Fazel Naghdy

University of Wollongong, School of Electrical, Computer and Telecommunications Engineering, Faculty Member

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INSA Lyon

Loughborough University

Grigore Burdea

Vicent Girbés-Juan

Universitat de València

Fouad F. Khalil

Χρήστος Αζάρ

Claudio Pacchierotti

Centre National de la Recherche Scientifique / French National Centre for Scientific Research

Francesco Chinello

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Papers by Fazel Naghdy

Skill acquisition in transfer of manipulation skills from human to machine through a haptic virtual environment

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.

Part of the Physical Sciences and Mathematics Commons Recommended Citation Recommended Citation C... more

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Fall Risk Assessment in Older People

The International Journal of Engineering and Science, 2016

Almost one-third of older people experience falls caused by medical factors and/or frailty. Falls... more Almost one-third of older people experience falls caused by medical factors and/or frailty. Falls may lead to devastating results. The rapid increase in life expectancy has made fall-detection and analysis an important issue. In order to identify trends and the state of the art in fall risk and balance assessment in older people, this paper carries out a review of the literature in this field. The focus has been on works that studied various assessment tools developed for fall risk assessment in people above 65 years old. The reviewed papers are categorized into two large groups of Clinical Fall Risk Assessment Methods and Quantitative Fall Risk Analysis Methods. For the studies in the first group, in addition to the contribution and limitations of each cited work, the validity and reliability factors are highlighted. The majority of the works reported in the second group are still in the development stage and have not been applied in real clinical applications. Hence, issues such as sensitivity and specificity are not considered. The review reveals that despite the high number of studies, there is no consistent worldwide standard for fall risk and balance disorder analysis and assessment. Many of the methods proposed have not been validated for large groups of subjects and the results are generalized without reliable evidence. High cost, complexity, and length of the procedure are the major drawbacks of many of the proposed methods. The frailty of older people can make routine gait analysis challenging. The results of the analysis of the current literature reveal a lack of any comprehensive, objective and accurate method.

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Monitoring of wheel dressing operations for precision grinding

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02., 2002

In grinding operation, on-line process monitoring of dressing will ensure the quality of the grin... more In grinding operation, on-line process monitoring of dressing will ensure the quality of the grinding wheel and will achieve reproducible surface finish. The results of a study conducted to evaluate the feasibility and effectiveness of Acoustic Emission (AE) sensors in online monitoring of dressing is reported. Two aspects of the process are addressed. The first is the detection of undesired wheel conditions, such as an out-of-round wheel and wheel contour errors. The other is improving the surface finish of the ground workpiece by monitoring the dressing parameters. Experimental results indicate that AE signal can be effectively used to identify the faults that might occur during dressing. This in turn will result in better surface finish in the machined workpiece.

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Balance Assessment in Older People Using Inertial Sensors

Journal of Medical and Bioengineering, 2015

People at the age of 65 and above are drastically at the risk of falling. Falls among elderly may... more People at the age of 65 and above are drastically at the risk of falling. Falls among elderly may occur because of many physical factors such as natural deterioration of motor function or other disease related problems such as stroke, Parkinson's or Alzheimer's disease. The methods reported in the literature to assess the risk of falling in older people are often subjective, qualitative, retrospective and inaccurate. An objective, quantifiable approach to assess the risk of falling in elderly by analysing body movement using inertial sensors is conducted. Initial results of the experimental work and analysis carried out on three subjects, one older person with impaired balance and two younger people with normal balance are reported. The sensors are mounted on the subjects' chests and they are asked to conduct balance tests. The results of the data analysis indicate that the elderly subject has disturbed and involuntary chest movements. This demonstrates the potential of the method to assess balance and the risk of fall in older people.

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Manipulation skills acquisition through state classification and dimension decrease

17th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'05), 2005

The work carried out to explore the feasibility of reconstructing human constrained motion manipu... more The work carried out to explore the feasibility of reconstructing human constrained motion manipulation skills is reported. This is achieved by tracing and learning the manipulation performed by a human operator in a haptic rendered virtual environment. The peg-in-hole insertion problem is used as a case study. In the developed system, force and position variables generated in the haptic rendered virtual environment combined with a priori knowledge about the task are used to identify and learn the skills in the newly demonstrated task. The data obtained from the virtual environment is classified into different cluster sets using Fuzzy Gustafson-Kessel Model (FGK). Principal Component Analysis (PCA) is applied to each cluster to reduce the dimension of the data. The clusters in the optimum cluster set are tuned using Locally Weighted Regression (LWR) to produce prediction models for robot trajectory performing the physical assembly based on the force/position information received from the rig.

