Publications

@inproceedings{Sirisopha2011ASO,

title = {A Study of Rotary-Brake Design for Utilizing in Motorized Upper Limb Prosthesis},

author = {Wirawat Sirisopha and Jackrit Suthakorn},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/rp031_ICCCA2011-52.pdf},

year  = {2011},

date = {2011-05-01},

urldate = {2011-05-01},

booktitle = {Proceedings of the 2011 International Conference on Computer Control and Automation (ICCCA 2011)},

pages = {129-133},

address = {Jeju Island, South Korea,},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Saensupho2011,

title = {A Novel Conceptual Design on Robotic Bone-Cutting Device Based on Kinematic Analysis: Toward Development of a Novel Robot-Assisted Total Knee Replacement Surgical System},

author = {Saensupho, W. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/rp033_ICCCA2011-54.pdf},

year  = {2011},

date = {2011-05-01},

urldate = {2011-05-01},

booktitle = {Proceedings of the 2011 International Conference on Computer Control and Automation (ICCCA 2011)},

pages = {139-142},

address = {Jeju Island, South Korea},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Moonjaita2011,

title = {Kinematics Comparison Tool for Alignment Adjusting in Total Knee Replacement Surgical Planning},

author = {Moonjaita, P. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/rp034_ICCCA2011-55.pdf},

year  = {2011},

date = {2011-05-01},

urldate = {2011-05-01},

booktitle = {Proceedings of the 2011 International Conference on Computer Control and Automation (ICCCA 2011)},

pages = {143--147},

address = {Jeju Island, South Korea},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Itsarachaiyot2011,

title = {Force Acquisition on Surgical Instruments for Virtual Reality Surgical Training System},

author = {Itsarachaiyot, Y. and Pochanakorn, R. and Nillahoot, N. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/rp040_ICCCA2011-61.pdf},

year  = {2011},

date = {2011-05-01},

urldate = {2011-05-01},

booktitle = {Proceedings of the 2011 International Conference on Computer Control and Automation (ICCCA 2011)},

pages = {173--176},

address = {Jeju Island, South Korea},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Banchadit2011,

title = {Design of a Simple Experiment Scheme for Roll-Over Shape Testing},

author = {Banchadit, W. and Intawachirarat, N. and Sensinger, J. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Design-of-a-Simple-Experiment-Scheme-for-Roll-Over-Shape-Testing.pdf},

year  = {2011},

date = {2011-03-17},

urldate = {2011-03-17},

booktitle = {Proceedings of the Technically Assisted Rehabilitation (TAR 2011)},

address = {Berlin, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Intawachirarat2011,

title = {Foot Clearance during Free Swing of a Transfemoral Prosthetic Leg: Four-Bar Knee vs. Ankle Dorsiflexion},

author = {Intawachirarat, N. and Sensinger, J. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Foot-Clearance-during-Free-Swing-of-a-Transfemoral-Prosthetic-Leg-Four-Bar-Knee-vs.-Ankle-Dorsiflexion.pdf},

year  = {2011},

date = {2011-03-17},

urldate = {2011-03-17},

booktitle = {Proceedings of the Technically Assisted Rehabilitation (TAR 2011)},

address = {Berlin, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{6181333,

title = {Development of Wire-Driven Laparoscopic Surgical Robotic System, “MU-LapaRobot”},

author = {Chawaphol Direkwatana and Jackrit Suthakorn and Chumpon Wilasrusmee},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/robio11-81.pdf},

doi = {10.1109/ROBIO.2011.6181333},

year  = {2011},

date = {2011-01-01},

urldate = {2011-01-01},

booktitle = {2011 IEEE International Conference on Robotics and Biomimetics},

pages = {485-490},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{6181332,

title = {A Novel Surgical Navigation Concept for Closed Intramedullary Nailing of Femur using 4-DOF Laser-Guiding Robot},

author = {Sakol Nakdhamabhorn and Jackrit Suthakorn},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/robio11-80.pdf},

doi = {10.1109/ROBIO.2011.6181332},

year  = {2011},

date = {2011-01-01},

urldate = {2011-01-01},

booktitle = {2011 IEEE International Conference on Robotics and Biomimetics},

pages = {479-484},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{5513213,

title = {Non-Radiological Colonoscope Tracking Image Guided Colonoscopy using Commercially Available Electromagnetic Tracking System},

