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987 results on '"Kosuge, K."'

52. Flow Processes in Composite materials, 9th International Conference

Author

Nakai, A., AFFLARD, A., SHIKAMOTO, N., SURGIE, T., ODAWARA, A., Hamada, H., NAKABAYASHI, I., Kosuge, K., and Kyoto Institute of Technology

Subjects
[INFO]Computer Science [cs], ComputingMilieux_MISCELLANEOUS
Abstract

International audience; abstract simple

Published
2008

55. Histogram matching and global initialization for laser-only SLAM in large unstructured environments

Author

Amato, N, Nebot, E, Rizzi, A, Kosuge, K, Sugano, S, Ikeuchi, K, Chiaverini, S, van der Stappen, F, Papanikolopoulos, N, Bosse, Michael, Roberts, Jonathan, Amato, N, Nebot, E, Rizzi, A, Kosuge, K, Sugano, S, Ikeuchi, K, Chiaverini, S, van der Stappen, F, Papanikolopoulos, N, Bosse, Michael, and Roberts, Jonathan

Abstract

This paper presents an enhanced algorithm for matching laser scan maps using histogram correlations. The histogram representation effectively summarizes a map's salient features such that pairs of maps can be matched efficiently without any prior guess as to their alignment. The histogram matching algorithm has been enhanced in order to work well in outdoor unstructured environments by using entropy metrics, weighted histograms and proper thresholding of quality metrics. Thus our large-scale scan-matching SLAM implementation has a vastly improved ability to close large loops in real-time even when odometry is not available. Our experimental results have demonstrated a successful mapping of the largest area ever mapped to date using only a single laser scanner. We also demonstrate our ability to solve the lost robot problem by localizing a robot to a previously built map without any prior initialization.

Published
2007

58. Impact of African herbal medicines on antiretroviral metabolism

Author

Mills, E., Foster, B.C., van Heeswijk, R.P.G., Phillips, E., Wilson, K., Leonard, B., Kosuge, K., Kanfer, I., Mills, E., Foster, B.C., van Heeswijk, R.P.G., Phillips, E., Wilson, K., Leonard, B., Kosuge, K., and Kanfer, I.

Abstract

We examined the effects of two African herbal medicines recommended for HIV/AIDS patients on antiretroviral metabolism. Extracts from Hypoxis and Sutherlandia showed significant effects on cytochrome P450 3A4 metabolism and activated the pregnane X receptor approximately twofold. P-glycoprotein expression was inhibited, with Hypoxis showing 42-51% and Sutherlandia showing 19-31% of activity compared with verapamil. Initiating policies to provide herbal medicines with antiretroviral agents may put patients at risk of treatment failure, viral resistance or drug toxicity.

Published
2005

64. Expected perception in robots: a biologically driven perception-action scheme

Author

Nunes, U, de Aalmeida, AT, Bejczy, AK, Kosuge, K, Macgado, JAT, Datteri, E, Teti, G, Laschi, C, Tamburrini, G, Dario, P, Guglielmelli, E, DATTERI, EDOARDO, Guglielmelli, E., Nunes, U, de Aalmeida, AT, Bejczy, AK, Kosuge, K, Macgado, JAT, Datteri, E, Teti, G, Laschi, C, Tamburrini, G, Dario, P, Guglielmelli, E, DATTERI, EDOARDO, and Guglielmelli, E.

Abstract

The paper presents a biologically-inspired perception-action scheme for robots interacting with real-world environments, grounded in the broad hypothesis that, like in humans, perception and action are improved in speed and accuracy by expectation mechanisms: perception crucially involves comparison processes between incoming stimuli and expected perceptions (EPs). In the proposed approach, EPs are built on the basis of previous perceptions, current motor commands, proprioception, and internal models of the robot and the environment. In contrast to pure reactive approaches, background knowledge plays here a helpful role, as it reduces the computational burden of perception and motor coordination tasks, in partially structured environments. In the work presented here, an EP mechanism has been applied in the visuo-motor coordination of an anthropomorphic 8 d.o.f. robotic manipulator equipped with a vision system, in order to validate the viability and effectiveness of the initial hypothesis.

Published
2003

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