Background Physical frailty and depression may share common pathophysiological pathways associated with dementia and thus interact with each other.However,previous studies have primarily focused on the individual impa...Background Physical frailty and depression may share common pathophysiological pathways associated with dementia and thus interact with each other.However,previous studies have primarily focused on the individual impact of these factors on dementia.Aims To examine the joint effect and interaction of physical frailty and depression on the risk of all-cause dementia.Methods We conducted prospective analyses among participants aged≥60 years from three cohorts:the UK Biobank(UKB),the English Longitudinal Study of Ageing(ELSA)and the Health and Retirement Study(HRS).Physical frailty was assessed using modified versions of the Fried frailty phenotype.Depression was evaluated through mental health questionnaires or combined with hospital admission records.The primary outcome was incident all-cause dementia,identified via active follow-up and passive surveillance.Cox proportional hazards models were used to estimate the hazard ratios(HRs)and 95%confidence intervals(CIs).Results A total of 220947 participants(mean age:64.5 years;53.3%female)were included.Over 2832696 person-years of follow-up,9088 participants(7605 in UKB,1207 in HRS and 276 in ELSA)developed incident all-cause dementia.Compared with robust individuals,frail participants faced a 155%increased risk of dementia(pooled HR:2.55,95%CI 2.36 to 2.76;I2=72.3%).Depression conferred a 1.59-fold excess risk for dementia(pooled HR:1.59,95%CI 1.50 to 1.69;I2=56.8%).Adding physical frailty and depression to a traditional dementia risk model significantly improved prediction accuracy(all p-Δarea under the curve<0.05).Jointly,participants with both physical frailty and depression exhibited the highest dementia risk(pooled HR:3.23,95%CI 2.86 to 3.65;I2=41.6%)compared with those without physical frailty and depression.Moreover,a significant additive interaction between physical frailty and depression was observed(pooled relative excess risk due to interaction:0.38,95%CI 0.13 to 0.63),with 17.1%(95%CI 6.0%to 28.3%)of dementia risk attributed to their interactive effects.Conclusions Individuals with both physical frailty and depression had the highest risk of dementia.More importantly,these two factors interact in an additive manner,further amplifying dementia risk.展开更多
This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior ...This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior of each user in coping with different tasks, where lower performance results in higher intervention from the robot. This personalized physical human-robot interaction(p2HRI) method incorporates adaptive modeling of the interaction between the human and the robot as well as learning from demonstration(LfD) techniques to adapt to the users' performance. This approach is based on model predictive control where the system optimizes the rendered forces by predicting the performance of the user. Moreover, continuous learning of the user behavior is added so that the models and personalized considerations are updated based on the change of user performance over time. Applying this framework to a field such as haptic guidance for skill improvement, allows a more personalized learning experience where the interaction between the robot as the intelligent tutor and the student as the user,is better adjusted based on the skill level of the individual and their gradual improvement. The results suggest that the precision of the model of the interaction is improved using this proposed method,and the addition of the considered personalized factors to a more adaptive strategy for rendering of guidance forces.展开更多
This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot...This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.展开更多
With the growing application of intelligent robots in service,manufacturing,and medical fields,efficient and natural interaction between humans and robots has become key to improving collaboration efficiency and user ...With the growing application of intelligent robots in service,manufacturing,and medical fields,efficient and natural interaction between humans and robots has become key to improving collaboration efficiency and user experience.Gesture recognition,as an intuitive and contactless interaction method,can overcome the limitations of traditional interfaces and enable real-time control and feedback of robot movements and behaviors.This study first reviews mainstream gesture recognition algorithms and their application on different sensing platforms(RGB cameras,depth cameras,and inertial measurement units).It then proposes a gesture recognition method based on multimodal feature fusion and a lightweight deep neural network that balances recognition accuracy with computational efficiency.At system level,a modular human-robot interaction architecture is constructed,comprising perception,decision,and execution layers,and gesture commands are transmitted and mapped to robot actions in real time via the ROS communication protocol.Through multiple comparative experiments on public gesture datasets and a self-collected dataset,the proposed method’s superiority is validated in terms of accuracy,response latency,and system robustness,while user-experience tests assess the interface’s usability.The results provide a reliable technical foundation for robot collaboration and service in complex scenarios,offering broad prospects for practical application and deployment.展开更多
