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作者： Kim, HyungTae Lee, duk-Yeon Choi, dongwoon Kang, Jaehyeon Lee, dong-Wook Digital Transformation R&D Department Korea Institute of Industrial Technology Ansan Gyeonggi15588 Korea Republic of Applied Robot R&D Department Korea Institute of Industrial Technology Ansan Gyeonggi15588 Korea Republic of

A digital focus index (dFI) is a value used to determine image focus in scientific apparatus and smart devices. Automatic focus (AF) is an iterative and time-consuming procedure;however, its processing time can be reduced using a general processing unit (GPU) and a multi-core processor (MCP). In this study, parallel architectures of a minimax search algorithm (MSA) are applied to two dFIs: range algorithm (rA) and image contrast (CT). The dFIs are based on a histogram;however, the parallel computation of the histogram is conventionally inefficient because of the bank conflict in shared memory. The parallel architectures of rA and CT are constructed using parallel reduction for MSA, which is performed through parallel relative rating of the image pixel pairs and halved the rating in every step. The array size is then decreased to one, and the minimax is determined at the final reduction. Kernels for the architectures are constructed using open source software to make it relatively platform independent. The kernels are tested in a hexa-core PC and an embedded device using Lenna images of various sizes based on the resolutions of industrial cameras. The performance of the kernels for the dFIs was investigated in terms of processing speed and computational acceleration;the maximum acceleration was 32.6× in the best case and the MCP exhibited a higher performance. Copyright © 2023 KSII.

关键词： Iterative methods

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Interactive remote robot operation framework for rescue robot

Interactive remote robot operation framework for rescue robo...

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IEEE International Workshop on Safety, Security, and rescue robotics (SSrr)

作者： Yong-deuk Shin Jae-Han Park Ga-ram Jang Jae-Shik Yoon Moon-Hong Baeg Applied Robot Technology R&D Group Korea Institute of Industrial Technology Korea

Situation awareness and its ambiguities are some of the main problems for rescue robotics. In a disaster area, there are many obstacles and confined passages. The operator must perceive the environment and decide the robot motion based on limited sensor data. These make it difficult for the operator to perceive the situation. The operator should be aware of the relative size of the obstacles in comparison with the rescue robot and the direction of the robot to navigate the disaster area and avoid collisions with obstacles. In this paper, we propose a software framework to reduce these ambiguities. A 3d map constructed with a 3d laser scanner and a robot model in this map can reduce the ambiguities. We also estimate future robot paths using the control inputs. Then, we perform collision detection in the expected paths and their neighbors. The collision results are displayed in the reconstructed 3d map using iterative closest points(ICP) algorithm. In this paper, we define interactive remote robot operation(IrrO) by extracting the common properties for reducing the ambiguities and abstracting them. The IrrO is composed of two parts, a simulation and evaluation step for the future robot motion and an interactive user interface system.

关键词： robot sensing systems Three-dimensional displays Irrigation Image reconstruction robot motion robot kinematics

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Microstructure and mechanical properties of die-cast AZ91d magnesium alloy by Pr additions

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Transactions of Nonferrous Metals Society of China 2010年第B07期20卷 435-438页

作者：崔晓鹏刘海峰孟健张德平 Department of Materials Science and Engineering Key Laboratory of Advanced Structrural Materialsof Ministry of EducationChangchun University of Technology State Key Laboratory of Rare Earth Resources Utilization Changchun Institute of Applied ChemistryChinese Academy of Sciences R&D Centre of Foundry Corporation FAW Group Corporation

Mg-9Al-xPr(x=0.4,0.8 and 1.2,mass fraction,%)magnesium alloys were prepared by high-pressure die-casting *** effects of Pr on the microstructures of die-cast Mg-9Al based alloy were investigated by Xrd and ***-like Al11Pr3 phase and polygon Al6Mn6Pr phase are found in the *** 0.4%Pr addition,fine needle-like Al11Pr3 phase and a small amount of polygon Al6Mn6Pr phase near the grain boundary are found in the *** Pr addition to 0.8%, lots of coarse needle-like Al11Pr3 phase within grain and polygon Al6Mn6Pr phase on grain boundary are *** increasing Pr addition,the size of needle-like Al11Pr3 phase decreases,while the size of polygon Al6Mn6Pr relatively *** mass fraction of Pr at around 0.8%is considered to be suitable to obtain the optimal mechanical *** optimal mechanical properties are mainly resulted from grain boundary strengthening obtained by precipitates and solid solution.

