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  1. Book ; Online: Uncertainty-Aware Shared Autonomy System with Hierarchical Conservative Skill Inference

    Kim, Taewoo / Kim, Donghyung / Jang, Minsu / Kim, Jaehong

    2023  

    Abstract: Shared autonomy imitation learning, in which robots share workspace with humans for learning, enables correct actions in unvisited states and the effective resolution of compounding errors through expert's corrections. However, it demands continuous ... ...

    Abstract Shared autonomy imitation learning, in which robots share workspace with humans for learning, enables correct actions in unvisited states and the effective resolution of compounding errors through expert's corrections. However, it demands continuous human attention and supervision to lead the demonstrations, without considering the risks associated with human judgment errors and delayed interventions. This can potentially lead to high levels of fatigue for the demonstrator and the additional errors. In this work, we propose an uncertainty-aware shared autonomy system that enables the robot to infer conservative task skills considering environmental uncertainties and learning from expert demonstrations and corrections. To enhance generalization and scalability, we introduce a hierarchical structure-based skill uncertainty inference framework operating at more abstract levels. We apply this to robot motion to promote a more stable interaction. Although shared autonomy systems have demonstrated high-level results in recent research and play a critical role, specific system design details have remained elusive. This paper provides a detailed design proposal for a shared autonomy system considering various robot configurations. Furthermore, we experimentally demonstrate the system's capability to learn operational skills, even in dynamic environments with interference, through pouring and pick-and-place tasks. Our code will be released soon.

    Comment: Submitted to ICRA 2024 and currently under review
    Keywords Computer Science - Robotics
    Subject code 629
    Publishing date 2023-12-04
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  2. Article ; Online: Scaling-Up Insights for Zinc-Air Battery Technologies Realizing Reversible Zinc Anodes.

    Shinde, Sambhaji S / Wagh, Nayantara K / Lee, Chi Ho / Kim, Dong-Hyung / Kim, Sung-Hae / Um, Han-Don / Lee, Sang Uck / Lee, Jung-Ho

    Advanced materials (Deerfield Beach, Fla.)

    2023  Volume 35, Issue 48, Page(s) e2303509

    Abstract: Zinc-air battery (ZAB) technology is considered one of the promising candidates to complement the existing lithium-ion batteries for future large-scale high-energy-storage demands. The scientific literature reveals many efforts for the ZAB chemistries, ... ...

    Abstract Zinc-air battery (ZAB) technology is considered one of the promising candidates to complement the existing lithium-ion batteries for future large-scale high-energy-storage demands. The scientific literature reveals many efforts for the ZAB chemistries, materials design, and limited accounts for cell design principles with apparently superior performances for liquid and solid-state electrolytes. However, along with the difficulty of forming robust solid-electrolyte interphases, the discrepancy in testing methods and assessment metrics severely challenges the realistic evaluation/comparison and commercialization of ZABs. Here, strategies to formulate reversible zinc anodes are proposed and specific cell-level energy metrics (100-500 Wh kg
    Language English
    Publishing date 2023-09-26
    Publishing country Germany
    Document type Journal Article
    ZDB-ID 1474949-X
    ISSN 1521-4095 ; 0935-9648
    ISSN (online) 1521-4095
    ISSN 0935-9648
    DOI 10.1002/adma.202303509
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  3. Article ; Online: Heuristic Iron-Cobalt-Mediated Robust pH-Universal Oxygen Bifunctional Lusters for Reversible Aqueous and Flexible Solid-State Zn-Air Cells.

    Wagh, Nayantara K / Kim, Dong-Hyung / Kim, Sung-Hae / Shinde, Sambhaji S / Lee, Jung-Ho

    ACS nano

    2021  Volume 15, Issue 9, Page(s) 14683–14696

    Abstract: Rechargeable aqueous zinc-air cells (ZACs) promise an extremely safe and high energy technology. However, they are still significantly limited by sluggish electrochemical kinetics and irreversibility originating from the parasitic reactions of the ... ...

