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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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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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19th biennial IPEG Meeting

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Neuropsychiatric Electrophysiology 2016年第1期2卷 1-34页

作者： Igor Timofeev Leon Kenemans P. F. Fabene A. Ahnaou Sebastian Olbrich robert Oostenveld Martijn Arns Nash Boutros Fernando Lopes da Silva Ole Jensen Sandra K. Loo Hans-Peter Landolt Jan Mathijs Schoffelen Alida A. Gouw Arjan Hillebrand Matteo demuru Peterjan ris Philip Scheltens Cornelis J. Stam Ida A. Nissen Ilse E. C. W. van Straaten Jaap C. reijneveld Sonja Simpraga ricardo Alvarez-Jimenez Huibert d. Mansvelder Joop M. A. van Gerven Geert Jan Groeneveld Simon-Shlomo Poil Klaus Linkenkaer-Hansen Michel J. A. M. van Putten Marleen C. Tjepkema-Cloostermans Jeannette Hofmeijer Claudio Babiloni Antonio Ivano Triggiani roberta Lizio Susanna Cordone Antonio Brunetti Giacomo Tattoli Vitoantonio Bevilacqua Andrea Soricelli raffaele Ferri Flavio Nobili Loreto Gesualdo José Carlos Millán-Calenti Ana Buján rosanna Tortelli Valentina Cardinali Orietta Barulli Antonio Giannini Pantaleo Spagnolo Silvia Armenise Grazia Buenza Gaetano Scianatico Giancarlo Logroscino Giovanni B. Frisoni Claudio del Percio Joerg F. Hipp robert Comley darren Bentley Michael derks Pilar Garces Frederic Knoflach Sian Lennon-Chrimes Stephane Nave Jana Noldeke Nick Seneca Gerhard Trube Christoph Wandel Andrew WThomas Maria-Clemancia Hernandez Berrie Gerrits Madelon A. Vollebregt roy P. C. Kessels donna Palmer Evian Gordon Tieme W. P. Janssen dirk J. Heslenfeld rosa van Mourik Katleen Geladé Athanasios Maras Jaap Oosterlaan daniel Brandeis Christian Sander Ulrich Hegerl Nash N. Boutros Alexandra Kirsten Anna-Lena dohrmann Galina Surova T. A. Iseger J. L. Kenemans M. Arns Marcel A. Pawlowski Marek Adamczyk Thorsten Mikoteit Axel Steiger Martien J. Kas Karlijn I. van Aerde Clementina M. van rijn Marijtje L. A. Jongsma Philip L. C. van den Broek Jan van Egmond C. Walsh L. raeymaekers r. Biermans N. V. Manyakov C. Wintmolders A. Bottelbergs K. Van Kolen d. Moechars J. A. Kemp W. H. drinkenburg Nicola Marzano Susanna Lopez Giuseppe Noce Cristina Bagnoli Paolo Maria rossini Flavio Mariano Nobili david Bartres Faz Olivier Blin Pierre Payoux regis Bordet Bernh Department of Psychiatry and Neuroscience Université Laval Québec Canada Centre de recherche de l’Institut universitaire en santé mentale de Québec (CRIUSMQ) Université Laval Québec Canada Experimental Psychology Helmholtz Institute Utrecht University Utrecht Netherlands Department Neuroscience Biomedicine and Movement School of Medicine University of Verona Verona Italy A Division of Janssen Pharmaceutica NV Department of Neuroscience Discovery Janssen Research & Development Beerse Belgium Department for Psychiatry Psychotherapy and Psychosomatic University of Zurich Zurich Switzerland Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen The Netherlands NatMEG Karolinska Institute Stockholm Sweden euroCare group Munich Germany Research Institute Brainclinics Nijmegen The Netherlands Department of Experimental Psychology Utrecht University Utrecht The Netherlands University of Missouri-Kansas City Kansas City USA Centre of Neuroscience Swammerdam Institute for Life Sciences University of Amsterdam Amsterdam The Netherlands School of Psychology University of Birmingham Birmingham UK Department of Psychiatry and Biobehavioral Sciences UCLA Los Angeles USA Institute of Pharmacology and Toxicology University of Zürich Zürich Switzerland Zürich Center for interdisciplinary Sleep Research University of Zürich Zürich Switzerland Donders Institute Radboud University Nijmegen The Netherlands Alzheimer Center and Department of Neurology Neuroscience Campus Amsterdam VU University Medical Center Amsterdam The Netherlands Department of Clinical Neurophysiology and MEG Center Neuroscience Campus Amsterdam VU University Medical Center Amsterdam The Netherlands Department of Clinical Neurophysiology and MEG Center VU University Medical Center Amsterdam The Netherlands Brain Tumor Center Amsterdam & Department of Neurology VU University Medical Center Amsterdam The Netherlands Department Integrative Neurophysiology CNCR Neuroscie

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GPU-based collision detection for sampling-based motion planning

GPU-based collision detection for sampling-based motion plan...

