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International Conference on Control, Artificial Intelligence, robotics & Optimization (ICCAIrO)

作者： Ji-Hong Li Hyungjoo Kang Gyu-Hwa Park Jin-Ho Suh Marine Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea

ISBN: (纸本)9781509065370

This paper presents a real time path planning scheme for underwater vehicles operating in completely unknown environments. due to deficiency of necessary information, most of graph generation and corresponding graph searching methods proposed so far cannot be directly applicable. In this paper, a kind of visibility graph called rBVG (rubber band visibility graph) is introduced to generate roadmap. This graph is generated under the assumption that there isn't any obstacle outside of the vehicle's sonar coverage area (here the coverage area includes all of the past covered area). Since this graph might be different from the real one, we call it virtual rBVG. With this graph, we apply an A* algorithm to plan a kind of optimal path. Unlike to the mobile robot case where Cartesian distance is usually taken as heuristic cost function, in the water, various aspects of criteria (e.g. energy consumption and mission duration) should be carefully considered. Some simulation studies are also carried out to demonstrate the effectiveness of proposed path planning scheme.

关键词： Path planning robots Sonar rubber Two dimensional displays Underwater vehicles Cost function

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Artificial Thermal Sensation: Stretchable Skin‐Like Cooling/Heating device for reconstruction of Artificial Thermal Sensation in Virtual reality (Adv. Funct. Mater. 29/2020)

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Advanced Functional Materials 2020年第29期30卷

作者： Jinwoo Lee Heayoun Sul Wonha Lee Kyung rok Pyun Inho Ha dongkwan Kim Hyojoon Park Hyeonjin Eom Yeosang Yoon Jinwook Jung dongjun Lee Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical Engineering Seoul National University 1 Gwanak‐ro Gwanak‐gu Seoul 08826 Korea Interactive and Networked Robotics Laboratory Department of Mechanical Engineering Seoul National University 1 Gwanak‐ro Gwanak‐gu Seoul 08826 Korea Thermochemical Energy System R&D Group Korea Institute of Industrial Technology 89 Yangdaegiro‐gil Ipjang‐myeon Seobuk‐ku Cheonan‐si Chungcheongnam‐do 31056 Korea Institute of Advanced Machinery and Design (SNU‐IAMD)/Institute of Engineering Research Seoul National University Gwanak‐ro Gwanak‐gu Seoul 08826 Korea

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Why is the Winner the Best?

Why is the Winner the Best?

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Conference on Computer Vision and Pattern recognition (CVPr)

作者： M. Eisenmann A. reinke V. Weru M. d. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. daum M. de Bruijne A. depeursinge r. dorent J. Egger d. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. rädsch J. rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner d. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia d. Zimmerer d. Aydogan B. Bhattarai L. Bloch r. Brüngel J. Cho C. Choi Q. dou I. Ezhov C. M. Friedrich C. Fuller r. r. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira d. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. rajpoot K. ryu N. Saeed A. Shephard P. Shi d. Štepec r. Subedi G. Tochon H. r. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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Experimental Study on Pressure resistance Performance of the Plastic Housing for the Underwater robot System

Experimental Study on Pressure Resistance Performance of the...

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International Conference on Ubiquitous robots and Ambient Intelligence

作者： Jung-Woo Lee Young-Ho Choi Jin-Ho Suh Kap-Ho Seo Field Robotics R&D Division Korea Institute of Robot and Convergence

ISBN: (纸本)9781509008223

The underwater housing is used to protect the electronic parts of the underwater robot system from water and pressure. The housing made of a metal material is widely used, but the weight is heavy and the price is expensive. So in recent years the housing of plastic material that is inexpensive and lightweight is being used in shallow water depth. In this paper, we have obtained the pressure resistance performance in several plastic housing specimens by the high pressure experiments. In the experiments result, we know the pressure resistance performance of the oil filled housing specimen better than other specimens.

关键词： Underwater Housing Plastic Housing Pressure resistance Oil Filled

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docking Technique for Manta-type UUV and its Experimental Studies in Water Tank Environment

Docking Technique for Manta-type UUV and its Experimental St...