    Abstract Rechargeable aqueous zinc-air cells (ZACs) promise an extremely safe and high energy technology. However, they are still significantly limited by sluggish electrochemical kinetics and irreversibility originating from the parasitic reactions of the bifunctional catalysts and electrolytes. Here, we report the preferential
    Language English
    Publishing date 2021-08-20
    Publishing country United States
    Document type Journal Article
    ISSN 1936-086X
    ISSN (online) 1936-086X
    DOI 10.1021/acsnano.1c04471
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  4. Article ; Online: Synergistic doping effects of a ZnO:N/BiVO

    Kim, Donghyung / Zhang, Zhuo / Yong, Kijung

    Nanoscale

    2018  Volume 10, Issue 43, Page(s) 20256–20265

    Abstract: One-dimensional heterojunction nanorods are highly attractive as photoanodes for developing efficient photoelectrochemical (PEC) systems for the effective photogeneration of charge carriers and transport. ZnO/BiVO4 nanorod arrays (NRAs) are excellent ... ...

    Abstract One-dimensional heterojunction nanorods are highly attractive as photoanodes for developing efficient photoelectrochemical (PEC) systems for the effective photogeneration of charge carriers and transport. ZnO/BiVO4 nanorod arrays (NRAs) are excellent candidates if their charge transferring and recombination issues can be improved. In the current work, we have studied the synergistic doping effects of N-doped ZnO/Mo-doped BiVO4 NRAs for enhancing the photoanode activity in PEC devices. The N-doping of ZnO NRs enhances the charge carrier density ∼3-fold over undoped ZnO NRs through increased oxygen vacancies induced by N dopants. The Mo dopants in BiVO4 improve the mobility of photogenerated charge carriers and contribute to reducing charge recombination. The synergistic doping effects of both ZnO and BiVO4 could increase the charge transfer rate constant (kct) of the ZnO:N/BiVO4:Mo heterojunction by ∼40% and decrease the charge transfer resistance ∼1.9-fold compared to those of undoped ZnO/BiVO4, which were confirmed by time resolved photoluminescence (PL) and electrochemical impedance (EIS) analyses. Our optimally fabricated ZnO:N/BiVO4:Mo NRA photoanode could achieve an excellent photocurrent of 3.62 mA cm-2 without the application of any co-catalysts. This work presents a useful strategy for designing efficient heterojunction photoanodes in PEC systems.
    Language English
    Publishing date 2018-10-26
    Publishing country England
    Document type Journal Article
    ZDB-ID 2515664-0
    ISSN 2040-3372 ; 2040-3364
    ISSN (online) 2040-3372
    ISSN 2040-3364
    DOI 10.1039/c8nr06630b
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  5. Article ; Online: Supramolecular Polymer Intertwined Free-Standing Bifunctional Membrane Catalysts for All-Temperature Flexible Zn-Air Batteries.

    Wagh, Nayantara K / Shinde, Sambhaji S / Lee, Chi Ho / Kim, Sung-Hae / Kim, Dong-Hyung / Um, Han-Don / Lee, Sang Uck / Lee, Jung-Ho

    Nano-micro letters

    2022  Volume 14, Issue 1, Page(s) 190

    Abstract: Rational construction of flexible free-standing electrocatalysts featuring long-lasting durability, high efficiency, and wide temperature tolerance under harsh practical operations are fundamentally significant for commercial zinc-air batteries. Here, 3D ...

    Abstract Rational construction of flexible free-standing electrocatalysts featuring long-lasting durability, high efficiency, and wide temperature tolerance under harsh practical operations are fundamentally significant for commercial zinc-air batteries. Here, 3D flexible free-standing bifunctional membrane electrocatalysts composed of covalently cross-linked supramolecular polymer networks with nitrogen-deficient carbon nitride nanotubes are fabricated (referred to as PEMAC@NDCN) by a facile self-templated approach. PEMAC@NDCN demonstrates the lowest reversible oxygen bifunctional activity of 0.61 V with exceptional long-lasting durability, which outperforms those of commercial Pt/C and RuO
    Language English
    Publishing date 2022-09-17
    Publishing country Germany
    Document type Journal Article
    ZDB-ID 2642093-4
    ISSN 2150-5551 ; 2150-5551
    ISSN (online) 2150-5551
    ISSN 2150-5551
    DOI 10.1007/s40820-022-00927-0
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  6. Article ; Online: Heterointerface promoted trifunctional electrocatalysts for all temperature high-performance rechargeable Zn-air batteries.

