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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Oh-Hun Kwon Jeong-Yean Yang Chan-Soon Lim Dong-Soo Kwon Robotics Program and HRI Research Center KAIST Daejeon Korean Department of Mechanical Engineering and HRI Research Center KAIST Daejeon Korean

This paper proposes a robotic simulator for horseback riding that incorporates a crank mechanism with a variable radius. In horseback riding simulations, it is necessary to efficiently generate vertical sinusoid motion. A novel crank mechanism is proposed to change the unidirectional rotation of a motor to sinusoid wave motion with an arbitrary magnitude and frequency. On the basis of the results of a kinematic analysis, the singularity and redundancy issues of the system are presented. To avoid the singularity problem, an inverse kinematics solution is presented and the result of the simulation shows stable solution of the inverse kinematics.

关键词： Kinematics Trajectory Robots AC motors Joints Jacobian matrices Redundancy

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3D map building for slopes based on modeling of mobile robot

3D map building for slopes based on modeling of mobile robot

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yo-Seop Hwang Hyun-Woo Kim Dong-Ju Lee Jang-Myung Lee Department of Electrical Engineering Pusan National University Busan Korea Department of Interdisciplinary Program in Robotics Pusan National University Busan Korea

This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. This research, the scanning operations are performed while the mobile robot moved on the slanted surface and ground without stops. The motion of the mobile robot is transformed into the scanning surface in the process of forming the 3D map. The experimental results reveal that the improved accuracy of navigation for the mobile robot in the real time scanning of the environment.

关键词： Mobile robots Three-dimensional displays Buildings Sensors Robot kinematics Navigation

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Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

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NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

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Embedding a concurrent autonomous agent in a microcontrollers network

Embedding a concurrent autonomous agent in a microcontroller...

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Biosignals and Biorobotics Conference (BRC), ISSNIP

作者： Diego Stefano F. Ferreira Rafael R. da Silva Augusto Loureiro da Costa Universidade Federal da Bahia Salvador BA BR Robotics Laboratory Postgraduate Program in Electrical Engineering Federal University of Bahia Salvador Bahia Brazil

In this paper, a microcontroller heterogeneous network is proposed to embed a concurrent autonomous agent. The network was designed to fit the concurrency requirements of the cognitive model of the aforementioned agent. The architecture of the agent comprises three levels, namely, the reactive level, instinctive level and the cognitive level, which runs concurrently. The reactive level is embedded in a PSoC 5LP, consisting of behaviours created over a embedded kinematic controller. The instinctive level runs in a mbed NXP LPC1768, which receives perceptions from and sends the active behaviour to the reactive level through a CAN bus. And The cognitive level runs on a DNP/2486 which, in turn, receives symbolic information from and sends new local goals to instinctive level through an Ethernet network. Finally, the architecture used in the experiments is presented, followed by the results.

关键词： Computer architecture Autonomous agents Hardware Microcontrollers Mobile robots Robot sensing systems

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The virtual infinite capacitor

The virtual infinite capacitor

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IEEE Convention of the Electrical and ELectronic Engineers in Israel

作者： Guy Yona George Weiss Program of Autonomous Systems and Robotics Technion - Israel Institute of Technology Haifa Israel School of Electrical Engineering Tel-Aviv University Tel-Aviv Israel

We define the virtual infinite capacitor (VIC) as a nonlinear capacitor that has the property that for an interval of the charge Q (the operating range), the voltage V remains constant. We propose a lossless approximate realization for the VIC using a switched power converter and capacitors. This circuit is simple but it requires a complex control algorithm that we describe. There are two controllers needed to operate a VIC: the voltage controller acts fast to maintain the desired terminal voltage, while the charge controller acts more slowly and maintains the charge Q in the desired operating range by influencing the incoming current. The VIC is useful as a filter capacitor for various applications, for example power factor compensators (PFC), as we describe. In spite of using small capacitors, the VIC can replace a very large capacitor in applications that do not require substantial energy storage. We give simulation results for a PFC working in critical conduction mode with a VIC for output voltage filtering.

关键词： Capacitors Switches Voltage control Energy storage Sliding mode control Reactive power Capacitance

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Extrinsic calibration of non-overlapping camera-laser system using structured environment

Extrinsic calibration of non-overlapping camera-laser system...

