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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Gormuzov, Simon Wang, Yushi Yang, Pinchu Miyake, Tamon Ogata, Tetsuya Sugano, Shigeki Waseda University Graduate School of Creative Science and Engineering Tokyo Japan Waseda University Future Robotics Organization Tokyo Japan Waseda University Faculty of Science and Engineering Tokyo Japan The National Institute of Advanced Science and Technology Tokyo Japan

ISBN: (纸本)9798331531614

In this work, we propose a framework that facilitates natural whole-body movements for a mobile-based humanoid. The framework takes bipedal human motion animation as input. After re-targeting the motion to the robot rig, the joint space data is applied to a physics-enabled robot model for balance confirmation and then deployed one-shot to the real robot. This method is beneficial for: 1) mapping expressive and low-dynamic whole-body motions, such as walking, to mobile-based robots;and 2) serving as a basis for training more complex control policies for more dynamic motions. Experiments were conducted by deploying human walking animations to the robot, assessing its ability to mirror the movements, and evaluating the subjective feelings of humans observing the robot performing the motions generated by both the proposed method and the traditional method. The results indicated that the proposed method is effective for mimicking human movements and consistently delivered a better overall impression in the natural appearance of the motion, the human-like factor, and friendliness. © 2025 IEEE.

关键词： Animation

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Spatially Small-scale Approach-avoidance Behaviors Allow Learning-free Machine Inference of Object Preferences in Human Minds

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International Journal of Social robotics 2023年第6期15卷 999-1006页

作者： Huang, Tsung-Ren Chen, Tzu-Chun Lin, Ting-Yu Goh, Joshua O. S. Chang, Yu-Ling Yeh, Su-Ling Fu, Li-Chen Department of Psychology National Taiwan University No. 1 Sec. 4 Roosevelt Rd Taipei10617 Taiwan Graduate Institute of Brain and Mind Sciences National Taiwan University Taipei Taiwan Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

Estimating human preference is an essential capability of a social robot. Such a machine Theory of Mind for others’ preferences is studied predominantly under the framework of inverse reinforcement learning, which however requires millions of approach-avoidance trajectories in a simulated grid world as training samples to achieve state-of-the-art results. Here, the present study explores the utility of taking spatially small-scale approach-avoidance behaviors in real life as predictive cues for efficiently estimating human preferences. Using a toy-playing scenario as an example (ΣN = 58 young and older adults), we found that a person’s subjectively reported and objectively inferred levels of attention and happiness could well predict the person’s subjective levels of toy preference. Importantly, attention and happiness can be rapidly estimated from gaze directions and emotional expressions by computer vision techniques in a learning-free manner. Compared with preference learning from spatially larger-scale movement behaviors, robot estimation of human preferences from these smaller-scale behavioral cues can be more efficient and generalizable to unlearned situations in real life. © 2023, The Author(s), under exclusive licence to Springer Nature B.V.

关键词： Human robot interaction

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Water-based direct photopatterning of stretchable PEDOT:PSS using amphiphilic block copolymers

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npj Flexible Electronics 2024年第1期8卷 732-741页

作者： Soon Joo Yoon Jeongdae Ha Hyeokjun Lee Jin Tae Park Bin Hyung Lee Kyung-In Jang Anna Yang Yoon Kyeung Lee Department of Nano Convergence Engineering Jeonbuk National UniversityJeonju 54896Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologyDaegu 42988Republic of Korea Division of Advanced Materials Engineering Jeonbuk National UniversityJeonju 54896Republic of Korea ENSIDE Corporation Daegu 42988Republic of Korea Korea Brain Research Institute Deagu 41062Republic of Korea Department of Chemistry and Biochemistry Swarthmore CollegeSwarthmorePA 19081USA