    Wagh, Nayantara K / Kim, Dong-Hyung / Lee, Chi Ho / Kim, Sung-Hae / Um, Han-Don / Kwon, Joseph Sang-Il / Shinde, Sambhaji S / Lee, Sang Uck / Lee, Jung-Ho

    Nanoscale horizons

    2023  Volume 8, Issue 7, Page(s) 921–934

    Abstract: The rational design of wide-temperature operating Zn-air batteries is crucial for their practical applications. However, the fundamental challenges remain; the limitation of the sluggish oxygen redox kinetics, insufficient active sites, and poor ... ...

    Abstract The rational design of wide-temperature operating Zn-air batteries is crucial for their practical applications. However, the fundamental challenges remain; the limitation of the sluggish oxygen redox kinetics, insufficient active sites, and poor efficiency/cycle lifespan. Here we present heterointerface-promoted sulfur-deficient cobalt-tin-sulfur (CoS
    Language English
    Publishing date 2023-06-26
    Publishing country England
    Document type Journal Article
    ISSN 2055-6764
    ISSN (online) 2055-6764
    DOI 10.1039/d3nh00108c
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  7. Article ; Online: Simple but Effective Way To Enhance Photoelectrochemical Solar-Water-Splitting Performance of ZnO Nanorod Arrays: Charge-Trapping Zn(OH)

    Baek, Minki / Kim, Donghyung / Yong, Kijung

    ACS applied materials & interfaces

    2017  Volume 9, Issue 3, Page(s) 2317–2325

    Abstract: This study presents an effective and the simplest method to substantially improve the photoelectrochemical water-splitting ability of hydrothermally grown ZnO nanorod arrays (NRAs). In the hydrothermal growth of ZnO NRAs, unwanted Zn(OH) ...

    Abstract This study presents an effective and the simplest method to substantially improve the photoelectrochemical water-splitting ability of hydrothermally grown ZnO nanorod arrays (NRAs). In the hydrothermal growth of ZnO NRAs, unwanted Zn(OH)
    Language English
    Publishing date 2017-01-25
    Publishing country United States
    Document type Journal Article
    ISSN 1944-8252
    ISSN (online) 1944-8252
    DOI 10.1021/acsami.6b12555
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  8. Article: Highly efficient UV-sensing properties of Sb-doped ZnO nanorod arrays synthesized by a facile, single-step hydrothermal reaction

    Kim, Donghyung / Kim, Wuseok / Jeon, Sangmin / Yong, Kijung

    RSC advances. 2017 Aug. 21, v. 7, no. 64

    2017  

    Abstract: The synthesis of electrical and optical property-modulated, low-dimensional metal oxide semiconductors has been adopted for the development of nanodevices. However, conventional modulation methods, such as doping and alloying, generally require rather ... ...

    Abstract The synthesis of electrical and optical property-modulated, low-dimensional metal oxide semiconductors has been adopted for the development of nanodevices. However, conventional modulation methods, such as doping and alloying, generally require rather complex processes, such as multi-step high-temperature reactions, gas-phase growth, high-vacuum processes, etc. Alternatively, in the current study, the facile and cost-effective synthesis of Sb-doped ZnO nanorod arrays (NRAs) is achieved using a simple hydrothermal growth process at 95 °C. Through a single-step reaction, Sb atoms are substitutionally doped at the Zn atom sites with control of the Sb concentration. Sb dopants and Sb-induced oxygen vacancies increase the electron concentration in the ZnO NRAs, enhancing the electrical conductivity of the ZnO NRAs and inducing the further adsorption of ambient oxygen molecules on the nanorod surface. Upon UV irradiation of the highly oxygen-adsorbed, Sb-doped ZnO NRAs, the desorption of oxygen induces greater conductivity changes compared to the undoped samples. Based on this enhanced resistivity change, UV sensor devices were fabricated, and an improved reversible UV sensing performance was observed, with a ∼9-fold enhancement in the photocurrent of the ZnO NRAs after Sb doping. Moreover, UV sensing is achieved even under an extremely low bias of 10–6 V, suggesting the promising application of this material in extremely low-power UV sensor devices.
    Keywords adsorption ; antimony ; cost effectiveness ; desorption ; electric current ; electrical conductivity ; gases ; nanorods ; oxygen ; semiconductors ; ultraviolet radiation ; zinc ; zinc oxide
    Language English
    Dates of publication 2017-0821
    Size p. 40539-40548.
    Publishing place The Royal Society of Chemistry
    Document type Article
    ISSN 2046-2069
    DOI 10.1039/c7ra07157d
    Database NAL-Catalogue (AGRICOLA)