关键词： praseodymium magnesium alloy microstructure mechanical properties

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Circuit design based on Feature Similarity for Quantum Generative Modeling

arXiv

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arXiv 2025年

作者： Makarski, Mathis Kato, Jumpei Sato, Yuki Yamamoto, Naoki Graduate School of Science and Technology Keio University Hiyoshi 3-14-1 Kohoku Kanagawa Yokohama223-8522 Japan RWTH Aachen University Aachen Germany Mitsubishi UFJ Financial Group Inc. and MUFG Bank Ltd. 4-10-2 Nakano Nakano-ku Tokyo164-0001 Japan Quantum Computing Center Keio University Hiyoshi 3-14-1 Kohoku Kanagawa Yokohama223-8522 Japan Toyota Central R&D Labs. Inc. 1-4-14 Koraku Bunkyo-ku Tokyo112-0004 Japan Department of Applied Physics and Physico-Informatics Keio University Hiyoshi 3-14-1 Kohoku Kanagawa Yokohama223-8522 Japan

Quantum generative models may achieve an advantage on quantum devices by their inherent probabilistic nature and efficient sampling strategies. However, current approaches mostly rely on general-purpose circuits, such as the hardware efficient ansatz paired with a random initialization strategy, which are known to suffer from trainability issues such as barren plateaus. To address these issues, a tensor network pretraining framework that initializes a quantum circuit ansatz with a classically computed high-quality solution for a linear entanglement structure has been proposed in literature. In order to improve the classical solution, the quantum circuit needs to be extended, while it is still an open question how the extension affects trainability. In this work, we propose the metric-based extension heuristic to design an extended circuit based on a similarity metric measured between the dataset features. We validate this method on the bars and stripes dataset and carry out experiments on financial data. Our results underline the importance of problem-informed circuit design and show that the metric-based extension heuristic offers the means to introduce inductive bias while designing a circuit under limited resources. Copyright © 2025, The Authors. All rights reserved.

关键词： Quantum electronics

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TeO2: As a key component in improving radiation shielding of B2O3-based glass systems

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radiation Physics and Chemistry 2025年

作者： Sayyed, M.I. Yasmin, Sabina Faruque, M.r.I. Abdullah, S. Mahmoud, K.A. Khandaker, M.U. Department of Physics Faculty of Science Isra University Amman Jordan Renewable Energy and Environmental Technology Center University of Tabuk Tabuk47913 Saudi Arabia Universiti Kebangsaan Malaysia Selangor Bangi43600 UKM Malaysia R&D Office Vice Presidency for Scientific Research and Innovation Imam Abdulrahman Bin Faisal University P.O. Box 1982 Dammam31441 Saudi Arabia Ural Federal University 19 Mira St Yekaterinburg620002 Russia Applied Physics and Radiation Technologies Group CCDCU Faculty of Engineering and Technology Sunway University Selangor Bandar Sunway47500 Malaysia Faculty of Graduate Studies Daffodil International University Daffodil Smart City Birulia Savar Dhaka1216 Bangladesh Department of Physics College of Science Korea University 145 Anam-ro Seongbuk-gu Seoul02841 Korea Republic of Department of Physics and Technical Sciences Western Caspian University Baku Azerbaijan

New glasses with enhanced radiation shielding characteristics have potential applications in different fields requiring radiation protection. In the context of radiation shielding applications, this work aims to develop new lead-free B2O3–TeO2–Bi2O3–ZnO–CaO glass systems. A 15–30 mol% increase in TeO2 concentration results in a 4.070–4.498 g/cm3 density increase. The influence of increasing the TeO2 doping concentration on the mechanical properties of the prepared boro-tellurite glass was utilized using the Makishima-Makinze theory. Additionally, the influence of raising the TeO2 concentration on the radiation shielding properties of the prepared boro-tellurite glass was studied using the Monte Carlo simulation. The Monte Carlo simulation confirms that a 15–30 mol% TeO2 increase enhances LAC values, reducing half-value layer thickness (HVL), and improving radiation shielding. However, mechanical properties such as hardness and Young's modulus slightly decrease due to TeO2 substitution. © 2025 Elsevier Ltd

关键词： radiation shielding

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development of an anthropomorphic robot hand aimed at practical use for wide service robot application

Development of an anthropomorphic robot hand aimed at practi...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Sung-Woo Park Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Ansan R&D Center Ansan Korea

This paper describes an anthropomorphic robot hand and its experiments. The robot Hand is a very complicated system composed of a large number of joints. Also, there are limitations of size and weight in the development of the robot hand. Because of these reasons, to manufacture an useful robot hand is a difficult work. Our final goal is a development of a robot hand for practical use in wide service robot application. Firstly, we define several requirements of a robot hand in the sense of structure and function. Although it is difficult to satisfy all of the requirements, we try to develop a robot hand including those. The developed robot hand has 4 full-actuated fingers with total 16 joints. By using of dC motor and spur gears as an actuator unit, the size, weight and cost of the robot hand becomes reasonable. A control of finger is conducted with only geometrical information of fingers without any force sensing. In order to verify performance of the hand, various results of experiments, grasping of unknown rigid and non-rigid object, are presented. In addition, experimental results of grasping under disturbances are also presented.

关键词： robot sensing systems Service robots Manipulators Joints Grasping Humans

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Integration of recognition and planning for robot hand grasping

Integration of recognition and planning for robot hand grasp...