Despite many efforts into the study of fluids interaction in low salinity water flooding, they are not probing the basics of transport phenomena between the involved phases. This work is aimed to bring new understandi...Despite many efforts into the study of fluids interaction in low salinity water flooding, they are not probing the basics of transport phenomena between the involved phases. This work is aimed to bring new understanding of fluid-fluid interaction during low salinity water flooding through a series of organized experiments in which a crude oil sample with known properties was kept in contact with different brine solutions of various ionic strengths. Measuring brine pH, conductivity and crude oil viscosity and density for a period of 45 days illustrates the strong effect of the contact time and ionic strength on the dissociation of polar components and physical properties of the crude oil and brine. Besides, the interfacial tension(IFT) measurements show that the interfacial interactions are affected by several competitive interfacial processes. By decreasing the ionic strength of the brine, the solubility of naphthenic acids in the aqueous solution increases, and hence,the conductivity and the pH of the aqueous phase decrease. To verify this important finding, UV-Vis spectroscopy and 'H NMR analysis were also performed on aged brine samples. Notably, there is an ionic strength of brine in which the lowest IFT is observed, while the other physical properties are remained relatively unchanged.展开更多
In this paper, the tropical air-sea interaction is discussed by using a simple air-sea coupled model, in which the inertia-gravity waves are filtered off and only the equatorial Rossby waves are reserved in both the a...In this paper, the tropical air-sea interaction is discussed by using a simple air-sea coupled model, in which the inertia-gravity waves are filtered off and only the equatorial Rossby waves are reserved in both the atmosphere and the ocean. There exist two kinds of air-sea interaction waves in the coupled model, that is, the high-frequency fast waves and the low-frequency slow waves. The phase speed of the fast waves is westward and the frequencies are close to those of the equatorial Rossby waves in the atmosphere. The slow waves propagate westward in the part of short wavelengths and eastward in that of long wavelengths. There exist instabilities for both the westward and eastward propagating slow waves. If the fast waves are filtered off, there is little effect on the slow waves which have great influence on the long range process in the tropical air-sea coupled system. According to the tropical air-sea interaction waves we obtain here, a possible explanation to the propagating process of ENSO events is given.展开更多
The paper focusses on the use of physical modelling in ground movements(induced by underground cavity collapse or mining/tunnelling)and associated soil-structure interaction issues.The paper presents first an overview...The paper focusses on the use of physical modelling in ground movements(induced by underground cavity collapse or mining/tunnelling)and associated soil-structure interaction issues.The paper presents first an overview of using 1 g physical models to solve geotechnical problems and soil-structure interactions related to vertical ground movements.Then the lg physical modelling application is illustrated to study the development of damage in masonry structure due to subsidence and cavity collapse.A largescale 1 g physical model with a 6 m^3 container and 15 electric jacks is presented with the use of a threedimensional(3D)image correlation technique.The influence of structure position on the subsidence trough is analysed in terms of crack density and damage level.The obtained results can improve the methodology and practice for evaluation of damage in masonry structures.Nevertheless,ideal physical model is difficult to achieve.Thus,future improvement of physical models(analogue materials and instrumentation)could provide new opportunities for using 1 g physical models in geotechnical and soilstructure applications and research projects.展开更多
Objective Shale gas is as an important kind of unconventional natural gas,with a great resource potential,and its exploration and development has attracted much attention around the world.Organic matter（OM）pores are...Objective Shale gas is as an important kind of unconventional natural gas,with a great resource potential,and its exploration and development has attracted much attention around the world.Organic matter（OM）pores are a common constituent in shales and form the dominant pore network of many shale gas systems.展开更多
Background: The first described obesity-susceptibility gene was the fat mass and obesity-associated (FTO) gene. However, knowledge about FTO's potential modifying effect on changes in body weight achieved through ...Background: The first described obesity-susceptibility gene was the fat mass and obesity-associated (FTO) gene. However, knowledge about FTO's potential modifying effect on changes in body weight achieved through a training program is still limited. We decided to study the association between the FTO A/T polymorphism (rs9939609) and obesity-related traits. Additionally, we investigated whether body mass and body composition, as well as metabolic variables observed in physically active participants, are modulated by the FTO polymorphism. Methods: A group of 201 young Polish women were recruited for the study. The genotype distribution was examined in participants measured for selected changes before and after the completion of a 12-week training program. Results: Our results confirm the association between the common FTO A/T polymorphism and increased body mass index (BMI). Subjects with AA and AT genotypes had higher BMI during the entire study period compared with the TT genotype. Although parameters such as BMI, basal metabolism rate, tissue independence, fat mass percentage, fat mass, fat-free mass, total body water, high-density lipoprotein, and glucose changed significantly during the training program, none of the examined parameters changed significantly across the FTO genotypes (genotype × training interaction). Conclusion: We confirm an association between the FTO A/T polymorphism and increased BMI; this polymorphism is therefore a candidate for influencing obesity and other disease-related phenotypes. Although the gene x physical activity interaction was not shown, we want to point out that promoting physical activity is an important approach to controlling the increasing obesity epidemic.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. (http://creativecommons.org/licenses/by-nc-nd/4.0/).展开更多