The use of water-based chemistry in photolithography during semiconductor fabrication is desirable due to its cost-effectiveness and minimal environmental impact,especially considering the large scale of semiconductor *** these benefits,limited research has reported successful demonstrations of water-based photopatterning,particularly for intrinsically water-soluble materials such as Poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate)(PEDOT:PSS)due to significant challenges in achieving selective dissolution during the developing *** this paper,we propose amethod for the direct patterning of PEDOT:PSS in water by introducing an amphiphilic Poly(ethylene glycol)-block-poly(propylene glycol)-block-poly(ethylene glycol)(PEO-PPO-PEO,P123)block copolymer to the PEDOT:PSS *** addition of the block copolymer enhances the stretchability of the composite film and reduces the hydrophilicity of the film surface,allowing for water absorption only after UV exposure through a photoinitiated reaction with *** apply this technique to fabricate tactile and wearable biosensors,both of which benefit fromthe mechanical stretchability and transparency of PEDOT:*** method represents a promising solution for water-based photopatterning of hydrophilic materials,with potential for wider applications in semiconductor fabrication.

关键词： process film apply

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Unpaired Shadow Removal: Enhancing Attention to Shadow Areas via Dropkey

Unpaired Shadow Removal: Enhancing Attention to Shadow Areas...

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2025 International Conference on Electronics, Information, and Communication, ICEIC 2025

作者： Yang, Jaewon Shin, Ukcheol Cho, Donghyeon Chungnam National University Dept. of Electronics Engineering Daejeon Korea Republic of Robotics Institute Carnegie Mellon University Pittsburgh United States Hanyang University Dept. of Computer Science Seoul Korea Republic of

ISBN: (纸本)9798331510756

Shadows appear in image areas where an object obstructs the light path. These areas, having lower values than non-shadow areas, degrade image quality and lead to issues in object recognition and segmentation. Supervised shadow removal depends on datasets with shadow and shadow-free image pairs, sparking increased interest in unpaired techniques. However, unpaired shadow removal faces challenges in accurately focusing on shadow areas without direct supervisory signals from ground truth. Consequently, shadows are not effectively removed, and non-shadow areas may suffer from unintended distortions. In this paper, we introduce a transformer-based network designed to identify shadow areas accurately, leveraging global context through spatial and channel attention mechanisms. Additionally, in the training phase, the transformer network is trained to precisely concentrate on shadow areas using a domain classifier and a dropkey mechanism, which randomly drops features of the keys to enhance focus. Our method is tested across several benchmark datasets for shadow removal, such as ISTD, ISTD+, SRD and WSRD, demonstrating better performance compared to current unpaired approaches. © 2025 IEEE.

关键词： Image segmentation

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Future Communication Technology Using Huge Millimeter Waves - An Overview 1

Future Communication Technology Using Huge Millimeter Waves ...

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1st International Conference on Computational Intelligence, Communication Technology and Networking, CICTN 2023

作者： Salama, Ramiz Al-Turjman, Fadi Chaudhary, Preeti Banda, Latha Near East University Ai and Robotics Institute Research Center for Ai and IoT Department of Computer Engineering Nicosia Turkey Near East University Ai and Robotics Institute Artificial Intelligence Engineering Dept. Nicosia Turkey University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Kyrenia Turkey Graphic Era Hill University Computer Science and Engineering Dehradun India Abes Engineering College Ghaziabad India

ISBN: (纸本)9798350338027

Frequency selective surface (FSS) was first created by G. Marconi and C. S. Franklin in 1919 and is known as the "Reflector for Wireless Telegraph and Telephone,"making a significant contribution to our way of life. In terms of the 1960s, it is impossible to overlook the success attained with the employment of regularly selective surfaces in military intelligence units. These structures, which were occasionally applied to land, air, and sea platforms, displayed low pass, high pass, band pass, or band stop characteristics for particular frequencies and served as electromagnetic filters. Many accomplishments have been made, particularly with platforms that are invisible to target detection systems. The geometry and arrangement of the unit cell in these structures, which are successfully used in many fields such as wireless communication systems, radars, and microwaves, allows for the reflection or transmission of the incoming electromagnetic wave. This is made possible by the advancement of technology. High-speed internet connectivity is possible using millimeter wave, a frequency spectrum between 30 GHz and 300 GHz. Its significance has grown in the fields of radio astronomy, radar, remote sensing, and wireless communications. © 2023 IEEE.