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Real-time Modeling and Simulation for Cochlear Implantation; Visualization and Force Rendering during Virtual Prosthetic Insertions

International Journal of Modeling and Optimization, 2012

Assessing the impact of fatigue on gait using inertial sensors

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013

ABSTRACT Conventionally subjective methods are often employed for the assessment of fatigue. Thes... more ABSTRACT Conventionally subjective methods are often employed for the assessment of fatigue. These approaches are prone to error and inaccuracy. Quantitative methods in a very limited extent have been applied. Inertial sensors and a Six Minute Walking Test (6MWT) are employed to measure gait and posture characteristics before and after a repeated sit and stand task that induces a degree of fatigue. Using a set of 17 sensors, the inertial signals corresponding to position, velocity, acceleration, orientation, angular velocity and angular acceleration are recorded based on a 23 degree of freedom humanoid model. The data streams obtained are subsequently segmented by an intrinsic clustering algorithm known as Minimum Message Length encoding (MML) forming a Gaussian Mixture Model (GMM). Several postural states (exemplar motion primitives) are captured in the resultant model, which is subsequently utilized to derive a holistic index corresponding to the physical ambulatory status of patient. The proposed method is applied to both data collected pre- and post-fatigue performance. The results are encouraging as they clearly demonstrate that fatigue affects physical status during 6MWT. The current results are promising in the development of an objective fatigue assessment tool for different patients.

Adaptive Modeling of Vehicle Mirror Vibrations by Predictive Compensation

International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce (CIMCA-IAWTIC'06), 2005

The external and internal mirrors used particularly in high mass recreational and commercial vehi... more The external and internal mirrors used particularly in high mass recreational and commercial vehicles are prone to vibrations. Under certain conditions, this leads to blurring of the reflected images above the tolerable levels for the human vision. While such vibrations are quite disturbing, they can compromise the driver's safety on the road. An adaptive predictive system is designed to compensate for the mirror vibrations under different driving conditions. The realtime adaptive modeling of the vibrations using ARMA for the purpose of their prediction is reported.

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<title>A generic approach to haptic modeling of textile artifacts</title>

Mathematics for Signal and Information Processing, 2009

Haptic Modeling of textile has attracted significant interest over the last decade. In spite of e... more Haptic Modeling of textile has attracted significant interest over the last decade. In spite of extensive research, no generic system has been proposed. The previous work mainly assumes that textile has a 2D planar structure. They also require time-consuming measurement of textile properties in construction of the mechanical model. A novel approach for haptic modeling of textile is proposed to overcome the existing shortcomings. The method is generic, assumes a 3D structure for the textile, and deploys computational intelligence to estimate the mechanical properties of textile. The approach is designed primarily for display of textile artifacts in museums. The haptic model is constructed by superimposing the mechanical model of textile over its geometrical model. Digital image processing is applied to the still image of textile to identify its pattern and structure through a fuzzy rule-base algorithm. The 3D geometric model of the artifact is automatically generated in VRML based on the identified pattern and structure obtained from the textile image. Selected mechanical properties of the textile are estimated by an artificial neural network; deploying the textile geometric characteristics and yarn properties as inputs. The estimated mechanical properties are then deployed in the construction of the textile mechanical model. The proposed system is introduced and the developed algorithms are described. The validation of method indicates the feasibility of the approach and its superiority to other haptic modeling algorithms.

Implementation of a haptic musical instrument using multi-signal fusion for force sensing without additional force sensors

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Abstract This paper describes the implementation of a haptic system for simulating the force-feed... more Abstract This paper describes the implementation of a haptic system for simulating the force-feedback of a centuries-old musical instrument, the carillon. A carillonneur&amp;#x27;s performance depends on a developing familiarity with force-feedback associated with a particular instrument. Force-feedback may vary not only across the range of the instrument but from one instrument to another. However, carillonneurs have restricted access to their instrument for rehearsal, unlike musicians who specialise in other instruments. At best, rehearsal ...

