Search Results (154)

Accurate semantic segmentation of indoor architectural elements, such as staircases and elevators, is critical for safe and efficient robotic navigation, particularly in complex multi-floor environments. Traditional fusion methods struggle with occlusions, reflections, and low-contrast regions. In this paper, we propose a novel feature fusion module, Skip-Connection Fusion (SCF), that dynamically integrates RGB (Red, Green, Blue) and depth features through an adaptive weighting mechanism and skip-connection integration. This approach enables the model to selectively emphasize informative regions while suppressing noise, effectively addressing challenging conditions such as partially blocked staircases, glossy elevator doors, and dimly lit stair edges, which improves obstacle detection and supports reliable human–robot interaction in complex environments. Extensive experiments on a newly collected dataset demonstrate that SCF consistently outperforms state-of-the-art methods, including PSPNet and DeepLabv3, in both overall mIoU (mean Intersection over Union) and challenging-case performance. Specifically, our SCF module improves segmentation accuracy by 5.23% in the top 10% of challenging samples, highlighting its robustness in real-world conditions. Furthermore, we conduct a sensitivity analysis on the learnable weights, demonstrating their impact on segmentation quality across varying scene complexities. Our work provides a strong foundation for real-world applications in autonomous navigation, assistive robotics, and smart surveillance. Full article

To enable safe and effective human–robot collaboration (HRC) in smart manufacturing, it is critical to seamlessly integrate sensing, cognition, and prediction into the robot controller for real-time awareness, response, and communication inside a heterogeneous environment (robots, humans, and equipment). The proposed approach takes advantage of the prediction capabilities of nonlinear model predictive control (NMPC) to execute safe path planning based on feedback from a vision system. To satisfy the requirements of real-time path planning, an embedded solver based on a penalty method is applied. However, due to tight sampling times, NMPC solutions are approximate; therefore, the safety of the system cannot be guaranteed. To address this, we formulate a novel safety-critical paradigm that uses an exponential control barrier function (ECBF) as a safety filter. Several common human–robot assembly subtasks have been integrated into a real-life HRC assembly task to validate the performance of the proposed controller and to investigate whether integrating human pose prediction can help with safe and efficient collaboration. The robot uses OptiTrack cameras for perception and dynamically generates collision-free trajectories to the predicted target interactive position. Results for a number of different configurations confirm the efficiency of the proposed motion planning and execution framework, with a 23.2% reduction in execution time achieved for the HRC task compared to an implementation without human motion prediction. Full article

Sign language recognition plays a crucial role in enabling communication for deaf individuals, yet current methods face limitations such as sensitivity to lighting conditions, occlusions, and lack of adaptability in diverse environments. This study presents a wearable multi-channel tactile sensing system based on smart textiles, designed to capture subtle wrist and finger motions for static sign language recognition. The system leverages triboelectric yarns sewn into gloves and sleeves to construct a skin-conformal tactile sensor array, capable of detecting biomechanical interactions through contact and deformation. Unlike vision-based approaches, the proposed sensor platform operates independently of environmental lighting or occlusions, offering reliable performance in diverse conditions. Experimental validation on American Sign Language letter gestures demonstrates that the proposed system achieves high signal clarity after customized filtering, leading to a classification accuracy of 94.66%. Experimental results show effective recognition of complex gestures, highlighting the system’s potential for broader applications in human-computer interaction. Full article

Understanding automated vehicle (AV) behavior in complex road environments and user attitudes in such contexts is critical for their safe and effective integration into smart cities. Despite growing deployment, limited public data exist on AV performance in construction zones; highly dynamic settings marked by irregular lane markings, shifting detours, and unpredictable human presence. This study investigates AV behavior in these conditions through qualitative, video-based analysis of user-documented experiences on YouTube, focusing on Tesla’s supervised Full Self-Driving (FSD) and Waymo systems. Spoken narration, captions, and subtitles were examined to evaluate AV perception, decision-making, control, and interaction with humans. Findings reveal that while AVs excel in structured tasks such as obstacle detection, lane tracking, and cautious speed control, they face challenges in interpreting temporary infrastructure, responding to unpredictable human actions, and navigating low-visibility environments. These limitations not only impact performance but also influence user trust and acceptance. The study underscores the need for continued technological refinement, improved infrastructure design, and user-informed deployment strategies. By addressing current shortcomings, this research offers critical insights into AV readiness for real-world conditions and contributes to safer, more adaptive urban mobility systems. Full article