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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Jaeshik Yoon Jaehan Park Moonhong Baeg University of science and technology UST Deajeon Korea Robot Convergence R&D Group Korea Institute of Industrial Technology Ansan Korea

This paper presents GPU-based collision detection method that accelerates collision queries for sampling-based motion planning. This approach uses many-core GPUs. To take advantage of a many-core GPU, kinematic and collision detection is calculated by the GPU. The experimental results indicate that this approach can result in a ten-fold faster performance than when using a CPU.

关键词： robots Collision avoidance Graphics processing units Planning Kinematics Joints Instruction sets

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An experimental evaluation for the precision assembly of rotational sensor according to the changes of fit tolerance

An experimental evaluation for the precision assembly of rot...

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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Jaeyoul Lee Ingyu Park Kwangwoo Jeon Sanghun Lee Applied Technology division Korea Institute of Robot and Convergence Pohang Korea R&D Center/DE Drive Technology RS Automation Co. Ltd. Pyoeongtaek Korea

In this study explored how to conduct experimental evaluation according to fit tolerance of bearing housing applied for the precise assembly Jig developed to fabricate high precision rotational sensor, and to develop ... 详细信息

关键词： robot sensing systems Assembly Assembly systems rotation measurement displacement measurement Industries

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development of precision assembly JIG for rotational sensor having 21bit class resolution

Development of precision assembly JIG for rotational sensor ...

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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Jaeyoul Lee Ingyu Park Yongchul Park Sanghun Lee Applied Technology division Korea Institute of Robot and Convergence Pohang Korea R&D Center/DE Drive Technology RS Automation Co. Ltd. Pyoeongtaek Korea

rotational sensor mounted on a motor to precisely control robot system is designed to obtain the rotation value and speed information in term of rotor. Precise rotational sensor is one of the critical components to constitute a precisely controlled robot system. In current, most of precise rotational sensor has not been developed with domestic technology but resorts to import from foreign countries. What is the most important in developing high precision sensor is to develop precision assembly JIG. This paper describes the order and how to assemble rotational sensor and possible problems in the course of assembly, as well as the development of assembly JIG for 21 bit precise rotational sensor.

关键词： Assembly robot sensing systems Integrated circuits Clamps Thumb

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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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Magneto-photoluminescence of charged excitons from MgxZn1−xO/ZnO heterojunctions

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Physical review B 2013年第8期87卷 085312-085312页

作者： T. Makino Y. Segawa A. Tsukazaki H. Saito S. Takeyama S. Akasaka K. Nakahara M. Kawasaki Correlated Electron Research Group (CERG) and Cross-Correlated Materials Research Group (CMRG) RIKEN–Advanced Science Institute Wako 351-0198 Japan Department of Advanced Material Science University of Tokyo Kashiwa 277-8561 Japan PRESTO Japan Science and Technology Agency Tokyo 102-0075 Japan Institute for Solid State Physics University of Tokyo Kashiwa 277-8581 Japan R&D Headquarters ROHM Co. Ltd. Kyoto 615-8585 Japan Department of Applied Physics and Quantum-Phase Electronics Center (QPEC) University of Tokyo Tokyo 113-8656 Japan

We report on the photoluminescence (PL) properties of MgxZn1−xO/ZnO heterojunctions grown by plasma-assisted molecular-beam epitaxy. Influence of the applied magnetic field (B) on the radiative recombination of the two-dimensional electron gas (2dEG) is investigated up to 54 T. An increase in magnetic field in the range of B ≤ 20 T results in a redshift in the PL. Abrupt lineshape changes in the PL spectra are observed at higher magnetic fields, in correlation with the integer quantum Hall states. We attempt to interpret these features using the conventional model for the 2dEG-related PL based on the transition between the 2dEG and a hole as well as a model taking a bound state effect into account, i.e., a charged exciton. The comparison about the adequateness of these models was made, being in favor of the charged exciton model.

关键词： PHOTOLUMINESCENCE rESEArCH MAGNETIC fields MOLECULAr beam epitaxy ELECTrON gas research QUANTUM dots EXCITON theory

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3d-based Visual Assistance System for Teleoperation

3D-based Visual Assistance System for Teleoperation

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International Conference on Control, Automation and Systems

作者： Ga-ram Jang Yong-deuk Shin Jae-Shik Yoon Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan R&D Center

ISBN: (纸本)9781467322478

In this paper, we propose a 3d-based visual assistance system for teleoperation using 3d point cloud data. In a teleoperating system, it is essential to provide the teleoperator with highly realistic information. By using 3d point cloud data, the teleoperator can observe the working environment from different viewpoints and apply various task-solving methods to it.

