Yang Chen

Yuchen Su, Yonghua Zhu, Yang Chen et al.

Humour translation plays a vital role as a bridge between different cultures, fostering understanding and communication. Although most existing Large Language Models (LLMs) are capable of general translation tasks, these models still struggle with humour translation, which is especially reflected through linguistic interference and lacking humour in translated text. In this paper, we propose a psychology-inspired Humour Decomposition Mechanism (HDM) that utilises Chain-of-Thought (CoT) to imitate the ability of the human thought process, stimulating LLMs to optimise the readability of translated humorous texts. Moreover, we integrate humour theory in HDM to further enhance the humorous elements in the translated text. Our automatic evaluation experiments on open-source humour datasets demonstrate that our method significantly improves the quality of humour translation, yielding average gains of 7.75\% in humour, 2.81\% in fluency, and 6.13\% in coherence of the generated text.

Diego Paez-Granados, Hideki Kadone, Modar Hassan et al.

We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the trunk on sit-to-stand and stand-to-sit (STS) transitions by a single gas spring as an energy storage unit. We propose a direction-dependent coupling of knees and hip joints through a double-pulley wire system, transferring energy from the torso motion towards balancing the moment load at the knee joint actuator. Herewith, the exoskeleton maximizes energy transfer and the naturalness of the user's movement. We introduce an embodied user interface for hands-free navigation through a torso pressure sensing with minimal trunk rotations, resulting on average $19^{\circ} \pm 13^{\circ}$ on six unimpaired users. We evaluated the design for STS assistance on 11 unimpaired users observing motions and muscle activity during the transitions. Results comparing assisted and unassisted STS transitions validated a significant reduction (up to $68\%$ $p<0.01$) at the involved muscle groups. Moreover, we showed it feasible through natural torso leaning movements of $+12^{\circ}\pm 6.5^{\circ}$ and $- 13.7^{\circ} \pm 6.1^{\circ}$ for standing and sitting, respectively. Passive postural transition assistance warrants further work on increasing its applicability and broadening the user population.

Yang Chen, Diego Paez-Granados, Bruno Leme et al.

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We defined a virtual landmark inferred from the target docking destination. Then, we solve the problem of keeping the targeted volume inside the field of view (FOV) of a tracking camera and docking to the virtual landmark through a novel definition that enables to control for the desired end-pose. In this article, we proposed a nonlinear feedback controller to perform the docking with the depth camera's FOV as a constraint. Then, a numerical method is proposed to find the feasible space of initial states where convergence could be guaranteed. Finally, the entire system was embedded for real-time operation on a standing wheelchair with the virtual landmark estimation by 3D object tracking with an RGB-D camera and we validated the effectiveness in simulation and experimental evaluations. The results show the guaranteed convergence for the feasible space depending on the virtual landmark location. In the implementation, the robot converges to the virtual landmark while respecting the FOV constraints.