Linh Tao - Academia.edu (original) (raw)

Papers by Linh Tao

Research paper thumbnail of Mobile robot localization using Hybrid Random Adaptive Differential Evolution Algorithm

Research paper thumbnail of Parameter-Free Global Hybrid Point Based Range Image Registration

Proceedings of the International Conference on Advances in Image Processing, 2017

In order to tackle one of the most difficult tasks in 3D computer vision, range image registratio... more In order to tackle one of the most difficult tasks in 3D computer vision, range image registration (RIR), this paper proposes a new approach to register two range images of the same object or scenario from different scanning angles. The new method of two dimensional point based boundary searching replaces conventional six dimension methods. This point based approach is applied into hybrid registration paradigm which integrates global searching algorithms with a local alignment tool, Iterative Closest Point (ICP). With this approach, searching algorithms are able to find global optima more efficiently with significantly fewer searching dimensions. Because of using data points as searching variables and taking all of them into consideration, registration algorithms are able to explore the whole space to find the global solution without any parameter constraint. Point based searching approach is successfully implemented on hybrid registration algorithms which use state-of-the-art global searching tools including Simulated Annealing (SA), Differential Evolution (DE) and Particle Swarm Optimization (PSO). The new approach is evaluated in terms of both accuracy and robustness in various experiments on different datasets to prove its superior over the conventional approach.

Research paper thumbnail of An Adaptive Differential Evolution Algorithm with a Point-Based Approach for 3D Point Cloud Registration

Journal of Image and Graphics, 2022

This paper presents a novel pairwise registration approach, which aligns images of the same objec... more This paper presents a novel pairwise registration approach, which aligns images of the same object that have different ranges. By using a point search medium instead of a conventional six-dimensional parameter to reduce the number of search dimensions, the new method resulted in a higher convergence rate and robustness in the same search conditions. The approach integrated a hybrid registration strategy, a combination of Iterative Closest Point (ICP) as a local aligning tool and a global search algorithm such as simulated annealing, particle swarm optimization, differential evolution, etc. An adaptive differential evolution algorithm called ISADE was chosen as the best-so-far global search algorithm. Different experiments on different datasets were carried out. In the new method, as compared with the conventional approach, better aligning results in convergence rate and robustness were observed.

Research paper thumbnail of 2D Lidar Data Matching

Advances in Asian Mechanism and Machine Science, 2021

The paper proposes a novel, simple but effective method to align 2D LiDAR laser data. The method ... more The paper proposes a novel, simple but effective method to align 2D LiDAR laser data. The method uses point-based approach with a simulated annealing searching algorithm. Iterative Closest Point (ICP) is a common method used to solve 2D Lidar alignment problem and widely used to solve Simultaneous localization and mapping (SLAM) problem. The local minima problem allows ICP can be applied only in final aligning steps where data are roughly aligned. The proposed method solves this problem by using simulated annealing (SA) searching algorithm to align two data from distance. SA works on point medium on a pointbased approach to reduce the searching dimensions and enhance convergence rate. The method has proved its robustness and efficiency in aligning 2D LiDAR laser data.

Research paper thumbnail of Improved Exoskeleton Human Motion Capture System

Advances in Asian Mechanism and Machine Science, 2021

Motion capture systems are becoming more and more important tools serving in the process of calcu... more Motion capture systems are becoming more and more important tools serving in the process of calculation, design process as well as evaluating the performance of the rehabilitation equipments. In addition, it is also a common device used in the performance evaluation of rehabilitation process during exercise stages. In this article, a cheap motion capture system measured 7 Degree of Freedom (DOF) of upper limb will be presented. It is an improvement from an earlier portable measuring device made of plastic material with 3D printing technology. The new, static device, constructed of aluminum, has proven to be more accurate than the previous one. After that, the study performed measurement experiments for some basic movements in daily living. In each movement, the study obtained 3 results including: the angles of the rotation angles of the measuring device, the trajectories of the end effector of the wrist joint, and the angle of the human arm joints.

