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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Kim, Deok-Hwa Kim, Jong-Hwan Department of Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

This paper proposes a novel approach to calculate visual odometry using Microsoft Kinect incorporating depth information into RGB color information to generate 3D feature points based on speed up robust features (SURF) descriptor. In particular, the generated 3D feature points are used for calculating the iterative closest point (ICP) algorithm between successive images from the sensor. The ICP algorithm works based on image information of features differently from previous approaches. This paper suggests one of the modified versions for a state-of-the-art implementation of the ICP algorithm. Such an approach makes accurate calculation of the rigid body transformation matrix for visual odometry in a dynamic environment. From this calculation step, dynamically moving features can be separated into outliers. Then, the outliers are filtered with random sample consensus (RANSAC) algorithm for accurate calculation of the rigid body transformation matrix. The experiments demonstrate that visual odometry is successfully obtained using the proposed algorithm in a dynamic environment. © 2013 Springer-Verlag.

关键词： Iterative methods

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Design and analysis of a new hybrid rotary steerable system for directional drilling

Design and analysis of a new hybrid rotary steerable system ...

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Park, Jieun Kim, Jongheon Park, Byeolteo Myung, Hyun Division of Mechanical Engineering KAIST Korea Republic of Dept. Civil and Environmental Engineering KAIST Korea Republic of Dept. Civil and Environmental Engineering Robotics Program KAIST Korea Republic of

ISBN: (纸本)9781479911738

Recently, shale gas has become an important energy source. Directional drilling is an imperative technology when it comes to excavating shale gas because it exists in underground in horizontally spaced areas. A rotary steerable system (RSS) enables the effective directional drilling. In general, there are two types of RSS, the point-the-bit and the push-the-bit. In this paper, a new hybrid type RSS is proposed. The hybrid type RSS has advantages of both the point-the-bit and the push-the-bit. We expect that the proposed RSS can increase the build-rate. The effectiveness of the proposed mechanism is discussed by predicting the side force. © 2013 IEEE.

关键词： Directional drilling

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Particle swarm optimization-based distributed control scheme for flocking robots

Particle swarm optimization-based distributed control scheme...

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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Lee, Seung-Mok Myung, Hyun Dept. of Civil and Environmental Engg. Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

This paper proposes a Nash equilibrium-based model predictive control (MPC) scheme incorporating a cooperative particle swarm optimization (CPSO) to deal with the control of flocking robots whose state vectors are coupled in a cost function. In conventional distributed MPC, the stability is assured by guaranteeing a bounded error between what a subsystem plans to do and what neighbors believe that the subsystem plans to do over a finite prediction horizon. This condition is referred to as compatibility constraint, and the closed-loop control performance largely depends on the responses computed at the previous time step. As an alternative of the compatibility constraint, the distributed CPSO is suggested in an MPC framework, which guarantees the stability without enforcing the compatibility constraint. A numerical simulation is performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed MPC scheme incorporating CPSO. © 2013 Springer-Verlag.

关键词： Model predictive control

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2D image feature-based real-time RGB-D 3D SLAM

2D image feature-based real-time RGB-D 3D SLAM

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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Lee, Donghwa Kim, Hyongjin Myung, Hyun Department of Civil and Environmental Engineering KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

This paper proposes a real-time RGB-D (red-green-blue depth) 3D SLAM (simultaneous localization and mapping) system. Kinect style sensors give RGB-D data which contains 2D image and per-pixel depth information. 6-DOF (degree-of-freedom) visual odometry is obtained through the 3D-RANSAC (three-dimensional random sample consensus) algorithm with image features and depth information. For speed up extraction of features, parallel computation is performed on a GPU (graphics processing unit) processor. After a feature manager detects loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and 3D map. Experimental results show the processing rate over 20 Hz. © 2013 Springer-Verlag.

关键词： Graphics processing unit

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Hybrid 4-pad rotary steerable system for directional drilling of unconventional resources

Hybrid 4-pad rotary steerable system for directional drillin...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Byeolteo Park Jongheon Kim Jieun Park Jae-Uk Shin Hyun Myung Dept. of Civil and Environmental Engineering KAIST Daejeon Korea Dept. of Mechanical Engineering KAIST Daejeon Korea Robotics Program KAIST Daejeon Korea

As the importance of unconventional resource grows, the demand for the directional drilling technology is increasing. One of the key technologies of the directional drilling is a rotary steerable system (RSS). Among several types of RSS developed so far, `point-the-bit' and `push-the-bit' are the most commonly used ones. In this paper, a new rotary steerable system using hybrid 4-pad system is introduced. This mechanism improves the steering angle by taking advantages of both `point-the-bit' and `push-the-bit' types. We describe the detailed structure and kinematics of this system.