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OCEANS MTS/IEEE Monterey (Conference)

作者： H. J. Kang S. C. Jee M. G. Kim S. M. Hong M. J. Lee J. T. Kim J. H. Li Marine Robotics R&D Division Korea Institute of Robot & Convergence (KIRO)

ISBN: (纸本)9781509015276

We present an underwater docking technique for a manta-type unmanned undersea vehicle (UUV) which is under development in Korea Institute of robot and Convergence (KIrO). The manta-type UUV is a test-bed vehicle for demonstrating an autonomous docking technique in the water tank [1]. There are two cameras mounted in front of the vehicle for vision-based underwater localization around docking station. There is a range sonar array mounted in front of the vehicle. This sonar is used for obstacle avoidance, and also can be used as a simultaneous localization and mapping (SLAM) solution in a partially known environment. In this paper, we show the results of a remote docking experimentation performed in the water tank for the manta-type UUV. From the results, we verify the docking performance of a manta-type UUV and applicability of the developed docking station.

关键词： Underwater docking technique Manta-type unmanned undersea vehicle Vision-based underwater localization Obstacle avoidance Simultaneous localization and mapping docking station

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Effectiveness of robot exhibition through visitors experience: A case study of Nagoya Science Hiroba exhibition in Japan

Effectiveness of robot exhibition through visitors experienc...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Min-Gyu Kim Jaeryoung Lee Yuusuke Aichi Hiroki Morishita Munehiro Makino Manufacturing Robotics R&D Division Korea Institute of Robot and Convergence Pohang South Korea Dept. of Robotic Science and Technology Chubu University Kasugai Japan

ISBN: (纸本)9781509027866

This study presents an additional investigation of effectiveness of robot exhibition through visitors experience, with respect to the previous research which was performed in the robot museum in South Korea. The survey research was performed in the temporal robot exhibition in Nagoya Science Hiroba 2016, Japan, targeting the local citizen who are most of the visitors of the exhibition. Sociability, social attraction and negative attitude toward robots were measured to analyze change of the perception about robots through visiting experience. The results showed that sociability and social attraction were significantly changed after experiencing robot exhibitions. However, the negative attitude showed no significant change. It was confirmed that sociability was changed through the visiting experience similar to the robot museum case. However, the social attraction was a significantly increased, and the negative attitude had no significant change, different with the result in the robot museum. It is supposed that since the robot exhibition provided much communicative opportunities to the visitors than the robot museum, the social attraction showed a significant change rather than the robot museum. Also, it is assumed that the cultural aspect in Japan, where robot is widely exposed to the public at present, affected no significant perceptual change on the negative attitude towards general robots.

关键词： robots Human-robot interaction Cultural differences Global communication Education IEEE Press Manufacturing

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robotic automation system for steel beam assembly in building construction

Robotic automation system for steel beam assembly in buildin...

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International Conference on Autonomous robots and Agents, ICArA

作者： Baeksuk Chu Kyungmo Jung Youngsu Chu daehie Hong Myo-Taeg Lim Shinsuk Park Yongkwun Lee Sung-Uk Lee Min Chul Kim Kang Ho Ko Division of Mechanical Engineering Korea University Seoul South Korea Nuclear Robotics Laboratory Korea Atomic Energy Research Institute Daejeon South Korea Center for Cognitive Robotic Research Korea Institute of Science and Technology Seoul South Korea R&D Center ROBOTOUS Inc Seongnam Gyeonggi Korea R&D Center mPlus corp. Hwaseong Gyeonggi Korea

In building construction, steel beam assembly has been considered as one of the most dangerous manual operations. In this paper, applying robotic technologies to the steel beam assembly task is discussed. Employing the robotic systems to automate such construction tasks gives the following advantages: saving construction time and cost, enhancing operator's safety, and improving overall quality. The automated robotic assembly system presented in the paper consists of a robotic bolting device, a robotic mobile mechanism, and a bolting control system including human-machine interface. The robotic bolting device, which includes a bolting end-effector and a robotic manipulator, performs actual bolting operation. Utilizing the robotic mobile mechanism composed of a rail sliding boom mechanism and a scissors-jack type mobile manipulator, the robotic assembly system can be transported to a target position for bolting operation. The bolting control system plays a role of safely and efficiently operating the robotic assembly system employing a hole recognition system based on vision technology and a haptic based HMI (Human-Machine Interface) system. This paper includes the major components of the entire robot system that have been built and the future plans to integrate them.