author = {Lee Yik Ching and Knut Möller and Jackrit Suthakorn},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Non_radiological_colonscope_tracking.pdf},

doi = {10.1109/RAMECH.2010.5513213},

year  = {2010},

date = {2010-06-28},

urldate = {2010-06-28},

booktitle = {2010 IEEE Conference on Robotics, Automation and Mechatronics},

pages = {62-67},

address = {Singapore},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Itsarachaiyot2009,

title = {Development of A Novel Robotic Monofilament Probe for Diabetic Neuropathy Screening},

author = {Itsarachaiyot, Y. and Suthakorn, J. and Guerineau, C. and Sa-Ing, V. and Sirisopha, W. and Wilasrusmee, C.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/ISBME2009-ID1108.pdf},

year  = {2009},

date = {2009-12-15},

urldate = {2009-12-15},

booktitle = {Proceedings of the 4th International Symposium on Biomedical Engineering in 2009 (ISBME 2009)},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{4913280,

title = {On the Design and Development of a Rough Terrain Robot for Rescue Missions},

author = {J. Suthakorn and S. S. H. Shah and S. Jantarajit and W. Onprasert and W. Saensupo and S. Saeung and S. Nakdhamabhorn and V. Sa-Ing and S. Reaungamornrat},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/DesignDevelopRoughTerrain.pdf},

doi = {10.1109/ROBIO.2009.4913280},

year  = {2009},

date = {2009-02-01},

urldate = {2009-02-01},

booktitle = {2008 IEEE International Conference on Robotics and Biomimetics},

pages = {1830-1835},

address = {Bangkok, Thailand},

abstract = {Rescue robots play an important role during rescue missions in disasters such as 9/11, which caused more than 2,000 deaths and thousands of injuries. However, tele-operating rescue robots are unable to perform their tasks constantly due to the limitation of current wireless communication technology. Therefore, rescue robots with the capability of performing their tasks autonomously during temporarily lost connections to the control base would be ideal. This paper introduces our development of a semi-autonomous rough terrain robot for rescue missions. The robot's hardware components, system architecture, and software architecture are described in order to provide a general overview of our robot. An alternative and comprehensive map-generating algorithm is presented and discussed. Finally, experimental setup and results from a testing arena are reported.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{4913173,

title = {Toward Robot-Assisted Dental Surgery: Path Generation and Navigation System using Optical Tracking Approach},

author = {Auranuch Lorsakul and Jackrit Suthakorn and Chanjira Sinthanayothin and Wichit Tharanon},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/TWRobot-AssistedDentalSurgery.pdf},

doi = {10.1109/ROBIO.2009.4913173},

year  = {2009},

date = {2009-02-01},

urldate = {2009-02-01},

booktitle = {2008 IEEE International Conference on Robotics and Biomimetics},

pages = {1212-1217},

address = {Bangkok, Thailand},

abstract = {The main aim of this paper is to develop dental implant surgical navigation system based on homogenous transformation algorithms. This work is a partial section of robot-assisted surgical development. The previous works are presented in numerous basic research. They are methodology design on tool tip calibration, optical marker recognition, and pose determination using neural networks. This paper concerns with tracking path generation system based on fundamental of optical tracking. The intraoperative system is the principal focus area of this study. The homogenous transformation has been calculated in term of kinematics equation among marker relationship. The stereo camera is utilized to retrieve 3D position of different pattern styles of markers. The beneath marker recognition algorithm using rotation-invariant neural network and physical method is performed to identify markers. The fundamental relationship among markers are computed to obtain the orientation and translation between the guided path and the instrument's tool tip. The experiment has been demonstrated and performed under prototype model. The method is to work on procedure step by step. They begin with patient information input and continuously perform on marker recognition, tool tip calibrations and marker digitization. The path tracking is executed to observe the accuracy of the system. The result shows that the system can be performed to track path based on beforehand planning.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SaIng2008DESIGNOA,

