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15th International Conference on Social robotics, ICSR 2023

作者： Abdulazeem, Nourhan Hu, Yue Active and Interactive Robotics Lab Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L3G1 Canada

ISBN: (纸本)9789819987146

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the cognitive and physical well-being of older adults. Previous studies have shown that facial expressions can increase engagement when interacting with robots. This study aims to investigate how older adults perceive and interact with a robot capable of displaying facial emotions while performing a physical exercise task together. We employed a collaborative robotic arm with a flat panel screen to encourage physical exercise across three different facial emotion conditions. We ran the experiment with older adults aged between 66 and 88. Our findings suggest that individuals perceive robots exhibiting facial expressions as less competent than those without such expressions. Additionally, the presence of facial expressions does not appear to significantly impact participants’ levels of engagement, unlike other state-of-the-art studies. This observation is likely linked to our study’s emphasis on collaborative physical human-robot interaction (pHRI) applications, as opposed to socially oriented pHRI applications. Additionally, we foresee a requirement for more suitable non-verbal social behavior to effectively enhance participants’ engagement levels. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robotic arms

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Uncovering Variability in Human Driving Behavior Through Automatic Extraction of Similar Traffic Scenes from Large Naturalistic Datasets

Uncovering Variability in Human Driving Behavior Through Aut...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Siebinga, Olger Zgonnikov, Arkady Abbink, David Delft University of Technology Human-Robot Interaction Group Faculty of Mechanical Engineering Department of Cognitive Robotics Delft Netherlands

ISBN: (纸本)9798350337020

Recently, multiple naturalistic traffic datasets of human-driven trajectories have been published (e.g., highD, NGSim, and pNEUMA). These datasets have been used in studies that investigate variability in human driving behavior, for example for scenario-based validation of autonomous vehicle (AV) behavior, modeling driver behavior, or validating driver models. Thus far, these studies focused on the variability on an operational level (e.g., velocity profiles during a lane change), not on a tactical level (i.e., to change lanes or not). Investigating the variability on both levels is necessary to develop driver models and AV s that include multiple tactical behaviors. To expose multi-level variability, the human responses to the same traffic scene could be investigated. However, no method exists to automatically extract similar scenes from datasets. Here, we present a four-step extraction method that uses the Hausdorff distance, a mathematical distance metric for sets. We performed a case study on the highD dataset that showed that the method is practically applicable. The human responses to the selected scenes exposed the variability on both the tactical and operational levels. With this new method, the variability in operational and tactical human behavior can be investigated, without the need for costly and time-consuming driving-simulator experiments. © 2023 IEEE.

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DeepCat: A Deep Learning Approach to Understand Your Cat's Body Language 11

DeepCat: A Deep Learning Approach to Understand Your Cat's B...

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11th International Japan-Africa Conference on Electronics, Communications, and Computations, JAC-ECC 2023

作者： Fawzy, Arwa Hassan, Ahmed Gad, Ahmed Zaky, Ahmed B. El-Hussieny, Haitham Alexandria Egypt program Alexandria Egypt Benha University Faculty of Engineering at Shoubra Electrical Engineering Department Egypt Egypt-Japan University of Science and Technology Department of Mechatronics and Robotics Engineering Alexandria Egypt

ISBN: (纸本)9798350369328

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain. © 2023 IEEE.

关键词： Emotion Recognition

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Lower Limb Joint Torque Estimation via Bayesian Regularized Backpropagation Neural Networks 2

Lower Limb Joint Torque Estimation via Bayesian Regularized ...

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2nd IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation, IATMSI 2024

作者： Narayan, Jyotindra Gritli, Hassène Dwivedy, Santosha K. Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India National Engineering School of Tunis Le Belvédère Tunis1002 Tunisia

ISBN: (纸本)9798350360523

Prior gait analysis has played a crucial role in assessing overall health and well-being, particularly in individuals of different age groups. Nevertheless, acquiring gait data has necessitated the in-person presence of participants, incurring potential expenses. We introduce a deep learning technique called Bayesian regularized backpropagation neural network (BR-BPNN) to estimate joint torques in lower-limb motion based on anthropometric data and joint movements. The study collects joint movement data from 40 healthy participants (25 males and 15 females) spanning ages 7 to 65, utilizing an established motion-capture system. The input data encompassed various parameters such as age, gender, total body mass, height, thigh length, calf length, ankle-foot length, thigh mass, calf mass, ankle mass, and joint angles for the hip, knee, and ankle. The output data included joint torques calculated for a simplified leg model using the inverse dynamics method derived from the Euler-Lagrangian principle. We presented the conceptual details of the proposed BR-BPNN model and contrast model named Levenberg-Marquardt-based BPNN (LM-BPNN). Performing a comparative analysis, the results revealed that the BR-BPNN model (Rtrain = 0.985, Rtest = 0.955) excelled in accurately estimating joint torques compared to the LM-BPNN model (Rtrain = 0.973, Rtest = 0.924). Furthermore, the BR-BPNN model is found to be effective by 87.19%, 77.87%, and 72.73% in estimating hip, knee, and ankle joint torques for a 51-year-old male subject from the testing dataset. © 2024 IEEE.

