. Talking about morality and ethics appears to be less obsolete and more necessary than ever;it could even be seen as a ‘spare tire’ after one and a half years of risk communication and almost 4 million deaths. Perhaps it is time to think in terms of resilience at all levels, from the citizen of humanity to the highest institutions. © 2021 The Authors. Published by Atlantis Press B.V.

关键词： COVID-19 ethics mental models of risk resilience Risk perception trust

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A Real-Time Multi-Objective Predictive Control Strategy for Wheelchair Ergometer Platform

A Real-Time Multi-Objective Predictive Control Strategy for ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Toufik Bentaleb Viet Thuan Nguyen Chouki Sentouh Gérald Conreur Thierry Poulain Philippe Pudlo UMR 8201 – LAMIH - Laboratory of Industrial and Human Automation control Mechanical engineering and Computer science Hauts-de-France Polytechnic University CNRS Valenciennes France

This paper describes a real-time multi-objective predictive control strategy for the wheelchair ergometer platform, which allows simulating the manual wheelchair (MWC) propulsion in virtual reality (VR). A nonlinear least-square method is used to build the predictive wheelchair ergometer model, where the trust-region-reflective algorithm is adopted. A detailed study of the wheelchair dynamics, and its performance on the rollers, and the frictions are presented. The main contribution is the implementation of a wheelchair ergometer model into a proposed controller in order to provide realistic navigation within the VR world by accurately detecting and tracking the rotation of the driving wheels. In particular, the proposed strategy has two objectives: 1) to generate force feedback (haptics) during the push phase (hand-to-rim contact); 2) assistance control to make the wheelchair movement more realistic in the immersive virtual environment during the recovery phase (hand-to-rim no contact). Various numerical examples emphasize the flexibility of the approach and experimental results confirm that the proposed controller successfully tracks the speed reference. It is also shown that the real-time tracking ability of the explicit MPC (eMPC) controller is superior to that of the PI controller.

关键词： Wheelchairs Friction Wheels Propulsion Solid modeling Torque Control systems

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On a Complete Dynamical Model of Manual Wheelchair for Virtual Reality Simulation Platform

On a Complete Dynamical Model of Manual Wheelchair for Virtu...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Viet Thuan Nguyen Toufik Bentaleb Chouki Sentouh Philippe Pudlo Jean-Christophe Popieul UMR 8201 LAMIH - Laboratory of Industrial and Human Automation control Mechanical engineering and Computer science Hauts-de-France Polytechnic University CNRS Valenciennes France

A manual wheelchair (MWC) is an indispensable support for a person with reduced mobility. The researches on improving performance of MWC, therefore, should be validated by a reliable simulation platform, which allows simulating the MWC operation in virtual reality (VR), before being tested on real conditions. This research aims to provide a fully-constituted dynamical model of MWC which will be used in simulator platform to simulate the real movements of wheelchair and to generate the force feedback (haptics) during the push phase (hand-to-rim contact). With focus on the performance of wheelchair at the low-speed region, this model comprised the tire-road contact forces and the influence of the front free caster wheels. Validation experiments simulating several typical daily maneuvers of the manual wheelchair were conducted. Compared to previous research, the new model presented in this paper overcomes the problem of overestimating the the yaw rate.

关键词： Wheelchairs Wheels Tires Resistance Force Solid modeling Manuals

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Direct compression loading using the pre-stretched bar technique: Application to high strains under moderate strain rates

Direct compression loading using the pre-stretched bar techn...

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Annual Conference and Exposition on Experimental and Applied mechanics, 2017

作者： Haugou, G. Morvan, H. Leconte, N. Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science UMR CNRS 8201 University of Valenciennes Le Mont-Houy Valenciennes59313 France

ISBN: (纸本)9783319629551

The mechanical properties of ductile materials are of high interest in the domain of energy absorption, high speed forming processes, machining processes and ballistics. The range of the intermediate strain rates has always been required for the main testing devices, particularly for classical Split Hopkinson Pressure Bars. But due the transient aspect of the loading conditions, high ductility levels and moderate rates of strain are not easily to attain. As the length of the striker is mostly limited to 1 m due to practical reasons, the duration time of metallic strikers is theoretically close to 0.4 ms and then limited to 0.04 in total strain at 100/s. However, it is admitted that a long duration time is required to determine mechanical responses when high plastic strains are observed under real-life conditions. The technique of the pre-stretched bar is a good candidate to determine high strain responses of metallic materials up to fracture for the range of moderate rates of strain. The main challenge consists in the initiation of the elastic waves’ system to load samples under direct compression. The authors propose here a new configuration of the pre-stretched technique where the pre-stretched part is preserved but the compression loading generated through the sample is radically modified with comparison to the tensile testing version developed by Albertini in the 70′. The strategy is based on FEM approach to generate a representative model of the classical pre-stretched bars combined with analytical calculations. The experimental tests are performed on samples extracted from Aluminum and brass alloys so as to validate the modified pre-stretched bars designed for compression loadings at moderate strain rates. © 2018, The Society for Experimental mechanics, Inc.