title = {Design of a New Laparoscopic-Holder Assisting Robot},

author = {Vera Sa-Ing and Saowapak Sotthivirat and Jackrit Suthakorn},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/ConceptualDesignLapHolder.pdf},

year  = {2008},

date = {2008-11-10},

urldate = {2008-11-10},

booktitle = {Proceeding of the 3rd International Symposium on Biomedical Engineering in 2008 (ISBME 2008)},

pages = {278--281},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Lorsakul2008,

title = {Optical Marker Recognition and Pose Determination using Neural Networks: Toward Development of a Dental Surgical Navigation System},

author = {Lorsakul, A. and Sinthanayothin, C. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/5.CARS_ABSTRACT_01.pdf},

year  = {2008},

date = {2008-06-25},

urldate = {2008-06-25},

booktitle = {Proceedings of the 22nd International Congress of Computer Assisted Radiology and Surgery (CARS 2008)},

address = {Barcelona, Spain},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Lorsakul2008b,

title = {Pose Recovery of Intramedullary Nail Distal Hole using Neural Networks},

author = {Lorsakul, A. and U-Thainual, P. and Mahaisaviriya, B. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/6.Abstract_CAOS2008_02.pdf},

year  = {2008},

date = {2008-06-04},

urldate = {2008-06-04},

booktitle = {Proceedings of the 2008 International Society for Computer Assisted Orthopedic Surgery (CAOS 2008)},

address = {Hong Kong},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Lorsakul2008c,

title = {Point-Cloud-To-Point-Cloud Technique on Tool Calibration for Dental Implant Surgical Path Tracking},

author = {Auranuch Lorsakul and Jackrit Suthakorn and Chanjira Sinthanayothin},

editor = {Michael I. Miga and Kevin R. Cleary},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/4.Lorsakul_ProcSPIE.pdf},

doi = {10.1117/12.772257},

year  = {2008},

date = {2008-03-06},

urldate = {2008-03-06},

booktitle = {Proceedings of the SPIE Medical Imaging 2008 (SPIE 2008)},

publisher = {SPIE},

address = {San Diego, California, USA},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Lorsakul2007TrafficSR,

title = {Traffic Sign Recognition for Intelligent Vehicle/Driver Assistance System Using Neural Network on OpenCV},

author = {Auranuch Lorsakul and Jackrit Suthakorn},

url = {https://api.semanticscholar.org/CorpusID:5751294

http://bartlab.org/newweb/wp-content/uploads/2023/06/3.KRS036_Final_Submission.pdf},

year  = {2007},

date = {2007-11-22},

urldate = {2007-11-22},

booktitle = {Proceedings of the 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007)},

pages = {279--284},

address = {POSTECH, Pohang, South Korea},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2007b,

title = {Development of Dental Implant Navigation System in Thailand},

author = {Suthakorn, J. and Lorsakul, A. and Sinthanayothin, C.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/2.AbstractBone2007.pdf},

year  = {2007},

date = {2007-11-12},

urldate = {2007-11-12},

booktitle = {roceedings of the 1st International Bone and Dental Technology Symposium 2007 (Bone 2007)},

pages = {76--78},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Lorsakul2007,

title = {Dental Tool Calibration Using Point-Cloud-To-Point cloud Technique with the Least-Square Solution: Toward Development of a Dental Navigation System},

author = {Lorsakul, A. and Suthakorn, J. and C. Sinthanayothin},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Auranuch.pdf},

year  = {2007},

date = {2007-07-09},

urldate = {2007-07-09},

booktitle = {Proceedings of the 3rd WACBE World Congress on Bioengineering 2007},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2007c,

title = {An Efficient Algorithm for Recovering Distal Holes' Axes in Intramedullary Nail},

author = {Suthakorn, J. and U-Thainual, P. and Mahaisavariya, B.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/an_efficient_agorithm.pdf},

year  = {2007},

date = {2007-07-09},

urldate = {2007-07-09},

booktitle = {Proceedings of the 3rd WACBE World Congress on Bioengineering 2007},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Charoensuk2007,

title = {Detection of CT Markers Position and Orientation from CT-Scan Image for Navigation Dental Implant System},

author = {Charoensuk, W. and Suthakorn, J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/detectionofCTMarkets.pdf},