Research paper thumbnail of Edge-Based Object Pose Estimation Using Differential Evolution Algorithm

Research paper thumbnail of Effect of ankle joint position on biped robot walking behaviour

This paper addresses the effect of ankle joint position on the walking behavior of a biped robot.... more This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint ...

Research paper thumbnail of Reliability Analysis Using Artificial Neural Network Based Adaptive Parameter Differential Evolution Algorithm

Proceedings of the 2020 3rd International Conference on Robot Systems and Applications, 2020

Reliability analysis is one of the methods to consider the safety and stability of an engineering... more Reliability analysis is one of the methods to consider the safety and stability of an engineering system. It is very important to determine whether a system is safe or not. We need to solve the complex nonlinear and implicit the limit state functions to obtain the reliability index. Traditional reliability analysis methods, First-Order Reliability Method (FORM), Second-Order Reliability Method (SORM), and Monte Carlo simulation (MCS), are not effective and have many limitations. In this paper, at the first step, an artificial neural network was used to model the limit state function. After that, the elite opposition-based learning differential evolution algorithm was selected to solve nonlinear equality constrained optimization problem to find the reliability index and the failure probability of problems in terms of random variables. The proposed method and some reference methods were applied to analyze the test problems in the literature to compare their effectiveness.

Research paper thumbnail of Self-adaptive of Differential Evolution using Neural Network with Island Model of Genetic Algorithm

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016, Dec 19, 2018

A new evolutionary algorithm called NN-DEGA that using Artificial Neural Network (ANN) for Self-a... more A new evolutionary algorithm called NN-DEGA that using Artificial Neural Network (ANN) for Self-adaptive Differential Evolution (DE) with Island model of Genetic Algorithm (GA) is proposed to solve large scale optimization problems, to reduce calculation cost, and to improve stability of convergence towards the optimal solution. This is an approach that combines the global search ability of DE and the local search ability of Adaptive System with Island model of GA. The proposed algorithm incorporates concept from DE, GA, and Neural Networks (NN) for self-adaptive of control parameters. The NN-DEGA is applied to several benchmark tests with multidimensions to evaluate its performance. It is shown to be statistically significantly superior to other Evolutionary Algorithms (EAs), and Memetic Algorithms (MAs).

Research paper thumbnail of The Effect of Foot Structure on Locomotion of a Small Biped Robot

MATEC Web of Conferences, 2017

This paper is a presentation of a work that consists of considering a novel foot structure for bi... more This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF) on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA) through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG) point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.

Research paper thumbnail of Model-based Pose Estimation for Texture-less Objects with Differential Evolution Algorithm

MATEC Web of Conferences, 2017

This paper proposes a novel object-tracking method to estimate three dimensions position of textu... more This paper proposes a novel object-tracking method to estimate three dimensions position of texture-less objects using one camera system and 3D model. The system uses efficient chamfer matching method to calculated distances between 2D edge templates of pose hypotheses with edges from the Canny edge query image. Differential Evolution algorithm uses those distances as inputs to ensure the close optimum results and find the most suitable position of objects. For initialization the exhaustive searching is employed. With the good initialization, a smaller searching space is set to guaranty the online tracking ability. The first results showed the potential of the method in solving object tracking and detection problem. 2.1 Chamfer matching maps from query images.

Research paper thumbnail of Global ray-casting range image registration

IPSJ Transactions on Computer Vision and Applications, 2017

This paper presents a novel method for pair-wise range image registration, a backbone task in wor... more This paper presents a novel method for pair-wise range image registration, a backbone task in world modeling, parts inspection and manufacture, object recognition, pose estimation, robotic navigation, and reverse engineering. The method finds the most suitable homogeneous transformation matrix between two constructed range images to create a more complete 3D view of a scene. The proposed solution integrates a ray casting-based fitness estimation with a global optimization method called improved self-adaptive differential evolution. This method eliminates the fine registration steps of the well-known iterative closest point (ICP) algorithm used in previously proposed methods, and thus, is the first direct global registration algorithm. With its parallel implementation potential, the ray casting-based algorithm speeds up the fitness calculation for the global optimization method, which effectively exploits the search space to find the best transformation solution. The integration was ...