关键词： robotic assembly robotics and automation Steel Structural beams Assembly systems Buildings Mobile robots Control systems Man machine systems Manipulators

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans research and development robot vision systems Computer vision Laboratories Image sequences Scalability

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Abstracts of presentations at the 18th Conference of the Entomological Society of Israel - May 18, 2000 - ArO, The Volcani Center, Bet dagan, Israel

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PHYTOPArASITICA 2001年第1期29卷 51-89页

作者： [Anonymous] Dept. of Cell and Animal Biology The Hebrew University of Jerusalem Jerusalem Israel Dept. of Entomology Israel Dept. of Chemistry The Volcani Center ARO Bet Dagan Integrated Pest Management Fruit Crops Experiment Station Agriculture Company in Upper Galilee Kibbutz Yiron Ministry of Agriculture and Rural Development Extension Service Qiryat Dept. of Stored Products Pheromone Research Lab. ARO The Volcani Center Bet Dagan Israel Div. of Bioresource and Bioenvironmental Sciences Graduate School Kyushu University Fukuoka Japan Mitrani Dept. for Desert Ecology Blaustein Institute for Desert Research Ben-Gurion University of the Negev Sede Boqer Campus Israel Dept. of Chemistry University of Hamburg Germany Dept. of Entomology ARO The Volcani Center Bet Dagan Dept. of Zoology Faculty of Life Science Tel-Aviv University Tel Aviv Israel Plant Protection and Inspection Services Ministry of Agriculture and Rural Development Bet Dagan Israel Carmel Mizrahi Rishon LeZiyyon Ministry of Agriculture and Rural Development Extension Service Rehovot Israel Agricultural Department Agan Chemical Manufacturers Ashdod Israel Dept. of Entomology ARO Gilat Research Station M.P. Negev Israel Entomology Laboratory Ministry of Health Jerusalem Israel Kimron Veterinary Institute Bet Dagan Israel USDA/ARS Gainesville USA Dept. of Stored Products ARO The Volcani Center Bet Dagan Israel Dept. of Plant Protection Southwest Agricultural University Chonqing China Makliteshim Chemical Works Ltd. Be’er Sheva Israel Dept. of Entomology ARO The Volcani Center Bet Dagan Israel Jerusalem Bet Dagan Israel Plant Protection Division Extension Service Ministry of Agriculture and Rural Development 1 ha ’Hamaqim District Bet Dagan Dept. of Plant Science Faculty of Life Science Tel-Aviv University Tel Aviv Israel Dept. of Plant Sciences Tel-Aviv University Tel Aviv Vitality Biotechnologies (Israel) Ltd. Carmel Industrial Park Tirat HaCarmel Israel Max-Planck-Institut Cologne

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Absolute Precision Improvement of an Industrial Six-Axis robot with Cameras

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IFAC Proceedings Volumes 2000年第27期33卷 213-218页

作者： Mathieu Coudurier Bernard Caron Max Giordano Jacques Vuachet Lamii: Laboratoire d’Automatique et de Micro-informatique Industrielle 41 Avenue de la Plaine F - 74016 Annecy Tel: +33 (0)4 50 66 60 40 Fax: +33 (0)4 50 66 60 63 Stäubli R&D Robotics Division Place R. Stäubli F - 74210 Faverges Tel +33 (0)4 50 65 60 60 Fax: +33 (0)4 50 65 61 30 Lmeca: Laboratoire de Mécanique Appliquée 41 Avenue de la Plaine F- 74016 Annecy Tel: +33 (0)4 50 66 60 40 Fax: +33 (0)4 50 66 60 63

In this paper, the complete measuring system and the method used to calibrate the Stäubli robot (six rotary axes) are presented. The whole procedure improves the robot pose accuracy and requires a relatively low cost equipement: two CCd cameras and a gauge part measured to a high precision on a Coordinate Measuring Machine. The precision improvement is based on both a modelization and an identification of the mechanical structure and the optical calibration tool. Experimental results show both the system validity and the precision that can be reached, in a very short time, with a Stäubli rX130L robot.

关键词： robot kinematics Identification Modelling robot calibration Accuracy Cameras

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