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  9. Article: Simple but Effective Way To Enhance Photoelectrochemical Solar-Water-Splitting Performance of ZnO Nanorod Arrays: Charge-Trapping Zn(OH)2 Annihilation and Oxygen Vacancy Generation by Vacuum Annealing

    Baek, Minki / Kim Donghyung / Yong Kijung

    ACS Applied Materials & Interfaces. 2017 Jan. 25, v. 9, no. 3

    2017  

    Abstract: This study presents an effective and the simplest method to substantially improve the photoelectrochemical water-splitting ability of hydrothermally grown ZnO nanorod arrays (NRAs). In the hydrothermal growth of ZnO NRAs, unwanted Zn(OH)₂ species are ... ...

    Abstract This study presents an effective and the simplest method to substantially improve the photoelectrochemical water-splitting ability of hydrothermally grown ZnO nanorod arrays (NRAs). In the hydrothermal growth of ZnO NRAs, unwanted Zn(OH)₂ species are formed, which act as trapping sites of photoexcited charges. We found that those inherent charge-trapping sites could be annihilated by the desorption of the hydroxyl groups upon vacuum annealing above 200 °C, which resulted in an enhancement of the charge-separation efficiency and photocurrent density. Another drastic increase in the photocurrent density occurred when ZnO NRAs were treated with annealing at higher temperature (700 °C), which can be attributed to the introduced oxygen vacancies acting as shallow donors in the ZnO crystal lattice. The removal of the charge-trapping Zn(OH)₂ and the generation of oxygen vacancies were confirmed by photoluminescence (PL) and XPS analyses. The ZnO NRAs treated by this simple method yield a photocurrent density of 600 μA/cm² at 1.23 VRHE under 1 sun illumination, which is 20 times higher than that obtained from as-grown ZnO NRAs. This study presents a highly efficient way of increasing the bulk electric conductivity and photoelectrochemical activity of metal oxide nanorods without requiring the introduction of any extrinsic dopants.
    Keywords annealing ; desorption ; electrical conductivity ; lighting ; nanorods ; oxygen ; photoluminescence ; temperature ; X-ray photoelectron spectroscopy ; zinc ; zinc oxide
    Language English
    Dates of publication 2017-0125
    Size p. 2317-2325.
    Publishing place American Chemical Society
    Document type Article
    ISSN 1944-8252
    DOI 10.1021%2Facsami.6b12555
    Database NAL-Catalogue (AGRICOLA)

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  10. Article ; Online: A Membrane Filter-Assisted Mammalian Cell-Based Biosensor Enabling 3D Culture and Pathogen Detection.

    Cho, Il-Hoon / Jeon, Jin-Woo / Choi, Min-Ji / Cho, Hyun-Mo / Lee, Jong-Sung / Kim, Dong-Hyung

    Sensors (Basel, Switzerland)

    2021  Volume 21, Issue 9

    Abstract: We have developed a membrane filter-assisted cell-based biosensing platform by using a polyester membrane as a three-dimensional (3D) cell culture scaffold in which cells can be grown by physical attachment. The membrane was simply treated with ethanol ... ...

    Abstract We have developed a membrane filter-assisted cell-based biosensing platform by using a polyester membrane as a three-dimensional (3D) cell culture scaffold in which cells can be grown by physical attachment. The membrane was simply treated with ethanol to increase surficial hydrophobicity, inducing the stable settlement of cells via gravity. The 3D membrane scaffold was able to provide a relatively longer cell incubation time (up to 16 days) as compared to a common two-dimensional (2D) cell culture environment. For a practical application, we fabricated a cylindrical cartridge to support the scaffold membranes stacked inside the cartridge, enabling not only the maintenance of a certain volume of culture media but also the simple exchange of media in a flow-through manner. The cartridge-type cell-based analytical system was exemplified for pathogen detection by measuring the quantities of toll-like receptor 1 (TLR1) induced by applying a lysate of
    MeSH term(s) Animals ; Biosensing Techniques ; Cell Culture Techniques ; Escherichia coli ; Immunoassay
    Language English
    Publishing date 2021-04-26
    Publishing country Switzerland
    Document type Journal Article
    ZDB-ID 2052857-7
    ISSN 1424-8220 ; 1424-8220
    ISSN (online) 1424-8220
    ISSN 1424-8220
    DOI 10.3390/s21093042
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