W
Wooram Park
Researcher at University of Texas at Dallas
Publications - 32
Citations - 753
Wooram Park is an academic researcher from University of Texas at Dallas. The author has contributed to research in topics: Motion planning & Background noise. The author has an hindex of 11, co-authored 32 publications receiving 696 citations. Previous affiliations of Wooram Park include Seoul National University & Johns Hopkins University.
Papers
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Proceedings ArticleDOI
Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model
TL;DR: This paper formulates the problem of steering a very flexible needle through firm tissue as a nonholonomic kinematics problem, and demonstrates how planning can be accomplished using diffusion-based motion planning on the Euclidean group, SE(3).
Book ChapterDOI
Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance
Noah J. Cowan,Ken Goldberg,Gregory S. Chirikjian,Gabor Fichtinger,Ron Alterovitz,Kyle B. Reed,V. Kallem,Wooram Park,Sarthak Misra,Allison M. Okamura +9 more
TL;DR: This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods.
Journal ArticleDOI
Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map
TL;DR: A simple approach for the numerical approximation of all the IUR matrices for two of the groups of most interest in robotics: the rotation group in three-dimensional space, SO(3), and the Euclidean motion group of the plane, SE(2) is developed, and takes advantage of the sparse nature of the Lie algebra representation matrices.
Journal ArticleDOI
The Path-of-probability Algorithm for Steering and Feedback Control of Flexible Needles
TL;DR: A new framework for path planning of flexible needles with bevel tips is developed, based on a stochastic model of needle steering, where the probability density function for the needle-tip pose is approximated as a Gaussian.
Journal ArticleDOI
A fast Hermite transform
TL;DR: Algorithms for fast and stable approximation of the Hermite transform of a compactly supported function on the real line are presented, attainable via an application of a fast algebraic algorithm for computing sums associated with a three-term relation.