year  = {2007},

date = {2007-07-09},

urldate = {2007-07-09},

booktitle = {Proceedings of the 3rd WACBE World Congress on Bioengineering 2007},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Kittiwut2007,

title = {An Inverse Kinematics System for F1ATPase Nano-Motor Manipulation},

author = {Kittiwut, B. and Suthakorn J.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Borripat.pdf},

year  = {2007},

date = {2007-07-09},

urldate = {2007-07-09},

booktitle = {Proceedings of the 3rd WACBE World Congress on Bioengineering 2007},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{UThainual2006ANA,

title = {A New Algorithm for Recovering Distal Hole Pose in Intramedullary Nail},

author = {Paweena U.-Thainual and Jackrit Suthakorn},

url = {https://api.semanticscholar.org/CorpusID:110061521},

year  = {2006},

date = {2006-07-29},

urldate = {2006-01-01},

booktitle = {Proceedings of the 5th World Congress on Biomechanics},

journal = {Journal of Biomechanics},

address = {Munich, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{4018801,

title = {Intramedullary Nail Distal Hole Axis Estimation using Blob Analysis and Hough Transform},

author = {Chatchai Neatpisarnvanit and Jackrit Suthakorn},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/08/6.pdf},

doi = {10.1109/RAMECH.2006.252685},

issn = {2158-219X},

year  = {2006},

date = {2006-06-01},

urldate = {2006-06-01},

booktitle = {2006 IEEE Conference on Robotics, Automation and Mechatronics},

pages = {1-6},

abstract = {In a closed intramedullary nailing of femoral surgery, one of the most difficult task for surgeons is to identify the position and orientation of the screwing holes at both ends of the intramedullary nail (IMN) after being inserted into a patient's femoral canal. The distal hole location may be shifted by external forces and torques applied to the IMN during the insertion procedure resulting in the IMN to deform. To recover the position and orientation (or "pose") of the screwing holes in the conventional operation, surgeons require high degree of experience, and a number of trial-and-error adjustments to correct the path for inserting the screws. Both surgeon and patient are also continuously exposed to a great amount of X-ray exposure from the fluoroscopic imaging system. This paper discusses a necessary part of a surgical navigation research for assisting orthopedic surgeons. This work addresses a problem of estimating the intramedullary nail (IMN) distal hole axis from a 2D image taken from the fluoroscopic imaging system. The proposed approach is based on the geometric properties of the nail itself. The Hough transform and blob analysis were employed as main image processing tools. The preliminary results show that the proposed method performed satisfactorily. However, there are several limitations associated with this approach. In particular, the proposed method cannot differentiate estimated distal hole angles in the first quadrant from the second quadrant},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{10.1007/11552246_29,

title = {Toward Self-Replication of Robot Control Circuitry by Self-Inspection},

author = {Jackrit Suthakorn and Gregory S. Chirikjian},

editor = {Marcelo H. Ang and Oussama Khatib},

isbn = {978-3-540-33014-1},

year  = {2006},

date = {2006-01-01},

booktitle = {Experimental Robotics IX},

pages = {303–309},

publisher = {Springer Berlin Heidelberg},

address = {Berlin, Heidelberg},

abstract = {The concept of man-made self-replicating machines was first proposed by John von Neumann more than 50 years ago. However, there has never been a physical implementation of his universal constructor architecture as a robotic system. Prior to our other recent work, an autonomous self-replicating mechanical system had not been developed. In this paper, we demonstrate a non-von-Neumann architecture for the replication of transistor circuits by active self-inspection. That is, there are no instructions stored about how to construct the circuit, but information observed about the spatial organization of the original circuit drives a larger electromechanical (robotic) system in which it is embedded to cause the production of a replica of the original circuit. In the work presented here, only replication of the control circuit is of interest. In the current context, the electromechanical hardware is viewed as a tool which is manipulated by the control circuit for its own reproduction. This architectural paradigm is demonstrated with prototypes that are reviewed here and compared with an implementation of the universal constructor concept.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{U-thainual2006,

