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24th International Conference on Control, Automation and Systems, ICCAS 2024

作者： Jeong, Da Bin Yong Ko, Nak Chosun University Interdisciplinary Program in IT-Bio Convergence System Graduate School Department of Electronic Engineering Gwangju61452 Korea Republic of Chosun University Interdisciplinary Program in IT-Bio Convergence System Department of Electronic Engineering Gwangju61452 Korea Republic of

ISBN: (纸本)9788993215380

This paper proposes a Dead-reckoning (DR) method for vehicles using Lie theory. This approach treats the pose (position and attitude) and velocity of the vehicle as elements of the Lie group SE2(3) and follows computations based on Lie theory. Previously widely used DR methods suffer from cumulative errors over time due to inaccuracies in the calculated changes from velocity during the motion of the vehicle or small errors in modeling assumptions. By treating the pose and velocity of the vehicle as elements of the Lie group, the proposed method allows for accurate solutions without errors introduced by linearization. Experimental results confirm that the proposed method improves the accuracy of DR, particularly as the motion prediction time interval of the vehicle increases. © 2024 ICROS.

关键词： Exponential functions

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ED-NERF: EFFICIENT TEXT-GUIDED EDITING OF 3D SCENE WITH LATENT SPACE NERF 12

ED-NERF: EFFICIENT TEXT-GUIDED EDITING OF 3D SCENE WITH LATE...

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12th International Conference on Learning Representations, ICLR 2024

作者： Park, Jangho Kwon, Gihyun Ye, Jong Chul Kim Jaechul Graduate School of AI Korea Republic of Robotics Program Korea Republic of Department of Bio and Brain Engineering KAIST Korea Republic of

Recently, there has been a significant advancement in text-to-image diffusion models, leading to groundbreaking performance in 2D image generation. These advancements have been extended to 3D models, enabling the generation of novel 3D objects from textual descriptions. This has evolved into NeRF editing methods, which allow the manipulation of existing 3D objects through textual conditioning. However, existing NeRF editing techniques have faced limitations in their performance due to slow training speeds and the use of loss functions that do not adequately consider editing. To address this, here we present a novel 3D NeRF editing approach dubbed ED-NeRF by successfully embedding real-world scenes into the latent space of the latent diffusion model (LDM) through a unique refinement layer. This approach enables us to obtain a NeRF backbone that is not only faster but also more amenable to editing compared to traditional image space NeRF editing. Furthermore, we propose an improved loss function tailored for editing by migrating the delta denoising score (DDS) distillation loss, originally used in 2D image editing to the three-dimensional domain. This novel loss function surpasses the well-known score distillation sampling (SDS) loss in terms of suitability for editing purposes. Our experimental results demonstrate that ED-NeRF achieves faster editing speed while producing improved output quality compared to state-of-the-art 3D editing models. Code and rendering results are available at our project page. © 2024 12th International Conference on Learning Representations, ICLR 2024. All rights reserved.

关键词： Distillation

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Navigation of Underwater Robots Compensating Attitude Error between Sensor Coordinate Systems

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Journal of Institute of Control, Robotics and Systems 2022年第6期28卷 566-574页

作者： Jeong, Da Bin Ko, Nak Yong Chung, Jun Hyuk Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Graduate School Chosun University Korea Republic of Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of ROBORO Co. LTD. Korea Republic of

This paper presents a navigation method for underwater robots that compensates for misalignment between sensors. Because precise coordinate systems of sensors for navigation cannot be given, errors in the transformation of sensor measurements are inevitable. To decrease navigation error due to the misalignment, the proposed method estimates the misalignment and compensates for navigation error considering the misalignment. The proposed method is implemented by the extended Kalman filter and verified through simulation and experiments. The experiment demonstrates that the method improves navigation accuracy and the error covariance of the misalignment converges. © ICROS 2022.

关键词： Extended Kalman filters

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Development of a Thin-Film pH Sensor for Quantitative Detection of MicroRNAs

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IEEJ Transactions on Sensors and Micromachines 2024年第7期144卷 185-186页

作者： Suzuki, Kazuya Tabata, Miyuki Miyahara, Yuji Arakawa, Takahiro Sustainable Engineering Program Graduate School of Engineering Tokyo University of Technology 1404-1 Katakura-cho Hachioji Tokyo192-0982 Japan Graduate School of Bio-applications and Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Tokyo Koganei184-8588 Japan Institute of Biomaterials and Bioengineering Tokyo Medical and Dental University 2-3-10 Kanda-surugadai Chiyoda-ku Tokyo101-0062 Japan

Quantification methods for microRNAs (miRNAs) are attracting attention, because miRNAs provide a potential biomarker in liquid biopsy. In this research, we developed an electrical monitoring device of nucleic acid amplification that is simpler than the conventional PCR method, combining an isothermal amplification method and a thin-film Iridium/Iridium oxide (Ir/IrOx) electrode. The fabricated Ir/IrOx electrode showed ideal Nernstian response under the various pH buffer solutions. Moreover, we successfully real-time monitored three-way junction primer generation-rolling circle amplification (3WJ-PGRCA) at the 0.01, 0.1 pM, Negative Control of target miRNA based on fluorescence detection. The fabricated Ir/IrOx electrode would be a promising liquid biopsy platform by detecting released proton during amplification reaction at the constant reaction temperature. © 2024 The Institute of Electrical Engineers of Japan.