关键词： Millimeter waves

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Effect of Layer Thickness on Marginal Gap of Zirconia Crowns Manufactured Using Additive Manufacturing with Top-Down Approach

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Korean Journal of Chemical engineering 2025年第5期42卷 1143-1147页

作者： Lee, Sang-Kyu Park, Chan Jo, Kwang-Ho Choi, Sang-Hyun Lee, Hyein Jang, Kyoung-Jun Yu, Taekyung Department of Chemical Engineering College of Engineering Integrated Engineering Major Kyung Hee University Yongin17140 Korea Republic of Research Institute 3D Controls Co Busan46721 Korea Republic of Department of Prosthodontics School of Dentistry Chonnam National University Gwangju61186 Korea Republic of School of Robotics and Automation Engineering Dongyang Mirae University Seoul08221 Korea Republic of

For efficient 3D printing, fast printing (thick print layers) is necessary;however, in ceramic 3D printing, which involves printing heavy materials, changes in print speed can significantly affect precision. This study compares and analyzes the marginal fit of zirconia crowns produced with different layer thicknesses using a top-down additive manufacturing process. The results for a layer thickness of 50 μm showed lower fit in areas opposite the support compared to the results for layer thicknesses of 10 and 25 μm. It is believed that during very fast printing, the load applied during printing cannot be sustained. These findings can be used as important information for future printing of zirconia prostheses. © The Author(s), under exclusive licence to Korean institute of Chemical Engineers, Seoul, Korea 2025.

关键词： Ceramic materials

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Corpuscular Volume Estimation Using a Small Amount of Blood via Microscope Images 23

Corpuscular Volume Estimation Using a Small Amount of Blood ...

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

作者： Ryu, Jegyeong Nam, Dahyun Son, Junghyun John Han, Amy Kyungwon Lee, Deukhee Center for Healthcare Robotics Korea Institute of Science and Technology Seoul Korea Republic of Yonsei University Division of Mechanical Engineering Seoul Korea Republic of Doping Control Center Korea Institute of Science and Technology Seoul Korea Republic of Seoul National University Department of Mechanical Engineering Seoul Korea Republic of Kist School University of Science and Technology Division of AI-Robotics Seoul Korea Republic of Yonsei-KIST Convergence Research Institute Yonsei University Seoul13391 Korea Republic of

ISBN: (纸本)9788993215274

Blood is an analysis serves as a valuable diagnostic tool that can easily and simply diagnose health, and in particular, red blood cells (RBC) or hematocrit (Hct) and mean corpuscular volume (MCV) can diagnose various diseases. Electrochemical methods have been proposed to find out RBC, Hct, and MCV, but it is difficult to use them for infants or the elderly because they require a large amount of blood. As an alternative, method like blood smear has been suggested to make a diagnosis with a small amount of blood, but it takes a long time to dry the sample. In this study, we present a methodology to make the simple and quick blood analysis. This method uses a microscope image of a small amount of blood, without drying the blood sample. From the image, in order to detect all the blood cells, we adopt a loop algorithm consist of concave point detection, ellipse fitting, and blob detection. To assess the validity and accuracy of the proposed method, an investigation is conducted to examine its correlation with the Sysmex XN-1000, a widely utilized medical reference standard;we show that the correlation coefficients are higher than 0.88, showing more correlation than the method in previous studies by comparing the estimation results. By developing this method, it will be possible to establish a simple quick blood analysis method using microscope images, decreasing a time consumed for the health checkup, saving more lives. © 2023 ICROS.

关键词： Diagnosis

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DOUBLY ROBUST PROXIMAL CAUSAL LEARNING FOR CONTINUOUS TREATMENTS 12

DOUBLY ROBUST PROXIMAL CAUSAL LEARNING FOR CONTINUOUS TREATM...

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12th International Conference on Learning Representations, ICLR 2024

作者： Wu, Yong Fu, Yanwei Wang, Shouyan Sun, Xinwei Institute of Science and Technology for Brain-Inspired Intelligence Fudan University China School of Data Science Fudan University China Zhangjiang Fudan International Innovation Center China Key Laboratory of Computational Neuroscience and Brain-Inspired Intelligence Fudan University China MOE Frontiers Center for Brain Science Fudan University China Shanghai Engineering Research Center of AI & Robotics Fudan University China Engineering Research Center of AI & Robotics Ministry of Education Fudan University China