关键词： Robots Kinematics Shafts Electronic mail Pistons Equations Mathematical model

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Incremental Displacement Estimation (IDE) for Structural Health Monitoring Robot

Incremental Displacement Estimation (IDE) for Structural Hea...

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International Conference on Control, Automation and Systems

作者： Haemin Jeon Jae-Uk Shin Wancheol Myeong Hyun Myung Dept. of Civil and Environmental Engineering KAIST Robotics Program KAIST Dept. of Civil and Environmental Engineering Robotics Program KAIST

ISBN: (纸本)9781467322478

To measure 6-DOF displacement, a visually servoed paired structured light system (ViSP) has been introduced which is composed of two sides facing with each other, each with one or two lasers, a camera, a screen, and a 2-DOF manipulator. In the system, the lasers on both two sides project their parallel beams to the screen on the opposite side and 6-DOF relative displacement between two sides can be calculated using the positions of the three projected laser beams and the rotation angles of the manipulators. In the estimation process, extended Kalman filter (EKF) or Newton-Raphson method have been used. However, these aforementioned iterative methods have a drawback that the computation time is relatively long due to the multiple iterations. Therefore, in this paper, incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement using the difference of the previous and the current observed data is introduced. To validate the performance of the newly proposed algorithm, various experimental tests have been performed. The results show that the ViSP with the IDE algorithm estimates the 6-DOF relative displacement between two sides with the same level of accuracy of EKF with multiple iterations in significantly reduced time.

关键词： Visually servoed paired structured light robot (ViSP) Incremental Displacement Estimation (IDE) Displacement Laser Vision

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Autonomous Homing based on Laser-Camera Fusion System

Autonomous Homing based on Laser-Camera Fusion System

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Dong-Geol Choi Inwook Shim Yunsu Bok Tae Hyun Oh In So Kweon is a Ph.D. student of Robotics program KAIST Daejeon South Korea. is a Ph. D. student of Division of Future Vehicle KAIST Daejeon South Korea. is a postdoctoral researcher of Department of Electrical Engineering KAIST Daejeon South Korea. is a master student of Department of Electrical Engineering KAIST Daejeon South Korea. is a professor of Department of Electrical Engineering KAIST Daejeon South Korea.

ISBN: (纸本)9781467317375

Building maps of unknown environments is a critical factor for autonomous navigation and homing, and this problem is especially challenging in large-scale environments. Recently, sensor fusion systems such as combinations of cameras and laser sensors have become popular in the effort to ensure a general level of performance in this task. In this paper, we present a new homing method in a large-scale environment using a laser-camera fusion system. Instead of fusing data to form a single map builder, we adaptively select sensor data to handle environments which contain ambiguity. For autonomous homing, we propose a new mapping strategy for building a hybrid map and a return strategy for selecting the next target waypoints efficiently. The experimental results demonstrate that the proposed algorithm enables the autonomous homing of a robot in a large-scale indoor environments in real time.

关键词： Laser-Camera Fusion System mapping a return homing Homing behavior MAPPING(MATHEMATICAL) Laser sensors Unknown environments autonomous navigation Level of Performance Sensor fusion Sensor Data task performance Cameras key factors mapping Fusion reactions Fusion, biological

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A mobile robot platform based on spring loaded casters for physical interaction

A mobile robot platform based on spring loaded casters for p...

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20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Kwon, Oh-Hun Song, Hyunsoo Kwon, Dong-Soo Robotics Program KAIST Korea Republic of Department of Mechanical Engineering KAIST Korea Republic of

ISBN: (纸本)9781457715716

As the number of mobile robot applications increases, research related to physical contact between humans and robots is becoming an important issues in the service robot domain. In this paper, a mobile robot platform based on spring loaded casters is proposed as solution to problems in the service robot domain. A simple dynamic equation in two dimensions was computed and the dynamic characteristics according to variation of the elastic coefficient were analyzed. In order to detect force from a human, a linear equation was formulated by regression of the driving data. With the estimated force, an impedance model is applied to the controller for compliance. Through this process, it is shown that the proposed mobile robot platform is capable of a compliant reaction to external force through of its posture, similar to unstable mobile platform, though the mobile platform has the static stability. © 2011 IEEE.

关键词： Robot applications

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