title = {An Implementation on Recovery of IMN Distal Holes Orientation},

author = {U-thainual, P. and S. Sovitthivirat and Suthkorn, J.},

year  = {2006},

date = {2006-00-00},

urldate = {2006-00-00},

booktitle = {Proceedings of the 2nd International Symposium on Biomedical Engineering Conference in 2006 (ISBME 2006)},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1640027,

title = {Development of the `ThaiXPole' Underwater Robot for the Antarctica Exploration},

author = {J. Suthakorn and I. Chuckpaiwong and P. Owatchaiyapong},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Development_of_the_ThaiXPole_Underwater_Robot_for_the_Antarctica_exploration.pdf},

doi = {10.1109/OCEANS.2005.1640027},

issn = {0197-7385},

year  = {2005},

date = {2005-09-01},

urldate = {2005-09-01},

booktitle = {Proceedings of OCEANS 2005 MTS/IEEE},

pages = {1-6},

address = {Singapore},

abstract = {Researchers around the world are increasingly interested in South Pole explorations. However, the extreme weather and geographical conditions, and the difficulty in transportation between other parts of the world and the South Pole territories make many aspects of the South Pole remain unknown and require further investigations. Thailand has a great opportunity to send a marine scientist to explore the South Pole region in collaboration with other world-class scientists. To reduce the risks for a scientist under these extreme conditions and to increase the capability in exploring and acquiring data (such as investigating a site and planning a path for underwater exploration before human exploration), development of the ThaiXPole underwater robotic system for the South Pole exploration project was established. This paper describes the design, construction, experiments and results of a service robot, `ThaiXPole underwater robot', prior to being sent to assist the research scientist in exploring the coast of Antarctica},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2005c,

title = {Design and Construct of a New 3-D Binary Hyper-Redundant Robotic Manipulator, 'The MU-BHR Manipulator'},

author = {Suthakorn, J. and U-Thainual, P.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/design-and-construction-of-A-New-3-D.pdf},

year  = {2005},

date = {2005-05-19},

urldate = {2005-05-19},

booktitle = {Proceedings of the International Conference Emerging System and Technology},

pages = {77--84},

address = {Seoul, South Korea},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2004b,

title = {Robotics in Medical Applications},

author = {Suthakorn, J.},

year  = {2004},

date = {2004-11-16},

urldate = {2004-11-16},

booktitle = {Proceedings of the 1st International Symposium on Biomedical Engineering in 2004, Application of Biomedical Engineering in Dentistry and Medicine (ISBME 2004)},

pages = {93--96},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2004c,

title = {Introduction to DNA Microarrays and The Pilot Study of an Active DNA Microarray Fabrication in Thailand},

author = {Suthakorn, J. and Patirupanusara, P.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/introduction-to-DNA.pdf},

year  = {2004},

date = {2004-11-16},

urldate = {2004-11-16},

booktitle = {Proceedings of the 2004 International Symposium on Biomedical Engineering 2004, Application of Biomedical Engineering in Dentistry and Medicine (ISBME 2004)},

pages = {23--26},

address = {Bangkok, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1415010,

title = {Binary Hyper-Redundant Robotic Manipulator Concept},

author = {J. Suthakorn},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Binary-Hyper-redundant-robotics-manipulation-concepts.pdf},

doi = {10.1109/TENCON.2004.1415010},

year  = {2004},

date = {2004-11-01},

urldate = {2004-11-01},

booktitle = {2004 IEEE Region 10 Conference TENCON 2004.},

volume = {4},

pages = {625-628},

address = {Chiang Mai, Thailand},

abstract = {Continuously actuated robotic manipulators are the most common type of manipulators even though they require sophisticated and expensive control and sensor systems to function with high accuracy and repeatability. Binary hyper-redundant (Bi-HR) robotic manipulators are potential candidates to be used in applications where high repeatability and reasonable accuracy are required. Such applications include pick-and-place, spot welding and assistants to people with disabilities. Generally, the Bi-HR manipulator is relatively inexpensive, lightweight, and has a high payload to arm weight ratio. This paper discusses a concept of Bi-HR manipulator, influencing concepts to the Bi-HRt examples of applications, and its advantages and disadvantages.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1573950400113422336,

title = {A Novel Surgical Guidance System Utilizing Hybrid Fluoro-Stereoscope Navigation For an Orthopedic Surgery},