Axonal injury is a pathological hallmark of both head injury and inflammatory-mediated neurological disorders,including multiple sclerosis（Schirmer et al.,2013）.Such axonal disruptions and/or disconnections typicall...Axonal injury is a pathological hallmark of both head injury and inflammatory-mediated neurological disorders,including multiple sclerosis（Schirmer et al.,2013）.Such axonal disruptions and/or disconnections typically result in proximal axonal segments that remain in continuity with the neuronal somawhile losing contact with their distal targets.展开更多
It has been generally recognised that the metal catalysts supported on oxide ceramic and non-oxide ceramic supports exhibit completely different characteristics as compared with the homogeneous ones. The na-ture of bo...It has been generally recognised that the metal catalysts supported on oxide ceramic and non-oxide ceramic supports exhibit completely different characteristics as compared with the homogeneous ones. The na-ture of bonding and interactions occurring at the metal / ceramic interfaces are believed to be of importancefor the characteristics of such catalysts. The recently developed microscopic theory of adhesion and wettingin metal/ ceramic systems is briefly presented here with the emphasis on the ionocovalent oxide ceramics.and its consequence on the understanding of the physical and chemical behaviours of supported metal cata-lysts is exploited.展开更多
Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and fur...Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.展开更多
A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize huma...A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on2D-Gabor, uniform local binary pattern(LBP) operator, and multiclass extreme learning machine(ELM) classifier is presented,which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios,i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEERHRI system can be applied in home service, smart home, safe driving, and so on.展开更多
With the increasing presence of robots in our daily life,there is a strong need and demand for the strategies to acquire a high quality interaction between robots and users by enabling robots to understand users’mood...With the increasing presence of robots in our daily life,there is a strong need and demand for the strategies to acquire a high quality interaction between robots and users by enabling robots to understand users’mood,intention,and other aspects.During human-human interaction,personality traits have an important influence on human behavior,decision,mood,and many others.Therefore,we propose an efficient computational framework to endow the robot with the capability of understanding the user’s personality traits based on the user’s nonverbal communication cues represented by three visual features including the head motion,gaze,and body motion energy,and three vocal features including voice pitch,voice energy,and mel-frequency cepstral coefficient(MFCC).We used the Pepper robot in this study as a communication robot to interact with each participant by asking questions,and meanwhile,the robot extracts the nonverbal features from each participant’s habitual behavior using its on-board sensors.On the other hand,each participant’s personality traits are evaluated with a questionnaire.We then train the ridge regression and linear support vector machine(SVM)classifiers using the nonverbal features and personality trait labels from a questionnaire and evaluate the performance of the classifiers.We have verified the validity of the proposed models that showed promising binary classification performance on recognizing each of the Big Five personality traits of the participants based on individual differences in nonverbal communication cues.展开更多
In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the robot.The presented HRI controller design i...In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the robot.The presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller design.The task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the inner-loop.Data-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance parameters.In the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity measurement.On this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task space.The simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.展开更多
A more natural way for non-expert users to express their tasks in an open-ended set is to use natural language. In this case,a human-centered intelligent agent/robot is required to be able to understand and generate p...A more natural way for non-expert users to express their tasks in an open-ended set is to use natural language. In this case,a human-centered intelligent agent/robot is required to be able to understand and generate plans for these naturally expressed tasks. For this purpose, it is a good way to enhance intelligent robot's abilities by utilizing open knowledge extracted from the web, instead of hand-coded knowledge. A key challenge of utilizing open knowledge lies in the semantic interpretation of the open knowledge organized in multiple modes, which can be unstructured or semi-structured, before one can use it.Previous approaches used a limited lexicon to employ combinatory categorial grammar(CCG) as the underlying formalism for semantic parsing over sentences. Here, we propose a more effective learning method to interpret semi-structured user instructions. Moreover, we present a new heuristic method to recover missing semantic information from the context of an instruction. Experiments showed that the proposed approach renders significant performance improvement compared to the baseline methods and the recovering method is promising.展开更多