Research paper thumbnail of Gait Generation for a Small Biped Robot using Approximated Optimization Method

IOP Conference Series: Materials Science and Engineering, 2016

This paper proposes a novel approach for gait pattern generation of a small biped robot to enhanc... more This paper proposes a novel approach for gait pattern generation of a small biped robot to enhance its walking behavior. This is to aim to make the robot gait more natural and more stable in the walking process. In this study, we mention the approximated optimization method which applied the Differential Evolution algorithm (DE) to objective function approximated by Artificial Neural Network (ANN). In addition, we also present a new humanlike foot structure with toes for the biped robot in this paper. To evaluate this method achievement, the robot was simulated by multi-body dynamics simulation software, Adams (MSC software, USA). As a result, we confirmed that the biped robot with the proposed foot structure can walk naturally. The approximated optimization method based on DE algorithm and ANN is an effective approach to generate a gait pattern for the locomotion of the biped robot. This method is simpler than the conventional methods using Zero Moment Point (ZMP) criterion.

Research paper thumbnail of Global Hybrid Registration for 3D Constructed Surfaces using Ray-casting and Improved Self Adaptive Differential Evolution Algorithm

Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2016

As a fundamental task in computer vision, registration has been a solution for many application s... more As a fundamental task in computer vision, registration has been a solution for many application such as: world modeling, part inspection and manufacturing, object recognition, pose estimation, robotic navigation, and reverse engineering. Given two images, the aim is to find the best possible homogenous transformation movement resulting in a more completed view of objects or scenarios. The paper presents a novel algorithm of registering structured pointcloud surfaces by using a fast ray-casting based closest point method intergrated with a new developed global optimization method Improve Self Adaptive Differential Evolution (ISADE). Ray-casting based L 2 error calculation method enables the algorithm to find the local minima error effectively while ISADE exploits the searching boundary to find the global minima. The new algorithm is evaluated on structured images captured by a Kinect camera to show the superior in quality and robustness of ISADE over state-of-the-art searching method and accuracy of the new method over a well known registration algorithm, KinectFusion.

Research paper thumbnail of Hybrid Global optimization Methods and Iterative Closest Point on Point-based Approach for 3D Registration

2020 International Conference on Advanced Mechatronic Systems (ICAMechS), 2020

This paper proposes a novel approach to solve pair-wise registration problem which aligns differe... more This paper proposes a novel approach to solve pair-wise registration problem which aligns different pointclouds taken from the same object or scenario at different angles. The new method uses points as a searching medium replacing convention six-dimensional one. By doing this, the number of searching dimensions is significantly reduced. Using the same number of searching loops, the new method results in a higher convergence rate into global optimal results. The approach is successfully implemented in a hybrid registration strategy which combines Iterative Closest Point (ICP) as a local aligning tool and a global searching algorithm such as state-of-the-arts including Simulated Annealing, Particle Swarm optimization, Differential Evolution or a recently developed adaptive Differential Evolution algorithm, ISADE. The accuracy and robustness of the new method over the conventional approach are proved through various experiments on different datasets.

Research paper thumbnail of Distribution of 3H-domperidone, a P-glycoprotein (P-gp) substrate, in heart structures and whole-body tissues of MDR1A (−/−) mice

Clinical Pharmacology & Therapeutics, 2005

Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have bee... more Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have been reported with domperidone. We hypothesized that accumulation of domperidone in the heart could occur in the context of decreased activity of the ABC transporter P-gp (mdr1a (−/−)), thus leading to cardiac toxicity. The aim of our study was to determine whether distribution of domperidone to the

Research paper thumbnail of Distribution of 3H-domperidone, a P-glycoprotein (P-gp) substrate, in heart structures and whole-body tissues of MDR1A (−/−) mice

Clinical Pharmacology & Therapeutics, 2005

Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have bee... more Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have been reported with domperidone. We hypothesized that accumulation of domperidone in the heart could occur in the context of decreased activity of the ABC transporter P-gp (mdr1a (−/−)), thus leading to cardiac toxicity. The aim of our study was to determine whether distribution of domperidone to the

