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27th RoboCup International Symposium, 2024

作者： Fernandez, Gabriel I. Liu, Yeting Togashi, Colin Gillespie, Kyle Zhu, Alvin Wang, Quanyou Wang, Yicheng Nam, Hyunwoo Wang, Shiqi Hou, Ruochen Zhu, Mingzhang Navghare, Aditya Xu, Alex Zhu, Taoyuanmin Sung Ahn, Min Flores Alvarez, Arturo Quan, Justin Hong, Ethan Hong, Dennis W. RoMeLa Robotics and Mechanisms Laboratory Department of Mechanical and Aerospace Engineering Geffen Academy at UCLA University of California Los AngelesCA90095 United States

ISBN: (纸本)9783031858581

Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will focus on hardware, vision, and high-level decision making while briefly touching upon others. Our humanoid robot named Artemis is around 1.4 m tall, weighing over 35 kg. Artemis is designed to be lightweight featuring quasi-direct drive actuators with motor housings which serve as drive inputs to the next motor at the hips to save weight. For the tournament the foot was redesigned to allow for increased kicking accuracy, contact rate, and durability when stepped on. For vision we introduce several practical filters and an additional component termed proximity to address potential failure cases when an opponent or obstacle is very near. Finally, we discuss the strategies and overall planning architecture used during the tournament for high level decision making. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Anthropomorphic robots

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Exploring Eye-Tracking Based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

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IEEE Journal of Biomedical and Health Informatics 2025年第6期29卷 4401-4414页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye-tracking features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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Hyperspectral Image Classification Using Custom Spectral Convolutional Neural Networks (CSCNNs) 14

Hyperspectral Image Classification Using Custom Spectral Con...

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14th International Conference on Information Science and Technology, ICIST 2024

作者： Rouamba, Stephanie Zhang, Nian Mahmoud, Wagdy Thompson, Lara Denis, Max Deksissa, Tolessa University of the District of Columbia Department of Electrical and Computer Engineering WashingtonDC United States University of the District of Columbia Department of Mechanical Engineering Biomedical Engineering Program WashingtonDC United States University of the District of Columbia Department of Mechanical Engineering WashingtonDC United States Water Resources Research Institute University of the District of Columbia WashingtonDC United States

ISBN: (纸本)9798350353334

Custom spectral convolutional neural networks (CSCNNs) combine the strengths of convolutional neural networks with specialized spectral processing, resulting in improved classification accuracy by effectively capturing subtle variations in hyperspectral data. This paper proposes a CSCNNs based approach to classify hyperspectral images. The proposed method leverages the high-dimensional spectral data inherent in hyperspectral images, employing convolutional layers specifically designed to capture spectral-spatial features. By reducing dimensionality through principal component analysis and creating image patches, the model is trained to recognize complex patterns across different spectral bands. In addition, a comprehensive analysis of CSCNN performance is carried out, focusing on its architecture, key features, and benefits in computational efficiency and spectral representation. Experimental results on datasets such as Salinas-A, Pavia University (Pavia-U), and Indian Pines demonstrate that the CSCNN model surpasses traditional methods, achieving higher classification accuracy and more robust performance metrics like overall accuracy (OA), average accuracy (AA), and Kappa coefficient. The proposed model achieved an overall accuracy (OA) of 98.2%, 96.7%, and 92.5% for the Salinas-A, Pavia-U, and Indian Pines datasets, respectively. The model's average accuracy (AA) was 97.5%, 95.4%, and 89.8% for the same datasets. Furthermore, the model attained Kappa coefficients of 97.7%, 95.2%, and 89.1% for Salinas-A, Pavia-U, and Indian Pines, respectively. © 2024 IEEE.

关键词： Convolutional neural networks

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Acoustic Reflector-Integrated Encapsulation for Needle-Aligned Ultrasound-Guided PCNL Access

Acoustic Reflector-Integrated Encapsulation for Needle-Align...