The wearable exoskeleton system is a typical strongly coupled human-robotic system.Human-robotic is the environment for each other.The two support each other and compete with each other.Achieving high human-robotic co...The wearable exoskeleton system is a typical strongly coupled human-robotic system.Human-robotic is the environment for each other.The two support each other and compete with each other.Achieving high human-robotic compatibility is the most critical technology for wearable systems.Full structural compatibility can improve the intrinsic safety of the exoskeleton,and precise intention understanding and motion control can improve the comfort of the exoskeleton.This paper first designs a physiologically functional bionic lower limb exoskeleton based on the study of bone and joint functional anatomy and analyzes the drive mapping model of the dual closedloop four-link knee joint.Secondly,an exoskeleton dual closed-loop controller composed of a position inner loop and a force outer loop is designed.The inner loop of the controller adopts the PID control algorithm,and the outer loop adopts the adaptive admittance control algorithm based on human-robot interaction force(HRI).The controller can adaptively adjust the admittance parameters according to the HRI to respond to dynamic changes in the mechanical and physical parameters of the human-robot system,thereby improving control compliance and the wearing comfort of the exoskeleton system.Finally,we built a joint simulation experiment platform based on SolidWorks/Simulink to conduct virtual prototype simulation experiments and recruited volunteers to wear rehabilitation exoskeletons to conduct related control experiments.Experimental results show that the designed physiologically functional bionic exoskeleton and adaptive admittance controller can significantly improve the accuracy of human-robotic joint motion tracking,effectively reducing human-machine interaction forces and improving the comfort and safety of the wearer.This paper proposes a dual-closed loop four-link knee joint exoskeleton and a variable admittance control method based on HRI,which provides a new method for the design and control of exoskeletons with high compatibility.展开更多
With the increasing of the elderly population and the growing hearth care cost, the role of service robots in aiding the disabled and the elderly is becoming important. Many researchers in the world have paid much att...With the increasing of the elderly population and the growing hearth care cost, the role of service robots in aiding the disabled and the elderly is becoming important. Many researchers in the world have paid much attention to heaRthcare robots and rehabilitation robots. To get natural and harmonious communication between the user and a service robot, the information perception/feedback ability, and interaction ability for service robots become more important in many key issues.展开更多
In this paper,a scheme of commonly-resonated extended interaction circuit system based on high order TMn,mode is proposed to lock the phases of two extended interaction oscillators(EIOs)for generating high power at G-...In this paper,a scheme of commonly-resonated extended interaction circuit system based on high order TMn,mode is proposed to lock the phases of two extended interaction oscillators(EIOs)for generating high power at G-band.Two separate EIOs are coupled through a specific single-gap coupling field supported by a designed gap waveguide with length Lg,which form the phase-locked EIOs based on the commonly-resonated system.As a whole system,the system has been focused on with mode analysis based on different single-gap coupling fields,mode hopping,which present the variation of phase difference between the two-beam-wave interactions when changing Lg.To demonstrate the effectiveness of the proposed circuit system in producing the phase locking,we conducted particle-in-cell(PIC)simulations to show that the interesting mode hopping occurs with the phase difference of O and r between the output signals from two output ports,corresponding to the excitation of the TMn mode with different n.Simulation results show that 1)the oscillator can deliver two times of the output power obtained from one single oscillator at 220 GHz,2)the two EIOs can still deliver output signals with phase difference of O and when the currents of the two beams are different or the fabrication errors of the two EIO cavities are taken into account.The proposed scheme is promising in extending to phase locking between multiple EIOs,and generating higher power at millimeter-wave and higher frequencies.展开更多
This article describes a pilot study aiming at generating social interactions between a humanoid robot and adolescents with autism spectrum disorder (ASD), through the practice of a gesture imitation game. The partici...This article describes a pilot study aiming at generating social interactions between a humanoid robot and adolescents with autism spectrum disorder (ASD), through the practice of a gesture imitation game. The participants were a 17-year-old young lady with ASD and intellectual deficit, and a control participant: a preadolescent with ASD but no intellectual deficit (Asperger syndrome). The game is comprised of four phases: greetings, pairing, imitation, and closing. Field educators were involved, playing specific roles: visual or physical inciter. The use of a robot allows for catching the participants’ attention, playing the imitation game for a longer period of time than with a human partner, and preventing the game partner’s negative facial expressions resulting from tiredness, impatience, or boredom. The participants’ behavior was observed in terms of initial approach towards the robot, positioning relative to the robot in terms of distance and orientation, reactions to the robot’s voice or moves, signs of happiness, and imitation attempts. Results suggest a more and more natural approach towards the robot during the sessions, as well as a higher level of social interaction, based on the variations of the parameters listed above. We use these preliminary results to draw the next steps of our research work as well as identify further perspectives, with this aim in mind: improving social interactions with adolescents with ASD and intellectual deficit, allowing for better integration of these people into our societies.展开更多