Research paper thumbnail of Mobile robot localization using Hybrid Random Adaptive Differential Evolution Algorithm

Research paper thumbnail of Parameter-Free Global Hybrid Point Based Range Image Registration

Proceedings of the International Conference on Advances in Image Processing, 2017

In order to tackle one of the most difficult tasks in 3D computer vision, range image registratio... more In order to tackle one of the most difficult tasks in 3D computer vision, range image registration (RIR), this paper proposes a new approach to register two range images of the same object or scenario from different scanning angles. The new method of two dimensional point based boundary searching replaces conventional six dimension methods. This point based approach is applied into hybrid registration paradigm which integrates global searching algorithms with a local alignment tool, Iterative Closest Point (ICP). With this approach, searching algorithms are able to find global optima more efficiently with significantly fewer searching dimensions. Because of using data points as searching variables and taking all of them into consideration, registration algorithms are able to explore the whole space to find the global solution without any parameter constraint. Point based searching approach is successfully implemented on hybrid registration algorithms which use state-of-the-art global searching tools including Simulated Annealing (SA), Differential Evolution (DE) and Particle Swarm Optimization (PSO). The new approach is evaluated in terms of both accuracy and robustness in various experiments on different datasets to prove its superior over the conventional approach.

Research paper thumbnail of An Adaptive Differential Evolution Algorithm with a Point-Based Approach for 3D Point Cloud Registration

Journal of Image and Graphics, 2022

This paper presents a novel pairwise registration approach, which aligns images of the same objec... more This paper presents a novel pairwise registration approach, which aligns images of the same object that have different ranges. By using a point search medium instead of a conventional six-dimensional parameter to reduce the number of search dimensions, the new method resulted in a higher convergence rate and robustness in the same search conditions. The approach integrated a hybrid registration strategy, a combination of Iterative Closest Point (ICP) as a local aligning tool and a global search algorithm such as simulated annealing, particle swarm optimization, differential evolution, etc. An adaptive differential evolution algorithm called ISADE was chosen as the best-so-far global search algorithm. Different experiments on different datasets were carried out. In the new method, as compared with the conventional approach, better aligning results in convergence rate and robustness were observed.

Research paper thumbnail of 2D Lidar Data Matching

Advances in Asian Mechanism and Machine Science, 2021

The paper proposes a novel, simple but effective method to align 2D LiDAR laser data. The method ... more The paper proposes a novel, simple but effective method to align 2D LiDAR laser data. The method uses point-based approach with a simulated annealing searching algorithm. Iterative Closest Point (ICP) is a common method used to solve 2D Lidar alignment problem and widely used to solve Simultaneous localization and mapping (SLAM) problem. The local minima problem allows ICP can be applied only in final aligning steps where data are roughly aligned. The proposed method solves this problem by using simulated annealing (SA) searching algorithm to align two data from distance. SA works on point medium on a pointbased approach to reduce the searching dimensions and enhance convergence rate. The method has proved its robustness and efficiency in aligning 2D LiDAR laser data.

Research paper thumbnail of Improved Exoskeleton Human Motion Capture System

Advances in Asian Mechanism and Machine Science, 2021

Motion capture systems are becoming more and more important tools serving in the process of calcu... more Motion capture systems are becoming more and more important tools serving in the process of calculation, design process as well as evaluating the performance of the rehabilitation equipments. In addition, it is also a common device used in the performance evaluation of rehabilitation process during exercise stages. In this article, a cheap motion capture system measured 7 Degree of Freedom (DOF) of upper limb will be presented. It is an improvement from an earlier portable measuring device made of plastic material with 3D printing technology. The new, static device, constructed of aluminum, has proven to be more accurate than the previous one. After that, the study performed measurement experiments for some basic movements in daily living. In each movement, the study obtained 3 results including: the angles of the rotation angles of the measuring device, the trajectories of the end effector of the wrist joint, and the angle of the human arm joints.

Research paper thumbnail of Edge-Based Object Pose Estimation Using Differential Evolution Algorithm

Research paper thumbnail of Effect of ankle joint position on biped robot walking behaviour

This paper addresses the effect of ankle joint position on the walking behavior of a biped robot.... more This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint ...