author = {Suthakorn, J. and Chuckpaiwong, I. and Mahaisavariya, B.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/A-NOVEL-SURGICAL-GUIDANCE-SYSTEM-UTILIZING-HYBRID-FLUORO.pdf},

year  = {2004},

date = {2004-09-16},

urldate = {2004-09-16},

booktitle = {Proceedings of the 8th International Research/Expert Conference "Trends in the Development of Machinery and Associated Technology" (TMT 2004)},

journal = {Proc. of The 8^<th> International Research/Expert Conference (TMT2004), Neum, Bosnia and Herzegovina, 15-19 September},

address = {Neum, Bosnia and Herzegovina},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2004d,

title = {Anti-Swing Control of Suspended Loads on Shipboard Robotic Cranes},

author = {Jackrit Suthakorn and Gordon Parker},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Anti-sway-control-of-suspended-loads-on-shipboard-robotics-cranes.pdf},

year  = {2004},

date = {2004-07-01},

urldate = {2004-07-01},

booktitle = {Proceedings of the 2004 World-Multi Conferences on Systematics, Cybernatics, and Informatics},

journal = {Journal of Systemics, Cybernetics and Informatics},

volume = {3},

address = {Florida, USA},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2003,

title = {An Inverse Kinematics Algorithm for Discretely Actuated Hyper-Redundant Robotic Manipulators},

author = {Suthakorn, J. and Chirikjian, G.S.},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn01.pdf},

year  = {2003},

date = {2003-12-00},

urldate = {2003-12-00},

booktitle = {Proceedings of the 4th International Conference on Intelligence Technology in 2003 (InTech’03)},

address = {Chiang Mai, Thailand},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1225085,

title = {An Autonomous Self-Replicating Robotic System},

author = {J. Suthakorn and A. B. Cushing and G. S. Chirikjian},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn03_a.pdf},

doi = {10.1109/AIM.2003.1225085},

year  = {2003},

date = {2003-07-01},

urldate = {2003-07-01},

booktitle = {Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003)},

volume = {1},

pages = {137-142},

abstract = {The concept of self-replicating machines was introduced more than fifty years ago by John von Neumann. However, to our knowledge a fully autonomous self-replicating robot has not been implemented until now. Here we describe a fully autonomous prototype that demonstrates robotic self replication. This work builds on our previous results in remote-controlled robotic replication and semi-autonomous replicating robotic systems.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1222279,

title = {A Semi-Autonomous Replicating Robotic System},

author = {J. Suthakorn and Y. T. Kwon and G. S. Chirikjian},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn03_c.pdf},

doi = {10.1109/CIRA.2003.1222279},

year  = {2003},

date = {2003-07-01},

urldate = {2003-07-01},

booktitle = {Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)},

volume = {2},

pages = {776-781 vol.2},

address = {Kobe, Japan},

abstract = {The concept of self-replicating machines was introduced more than fifty years ago by John van Neumann. However, a fully autonomous self-replicating robot has yet to be implemented. This paper discusses our ongoing research on self-replicating robots. Here we describe a semi-autonomous prototype that can demonstrate replication under human supervision. This work builds on our previous results in remote-controlled robotic replication with the added feature that many subtasks in the replication process are now autonomously performed by the robot. We believe this to be an important step in the realization of fully autonomous self-replicating robots.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{10.1007/3-540-36268-1_35,

title = {Toward Self-replicating Robots},

author = {Gregory S. Chirikjian and Jackrit Suthakorn},

editor = {Bruno Siciliano and Paolo Dario},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Chirikjian02.pdf},

isbn = {978-3-540-36268-5},

year  = {2002},

date = {2002-12-01},

urldate = {2002-12-01},

booktitle = {Proceedings of the 8th International Symposium on Experimental Robotics (ISER 2002)},

pages = {392–401},

publisher = {Springer Berlin Heidelberg},

address = {Italy},

abstract = {In this paper we describe several prototypes of self-replicating robotic systems that have been developed at JHU. In contrast to self-reconfiguration, self-replication is the process of assembling a functional robot from passive components. The robot that is assembled (the replica) is an exact copy of the robot doing the assembling. Our presentation marks the beginning of the JHU effort in this area. The future impact of self-replicating systems is potentially enormous. In particular, the cultivation of material and energy resources in outer space using facilities built by self-replicating systems is an attractive application area worth serious consideration.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1014266,

