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3,997 results on '"Shin， In-Sik"'

7. Object-Aware Impedance Control for Human-Robot Collaborative Task with Online Object Parameter Estimation

Author

Park, Jinseong, Shin, Yong-Sik, and Kim, Sanghyun

Subjects
Computer Science - Robotics
Abstract

Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters. An integrated control framework with an online object parameter estimator and a Cartesian object-aware impedance controller is proposed to realize complicated scenarios. During the transportation task, the object parameters are estimated online while a robot and human lift an object. The perturbation motion is incorporated into the null space of the desired trajectory to enhance the estimator accuracy. An object-aware impedance controller is designed using the real-time estimation results to effectively transmit the intended human motion to the robot through the object. Experimental demonstrations of collaborative tasks, including object transportation and assembly tasks, are implemented to show the effectiveness of our proposed method., Comment: 11 pages, 5 figures, for associated video, see https://youtu.be/bGH6GAFlRgA?si=wXj_SRzEE8BYoV2a

Published
2023

10. Efficient Traversability Mapping Based on Single Camera and 3D LiDAR

Author

Youn, Chanmin, Youn, Wonkeun, Kim, Sanghyun, Park, Jinseong, Shin, Young-Sik, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Lee, Soon-Geul, editor, An, Jinung, editor, Chong, Nak Young, editor, Strand, Marcus, editor, and Kim, Joo H., editor

Published
2024
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22. Reduced Recombination via Tunable Surface Fields in Perovskite Solar Cells

Author

deQuilettes, Dane W., Yoo, Jason Jungwan, Brenes, Roberto, Kosasih, Felix Utama, Laitz, Madeleine, Dou, Benjia Dak, Graham, Daniel J., Ho, Kevin, Shin, Seong Sik, Ducati, Caterina, Bawendi, Moungi, and Bulović, Vladimir

Subjects
Physics - Applied Physics, Condensed Matter - Materials Science
Abstract

The ability to reduce energy loss at semiconductor surfaces through passivation or surface field engineering has become an essential step in the manufacturing of efficient photovoltaic (PV) and optoelectronic devices. Similarly, surface modification of emerging halide perovskites with quasi-2D heterostructures is now ubiquitous to achieve PV power conversion efficiencies (PCEs) > 22% and has enabled single-junction PV devices to reach 25.7%, yet a fundamental understanding to how these treatments function is still generally lacking. This has established a bottleneck for maximizing beneficial improvements as no concrete selection and design rules currently exist. Here we uncover a new type of tunable passivation strategy and mechanism found in perovskite PV devices that were the first to reach the > 25% PCE milestone, which is enabled by surface treating a bulk perovskite layer with hexylammonium bromide (HABr). We uncover the simultaneous formation of an iodide-rich 2D layer along with a Br halide gradient achieved through partial halide exchange that extends from defective surfaces and grain boundaries into the bulk layer. We demonstrate and directly visualize the tunability of both the 2D layer thickness, halide gradient, and band structure using a unique combination of depth-sensitive nanoscale characterization techniques. We show that the optimization of this interface can extend the charge carrier lifetime to values > 30 {\mu}s, which is the longest value reported for a direct bandgap semiconductor (GaAs, InP, CdTe) over the past 50 years. Importantly, this work reveals an entirely new strategy and knob for optimizing and tuning recombination and charge transport at semiconductor interfaces and will likely establish new frontiers in achieving the next set of perovskite device performance records., Comment: Main text: 16 pages, 4 figures. Supporting Information: 47 pages, 26 figures, 6 tables

Published
2022

23. ViViD++: Vision for Visibility Dataset

Author

Lee, Alex Junho, Cho, Younggun, Shin, Young-sik, Kim, Ayoung, and Myung, Hyun

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

In this paper, we present a dataset capturing diverse visual data formats that target varying luminance conditions. While RGB cameras provide nourishing and intuitive information, changes in lighting conditions potentially result in catastrophic failure for robotic applications based on vision sensors. Approaches overcoming illumination problems have included developing more robust algorithms or other types of visual sensors, such as thermal and event cameras. Despite the alternative sensors' potential, there still are few datasets with alternative vision sensors. Thus, we provided a dataset recorded from alternative vision sensors, by handheld or mounted on a car, repeatedly in the same space but in different conditions. We aim to acquire visible information from co-aligned alternative vision sensors. Our sensor system collects data more independently from visible light intensity by measuring the amount of infrared dissipation, depth by structured reflection, and instantaneous temporal changes in luminance. We provide these measurements along with inertial sensors and ground-truth for developing robust visual SLAM under poor illumination. The full dataset is available at: https://visibilitydataset.github.io/, Comment: 8 pages, 8 figures, Accepted to IEEE Robotics and Automation Letters (RA-L)

Published
2022

24. Targeting isoforms of RON kinase (MST1R) drives antitumor efficacy

Author

Kim, Joseph, Koh, Dong-In, Lee, Minki, Park, Yoon Sun, Hong, Seung-Woo, Shin, Jae-Sik, Lee, Mi So, Kim, Min-Hwa, Lee, Jun Hyung, Jeong, Joonyee, Bae, Seunggeon, Hong, Jun Ki, Jeong, Hong-Rae, Ryu, Yea Seong, Kim, Seung-Mi, Choi, Mingee, Kim, Hyojin, Ryu, Hyun, Hur, Sun-Chul, Park, Junho, Hur, Dae Young, and Jin, Dong-Hoon

Published
2023
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29. eIF5B and eIF1A reorient initiator tRNA to allow ribosomal subunit joining

Author

Lapointe, Christopher P, Grosely, Rosslyn, Sokabe, Masaaki, Alvarado, Carlos, Wang, Jinfan, Montabana, Elizabeth, Villa, Nancy, Shin, Byung-Sik, Dever, Thomas E, Fraser, Christopher S, Fernández, Israel S, and Puglisi, Joseph D

Subjects
Biochemistry and Cell Biology, Physical Sciences, Biological Sciences, Genetics, 1.1 Normal biological development and functioning, Generic health relevance, Cryoelectron Microscopy, Eukaryotic Initiation Factor-1, Eukaryotic Initiation Factors, Humans, RNA, Transfer, Met, Ribosome Subunits, Single Molecule Imaging, General Science & Technology
Abstract

Translation initiation defines the identity and quantity of a synthesized protein. The process is dysregulated in many human diseases1,2. A key commitment step is when the ribosomal subunits join at a translation start site on a messenger RNA to form a functional ribosome. Here, we combined single-molecule spectroscopy and structural methods using an in vitro reconstituted system to examine how the human ribosomal subunits join. Single-molecule fluorescence revealed when the universally conserved eukaryotic initiation factors eIF1A and eIF5B associate with and depart from initiation complexes. Guided by single-molecule dynamics, we visualized initiation complexes that contained both eIF1A and eIF5B using single-particle cryo-electron microscopy. The resulting structure revealed how eukaryote-specific contacts between the two proteins remodel the initiation complex to orient the initiator aminoacyl-tRNA in a conformation compatible with ribosomal subunit joining. Collectively, our findings provide a quantitative and architectural framework for the molecular choreography orchestrated by eIF1A and eIF5B during translation initiation in humans.

Published
2022

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