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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Yong-deuk Shin Ga-ram Jang Jae-Han Park Ji-Hun Bae Moon-Hong Baeg Applied Robot Technology R & D Group Korea Institute of Industrial Technology Korea

A robot should be able to recognize and estimate the pose of an object in order to grasp it. In addition, the robot should be able to infer the most reasonable strategy for grasping the object, which varies according to the type and pose of the object. In this paper, we design a grasping strategy engine for this purpose and suggest a method for recognizing and estimating the pose of an object with no two-dimensional intensity image. We also introduce our grasping data acquisition system (GdAS) for learning the best grasping strategy. The grasping strategy is composed of the approaching vector, opposition vector, and grasping type. In this paper, we use the iterative closest point (ICP) [1] algorithm for recognizing and estimating the pose of an object, along with an artificial neural network for selecting the best grasping strategy.

关键词： Grasping Iterative closest point algorithm Three-dimensional displays databases Estimation robots Vectors

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Optimal Arrangement of Base Frame of a Hydro-Actuated dual-Arm robot

Optimal Arrangement of Base Frame of a Hydro-Actuated Dual-A...

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International Conference on Ubiquitous robots and Ambient Intelligence

作者： dong-Hyuk Lee Peter Ki Kim Hyeonjun Park Jae-Han Park Moon-Hong Baeg Ji-Hun Bae Robot Convergence R&D Group Korea Institute of Industrial Technology (KITECH)

ISBN: (纸本)9781509008223

This paper reports a work-in-progress result on the design of a hydro-actuated dual-arm manipulator for conducting various tasks in disaster sites. While the hydraulic actuators generally provide high load capacity, are limited in range of motion (generally smaller than 110°), thus its spatial arrangement significantly affect the kinematic performance of the manipulator. In this paper, authors particularly focus on the arrangement of base frame of each arm in order to maximize the kinematic performance with respect to overall dual-arm and single-arm tasks. Using two design parameters, (i) default yawing angle of the base joint of the manipulator and (ii) lateral distance between two arms, the arrangement of the manipulator is optimized using a workspace based performance index, PTCWA (Product of Total and Common Workspace Area).

关键词： dual-arm manipulator dual-arm robot Kinematic optimization

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Hand-eye Calibration using Images restored by deep Learning

Hand-eye Calibration using Images Restored by Deep Learning

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IEEE International Conference on Consumer Electronics-Asia (ICCE-Asia)

作者： Hyun-Su Kim Tae-Yong Kuc Kwang-Hee Lee Sungkyunkwan University Robot R&D Group Korea Institute of Industrial Technology

ISBN: (数字)9781728161648

ISBN: (纸本)9781728161655

The problem of determining the transformation between the end-effector and the camera attached to the robot arm is called hand-eye calibration. For this calibration, the pose of the robot and the image data of the calibrated camera must be acquired. Since industrial robots use fixed focus cameras, the depth of field is limited, and variable focus lenses cannot determine the camera position or pose with high accuracy because the parameters of the camera change. If the pose of a robot is out of depth of field (dOF), the camera is out of focus, and the image is blurred. If hand-eye calibration is performed using these images, the resulting data includes errors. In this paper, image restoration is performed using deep learning on a blurred image where a marker cannot be found because it is out of focus. This technique is used to sharply restore images and demonstrate a technique for finding markers. We improved the precision of the hand-eye calibration problem by obtaining a clear image restored even in various pose of the robot and reducing the error that occurs in the blurred image.

关键词： Calibration Cameras robots Image restoration robot vision systems robot kinematics deep learning

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Lane detection & Localization For UGV in Urban Environment

Lane Detection & Localization For UGV in Urban Environment

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17th International IEEE Conference on Intelligent Transportation Systems & The Asia-Pacific Council on Systems Engineering Conference 2014

作者： Teawon Han Yanghyun Kim Kisung Kim Samsung Techwin Robot Technology group Advanced Technology Institute Robot Technology group Advanced Technology InstituteSamsung Techwin R&D Center R&D Center Seongnam-siGyeonggi-do463-400 South Korea

Generally,the main components of autonomous driving system consists of perception(geometry recognition,localization,and objects detection & tracking) and navigation processes(global & local path planning,and controller).In this paper,we focus on finding an accurate position for Unmanned Ground Vehicle(UGV) in urban environments.A GPS sensor is fundamentally used to get a current global position,but its accuracy is susceptible to satellite geometry or receiver's conditions;even though high performance guaranteed GPS such as differential-GPS(dGPS) always return precise position(position error is less than 0.4m) because of problems such as disconnection between base station and *** position-errors,even few meters,could engender serious accidents when UGV is driving under urban *** this paper,we suggest the localization algorithm and novel lane detection *** detected lane information is implemented to overcome GPS sensor's ***,our novel lane detection algorithm is described,and then the localization algorithm is *** paper also provides experimental results of the lane-detection and the localization in urban environment by using UGV.

关键词： GPS Localization For UGV in Urban Environment Lane detection

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