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2023 IEEE International Ultrasonics Symposium, IUS 2023

作者： Palisetti, Abhinav King, Alexander Priestner, Cabot Yi, Haohao Tang, Yichuan Murakami, Ryo Zhang, Haichong K. Worcester Polytechnic Institute Biomedical Engineering Department WorcesterMA United States Worcester Polytechnic Institute Mechanical Engineering Department WorcesterMA United States Worcester Polytechnic Institute Robotics Engineering Department WorcesterMA United States

ISBN: (纸本)9798350346459

Percutaneous Nephrolithotomy (PCNL) is a procedure to remove kidney stones by needle insertion into the kidney followed by dilation of the needle path for surgical tools to enter and stones to be removed. Current techniques for needle insertion either do not visualize the needle entry point into tissue, or require careful hand-hand coordination to visualize the needle. This research aims to develop a stable system to visualize the entire needle insertion path during ultrasound-guided PCNL. A novel method, designed by Tang et al. (2022), implemented two parallel acoustic reflectors to reflect ultrasound into the patient, and a needle inserted through a gap between the reflectors. Results showed the ability to visualize the needle path at any needle pitch angle, and, most importantly, the ability to visualize the needle from its insertion point to the target. In this current research, a modular design was created that allowed any probe to fit into the system by altering just three components. Several structural modifications were made to make the system waterproof, allowing the fluid material that housed the reflectors to be replaced with a fluid with better sound transmission. An algorithm was created to allow better needle tip and needle path visualization by analyzing raw image data. Custom acoustic impedance-matched materials were used to allow better sound transmission and better image quality. Through multiple tests and a mathematical model, the team developed an optimal combination of materials that produced the best image quality, determined through Contrast to Noise Ratio (CNR), Signal to Noise Ratio (SNR), and Full-Width Half-Maximum (FWHM). © 2023 IEEE.

关键词： Signal to noise ratio

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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A study on the feasibility of friction stir welding in joining dissimilar metals for SS400 and Ti-6Al-4V 9

A study on the feasibility of friction stir welding in joini...

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9th International Conference on Precision Machinery and Manufacturing Technology, ICPMMT 2024

作者： Hsieh, M.J. Chu, L.M. Chang, Y.P. Department of Power Mechanical Engineering National Taitung Junior College Taitung950303 Taiwan Interdisciplinary Program of Green and Information Technology National Taitung University Taitung95092 Taiwan Department of Mechanical Engineering Kun Shan University Tainan71000 Taiwan

This study designed friction stir multi-pass welding machine to conduct friction stir welding on carbon steel/titanium alloy clad sheets. The experimental process utilized the pin and pinless tools. The results demonstrate that the two dissimilar materials can be welded using the assembly-embedded rod pinless tool under the following welding conditions: a rotational speed of 1200 rpm, a downward force of 4 kN, a welding speed of 15 mm/min, and tool offset distances of 5 and 10 mm. Furthermore, this study investigated the microstructure and mechanical properties of the weld. In addition, the peak temperature measured at the joint interface exceeded the β phase transition temperature of the titanium alloy and surpassed 1000oC. The shear tensile test shows the weld's failure load was about 4300 N. The intermetallic compound at the welding interface has a microhardness value of approximately 400 Hv. According to the results of SEM observations and EDS composition element analysis, the elements of low carbon steel and titanium alloy at the interface of the clad sheet diffused and formed Fe-Ti intermetallic compounds. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Titanium alloys

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An interpretable deep learning approach for designing nanoporous silicon nitride membranes with tunable mechanical properties

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npj Computational Materials 2023年第1期9卷 1524-1533页

作者： Ali KShargh Niaz Abdolrahim Department of Mechanical Engineering University of RochesterRochesterNY 14627USA Materials Science program University of RochesterRochesterNY 14627USA Laboratory for Laser Energetics University of RochesterRochesterNY 14627USA

The high permeability and strong selectivity of nanoporous silicon nitride(NPN)membranes make them attractive in a broad range of *** their growing use,the strength of NPN membranes needs to be improved for further extending their biomedical *** this work,we implement a deep learning framework to design NPN membranes with improved or prescribed strength *** examine the predictions of our framework using physics-based *** results confirm that the proposed framework is not only able to predict the strength of NPN membranes with a wide range of microstructures,but also can design NPN membranes with prescribed or improved *** simulations further demonstrate that the microstructural heterogeneity that our framework suggests for the optimized design,lowers the stress concentration around the pores and leads to the strength improvement of NPN membranes as compared to conventional membranes with homogenous microstructures.

关键词： tunable prescribed strength

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Design of a Novel Modular Flux Switching Permanent Magnet Resolver

Design of a Novel Modular Flux Switching Permanent Magnet Re...

