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RISS 인기검색어
- 검색키워드
- 저자 : Mathew Schwartz (검색결과 7 건)
- 무료
- 기관 내 무료
- 유료
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Buildable Transforms for Axis Manipulation in 3D Applications
Mathew Schwartz,Jaerin Lee 한국HCI학회 2016 한국HCI학회 학술대회 Vol.2016 No.1
Use of three-dimensional software has become increasingly accessible to a variety of users and disciplines through technological advances in both consumer products and computational performance. From early on in the development of 3D applications new methods of control were being designed and researched for manipulation directly on or with the object, resulting in a variety of widgets controlled either by gestures or gizmos in the 3D window. Using purely gesture or direct manipulation poses a challenge to fine-grained control, such as what is needed in the field of robotics and mechanics. This paper takes a new approach with controlling transformations, in particular of an axis, that brings a more direct relationship between homogeneous transformations and axis control through an input field type interface. This new interface allows users maximum control and experimentation through using either single values or full matrices. Current robotics tools for education are reviewed. An example of how this new system can be used in the study of kinematics is presented. Both the aesthetic and framework design of the UI element is presented. Validation of the UI is based on a comparison between the current systems flexibility and ability to accomplish complex tasks with minimal effort.
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Design and Control of a Humanoid Avatar Head with Realtime Face Animation
Mathew Schwartz,Jaehoon Sim,Jaeheung Park 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Human-robot interaction is composed of multiple aspects that together create a single experience. In this paper we present a humanoid head that is designed for human-robot interaction as a tele-operated robot meant to be controlled as a remote Avatar. A real-time audio signal processing algorithm is presented that uses an abstracted representation of speaking to provide users with a clear sense of presence during an interaction. We avoid using any video feeds of real human faces, nor creating artificial skins, which emphasizes the capabilities and intent of our robot to be a friendly and unique contribution to the emerging field of physical humanoid avatars.
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Quantitative Definitions of Collaborative Research Fields in Science and Engineering
Mathew Schwartz,박귀순,이성종 아시아기술혁신학회 2016 Asian Journal of Innovation and Policy Vol.5 No.3
Practical methodology for categorizing collaborative disciplines or research in a quantitative manner is presented by developing a Correlation Matrix of Major Disciplines (CMMD) using bibliometric data collected between 2009 and 2014. First, 21 major disciplines in science and engineering are defined based on journal publication frequency. Second, major disciplines using a comparing discipline correlation matrix is created and correlation score using CMMD is calculated based on an analyzer function that is given to the matrix elements. Third, a correlation between the major disciplines and 14 research fields using CMMD is calculated for validation. Collaborative researches are classified into three groups by partially accepting the definition of pluri-discipline from peer review manual, European Science Foundation, inner-discipline, inter-discipline and cross-discipline. Applying simple categorization criteria identifies three groups of collaborative research and also those results can be visualized. Overall, the proposed methodology supports the categorization for each research field.
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Quantitative Definitions of Collaborative Research Fields in Science and Engineering
Schwartz, Mathew,Park, Kwisun,Lee, Sung-Jong Asian Society for Innovation and Policy 2016 Asian Journal of Innovation and Policy Vol.5 No.3
Practical methodology for categorizing collaborative disciplines or research in a quantitative manner is presented by developing a Correlation Matrix of Major Disciplines (CMMD) using bibliometric data collected between 2009 and 2014. First, 21 major disciplines in science and engineering are defined based on journal publication frequency. Second, major disciplines using a comparing discipline correlation matrix is created and correlation score using CMMD is calculated based on an analyzer function that is given to the matrix elements. Third, a correlation between the major disciplines and 14 research fields using CMMD is calculated for validation. Collaborative researches are classified into three groups by partially accepting the definition of pluri-discipline from peer review manual, European Science Foundation, inner-discipline, inter-discipline and cross-discipline. Applying simple categorization criteria identifies three groups of collaborative research and also those results can be visualized. Overall, the proposed methodology supports the categorization for each research field.
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NODEIK: Solving Inverse Kinematics with Neural Ordinary Differential Equations for Path Planning
Suhan Park,Mathew Schwartz,Jaeheung Park 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This paper proposes a novel inverse kinematics (IK) solver of articulated robotic systems for path planning. IK is a traditional but essential problem for robot manipulation. Recently, data-driven methods have been proposed to quickly solve IK for path planning. These machine learning-based models can handle a large amount of IK requests at once by leveraging the GPU. However, such methods suffer from reduced accuracy and considerable training time. We propose an IK solver that improves accuracy and memory efficiency with continuous normalizing flows by utilizing the continuous hidden dynamics of a Neural ODE network. The performance is compared using multiple robots, and our method is shown to be highly performant on complex (including dual end effector) manipulators.
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Towards On-Site Autonomous Robotic Floor Tiling of Mosaics
De Hong Jung,Jaeheung Park,Mathew Schwartz 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Humanoid robots have been a central research topic of robotics for the last 30 years. However, it has not been until the last decade that humanoids became a viable commercial product. While not full scale, robots such as NAO provide a large range of motion with multiple sensors for the environment. With these new robots, this paper explores their application in the manufacturing industry. Floor tiling, a still manual procedure on-site, requires significant time in both awkward positions and bent over. These two movements are main causes of back injury, the leading cause of early retirement and overall injuries in the construction industry. This paper explores the efficacy of using current commercial robots for on-site autonomous floor tiling through specific experiments and methods in programming integrated systems. A novel system for combining the automation of manufacturing of mosaics and the automation of on-site square floor tiling is presented.
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