Fall risk assessment in older people using inertial sensors

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Service Discovery in Wireless Ad-hoc Control Networks

2005 International Conference on Intelligent Sensors, Sensor Networks and Information Processing, 2005

A new concept in distributed control systems called Wireless Ad-hoc Control Networks (WA CNets) i... more A new concept in distributed control systems called Wireless Ad-hoc Control Networks (WA CNets) is developed. WACNets is formed by a collection of nodes with the ability to sense, actuate and control. The network does not have a fixed structure, but evolves and self organises itself according to the control requirements of the system. The service discovery developedfor WACNets is reported. A review of the existing Service Discovery Protocol (SDPs) including Jini, Salutation, Universal Plug and Play (UPnP), and Bluetooth technology is carried out. An overview of WACNets is provided. The service discovery protocol developed for WACNets is introduced and its characteristics are described. Some results are provided.

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Discrete-event modelling, simulation and control of a distributed manipulation environment

Robotica, 1997

Conventional robotics has proved to be inflexible and non-generic. The concept of Distributed Man... more Conventional robotics has proved to be inflexible and non-generic. The concept of Distributed Manipulation Environment (DME) is introduced to overcome some of these shortcomings. This concept proposes a distributed approach to robotics and flexible automation. The work is concerned with modelling, simulation and event based control of DME. The modelling, conducted both at the atomic and the coupled level, is quite generic and provides a framework for static and dynamic behaviour analysis of DME systems. The simulation models serve as a mean of performance evaluation of the system on a computer before the actual implementation in real time. The event-based controller provides a simple and robust control scheme. The controller, itself, can be tested, validated and finely tuned through simulation before implementation. The feasibility of the modelling technique is demonstrated through a case study.

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Fuzzy logic compliance control of the peg in hole insertion

Control Engineering Practice, 1998

Compliance control of the peg-in-hole insertion while both peg and hole are rigidly supported, is... more Compliance control of the peg-in-hole insertion while both peg and hole are rigidly supported, is studied. Initially, the peg-in-hole operation is mathematically modelled to develop a better understanding of the existing constraints. Imitating a human operator, a compliant motion for the assembly of the peg in the hole using the heuristic approach is developed. Two basic fuzzy controllers are studied. One in which inference engine operates purely based on force/torque information received from the sensor. In the other the ...

Study Of Actuator Technologies For A Miniature Distributed Manipulation Environment

Emerging Technologies and Factory Automation, 1992

Disnibuted Manipulation Environment (DME), is a concept based on the overall modularity of a manu... more Disnibuted Manipulation Environment (DME), is a concept based on the overall modularity of a manufacturing system including actuation, sensing, control, computing hardware and software. The basic building block of DME is the Manipulation Module (MM). Each MM may consist of up to three units including processing the unit, actuating unit and sensory unit. The emphasis of this paper is on

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Problem-based approach in teaching advanced robotics

Overview-University of Wollongong Teaching & Learning Journal, 1996

Robotics is an elective subject offered in the three Departments of Electrical and Computer Engin... more Robotics is an elective subject offered in the three Departments of Electrical and Computer Engineering, Mechanical Engineering and Computer Science at both undergraduate and postgraduate levels. As Robotics is dealt with in a similar way in each department, the trend has been to offer a common subject and share the teaching load. Robotics is a multi-disciplinary subject covering various topics in mathematics, mechanics, control, instrumentation and sensors. The students, however, have distinctly different ...

Recognition of human motion through a fuzzy hidden Markov model

A new type of Hidden Markov Model (HMM) developed based on the fuzzy clustering result is propose... more A new type of Hidden Markov Model (HMM) developed based on the fuzzy clustering result is proposed for identification of human motion. By associating the human continuous movements with a series of human motion primitives, the complex human motion could be analysed as the same process as recognizing a word by alphabet. However, because the human movements can be multipaths and inherently stochastic, it is indisputable that a more sophisticated framework must be applied to reveal the statistic ...

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Addressing ICT curriculum recommendations from surveys of academics, workplace graduates, and employers

PP9–1274, current ALTC Project, 2009

Support for this report has been provided by the Australian Learning and Teaching Council Ltd, an... more Support for this report has been provided by the Australian Learning and Teaching Council Ltd, an initiative of the Australian Government Department of Education, Employment and Workplace Relations. The views expressed in this report do not necessarily reflect the views of the Australian Learning and Teaching Council or the Australian Government. This work is published under the terms of the Creative Commons Attribution-Noncommercial-ShareAlike 3.0 Australia Licence. Under this Licence you are free to copy, distribute, display and perform the work and to make derivative works. Attribution: You must attribute the work to the original authors and include the following statement: Support for the original work was provided by the Australian Learning and Teaching Council Ltd, an initiative of the Australian Government Department of Education, Employment and Workplace Relations. Noncommercial: You may not use this work for commercial purposes.