基金supported by the National Key Research and Development Program of China(2017YFC0907004 to YZ)。
文摘Background Physical frailty and depression may share common pathophysiological pathways associated with dementia and thus interact with each other.However,previous studies have primarily focused on the individual impact of these factors on dementia.Aims To examine the joint effect and interaction of physical frailty and depression on the risk of all-cause dementia.Methods We conducted prospective analyses among participants aged≥60 years from three cohorts:the UK Biobank(UKB),the English Longitudinal Study of Ageing(ELSA)and the Health and Retirement Study(HRS).Physical frailty was assessed using modified versions of the Fried frailty phenotype.Depression was evaluated through mental health questionnaires or combined with hospital admission records.The primary outcome was incident all-cause dementia,identified via active follow-up and passive surveillance.Cox proportional hazards models were used to estimate the hazard ratios(HRs)and 95%confidence intervals(CIs).Results A total of 220947 participants(mean age:64.5 years;53.3%female)were included.Over 2832696 person-years of follow-up,9088 participants(7605 in UKB,1207 in HRS and 276 in ELSA)developed incident all-cause dementia.Compared with robust individuals,frail participants faced a 155%increased risk of dementia(pooled HR:2.55,95%CI 2.36 to 2.76;I2=72.3%).Depression conferred a 1.59-fold excess risk for dementia(pooled HR:1.59,95%CI 1.50 to 1.69;I2=56.8%).Adding physical frailty and depression to a traditional dementia risk model significantly improved prediction accuracy(all p-Δarea under the curve<0.05).Jointly,participants with both physical frailty and depression exhibited the highest dementia risk(pooled HR:3.23,95%CI 2.86 to 3.65;I2=41.6%)compared with those without physical frailty and depression.Moreover,a significant additive interaction between physical frailty and depression was observed(pooled relative excess risk due to interaction:0.38,95%CI 0.13 to 0.63),with 17.1%(95%CI 6.0%to 28.3%)of dementia risk attributed to their interactive effects.Conclusions Individuals with both physical frailty and depression had the highest risk of dementia.More importantly,these two factors interact in an additive manner,further amplifying dementia risk.
文摘This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior of each user in coping with different tasks, where lower performance results in higher intervention from the robot. This personalized physical human-robot interaction(p2HRI) method incorporates adaptive modeling of the interaction between the human and the robot as well as learning from demonstration(LfD) techniques to adapt to the users' performance. This approach is based on model predictive control where the system optimizes the rendered forces by predicting the performance of the user. Moreover, continuous learning of the user behavior is added so that the models and personalized considerations are updated based on the change of user performance over time. Applying this framework to a field such as haptic guidance for skill improvement, allows a more personalized learning experience where the interaction between the robot as the intelligent tutor and the student as the user,is better adjusted based on the skill level of the individual and their gradual improvement. The results suggest that the precision of the model of the interaction is improved using this proposed method,and the addition of the considered personalized factors to a more adaptive strategy for rendering of guidance forces.
基金The work was supported by the National Science Foundation，the Office of Naval Research grant，the AFOSR (Air Force Office of Scientific Research) EOARD (European Office of Aerospace Research and Development) grant，the U.S. Army Research Office grant
文摘This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.
文摘With the growing application of intelligent robots in service,manufacturing,and medical fields,efficient and natural interaction between humans and robots has become key to improving collaboration efficiency and user experience.Gesture recognition,as an intuitive and contactless interaction method,can overcome the limitations of traditional interfaces and enable real-time control and feedback of robot movements and behaviors.This study first reviews mainstream gesture recognition algorithms and their application on different sensing platforms(RGB cameras,depth cameras,and inertial measurement units).It then proposes a gesture recognition method based on multimodal feature fusion and a lightweight deep neural network that balances recognition accuracy with computational efficiency.At system level,a modular human-robot interaction architecture is constructed,comprising perception,decision,and execution layers,and gesture commands are transmitted and mapped to robot actions in real time via the ROS communication protocol.Through multiple comparative experiments on public gesture datasets and a self-collected dataset,the proposed method’s superiority is validated in terms of accuracy,response latency,and system robustness,while user-experience tests assess the interface’s usability.The results provide a reliable technical foundation for robot collaboration and service in complex scenarios,offering broad prospects for practical application and deployment.