Proximal causal learning is a powerful framework for identifying the causal effect under the existence of unmeasured confounders. Within this framework, the doubly robust (DR) estimator was derived and has shown its effectiveness in estimation, especially when the model assumption is violated. However, the current form of the DR estimator is restricted to binary treatments, while the treatments can be continuous in many real-world applications. The primary obstacle to continuous treatments resides in the delta function present in the original DR estimator, making it infeasible in causal effect estimation and introducing a heavy computational burden in nuisance function estimation. To address these challenges, we propose a kernel-based DR estimator that can well handle continuous treatments for proximal causal learning. Equipped with its smoothness, we show that its oracle form is a consistent approximation of the influence function. Further, we propose a new approach to efficiently solve the nuisance functions. We then provide a comprehensive convergence analysis in terms of the mean square error. We demonstrate the utility of our estimator on synthetic datasets and real-world applications. © 2024 12th International Conference on Learning Representations, ICLR 2024. All rights reserved.

关键词： Delta functions

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Integrated Cross-Scale Manipulation and Modulable Encapsulation of Cell-Laden Hydrogel for Constructing Tissue-Mimicking Microstructures

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Research 2025年第1期2024卷 704-717页

作者： Yanfeng Zhao Xinyi Dong Yang Li Juan Cui Qing Shi Hen-Wei Huang Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Peking University First Hospital Xicheng DistrictBeijing 100034China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan 030051China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Laboratory for Translational Engineering Harvard Medical SchoolCambridgeMA 02139USA Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of EducationBeijing 100081China

Engineered microstructures that mimic in vivo tissues have demonstrated great potential for applications in regenerative medicine,drug screening,and cell behavior ***,current methods for engineering microstructures that mimic the multi-extracellular matrix and multicellular features of natural tissues to realize tissue-mimicking microstructures in vitro remain ***,we propose a versatile method for constructing tissue-mimicking heterogeneous microstructures by orderly integration of macroscopic hydrogel exchange,microscopic cell manipulation,and encapsulation ***,various cell-laden hydrogel droplets are manipulated at the millimeter scale using electrowetting on dielectric to achieve efficient hydrogel ***,the cells are manipulated at the micrometer scale using dielectrophoresis to adjust their density and arrangement within the hydrogel ***,the photopolymerization of these hydrogel droplets is triggered in designated regions by dynamically modulating the shape and position of the excitation ultraviolet ***,heterogeneous microstructures with different extracellular matrix geometries and components were constructed,including specific cell densities and *** resulting heterogeneous microstructure supported long-term culture of hepatocytes and fibroblasts with high cell viability(over 90%).Moreover,the density and distribution of the 2 cell types had significant effects on the cell proliferation and urea *** propose that our method can lead to the construction of additional biomimetic heterogeneous microstructures with unprecedented potential for use in future tissue engineering applications.

关键词： cell behavior explorationhowevercurrent tissue mimicking microstructures cell laden hydrogel electrowetting dielectric regenerative medicinedrug screeningand heterogeneous microstructures engineered microstructures orderly integration

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Trajectory Learning and Demonstration of a Robot Manipulator Based-on Sensor Fusion from a Hand-held Tool

Trajectory Learning and Demonstration of a Robot Manipulator...

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2024 International Automatic Control Conference, CACS 2024

作者： Song, Kai-Tai Ou, Szu-Chen National Yang Ming Chiao Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

ISBN: (纸本)9798350354904

This paper presents a programming system for a robot manipulator using a hand-held demonstration tool. In this system, a user holds the self-designed tool to demonstrate a desired motion path, and the robot arm replicates the learned trajectory. The path-demonstration tool, including optical tags (OT) and an IMU, is designed to collect trajectory data from hand motion. Sensor data fusion allows the system to track accurately the demonstrated trajectory. A calibration procedure is proposed to transform the trajectory from tool's coordinate system to robot's coordinate system. A cubic spline-based trajectory planning method is proposed to ensure smooth reproduction of the learned trajectory in both time and space. Experimental results show that the robot is able to replicate squared and curved trajectories collected from the path-demonstration tool. The average position error is within 2.435 mm in XYZ directions and the average orientation error is within 0.65 degrees. © 2024 IEEE.

关键词： Demonstrations

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