关键词： pH sensors

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Underwater Robot Navigation Through Compensation of Sensor Misalignment in Non-linear Space 23

Underwater Robot Navigation Through Compensation of Sensor M...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Jeong, Da Bin Choi, Woong Ko, Nak Yong Interdisciplinary Program in IT- Bio Convergence System Graduate School Chosun University Department of Electronic Engineering Gwangju61452 Korea Republic of College of Ict Construction Welfare Convergence Kangnam University Gyeonggi-do16979 Korea Republic of Chosun University Interdisciplinary Program in IT-Bio Convergence System Department of Electronic Engineering Gwangju61452 Korea Republic of

ISBN: (纸本)9788993215274

This paper presents a novel approach to estimate and compensate for the misalignment between the Inertial Measurement Unit (IMU) and Doppler Velocity Log (DVL) sensors. Estimating the location and attitude of an ROV usually combines the attitude by IMU and the velocity by the DVL provided in the sensor coordinate system. The attitude is regarded as the attitude of the ROV and the velocity in the sensor coordinate frame is converted to the velocity in the inertial coordinate frame. Misalignment in the DVL and IMU causes errors in the converted velocity and results in the degradation of the navigation performance. The proposed method represents the misalignment using unit quaternion. Especially, the method utilizes the Lie theory to deal with the operations on unit quaternions which constitute a Lie group, called the 3-sphere group. Simulation and testing of the method in a marine environment validate its effectiveness and practical applicability. © 2023 ICROS.

关键词： Remotely operated vehicles

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When quantum dots meet blue phase liquid crystal elastomers:visualized full-color and mechanically-switchable circularly polarized luminescence

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Light(Science & Applications) 2024年第6期13卷 1210-1220页

作者： Shan Li Yuqi Tang Qingyan Fan Ziyuan Li Xinfang Zhang Jingxia Wang Jinbao Guo Quan Li Key Laboratory of Carbon Fibers and Functional Polymers Ministry of Educationand College of Materials Science and EngineeringBeijing University of Chemical Technology100029BeijingChina Institute of Advanced Materials and School of Chemistry and Chemical Engineering Southeast UniversityNanjing211189China Materials Science Graduate Program Kent State UniversityKentOH44242USA CAS Key Laboratory of Bio-Inspired Materials and Interfacial Sciences Technical Institute of Physics and ChemistryChinese Academy of Sciences100190BeijingChina

Polymer-based circularly polarized luminescence(CPL)materials with the advantage of diversified structure,easy fabrication,high thermal stability,and tunable properties have garnered considerable ***,adequate and precise tuning over CPL in polymer-based materials remains challenging due to the difficulty in regulating chiral ***,visualized full-color CPL is achieved by doping red,green,and blue quantum dots(QDs)into reconfigurable blue phase liquid crystal elastomers(BPLCEs).In contrast to the CPL signal observed in cholesteric liquid crystal elastomers(CLCEs),the chiral 3D cubic superstructure of BPLCEs induces an opposite CPL ***,this effect is entirely independent of photonic bandgaps(PBGs)and results in a high glum value,even without matching between PBGs and the emission bands of ***,the lattice structure of the BPLCEs can be reversibly switched via mechanical stretching force,inducing on-off switching of the CPL signals,and these variations can be further fixed using dynamic disulfide bonds in the ***,the smart polymer-based CPL systems using the BPLCEs for anti-counterfeiting and information encryption have been demonstrated,suggesting the great potential of the BPLCEs-based CPL active materials.

关键词： circular quantum crystal

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Application of 3D Printing and Design in Healthcare: A Focus on Undergraduate Research to Attract Students to bioengineering and Related Disciplines 54

Application of 3D Printing and Design in Healthcare: A Focus...

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54th IEEE Frontiers in Education Conference, FIE 2024

作者： Zelada-Quiroz, Cindy M. Reyes-Santiago, Brian L. Ortiz-Rivera, Eduardo I. University of Puerto Rico at Mayagüez Bio-Engineering Graduate Program Mayagüez Puerto Rico University of Puerto Rico at Mayagüez Department of Computer Science and Engineering Mayagüez Puerto Rico University of Puerto Rico at Mayagüez Department of Electrical and Computer Engineering Mayagüez Puerto Rico