关键词： Ductility

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A new method for the optical flow estimation and segmentation of moving objects 'NMES'

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International Journal of Intelligent Systems Technologies and Applications 2018年第1-2期17卷 195-209页

作者： Ourchani, Amina Baarir, Zine-Eddine Taleb-Ahmed, Abdelmalik Department of Electrical Engineering AISEL University of Mohamed Khider B.P 145 RP Biskra Algeria Laboratory of Industrial and Human Automation Mechanics and Computer Sciences University of Valenciennes Valenciennes Cedex 959313 France

Segmentation of moving objects in video sequence is essential task in computer vision. This paper focuses on developing a new method for discriminate moving objects from a static background, focusing on the combination of motion, colour and texture features. First, we have used blockmatching for computing the optical flow, we also have taken in consideration the result of frame difference, to improve the quality of the optical flow. Moreover, we have used the k-means clustering algorithm owing to group the pixels, having similar features. Second, the result of the grouping pixels is used as an input in Chan-Vese model, in order to attract the evolving contour of moving objects contours. To evaluate the performance of our proposed method, we experiment it on challenging sequences. It has shown that our method provides an improved segmentation results. © 2018 Inderscience Enterprises Ltd.

关键词： Optical flows

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A Scalable Deep Attention Mechanism of Instance Segmentation for the Investigation of Chromosome

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SLAS technology 2025年 33卷 100306页

作者： Neelam Umbreen Sara Ali Hasan Sajid Yasar Ayaz Shrooq Alsenan Yunyoung Nam So Yeon Kim Muhammad Baber Sial National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: neelamumbreen.phd@smme.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan Suzhou Industrial Park (SIP) Monash Research Institute of Science and Technology Monash University 8Q9C+R6W Suzhou Jiangsu China. School of Mechanical and Manufacturing Engineering (SMME) National University of Sciences and Technology (NUST) Islamabad NUST-COVENTRY Human-Robot Interaction (NC-HRI) Laboratory Pakistan Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: sarababer@smme.nust.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: hasan.sajid@smme.nust.edu.pk. Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: yasar@smme.nust.edu.pk. Information Systems Department College of Computer and Information Sciences Princess Nourah bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia. Electronic address: shalsenan@pnu.edu.sa. Emotional and Intelligent Child Care Convergence Research Center Soonchunhyang University Asan 31538 Korea. Electronic address: ynam@sch.ac.kr. Department of Artificial Intelligence Department of Software and Computer Engineering Ajou University. Electronic address: jebi1771@ajou.ac.kr. School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China. Electronic address: babersial@***.

Chromosome segmentation in metaphase images is a critical yet challenging task in cytogenetics and genomics due to the inherent complexity, variability in chromosome shapes, and the scarcity of high-quality annotated datasets. This study proposes a robust instance segmentation framework that integrates an automated annotation pipeline with an enhanced deep learning architecture to address these challenges. A novel dataset is introduced, comprising metaphase images and corresponding karyograms, annotated with precise instance segmentation information across 24 chromosome classes in COCO format. To overcome the labor-intensive manual annotation process, a feature-based image registration technique leveraging SIFT and homography is employed, enabling the accurate mapping of chromosomes from karyograms to metaphase images and significantly improving annotation quality and segmentation performance. The proposed framework includes a custom Mask R-CNN model enhanced with an Attention-based Feature Pyramid Network (AttFPN), spatial attention mechanisms, and a LastLevelMaxPool block for superior multi-scale feature extraction and focused attention on critical regions of the image. Experimental evaluations demonstrate the model's efficacy, achieving a mean average precision (mAP) of 0.579 at IoU = 0.50:0.95, surpassing the baseline Mask R-CNN and Mask R-CNN with AttFPN by 3.94% and 5.97% improvements in mAP and AP50, respectively. Notably, the proposed architecture excels in segmenting small and medium-sized chromosomes, addressing key limitations of existing methods. This research not only introduces a state-of-the-art segmentation framework but also provides a benchmark dataset, setting a new standard for chromosome instance segmentation in biomedical imaging. The integration of automated dataset creation with advanced model design offers a scalable and transferable solution, paving the way for tackling similar challenges in other domains of biomedical and cytogenetic imagi

关键词： Chromosome segmentation Instance segmentation, cytogenetics Mask R-CNN attention mechanism biomedical imaging multi-scale feature fusion

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Catalog of Invisibility Requirements for UbiComp and IoT Applications

Catalog of Invisibility Requirements for UbiComp and IoT App...

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IEEE International Conference on Requirements Engineering

作者： Rainara M. Carvalho Rossana M.C. Andrade Káthia M. Oliveira Christophe Kolski Computer Science Department (DC) Federal University of Ceará Fortaleza Brazil Universidade Federal do Ceara Fortaleza CE BR Laboratory of Industrial and Human Automation control Université Polytechnique Hauts-de-France Valenciennes France

A new set of Non-Functional Requirements (NFRs) have appeared with the advent of Ubiquitous Computing (UbiComp) and more recently Internet of Things (IoT). Invisibility is one of these NFRs that means the ability to hide technology from users. Although invisibility is long seen as an essential characteristic for achieving the goals of UbiComp, it has not been cataloged regarding its subcharacteristics and solutions, making its design and requirements specification in such applications a challenging task. Considering the Softgoal Interdependency Graph (SIG), which is a well-known format to catalog NFRs, this work aims at capturing subcharacteristics and solutions for Invisibility and cataloguing them in a SIG. Since there is no systematic approach on how to build SIGs, we also propose to systematize the definition of Invisibility SIG using the following well-defined research methods: snowballing, database search, grounded theory and questionnaires. As a result, we got an Invisibility SIG composed of two main subcharacteristics, twelve subsubcharacteristics, ten general solutions and fifty-six specific solutions. This organized body of knowledge is useful for supporting software engineers to specify requirements and practical solutions for UbiComp and IoT applications. Furthermore, the proposed methodology used to capture and catalog requirements in a SIG can be reused for other NFRs.

关键词： Software Internet of Things Systematics Bibliographies Ubiquitous computing Task analysis

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