关键词： Neural network models

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Fluid Flow and Mixed Heat Transfer in a Horizontal Channel with an Open Cavity and Wavy Wall

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Intelligent Automation & Soft Computing 2023年第7期37卷 147-163页

作者： Tohid Adibi Shams Forruque Ahmed Omid Adibi Hassan Athari Irfan Anjum Badruddin Syed Javed Department of Mechanical Engineering University of BonabBonabIran Science and Math Program Asian University for WomenChattogramBangladesh Energy Management Group Energy and Environment Research CenterNiroo Research InstituteTehranIran Department of Mechanical Engineering Elm-o-Fann University College of Science and TechnologyUrmiaIran Mechanical Engineering Department College of EngineeringKing Khalid UniversityAbha61421Saudi Arabia

Heat exchangers are utilized extensively in different industries and ***,optimizing heat exchangers has been a major concern among *** various studies have been conducted to improve the heat transfer rate,the use of a wavy wall in the presence of different types of heat transfer mechanisms has not been *** study thus investigates the mixed heat transmission behavior of fluid in a horizontal channel with a cavity and a hot,wavy *** fluid flow in the channel is considered laminar,and the governing equations including continuity,momentum,and energy are all solved *** numerical solution is stabilized by using a first-order multi-dimensional characteristic-based scheme in combination with a fifth-order Runge-Kutta *** flow and heat transfer effects of varying Richardson numbers,Reynolds numbers,wave amplitude,wavelength,channel height,and cavity width are *** results indicate that the mean Nusselt number increases with an increase in Reynolds number,wave amplitude,and cavity width,while it decreases with an increase in Richardson number,wavelength,and channel *** minimum Nusselt number is calculated to be 0.7,whereas the maximum Nusselt number is *** Nusselt number has only increased by 40%in the higher depths of the cavity,despite the Richardson number being 10,000 times *** this figure increases to 130%at lower *** mean Nusselt number is thus significantly influenced by channel height and cavity *** influence of wave amplitude on the mean Nusselt number is twice that of wavelength.

关键词： Mixed heat transfer wavy wall horizontal channel open cavity numerical simulation

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MambaST: A Plug-and-Play Cross-Spectral Spatial-Temporal Fuser for Efficient Pedestrian Detection 27

MambaST: A Plug-and-Play Cross-Spectral Spatial-Temporal Fus...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Gao, Xiangbo Kanu-Asiegbu, Asiegbu Miracle Du, Xiaoxiao University of Michigan Robotics Department Ann ArborMI48109 United States University of Michigan Department of Mechanical Engineering Ann ArborMI48109 United States

ISBN: (纸本)9798331505929

This paper proposes MambaST, a plug-and-play cross-spectral spatial-temporal fusion pipeline for efficient pedestrian detection. Several challenges exist for pedestrian detection in autonomous driving applications. First, it is difficult to perform accurate detection using RGB cameras under dark or low-light conditions. Cross-spectral systems must be developed to integrate complementary information from multiple sensor modalities, such as thermal and visible cameras, to improve the robustness of the detections. Second, pedestrian detection models are latency-sensitive. Efficient and easy-to-scale detection models with fewer parameters are highly desirable for real-time applications such as autonomous driving. Third, pedestrian video data provides spatial-temporal correlations of pedestrian movement. It is beneficial to incorporate temporal as well as spatial information to enhance pedestrian detection. This work leverages recent advances in the state space model (Mamba) and proposes a novel Multi-head Hierarchical Patching and Aggregation (MHHPA) structure to extract both fine-grained and coarse-grained information from both RGB and thermal imagery. Experimental results show that the proposed MHHPA is an effective and efficient alternative to a Transformer model for cross-spectral pedestrian detection. Our proposed model also achieves superior performance on small-scale pedestrian detection. The code is available at https://***/XiangboGaoBarry/MambaST © 2024 IEEE.

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Self-Attenuating Graphene-Based Antennas Utilizing Polyvinylidene Fluoride (PVDF) Substrates 2

Self-Attenuating Graphene-Based Antennas Utilizing Polyvinyl...