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2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yunsu Bok Dong-Geol Choi Pascal Vasseur In So Kweon Division of Future Vehicle KAIST Korea Robotics Program KAIST Korea Laboratory LITIS Université de Rouen France Department of Electrical Engineering KAIST Korea

In this paper are presented simple and practical solutions to extrinsic calibration between a camera and a 2D laser sensor, without overlap. Previous methods utilized a plane or an intersecting line of two planes as a geometric constraint with enough common field-of-view. These required additional sensors to calibrate non-overlapping systems. In this paper, we present two methods for solving the problem - one utilizes a plane; the other utilizes an intersecting line of two planes. For each method, an initial solution of the relative positions of a non-overlapping camera and a laser sensor, was computed by adopting a reasonable assumption about geometric structures. Then we refined it via non-linear optimization, even if the assumption was not perfectly satisfied. Both simulation results and experiments using real data showed that the proposed methods provided reliable results compared to ground-truth, and similar or better results than those provided by a conventional method.

关键词： Cameras Robot sensing systems Vectors Calibration Optimization Lasers Feature extraction

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Development of an exploration rover platform for sample return mission

Development of an exploration rover platform for sample retu...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Seokju Lee Sungsik Huh Sungyeon Park David Hyunchul Shim Department of the Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon Korea

This paper introduces core technologies and development process of an exploration rover for sample return mission. The purpose of development for the rover is to participate in the Sample Return Robot Challenge: pre-learning sample to be found, searching for the target sample with autonomous navigation, and retrieving the sample to a goal location, which requires many techniques from various fields to work together. In order to suppose the rover operated at the space environment such as the Moon or the Mars, mechanical characteristics and sensor/electronic/communication systems are described in this paper.

关键词： Robot sensing systems Wheels Suspensions Three-dimensional displays Visualization Laser radar

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Position estimation of landmark using 3D point cloud and trilateration method

Position estimation of landmark using 3D point cloud and tri...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Chul Roh Yungeun Choe Jinyong Jung Hyunjun Na Younggun Cho Myung Jin Chung Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea

ISBN: (纸本)9781479953349

We demonstrate the appropriacy of using laser distance meter as the accurate, cost-effective, simple solution for position estimation within precise 3D point cloud map in urban environment scenario. Our approach treats trilateration method with minimum error selection algorithm for better position accuracy of landmark. We validate the performance of our approach through 22 landmarks measured using RTK GPS for error analysis of proposed position estimation method based on trilateration.

关键词： Three-dimensional displays Estimation Measurement by laser beam Vehicles Sensors Global Positioning System Robots

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A RRT-based collision-free and occlusion-free path planning method for a 7DOF manipulator

A RRT-based collision-free and occlusion-free path planning ...

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IEEE International Conference on Mechatronics and Automation

作者： Yeoun-Jae Kim Jeong-Hyeon Wang So-Youn Park Joon-Yong Lee Jeong-Jung Kim Ju-Jang Lee Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea Department of Genetics Development and Cell Biology Iowa state university Ames USA

ISBN: (纸本)9781479939800

In this paper, we present a path planning algorithm of a 7DOF manipulator with RRT(Rapidly-exploring Random Trees). The method presents a occlusion-free and collision-free path planning algorithm. First, we present a basics of RRT algorithm which is a basic searching method for a path planning of this paper. Second, the implementation of a occlusion-free path constraints is presented. Third, the collision-avoiding path planning constraints is presented. Fourth, the integration of RRT with these two constraints is shown. The proposed method is verified by a numerical simulation with Matlab and v-rep robotics simulation tool.

关键词： Humanoid robots Manipulators Path planning Sensors Conferences Vectors

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Image feature-based real-time RGB-D 3D SLAM with GPU acceleration

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Journal of Institute of Control, robotics and Systems 2013年第5期19卷 457-461页

作者： Lee, Donghwa Kim, Hyongjin Myung, Hyun Department of Civil and Environmental Engineering KAIST Korea Republic of Robotics Program KAIST Korea Republic of

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

关键词： Degrees of freedom (mechanics)

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