Research paper thumbnail of Reliability Analysis Using Artificial Neural Network Based Adaptive Parameter Differential Evolution Algorithm

Proceedings of the 2020 3rd International Conference on Robot Systems and Applications, 2020

Reliability analysis is one of the methods to consider the safety and stability of an engineering... more Reliability analysis is one of the methods to consider the safety and stability of an engineering system. It is very important to determine whether a system is safe or not. We need to solve the complex nonlinear and implicit the limit state functions to obtain the reliability index. Traditional reliability analysis methods, First-Order Reliability Method (FORM), Second-Order Reliability Method (SORM), and Monte Carlo simulation (MCS), are not effective and have many limitations. In this paper, at the first step, an artificial neural network was used to model the limit state function. After that, the elite opposition-based learning differential evolution algorithm was selected to solve nonlinear equality constrained optimization problem to find the reliability index and the failure probability of problems in terms of random variables. The proposed method and some reference methods were applied to analyze the test problems in the literature to compare their effectiveness.

Research paper thumbnail of Self-adaptive of Differential Evolution using Neural Network with Island Model of Genetic Algorithm

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016, Dec 19, 2018

A new evolutionary algorithm called NN-DEGA that using Artificial Neural Network (ANN) for Self-a... more A new evolutionary algorithm called NN-DEGA that using Artificial Neural Network (ANN) for Self-adaptive Differential Evolution (DE) with Island model of Genetic Algorithm (GA) is proposed to solve large scale optimization problems, to reduce calculation cost, and to improve stability of convergence towards the optimal solution. This is an approach that combines the global search ability of DE and the local search ability of Adaptive System with Island model of GA. The proposed algorithm incorporates concept from DE, GA, and Neural Networks (NN) for self-adaptive of control parameters. The NN-DEGA is applied to several benchmark tests with multidimensions to evaluate its performance. It is shown to be statistically significantly superior to other Evolutionary Algorithms (EAs), and Memetic Algorithms (MAs).

Research paper thumbnail of The Effect of Foot Structure on Locomotion of a Small Biped Robot

MATEC Web of Conferences, 2017

This paper is a presentation of a work that consists of considering a novel foot structure for bi... more This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF) on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA) through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG) point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.

Research paper thumbnail of Model-based Pose Estimation for Texture-less Objects with Differential Evolution Algorithm

MATEC Web of Conferences, 2017

This paper proposes a novel object-tracking method to estimate three dimensions position of textu... more This paper proposes a novel object-tracking method to estimate three dimensions position of texture-less objects using one camera system and 3D model. The system uses efficient chamfer matching method to calculated distances between 2D edge templates of pose hypotheses with edges from the Canny edge query image. Differential Evolution algorithm uses those distances as inputs to ensure the close optimum results and find the most suitable position of objects. For initialization the exhaustive searching is employed. With the good initialization, a smaller searching space is set to guaranty the online tracking ability. The first results showed the potential of the method in solving object tracking and detection problem. 2.1 Chamfer matching maps from query images.

Research paper thumbnail of Global ray-casting range image registration

IPSJ Transactions on Computer Vision and Applications, 2017

This paper presents a novel method for pair-wise range image registration, a backbone task in wor... more This paper presents a novel method for pair-wise range image registration, a backbone task in world modeling, parts inspection and manufacture, object recognition, pose estimation, robotic navigation, and reverse engineering. The method finds the most suitable homogeneous transformation matrix between two constructed range images to create a more complete 3D view of a scene. The proposed solution integrates a ray casting-based fitness estimation with a global optimization method called improved self-adaptive differential evolution. This method eliminates the fine registration steps of the well-known iterative closest point (ICP) algorithm used in previously proposed methods, and thus, is the first direct global registration algorithm. With its parallel implementation potential, the ray casting-based algorithm speeds up the fitness calculation for the global optimization method, which effectively exploits the search space to find the best transformation solution. The integration was ...