Background/Objectives: Healthcare institutions, similar to other service providers, should prioritize their clients—in this case, patients—to effectively meet their needs. However, fulfilling this objective becomes increasingly challenging due to numerous factors. Therefore, this study explores student patient satisfaction by examining the effects of environmental quality dimensions (Internal Spaces, External Spaces, And Social Environment) and green practices, as well as investigating how environmental knowledge moderates the relationship between green practices and patient satisfaction. Methods: Given the latent nature of the variables investigated, structural equation modeling (SEM) was employed. Some variables were conceptualized as hierarchical constructs comprising higher-order and lower-order components. Before testing the relationships among variables, reliability and validity assessments were performed. For this purpose, the SmartPLS 4 software was used. Since the focus of the research was on students’ health in general, the sample consisted of 280 students from the University of Novi Sad (Republic of Serbia). Results: Among the three environmental quality dimensions, only the Social Environment had a significant and positive influence on patient satisfaction. Furthermore, the green practices emerged as a significant determinant of patient satisfaction. However, the moderating effect of environmental knowledge on this relationship was found to be non-significant. Conclusions: This research underscores the significance of patient satisfaction as a critical objective for healthcare institutions. Special attention should be directed toward enhancing positive interactions between medical staff and patients and adopting green practices. Consequently, certain managerial aspects related to human resource management (such as adequate staffing and organization of personnel) should be considered. In addition, issues concerning financial challenges and benefits regarding the implementation of green practices in healthcare were presented. Full article

Both biosystems and engineering fields demand advanced friction-reducing and lubricating materials. Due to their hydrophilicity and tissue-mimicking properties, hydrogels are ideal candidates for use as lubricants in water-based environments. They are particularly well-suited for applications involving biocompatibility or interactions with intelligent devices such as soft robots. However, external environments, whether within the human body or in engineering applications, often present a wide range of dynamic conditions, including variations in shear stress, temperature, light, pH, and electric fields. Additionally, hydrogels inherently possess low mechanical strength, and their dimensional stability can be compromised by changes during hydration. This review focuses on recent advancements in using environmentally responsive hydrogels as lubricants. It explores strategies involving physical or structural modifications, as well as the incorporation of smart chemical functional groups into hydrogel polymer chains, which enable diverse responsive mechanisms. Drawing on both the existing literature and our own research, we also examine how composite friction materials where hydrogels serve as water-based lubricants offer promising solutions for demanding engineering environments, such as bearing systems in marine vessels. Full article

Accurate and scalable indoor localization is a key enabler of intelligent automation in smart environments and industrial systems. In this paper, we present SelfLoc, a self-supervised indoor localization system that combines IEEE 802.11az Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) data to achieve fine-grained positioning using commodity Wi-Fi infrastructure. Unlike conventional methods that depend heavily on labeled data, SelfLoc adopts a contrastive learning framework to extract spatially discriminative and temporally consistent representations from unlabeled wireless measurements. The system integrates a dual-contrastive strategy: temporal contrasting captures sequential signal dynamics essential for tracking mobile agents, while contextual contrasting promotes spatial separability by ensuring that signal representations from distinct locations remain well-differentiated, even under similar signal conditions or environmental symmetry. To this end, we design signal-specific augmentation techniques for the physical properties of RTT and RSSI, enabling the model to generalize across environments. SelfLoc also adapts effectively to new deployment scenarios with minimal labeled data, making it suitable for dynamic and collaborative industrial applications. We validate the effectiveness of SelfLoc through experiments conducted in two realistic indoor testbeds using commercial Android devices and seven Wi-Fi access points. The results demonstrate that SelfLoc achieves high localization precision, with a median error of only 0.55 m, and surpasses state-of-the-art baselines by at least 63.3% with limited supervision. These findings affirm the potential of SelfLoc to support spatial intelligence and collaborative automation, aligning with the goals of Industry 4.0 and Society 5.0, where seamless human–machine interactions and intelligent infrastructure are key enablers of next-generation smart environments. Full article

Depression affects millions of people worldwide and remains a significant challenge in mental health care. Despite advances in pharmacological and psychotherapeutic treatments, there is a critical need for accessible and engaging tools that help individuals manage their mental health in real time. This paper presents a novel gamified, AI-driven system embedded within Internet of Things (IoT)-enabled environments to address this gap. The proposed platform combines micro-games, adaptive surveys, sensor data, and AI analytics to support personalized and context-aware depression monitoring and self-regulation. Unlike traditional static models, this system continuously tracks behavioral, cognitive, and environmental patterns. This data is then used to deliver timely, tailored interventions. One of its key strengths is a research-ready design that enables real-time simulation, algorithm testing, and hypothesis exploration without relying on large-scale human trials. This makes it easier to study cognitive and emotional trends and improve AI models efficiently. The system is grounded in metacognitive principles. It promotes user engagement and self-awareness through interactive feedback and reflection. Gamification improves the user experience without compromising clinical relevance. We present a unified framework, robust evaluation methods, and insights into scalable mental health solutions. Combining AI, IoT, and gamification, this platform offers a promising new approach for smart, responsive, and data-driven mental health support in modern living environments. Full article