基金supported by Iranian Offshore Oil Company (IOOC)
文摘Despite many efforts into the study of fluids interaction in low salinity water flooding, they are not probing the basics of transport phenomena between the involved phases. This work is aimed to bring new understanding of fluid-fluid interaction during low salinity water flooding through a series of organized experiments in which a crude oil sample with known properties was kept in contact with different brine solutions of various ionic strengths. Measuring brine pH, conductivity and crude oil viscosity and density for a period of 45 days illustrates the strong effect of the contact time and ionic strength on the dissociation of polar components and physical properties of the crude oil and brine. Besides, the interfacial tension(IFT) measurements show that the interfacial interactions are affected by several competitive interfacial processes. By decreasing the ionic strength of the brine, the solubility of naphthenic acids in the aqueous solution increases, and hence,the conductivity and the pH of the aqueous phase decrease. To verify this important finding, UV-Vis spectroscopy and 'H NMR analysis were also performed on aged brine samples. Notably, there is an ionic strength of brine in which the lowest IFT is observed, while the other physical properties are remained relatively unchanged.
文摘In this paper, the tropical air-sea interaction is discussed by using a simple air-sea coupled model, in which the inertia-gravity waves are filtered off and only the equatorial Rossby waves are reserved in both the atmosphere and the ocean. There exist two kinds of air-sea interaction waves in the coupled model, that is, the high-frequency fast waves and the low-frequency slow waves. The phase speed of the fast waves is westward and the frequencies are close to those of the equatorial Rossby waves in the atmosphere. The slow waves propagate westward in the part of short wavelengths and eastward in that of long wavelengths. There exist instabilities for both the westward and eastward propagating slow waves. If the fast waves are filtered off, there is little effect on the slow waves which have great influence on the long range process in the tropical air-sea coupled system. According to the tropical air-sea interaction waves we obtain here, a possible explanation to the propagating process of ENSO events is given.
文摘The paper focusses on the use of physical modelling in ground movements(induced by underground cavity collapse or mining/tunnelling)and associated soil-structure interaction issues.The paper presents first an overview of using 1 g physical models to solve geotechnical problems and soil-structure interactions related to vertical ground movements.Then the lg physical modelling application is illustrated to study the development of damage in masonry structure due to subsidence and cavity collapse.A largescale 1 g physical model with a 6 m^3 container and 15 electric jacks is presented with the use of a threedimensional(3D)image correlation technique.The influence of structure position on the subsidence trough is analysed in terms of crack density and damage level.The obtained results can improve the methodology and practice for evaluation of damage in masonry structures.Nevertheless,ideal physical model is difficult to achieve.Thus,future improvement of physical models(analogue materials and instrumentation)could provide new opportunities for using 1 g physical models in geotechnical and soilstructure applications and research projects.
基金supported by the National Natural Science Foundation of China(grant No.41202103)China Postdoctoral Science Foundation(grant No. 2016M591350)
文摘Objective Shale gas is as an important kind of unconventional natural gas,with a great resource potential,and its exploration and development has attracted much attention around the world.Organic matter（OM）pores are a common constituent in shales and form the dominant pore network of many shale gas systems.
基金supported by National Science Centre of Poland(No.2012/07/B/NZ7/01155)
文摘Background: The first described obesity-susceptibility gene was the fat mass and obesity-associated (FTO) gene. However, knowledge about FTO's potential modifying effect on changes in body weight achieved through a training program is still limited. We decided to study the association between the FTO A/T polymorphism (rs9939609) and obesity-related traits. Additionally, we investigated whether body mass and body composition, as well as metabolic variables observed in physically active participants, are modulated by the FTO polymorphism. Methods: A group of 201 young Polish women were recruited for the study. The genotype distribution was examined in participants measured for selected changes before and after the completion of a 12-week training program. Results: Our results confirm the association between the common FTO A/T polymorphism and increased body mass index (BMI). Subjects with AA and AT genotypes had higher BMI during the entire study period compared with the TT genotype. Although parameters such as BMI, basal metabolism rate, tissue independence, fat mass percentage, fat mass, fat-free mass, total body water, high-density lipoprotein, and glucose changed significantly during the training program, none of the examined parameters changed significantly across the FTO genotypes (genotype × training interaction). Conclusion: We confirm an association between the FTO A/T polymorphism and increased BMI; this polymorphism is therefore a candidate for influencing obesity and other disease-related phenotypes. Although the gene x physical activity interaction was not shown, we want to point out that promoting physical activity is an important approach to controlling the increasing obesity epidemic.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. (http://creativecommons.org/licenses/by-nc-nd/4.0/).