ISBN: (纸本)9798350351507

This research-to-practice paper describes developing and analyzing state-of-the-art smart boots created by combining CAD technology and advanced 3D printing techniques to attract students in bio-engineering and related fields. The primary objective of this innovative immobilization boot is to expedite fracture recovery phases through an ergonomic design to ensure optimal patient comfort during its use. Technological solutions are crucial in aiding the rehabilitation process for fractures caused by falls, heavy lifting, or rotational trauma. However, cost and comfort-related issues persist, underscoring the need for alternative approaches. This research addresses these challenges and delves into the broader implications of fracture treatment, catalyzing future projects and investigations in bioengineering. Additionally, this study serves as an educational tool that sparks the interest of high school and engineering students, promoting multidisciplinary collaboration in innovation. By involving students in specialized courses covering 3D design, human bone anatomy, biology, and materials science, this initiative empowers them to deepen their knowledge and develop new technologies to address bone injury problems. Material analyses include evaluating the type of material depending on the fracture site, such as PLA for printing and cotton and silicone gel for the midsection between the splint and the body. This research aims to advance our understanding of the type of fracture, the methods associated with their treatment, and tissue repair processes during bone callus formation. To summarize, this multidisciplinary approach drives advancements in bio-engineering and related fields, aiming to enhance patient outcomes and inspire students to pursue further research in bio-engineering and related fields. As part of this endeavor, a list of university-level courses based on the experience of the University of Puerto Rico at Mayaguez (UPRM), such as biology, bio-materials, 3D

关键词： Students

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Three-Dimensional Dead-Reckoning Using Lie Theory

Three-Dimensional Dead-Reckoning Using Lie Theory

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Da Bin Jeong Nak Yong Ko Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Graduate School Chosun University Gwangju Republic of Korea Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Gwangju Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This paper proposes a Dead-reckoning (DR) method for vehicles using Lie theory. This approach treats the pose (position and attitude) and velocity of the vehicle as elements of the Lie group SE 2 (3) and follows computations based on Lie theory. Previously widely used DR methods suffer from cumulative errors over time due to inaccuracies in the calculated changes from velocity during the motion of the vehicle or small errors in modeling assumptions. By treating the pose and velocity of the vehicle as elements of the Lie group, the proposed method allows for accurate solutions without errors introduced by linearization. Experimental results confirm that the proposed method improves the accuracy of DR, particularly as the motion prediction time interval of the vehicle increases.

关键词： Accuracy Dead reckoning Uncertainty Filters Pose estimation Linear approximation Lie groups Prediction algorithms Control systems Standards

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Relationship Between Mechanical Deformation and Contact Force Applied by Catheter Tip on Cardiac Muscle: Experimentation and Computer Modeling 5

Relationship Between Mechanical Deformation and Contact Forc...

引用

5th IEEE Eurasia Conference on biomedical engineering, Healthcare and Sustainability, ECbioS 2023

作者： Ijima, Yukako Masnok, Kriengsak Perez, Juan J. Gonzalez-Suarez, Ana Berjano, Enrique Watanabe, Nobuo Master's Program Global Course of Engineering and Science Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Saitama Japan Universitat Politecnica de Valencia BioMIT Department of Electronic Engineering Valencia Spain School of Engineering University of Galway Translational Medical Device Lab Galway Ireland Functional Control Systems Graduate School of Engineering and Science College of Systems Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Department of Bio-Science and Engineering Saitama Japan

ISBN: (纸本)9798350320978

The cardiac muscle is elastic and deformable. Pushing a catheter in contact with the cardiac muscle surface to conduct focal energy-based ablative therapies, such as RF ablation, requires an adequate electrode-tissue contact surface to transfer the energy to the target site. In this regard, the relationship between the contact force (CF) and the resulting mechanical response is still unclear, in particular, the insertion depth (ID) and the diameter of the surface deformation. The objective of this study was to quantify these relationships using an ex vivo model and a computational model. A rigid bar with a 2.3 mm diameter blunt tip (mimicking a 7Fr standard ablation catheter) was placed at a perpendicular orientation on a fragment of the porcine heart. CF values ranged from 10 to 80g. We used ANSYS to build a Mooney-Rivlig model of 3 parameters based on hyperelastic material and to simulate the same conditions as in the experiments. The experimental results showed a strong linear correlation between CF and insertion depth ID ($\mathrm{R}^{2}=0.97, \mathrm{P} © 2023 IEEE.

关键词： Catheters

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Unified Editing of Panorama, 3D Scenes, and Videos Through Disentangled Self-Attention Injection

arXiv

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arXiv 2024年

作者： Kwon, Gihyun Park, Jangho Ye, Jong Chul Kim Jaechul Graduate School of AI KAIST Korea Republic of Department of Bio and Brain Engineering KAIST Korea Republic of Robotics Program KAIST Korea Republic of

While text-to-image models have achieved impressive capabilities in image generation and editing, their application across various modalities often necessitates training separate models. Inspired by existing method of single image editing with self attention injection and video editing with shared attention, we propose a novel unified editing framework that combines the strengths of both approaches by utilizing only a basic 2D image text-to-image (T2I) diffusion model. Specifically, we design a sampling method that facilitates editing consecutive images while maintaining semantic consistency utilizing shared self-attention features during both reference and consecutive image sampling processes. Experimental results confirm that our method enables editing across diverse modalities including 3D scenes, videos, and panorama images. © 2024, CC BY.

关键词： Semantics

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