Research paper thumbnail of Gait Generation for a Small Biped Robot using Approximated Optimization Method

IOP Conference Series: Materials Science and Engineering, 2016

This paper proposes a novel approach for gait pattern generation of a small biped robot to enhanc... more This paper proposes a novel approach for gait pattern generation of a small biped robot to enhance its walking behavior. This is to aim to make the robot gait more natural and more stable in the walking process. In this study, we mention the approximated optimization method which applied the Differential Evolution algorithm (DE) to objective function approximated by Artificial Neural Network (ANN). In addition, we also present a new humanlike foot structure with toes for the biped robot in this paper. To evaluate this method achievement, the robot was simulated by multi-body dynamics simulation software, Adams (MSC software, USA). As a result, we confirmed that the biped robot with the proposed foot structure can walk naturally. The approximated optimization method based on DE algorithm and ANN is an effective approach to generate a gait pattern for the locomotion of the biped robot. This method is simpler than the conventional methods using Zero Moment Point (ZMP) criterion.

Research paper thumbnail of Global Hybrid Registration for 3D Constructed Surfaces using Ray-casting and Improved Self Adaptive Differential Evolution Algorithm

Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2016

As a fundamental task in computer vision, registration has been a solution for many application s... more As a fundamental task in computer vision, registration has been a solution for many application such as: world modeling, part inspection and manufacturing, object recognition, pose estimation, robotic navigation, and reverse engineering. Given two images, the aim is to find the best possible homogenous transformation movement resulting in a more completed view of objects or scenarios. The paper presents a novel algorithm of registering structured pointcloud surfaces by using a fast ray-casting based closest point method intergrated with a new developed global optimization method Improve Self Adaptive Differential Evolution (ISADE). Ray-casting based L 2 error calculation method enables the algorithm to find the local minima error effectively while ISADE exploits the searching boundary to find the global minima. The new algorithm is evaluated on structured images captured by a Kinect camera to show the superior in quality and robustness of ISADE over state-of-the-art searching method and accuracy of the new method over a well known registration algorithm, KinectFusion.

Research paper thumbnail of Hybrid Global optimization Methods and Iterative Closest Point on Point-based Approach for 3D Registration

2020 International Conference on Advanced Mechatronic Systems (ICAMechS), 2020

This paper proposes a novel approach to solve pair-wise registration problem which aligns differe... more This paper proposes a novel approach to solve pair-wise registration problem which aligns different pointclouds taken from the same object or scenario at different angles. The new method uses points as a searching medium replacing convention six-dimensional one. By doing this, the number of searching dimensions is significantly reduced. Using the same number of searching loops, the new method results in a higher convergence rate into global optimal results. The approach is successfully implemented in a hybrid registration strategy which combines Iterative Closest Point (ICP) as a local aligning tool and a global searching algorithm such as state-of-the-arts including Simulated Annealing, Particle Swarm optimization, Differential Evolution or a recently developed adaptive Differential Evolution algorithm, ISADE. The accuracy and robustness of the new method over the conventional approach are proved through various experiments on different datasets.

Research paper thumbnail of Distribution of 3H-domperidone, a P-glycoprotein (P-gp) substrate, in heart structures and whole-body tissues of MDR1A (−/−) mice

Clinical Pharmacology & Therapeutics, 2005

Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have bee... more Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have been reported with domperidone. We hypothesized that accumulation of domperidone in the heart could occur in the context of decreased activity of the ABC transporter P-gp (mdr1a (−/−)), thus leading to cardiac toxicity. The aim of our study was to determine whether distribution of domperidone to the

Research paper thumbnail of Distribution of 3H-domperidone, a P-glycoprotein (P-gp) substrate, in heart structures and whole-body tissues of MDR1A (−/−) mice

Clinical Pharmacology & Therapeutics, 2005

Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have bee... more Background: Block of voltage-gated cardiac K+ channels and drug-induced Long QT syndrome have been reported with domperidone. We hypothesized that accumulation of domperidone in the heart could occur in the context of decreased activity of the ABC transporter P-gp (mdr1a (−/−)), thus leading to cardiac toxicity. The aim of our study was to determine whether distribution of domperidone to the