基金the center of the current manuscript was performed as a component of the Operation Brain Trauma Therapy consortium,which is supported by U.S.Army grants W81XWH-10-1-0623 and WH81XWH-14-2-0018Microscopy was performed at the VCU Department of Anatomy and Neurobiology Microscopy Facility,supported,in part,with funding from NIH-NINDS Center core grant 5P30NS047463
文摘Axonal injury is a pathological hallmark of both head injury and inflammatory-mediated neurological disorders,including multiple sclerosis（Schirmer et al.,2013）.Such axonal disruptions and/or disconnections typically result in proximal axonal segments that remain in continuity with the neuronal somawhile losing contact with their distal targets.
文摘It has been generally recognised that the metal catalysts supported on oxide ceramic and non-oxide ceramic supports exhibit completely different characteristics as compared with the homogeneous ones. The na-ture of bonding and interactions occurring at the metal / ceramic interfaces are believed to be of importancefor the characteristics of such catalysts. The recently developed microscopic theory of adhesion and wettingin metal/ ceramic systems is briefly presented here with the emphasis on the ionocovalent oxide ceramics.and its consequence on the understanding of the physical and chemical behaviours of supported metal cata-lysts is exploited.
基金supported by the National Natural Science Foundation of China(61403215)the National Natural Science Foundation of Tianjin(13JCYBJC36600)the Fundamental Research Funds for the Central Universities
文摘Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.
基金supported by the National Natural Science Foundation of China(61403422,61273102)the Hubei Provincial Natural Science Foundation of China(2015CFA010)+1 种基金the Ⅲ Project(B17040)the Fundamental Research Funds for National University,China University of Geosciences(Wuhan)
文摘A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on2D-Gabor, uniform local binary pattern(LBP) operator, and multiclass extreme learning machine(ELM) classifier is presented,which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios,i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEERHRI system can be applied in home service, smart home, safe driving, and so on.
基金supported by the EU-Japan coordinated R&D project on“Culture Aware Robots and Environmental Sensor Systems for Elderly Support,”commissioned by the Ministry of Internal Affairs and Communications of Japan and EC Horizon 2020 Research and Innovation Programme(737858)financial supports from the Air Force Office of Scientific Research(AFOSR-AOARD/FA2386-19-1-4015)。
文摘With the increasing presence of robots in our daily life,there is a strong need and demand for the strategies to acquire a high quality interaction between robots and users by enabling robots to understand users’mood,intention,and other aspects.During human-human interaction,personality traits have an important influence on human behavior,decision,mood,and many others.Therefore,we propose an efficient computational framework to endow the robot with the capability of understanding the user’s personality traits based on the user’s nonverbal communication cues represented by three visual features including the head motion,gaze,and body motion energy,and three vocal features including voice pitch,voice energy,and mel-frequency cepstral coefficient(MFCC).We used the Pepper robot in this study as a communication robot to interact with each participant by asking questions,and meanwhile,the robot extracts the nonverbal features from each participant’s habitual behavior using its on-board sensors.On the other hand,each participant’s personality traits are evaluated with a questionnaire.We then train the ridge regression and linear support vector machine(SVM)classifiers using the nonverbal features and personality trait labels from a questionnaire and evaluate the performance of the classifiers.We have verified the validity of the proposed models that showed promising binary classification performance on recognizing each of the Big Five personality traits of the participants based on individual differences in nonverbal communication cues.
基金This work was supported in part by the National Natural Science Foundation of China(61903028)the Youth Innovation Promotion Association,Chinese Academy of Sciences(2020137)+1 种基金the Lifelong Learning Machines Program from DARPA/Microsystems Technology Officethe Army Research Laboratory(W911NF-18-2-0260).
文摘In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the robot.The presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller design.The task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the inner-loop.Data-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance parameters.In the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity measurement.On this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task space.The simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.
基金supported by the National Natural Science Foundation of China(61175057)the USTC Key-Direction Research Fund(WK0110000028)
文摘A more natural way for non-expert users to express their tasks in an open-ended set is to use natural language. In this case,a human-centered intelligent agent/robot is required to be able to understand and generate plans for these naturally expressed tasks. For this purpose, it is a good way to enhance intelligent robot's abilities by utilizing open knowledge extracted from the web, instead of hand-coded knowledge. A key challenge of utilizing open knowledge lies in the semantic interpretation of the open knowledge organized in multiple modes, which can be unstructured or semi-structured, before one can use it.Previous approaches used a limited lexicon to employ combinatory categorial grammar(CCG) as the underlying formalism for semantic parsing over sentences. Here, we propose a more effective learning method to interpret semi-structured user instructions. Moreover, we present a new heuristic method to recover missing semantic information from the context of an instruction. Experiments showed that the proposed approach renders significant performance improvement compared to the baseline methods and the recovering method is promising.