With the rise of digital twin technology, the application of digital twin technology to industrial automation provides a new direction for the digital transformation of the global smart manufacturing industry. In order to further improve production efficiency, as well as realize enterprise digital empowerment, this paper takes a welding robot arm as the research object and constructs a welding robot arm digital twin system. Using three-dimensional modeling technology and model rendering, the welding robot arm digital twin simulation environment was built. Parent–child hierarchy and particle effects were used to truly restore the movement characteristics of the robot arm and the welding effect, with the help of TCP communication and Bluetooth communication to realize data transmission between the virtual segment and the physical end. A variety of UI components were used to design the human–machine interaction interface of the digital twin system, ultimately realizing the data-driven digital twin system. Finally, according to the digital twin maturity model constructed by Prof. Tao Fei’s team, the system was scored using five dimensions and 19 evaluation factors. After testing the system, we found that the combination of digital twin technology and automation is feasible and achieves the expected results. Full article

This research presents an IoT-empowered adaptive mobility framework that integrates high-dimensional gesture recognition with edge-cloud orchestration for safety-critical human–machine interaction. The system architecture establishes a three-tier IoT network: a perception layer with 60 GHz FMCW radar and TOF infrared arrays (12-node mesh topology, 15 cm baseline spacing) for real-time motion tracking; an edge intelligence layer deploying a time-aware neural network via NVIDIA Jetson Nano to achieve up to 99.1% recognition accuracy with latency as low as 48 ms under optimal conditions (typical performance: 97.8% ± 1.4% accuracy, 68.7 ms ± 15.3 ms latency); and a federated cloud layer enabling distributed model synchronization across 32 edge nodes via LoRaWAN-optimized protocols (κ = 0.912 consensus). A reconfigurable chassis with three operational modes (standing, seated, balance) employs IoT-driven kinematic optimization for enhanced adaptability and user safety. Using both radar and infrared sensors together reduces false detections to 0.08% even under high-vibration conditions (80 km/h), while distributed learning across multiple devices maintains consistent accuracy (variance < 5%) in different environments. Experimental results demonstrate 93% reliability improvement over HMM baselines and 3.8% accuracy gain over state-of-the-art LSTM models, while achieving 33% faster inference (48.3 ms vs. 72.1 ms). The system maintains industrial-grade safety certification with energy-efficient computation. Bridging adaptive mechanics with edge intelligence, this research pioneers a sustainable IoT-edge paradigm for smart mobility, harmonizing real-time responsiveness, ecological sustainability, and scalable deployment in complex urban ecosystems. Full article

Social robots in Ambient Assisted Living (AAL) environments offer a promising alternative for enhancing senior care by providing companionship and functional support. These robots can serve as intuitive interfaces to complex smart home systems, allowing seniors and caregivers to easily control their environment and access various assistance services through natural interactions. By combining the emotional engagement capabilities of social robots with the comprehensive monitoring and support features of AAL, this integrated approach can potentially improve the quality of life and independence of elderly individuals while alleviating the burden on human caregivers. This paper explores the integration of social robotics with ambient assisted living (AAL) technologies to enhance elderly care. We propose a novel framework where a social robot is the central orchestrator of an AAL environment, coordinating various smart devices and systems to provide comprehensive support for seniors. Our approach leverages the social robot’s ability to engage in natural interactions while managing the complex network of environmental and wearable sensors and actuators. In this paper, we focus on the technical aspects of our framework. A computational P2P notebook is used to customize the environment and run reactive services. Machine learning models can be included for real-time recognition of gestures, poses, and moods to support non-verbal communication. We describe scenarios to illustrate the utility and functionality of the framework and how the robot is used to orchestrate the AAL environment to contribute to the well-being and independence of elderly individuals. We also address the technical challenges and future directions for this integrated approach to elderly care. Full article