关键词： Teleoperation 3d point cloud Visual assistance system

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31st Annual Meeting and Associated Programs of the Society for Immunotherapy of Cancer (SITC 2016): part one: National Harbor, Md, USA. 9-13 November 2016

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J Immunother Cancer 2016年第SUPPL 1期4卷 1-1页

作者： Andreas Lundqvist Vincent van Hoef Xiaonan Zhang Erik Wennerberg Julie Lorent Kristina Witt Laia Masvidal Sanz Shuo Liang Shannon Murray Ola Larsson rolf Kiessling Yumeng Mao John-William Sidhom Catherine A. Bessell Jonathan Havel Jonathan Schneck Timothy A. Chan Eliot Sachsenmeier david Woods Anders Berglund rupal ramakrishnan Andressa Sodre Jeffrey Weber roberta Zappasodi Yanyun Li Jingjing Qi Philip Wong Cynthia Sirard Michael Postow Walter Newman Henry Koon Vamsidhar Velcheti Margaret K. Callahan Jedd d. Wolchok Taha Merghoub Lawrence G. Lum Minsig Choi Archana Thakur Abhinav deol Gregory dyson Anthony Shields Cara Haymaker Marc Uemura ravi Murthy Marihella James daqing Wang Julie Brevard Catherine Monaghan Suzanne Swann James Geib Mark Cornfeld Srinivas Chunduru Sudhir Agrawal Cassian Yee Jennifer Wargo Sapna P. Patel rodabe Amaria Hussein Tawbi Isabella Glitza Scott Woodman Wen-Jen Hwu Michael A. davies Patrick Hwu Willem W. Overwijk Chantale Bernatchez Adi diab Erminia Massarelli Neil H. Segal Vincent ribrag Ignacio Melero Tara C. Gangadhar Walter Urba dirk Schadendorf robert L. Ferris roch Houot Franck Morschhauser Theodore Logan Jason J. Luke William Sharfman Fabrice Barlesi Patrick A. Ott Laura Mansi Shivaani Kummar Gilles Salles Cecilia Carpio roland Meier Suba Krishnan dan Mcdonald Matthew Maurer Xuemin Gu Jaclyn Neely Satyendra Suryawanshi ronald Levy Nikhil Khushalani Jennifer Wu Jinyu Zhang Fahmin Basher Mark rubinstein Mark Bucsek Guanxi Qiao Cameron Macdonald Bonnie Hylander Elizabeth repasky Shilpak Chatterjee Anusara daenthanasanmak Paramita Chakraborty Kyle Toth Megan Meek Elizabeth Garrett-Mayer Michael Nishimura Chrystal Paulos Craig Beeson Xuezhong Yu Shikhar Mehrotra Fei Zhao Kathy Evans Christine Xiao Alisha Holtzhausen Brent A. Hanks Nicole Scharping Ashley V. Menk rebecca Moreci ryan Whetstone rebekah dadey Simon Watkins robert Ferris Greg M. delgoffe Jonathan Peled Sean devlin Anna Staffas Melissa Lumish Kori Porosnicu rodriguez Katya Ahr Miguel Perales Sergio Giralt Ying Taur Eric Pam Karolinska Institutet Stockholm Stockholms Lan Sweden Weill Cornell Medical College New York NY USA Nova Southeastern University Cell Therapy Institute Fort Lauderdale FL USA Johns Hopkins University School of Medicine Baltimore MD USA Immunology Program Johns Hopkins University School of Medicine Columbia MD USA Memorial Sloan Kettering Cancer Center New York NY USA Johns Hopkins Medical Institute Baltimore MD USA University of Rochester Monrovia MD USA NYU Langone Medical Center New York NY USA H. Lee Moffitt Cancer Center Tampa FL USA Ludwig Collaborative Laboratory Memorial Sloan Kettering Cancer Center New York NY USA Immune Monitoring Core Facility Memorial Sloan Kettering Cancer Center New York NY USA Leap Therapeutics Cambridge MA USA Department of Medicine Memorial Sloan Kettering Cancer Center New York NY USA Case Western Reserve University Cleveland OH USA Cleveland Clinic Main Campus Cleveland OH USA University of Virginia Cancer Center Charlottesville VA USA Stony Brook University Medical Center Stony Brook NY USA Karmanos Cancer Institute Detroit MI USA University of Texas MD Anderson Cancer Center Houston TX USA Idera Pharmaceuticals Inc. Cambridge MA USA Institut Gustave Roussy Villejuif Ile-de-France France Center for Applied Medical Research (CIMA) University of Navarra Pamplona Navarra Spain University of Pennsylvania Philadelphia PA USA Earle A. Chiles Research Institute Providence Cancer Center Portland OR USA Universitätsklinikum Essen Essen Nordrhein-Westfalen Germany University of Pittsburgh Pittsburgh PA USA CHU Rennes Service Hématologie Clinique and INSERM 0203 Unité d’Investigation Clinique Rennes Bretagne France Centre Hospitalier Régional Universitaire de Lille Lille Nord-Pas-de-Calais France Simon Cancer Center Indiana University Indianapolis IN USA University of Chicago School of Medicine Chicago IL USA Johns Hopkins University School of Medicine Lutherville MD USA Multidisciplinary Oncology and Therapeuti

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