基金Supported by National Natural Science Foundation of China(Grant Nos.U23A20338,62103131 and 62203149)Hebei Provincial Natural Science Foundation(Grant No.E2022202171).
文摘The wearable exoskeleton system is a typical strongly coupled human-robotic system.Human-robotic is the environment for each other.The two support each other and compete with each other.Achieving high human-robotic compatibility is the most critical technology for wearable systems.Full structural compatibility can improve the intrinsic safety of the exoskeleton,and precise intention understanding and motion control can improve the comfort of the exoskeleton.This paper first designs a physiologically functional bionic lower limb exoskeleton based on the study of bone and joint functional anatomy and analyzes the drive mapping model of the dual closedloop four-link knee joint.Secondly,an exoskeleton dual closed-loop controller composed of a position inner loop and a force outer loop is designed.The inner loop of the controller adopts the PID control algorithm,and the outer loop adopts the adaptive admittance control algorithm based on human-robot interaction force(HRI).The controller can adaptively adjust the admittance parameters according to the HRI to respond to dynamic changes in the mechanical and physical parameters of the human-robot system,thereby improving control compliance and the wearing comfort of the exoskeleton system.Finally,we built a joint simulation experiment platform based on SolidWorks/Simulink to conduct virtual prototype simulation experiments and recruited volunteers to wear rehabilitation exoskeletons to conduct related control experiments.Experimental results show that the designed physiologically functional bionic exoskeleton and adaptive admittance controller can significantly improve the accuracy of human-robotic joint motion tracking,effectively reducing human-machine interaction forces and improving the comfort and safety of the wearer.This paper proposes a dual-closed loop four-link knee joint exoskeleton and a variable admittance control method based on HRI,which provides a new method for the design and control of exoskeletons with high compatibility.
文摘With the increasing of the elderly population and the growing hearth care cost, the role of service robots in aiding the disabled and the elderly is becoming important. Many researchers in the world have paid much attention to heaRthcare robots and rehabilitation robots. To get natural and harmonious communication between the user and a service robot, the information perception/feedback ability, and interaction ability for service robots become more important in many key issues.
基金Supported in part by the National Natural Science Foundation of China(62401125)the Natural Science Foundation of Sichuan Province(2023NSFSC1376)the Fundamental Research Funds for the Central Universities(ZYGX2024J008)。
文摘In this paper,a scheme of commonly-resonated extended interaction circuit system based on high order TMn,mode is proposed to lock the phases of two extended interaction oscillators(EIOs)for generating high power at G-band.Two separate EIOs are coupled through a specific single-gap coupling field supported by a designed gap waveguide with length Lg,which form the phase-locked EIOs based on the commonly-resonated system.As a whole system,the system has been focused on with mode analysis based on different single-gap coupling fields,mode hopping,which present the variation of phase difference between the two-beam-wave interactions when changing Lg.To demonstrate the effectiveness of the proposed circuit system in producing the phase locking,we conducted particle-in-cell(PIC)simulations to show that the interesting mode hopping occurs with the phase difference of O and r between the output signals from two output ports,corresponding to the excitation of the TMn mode with different n.Simulation results show that 1)the oscillator can deliver two times of the output power obtained from one single oscillator at 220 GHz,2)the two EIOs can still deliver output signals with phase difference of O and when the currents of the two beams are different or the fabrication errors of the two EIO cavities are taken into account.The proposed scheme is promising in extending to phase locking between multiple EIOs,and generating higher power at millimeter-wave and higher frequencies.
文摘This article describes a pilot study aiming at generating social interactions between a humanoid robot and adolescents with autism spectrum disorder (ASD), through the practice of a gesture imitation game. The participants were a 17-year-old young lady with ASD and intellectual deficit, and a control participant: a preadolescent with ASD but no intellectual deficit (Asperger syndrome). The game is comprised of four phases: greetings, pairing, imitation, and closing. Field educators were involved, playing specific roles: visual or physical inciter. The use of a robot allows for catching the participants’ attention, playing the imitation game for a longer period of time than with a human partner, and preventing the game partner’s negative facial expressions resulting from tiredness, impatience, or boredom. The participants’ behavior was observed in terms of initial approach towards the robot, positioning relative to the robot in terms of distance and orientation, reactions to the robot’s voice or moves, signs of happiness, and imitation attempts. Results suggest a more and more natural approach towards the robot during the sessions, as well as a higher level of social interaction, based on the variations of the parameters listed above. We use these preliminary results to draw the next steps of our research work as well as identify further perspectives, with this aim in mind: improving social interactions with adolescents with ASD and intellectual deficit, allowing for better integration of these people into our societies.