The proliferation of digital platforms and interactive technologies has transformed the way service providers engage with their customers, particularly in emerging economies, where digital inclusion is an ongoing process. This study explores the relationship between omnichannel strategies and customer satisfaction, conceptualized here as a proxy for Quality of Experience (QoE), within a smart service station located in a digitally underserved region. Grounded in customer journey theory and the expectancy–disconfirmation paradigm, the study investigates how data integration, digital payment systems, and logistical flexibility—key components of intelligent e-service systems—influence user perceptions and satisfaction. Based on a correlational design with a non-probabilistic sample of 108 customers, the findings reveal a moderate association between overall omnichannel integration and satisfaction (ρ = 0.555, p < 0.01). However, a multiple regression analysis indicates that no individual dimension significantly predicts satisfaction (adjusted R² = 0.002). These results suggest that while users value system integration and interaction flexibility, no single technical feature drives satisfaction independently. The study contributes to the growing field of intelligent human-centric service systems by contextualizing QoE and digital inclusion within emerging markets and by emphasizing the importance of perceptual factors in ICT-enabled environments. Full article

With the progress of agricultural modernization, intelligent fruit harvesting is gaining importance. While fruit detection and recognition are essential for robotic harvesting, existing methods suffer from limited generalizability, including adapting to complex environments and handling new fruit varieties. This problem stems from their reliance on unimodal visual data, which creates a semantic gap between image features and contextual understanding. To solve these issues, this study proposes a multi-modal fruit detection and recognition framework based on visual language models (VLMs). By integrating multi-modal information, the proposed model enhances robustness and generalization across diverse environmental conditions and fruit types. The framework accepts natural language instructions as input, facilitating effective human–machine interaction. Through its core module, Enhanced Contrastive Language–Image Pre-Training (E-CLIP), which employs image–image and image–text contrastive learning mechanisms, the framework achieves robust recognition of various fruit types and their maturity levels. Experimental results demonstrate the excellent performance of the model, achieving an F1 score of 0.752, and an mAP@0.5 of 0.791. The model also exhibits robustness under occlusion and varying illumination conditions, attaining a zero-shot mAP@0.5 of 0.626 for unseen fruits. In addition, the system operates at an inference speed of 54.82 FPS, effectively balancing speed and accuracy, and shows practical potential for smart agriculture. This research provides new insights and methods for the practical application of smart agriculture. Full article

Due to accelerated urbanization, modern urban residents are facing increasing life pressures. Many citizens are experiencing situational aversion in daily commuting, and the deterioration in the traffic environment has led to psychological distress of varying degrees among urban dwellers. Cyclists, who account for about 7% of urban commuters, lack a sense of belonging in the urban space and experience significant deficiencies in the corresponding urban infrastructure, which causes more people to face significant barriers to choosing cycling as a mode of transportation. To address the aforementioned issues, this study proposes a bionic intelligent interaction helmet (BIIH) designed and validated based on the principles of bionics, which has undergone morphological design and structural validation. Constructed around the STM32-embedded development board, the BIIH is an integrated smart cycling helmet engineered to perceive environmental conditions and enable both human–machine interactions and environment–machine interactions. The system incorporates an array of sophisticated electronic components, including temperature and humidity sensors; ultrasonic sensors; ambient light sensors; voice recognition modules; cooling fans; LED indicators; and OLED displays. Additionally, the device is equipped with a mobile power supply, enhancing its portability and ensuring operational efficacy under dynamic conditions. Compared with conventional helmets designed for analogous purposes, the BIIH offers four distinct advantages. Firstly, it enhances the wearer’s environmental perception, thereby improving safety during operation. Secondly, it incorporates a real-time interaction function that optimizes the cycling experience while mitigating psychological stress. Thirdly, validated through bionic design principles, the BIIH exhibits increased specific stiffness, enhancing its structural integrity. Finally, the device’s integrated power and storage capabilities render it portable, autonomous, and adaptable, facilitating iterative improvements and fostering self-sustained development. Collectively, these features establish the BIIH as a methodological and technical foundation for exploring novel research scenarios and prospective applications. Full article

Flexible pressure sensors face the dual challenges of weak signal extraction and environmental noise suppression in wearable electronics and human-machine interfaces. This research proposes an intelligent pressure sensor utilizing chitosan/carbon nanotube/melamine sponge (CS/CNT/MS) composites, achieving high-performance sensing through a dual-stage noise reduction architecture that combines mechanical pre-filtration and electrical synergistic regulation. An innovative compressed-stitching encapsulation technique creates pressure sensors with equivalent mechanical low-pass filtering characteristics, actively eliminating interference signals below 3 kPa while maintaining linear response within the 3–20 kPa effective loading range (sensitivity: 0.053 kPa⁻¹). The synergistic effects of CS molecular cross-linking and CNTs’ three-dimensional conductive network endow the device with a 72 ms response time, 24 ms recovery speed, and over 3500-cycle compression stability. Successful applications in smart sport monitoring and tactile interactive interfaces demonstrate a material-structure-circuit co-design paradigm for mechanical perception in complex environments. Full article