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2023 IEEE International Magnetic Conference - Short Papers, INTERMAG Short Papers 2023

作者： Mi, Wenyuan Yu, Jincheng Song, Zaixin Yang, Kuang Cai, Zheng Zhao, Hang School of Mechanical Engineering and Automation Shenzhen China The Hong Kong Polytechnic University Department of Industrial and Systems Engineering Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China

ISBN: (纸本)9798350338362

Permanent magnet (PM) resolvers are highly employed with the ascent of the electric machine speed. In this digest, a novel modular flux switching PM (FSPM) resolver is designed based on the FSPM machine. By removing the stator yoke, the flux path in each tooth coil is fixed and the total harmonic distortion (THD) of the output voltage is reduced to only 0.37%. Moreover, the proposed 12/16 FSPM resolver can be adapted to fit different rotor poles under the same mechanical support with different modular units (e.g., 6/8 and 10/8 FSPM resolver). Therefore, it can be applied in electric machines with variable rotor pole pairs. © 2023 IEEE.

关键词： Permanent magnets

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Microwave dielectric and structural characteristics in Li2O-B2O3-SiO2 glass ceramics

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Ceramics International 2025年第16期51卷 22925-22931页

作者： Qiu, Jun-Yan Tu, Chi-Shun Huang, Szu-Ting Li, Yongxiang Chen, Pin-Yi Chen, Cheng-Sao Montecillo, Rhys Feng, Kuei-Chih International Ph.D. Program in Innovative Technology of Biomedical Engineering and Medical Devices Ming Chi University of Technology New Taipei City Taiwan Department of Physics Fu Jen Catholic University New Taipei City Taiwan Department of Mechanical Engineering Ming Chi University of Technology New Taipei City Taiwan School of Engineering RMIT University MelbourneVIC3000 Australia Research Center for Intelligent Medical Devices Ming Chi University of Technology New Taipei City Taiwan Department of Mechanical Engineering Hwa Hsia University of Technology New Taipei City Taiwan

Advancements in high-frequency communication devices have emphasized miniaturization and low energy consumption. This work focuses on developing microwave dielectric materials characterized by an ultra-low dielectric constant and low dielectric loss coefficient. In this study, B2O3 and Li2O were added into the SiO2 matrix to form the LBS glass-ceramics. The B2O3-added SiO2 shows a formation of α-cristobalite phase, and the Li2O additive in the B2O3-SiO2 glass-ceramics sintered at 900 °C reveal a primary quartz phase with a secondary phase Li2Si2O5, that partially transformed into Li2SiO3 in the specimen sintered at 950 °C. The LBS12 (x = 12 wt%) show stronger Raman peaks of Li2Si2O5 and Li2SiO3, indicating increase of highly-crystallized Si-O network. As the quartz phase diminishes, Li2Si2O5 and Li2SiO3 begin to develop in the glass-ceramic matrix. Dense microstructures and well-formed crystalline grains were observed in the LBS glass-ceramics. The quality factors were primarily affected by grain size and density. The Li2Si2O5 additive in the LBS glass-ceramics can reduce dielectric permittivity (Εr) and increase Q × f, particularly at higher frequencies. A low Εr of 4.7–5, a high Q × f of 2600 GHz, and a hardness of 249 MHV were achieved in the LBS12 sintered at 900 °C. These LBS glass-ceramics exhibit potential for use in low-temperature co-fired ceramic (LTCC) applications in high-frequency communication devices. © 2025

关键词： Sintering

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A Multi-Objective Mixed-Integer programming Approach for Supply Chain Disruption Response with Lead-Time Awareness 19

A Multi-Objective Mixed-Integer Programming Approach for Sup...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Estrada-Garcia, Juan-Alberto Bi, Mingjie Tilbury, Dawn M. Barton, Kira Shen, Siqian University of Michigan The Department of Industrial and Operations Engineering Ann ArborMI48109 United States University of Michigan The Robotics Department Ann ArborMI48109 United States University of Michigan Robotics Department The Department of Mechanical Engineering Ann ArborMI48109 United States

ISBN: (纸本)9798350320695

Supply chain (SC) risk management is influenced by both spatial and temporal attributes of different entities (suppliers, retailers, and customers). Each entity has given capacity and lead time for processing and transporting products to downstream entities. Under disruptive events, lead time and capacities may vary, which affects the overall SC performance. There have been many studies on SC disruption mitigation, but often without considering lead time and the magnitude of lateness. In this paper, we formulate a mixed-integer programming (MIP) model to optimize SC operations via a routing and scheduling approach, to model the delivery time of products at different entities as they flow throughout the SC network. We minimize a weighted sum of multiple objectives involving costs related to transportation, shortage, and delivery lateness. We also develop a discrete-event simulation framework to evaluate the performance of solutions to the MIP model under lead time uncertainty. Via extensive numerical studies, we show how the attributes of SC entities affect the performance, so that we can improve SC design and operations under various uncertainties. © 2023 IEEE.

关键词： Multiobjective optimization

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