title = {A Robotic Library System for an Off-Site Shelving Facility},

author = {J. Suthakorn and Sangyoon Lee and Yu Zhou and R. Thomas and S. Choudhury and G. S. Chirikjian},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn03_b.pdf},

doi = {10.1109/ROBOT.2002.1014266},

year  = {2002},

date = {2002-05-01},

urldate = {2002-05-01},

booktitle = {Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)},

volume = {4},

pages = {3589-3594 vol.4},

address = {Mt. Fuji-Lake Yamanaka, Japan},

abstract = {This paper describes a unique robotics project, Comprehensive Access to Printed Materials (CAPM), within the context of libraries. As libraries provide a growing array of digital library services and resources, they continue to acquire large quantities of printed material. This combined pressure of providing electronic and print-based resources and services has led to severe space constraints for many libraries, especially academic research libraries. Consequently, many libraries have built or plan to build off-site shelving facilities to accommodate printed materials. An autonomous mobile robotic library system has been developed to retrieve items from bookshelves and carry them to scanning stations located in the off-site shelving facility. In subsequent stages, remote users will be able to trigger this process through a web interface in order to achieve real-time browsing of printed materials. Enhanced commercial robot systems are used in this project. The developments of the robot design, control systems, simulations, experiments and results are presented.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{1014266b,

title = {A Robotic Library System for an Off-Site Shelving Facility},

author = {J. Suthakorn and Sangyoon Lee and Yu Zhou and R. Thomas and S. Choudhury and G. S. Chirikjian},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn02_a.pdf},

doi = {10.1109/ROBOT.2002.1014266},

year  = {2002},

date = {2002-05-01},

urldate = {2002-05-01},

booktitle = {Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)},

volume = {4},

pages = {3589-3594 vol.4},

abstract = {This paper describes a unique robotics project, Comprehensive Access to Printed Materials (CAPM), within the context of libraries. As libraries provide a growing array of digital library services and resources, they continue to acquire large quantities of printed material. This combined pressure of providing electronic and print-based resources and services has led to severe space constraints for many libraries, especially academic research libraries. Consequently, many libraries have built or plan to build off-site shelving facilities to accommodate printed materials. An autonomous mobile robotic library system has been developed to retrieve items from bookshelves and carry them to scanning stations located in the off-site shelving facility. In subsequent stages, remote users will be able to trigger this process through a web interface in order to achieve real-time browsing of printed materials. Enhanced commercial robot systems are used in this project. The developments of the robot design, control systems, simulations, experiments and results are presented.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Suthakorn2002,

title = {Self-Replicating Robots for Space Utilization},

author = {Jackrit Suthakorn and Yu Zhou and Gregory Chirikjian},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn02_b.pdf},

year  = {2002},

date = {2002-01-01},

urldate = {2002-01-01},

booktitle = {Proceedings of the 2002 RoboSphere: Self-Sustained System},

address = {NASA Ames Research Center, California, USA},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{10.1007/3-540-45118-8_16,

title = {Design and Implementation of a New Discretely-Actuated Manipulator},

author = {Jackrit Suthakorn and Gregory S. Chirikjian},

editor = {Daniela Rus and Sanjiv Singh},

url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/Suthakorn.pdf},

isbn = {978-3-540-45118-1},

year  = {2000},

date = {2000-12-01},

urldate = {2000-12-01},

booktitle = {Proceedings of the 7th International Symposium on Experimental Robotics in 2000 (ISER 2000)},

pages = {151–157},

publisher = {Springer Berlin Heidelberg},

address = {Hawaii, USA},

abstract = {This paper presents a new 3-D design of a discretely-actuated robot manipulator powered by binary actuators. Binary actuators have two stable states, which are, for example, closed (0) and open (1). Major benefits of this kind of discretely-actuated manipulator are repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows tasks to be performed even when some actuators fail. A prototype of the new 3-D design is presented in this paper.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}