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2nd International Microwave and Antenna Symposium, IMAS 2024

作者： Frankhouse, Josef Addo-Mensah, Evans Wejinya, Uche University of Arkansas Department of Mechanical Engineering Fayetteville United States Graduate Program University of Arkansas Fayetteville United States

ISBN: (纸本)9798350356359

In this study, a Terahertz (THz) band antenna which can regulate its own resonant frequency without the requirement of manual adjustment is simulated. A polyvinylidene fluoride (PVDF) substrate is applied onto a rectangular graphene patch antenna. With a voltage potential applied onto the PVDF, the patch antenna can attenuate its frequency by physically changing the shape of the antenna, and in turn its resonant frequency. These antennas are within a 0.1 THz band between 1.32 THz to 1.22 THz measured from a radial bend of a flat surface to r = 75 μm, fitting into a return loss (S11) above -30 dB. Although the return loss did not show consistency, the resonating frequency shifted at a linear rate relative to the cylindrical bending. © 2024 IEEE.

关键词： Microstrip antennas

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Cost-Effective Pressure Glove to Measure Forces & Orientation from a Chiropractor

Cost-Effective Pressure Glove to Measure Forces & Orientatio...

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2023 IEEE International Opportunity Research Scholars Symposium, ORSS 2023

作者： Butler, Carolyn Shah, Iti Kish, Jacob Salman, Muhammad Kennesaw State University Robotics & Mechatronics United States Kennesaw State University Department of Mechanical Engineering United States

ISBN: (纸本)9798350337006

Currently, there is no affordable, everyday use chiropractic force sensor. Devices that are used to teach chiropractic students, such as activators and drop tables, assist students in learning but do not give adequate feedback. Our design will be implementing the cheapest materials to make the most reliable force sensing glove which chiropractors can use for their daily work needs. Materials needed to complete this project include pressure sensors, electrical wires, resistors, a breadboard, Raspberry Pi Pico W, a laptop with Thonny software installed, and an analog to digital converter. Our design of the chiropractic force sensor glove will help reduce the amount of confusion when determining the correct amount of force to apply to a chiropractor's patient. This research will also help to dramatically reduce any severe pain resulting from misplaced forces and pressure applied to chiropractic patients. © 2023 IEEE.

关键词： Pressure sensors

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Evolution of Iron-Based Metallic Glass Composite Coating with Enhanced Corrosion Resistance and Biocompatibility

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Arabian Journal for Science and engineering 2024年第8期49卷 10547-10559页

作者： Ibrahim, Mahmoud Z. Sarhan, A.A.D. Kuo, T.Y. Yusof, Farazila Hamdi, M. Chang, C.P. Lee, T.M. Chien, C.S. Department of Mechanical Engineering Faculty of Engineering Ain Shams University Cairo 11517 Egypt Advanced Manufacturing & Material Processing (AMMP) Research Centre Department of Mechanical Engineering Faculty of Engineering University of Malaya Kuala Lumpur 50603 Malaysia Department of Mechanical Engineering Faculty of Engineering University of Malaya Kuala Lumpur 50603 Malaysia Department of Mechanical Engineering King Fahd University of Petroleum and Minerals Dhahran 31261 Saudi Arabia Interdisciplinary Research Centre for Intelligent Manufacturing & Robotics King Fahd University of Petroleum and Minerals Dhahran 31261 Saudi Arabia Department of Mechanical Engineering Southern Taiwan University of Science and Technology Tainan 701 Taiwan Department of Medical Research Chimei Medical Centre Tainan 710 Taiwan Institute of Oral Medicine National Cheng Kung University Tainan 701 Taiwan Department of Orthopaedics Chimei Foundation Hospital Tainan 710 Taiwan

Metallic glasses are a new class of metallic alloys that attract increasing attention in bone implants due to their ultrahigh wear resistance and hardness, high toughness and superior strength. However, their cytotoxicity and biocorrosion resistance are still under investigation. In this research, the cytotoxicity and biocorrosion resistance of iron-based metallic glass composite coating are explored. To approach real-life conditions, the biocorrosion resistance of the proposed coating in phosphate buffer saline (PBS) is evaluated via immersion test for 30 days followed by an electrochemical corrosion test. Then, human bone cells (MG-63) are cultured on corroded samples and the cell viability is determined using MTT assay, in addition to cell attachment examination. The results revealed the formation of a metallic glass composite layer with 78.76% amorphous content. Additionally, the metallic glass composite demonstrated excellent and stable corrosion resistance in PBS over 30 days compared to the substrate. The MTT assay has shown that the cytotoxicity of iron-based metallic glass composite is within the permitted levels according to ISO 10993–5, Part 5 vol 2009. The cells were well attached to the surface besides, showing a healthy growth after 7 days of culture. These results confirm the in vitro biocompatibility of iron-based metallic glass composite coating for biomedical implant applications. © 2023, King Fahd University of Petroleum & Minerals.

关键词： Biocorrosion Coating Cytotoxicity Iron-based metallic glass composite Joint replacement applications

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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