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Building employability skills in ICT Master coursework curriculum

Development and delivery of a subject called Employability Skills and ICT Workplace Practice, tar... more Development and delivery of a subject called Employability Skills and ICT Workplace Practice, targeted at international students taking Masters of Engineering Studies is reported. Almost all of the students are international with a desire to stay and work in Australia. In practice however, seeking professional employment in Australia has proved quite challenging for many of these students. A study conducted by the Australian Chamber of Commerce and Industry identifies certain 'soft skills' in demand by employers. These ...

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Synthesising Touch: Haptic-rendered Practice Carillon

Faculty of Creative Arts-Papers, 2007

This paper describes the design and construction of a prototype haptic carillon baton, and mathem... more This paper describes the design and construction of a prototype haptic carillon baton, and mathematical modelling of the carillon mechanism. Other research which haptically renders the grand piano mechanism inspires analysis of the kinematic constraints of the carillon mechanism. Analysis is used to construct a physical model using Simulink. This is then implemented numerically in a Java application. A microcontroller is programmed to interface the prototype's motor and force sensor with a desktop Java application, ...

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Skill acquisition in transfer of manipulation skills from human to machine through a haptic virtual environment

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.

Part of the Physical Sciences and Mathematics Commons Recommended Citation Recommended Citation C... more

Download

Fall Risk Assessment in Older People

The International Journal of Engineering and Science, 2016

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Monitoring of wheel dressing operations for precision grinding

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02., 2002

Download

Balance Assessment in Older People Using Inertial Sensors

Journal of Medical and Bioengineering, 2015

Download

Manipulation skills acquisition through state classification and dimension decrease

17th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'05), 2005

Download

Real-time Modeling and Simulation for Cochlear Implantation; Visualization and Force Rendering during Virtual Prosthetic Insertions

International Journal of Modeling and Optimization, 2012

Assessing the impact of fatigue on gait using inertial sensors

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013

Adaptive Modeling of Vehicle Mirror Vibrations by Predictive Compensation

Download

<title>A generic approach to haptic modeling of textile artifacts</title>

Mathematics for Signal and Information Processing, 2009

Implementation of a haptic musical instrument using multi-signal fusion for force sensing without additional force sensors

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Fall risk assessment in older people using inertial sensors

Download

Service Discovery in Wireless Ad-hoc Control Networks

2005 International Conference on Intelligent Sensors, Sensor Networks and Information Processing, 2005

Download

Discrete-event modelling, simulation and control of a distributed manipulation environment

Robotica, 1997

Download

Fuzzy logic compliance control of the peg in hole insertion

Control Engineering Practice, 1998

Study Of Actuator Technologies For A Miniature Distributed Manipulation Environment

Emerging Technologies and Factory Automation, 1992

Download

Problem-based approach in teaching advanced robotics

Overview-University of Wollongong Teaching & Learning Journal, 1996

Recognition of human motion through a fuzzy hidden Markov model

Download

Addressing ICT curriculum recommendations from surveys of academics, workplace graduates, and employers

PP9–1274, current ALTC Project, 2009

Download

Building employability skills in ICT Master coursework curriculum

Download

Synthesising Touch: Haptic-rendered Practice Carillon

Faculty of Creative Arts-Papers, 2007

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Building employability skills in ICT Master coursework curriculum

by Emily Purser and Fazel Naghdy

Studies is reported. Almost all of the students are international with a desire to stay and work ... more Studies is reported. Almost all of the students are international with a desire to stay and work in Australia. In practice however, seeking professional employment in Australia has proved quite challenging for many of these students. A study conducted by the Australian Chamber of Commerce and Industry identifies certain 'soft skills' in demand by employers. These include: initiative, communication, teamwork, technology, problem solving, self-management and planning. The learning objectives of the subject are designed to further develop and enhance such skills. The design and structure of the subject are described. The evaluations conducted on the first delivery of the subject strongly indicate that the learning objectives set for the subject are achieved and a high degree of student achievement and satisfaction is obtained

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