Christian Rink

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This work focuses on autonomous surface reconstruction of small-scale objects with a robot and a 3D sensor. The aim is a high-quality surface model allowing for robotic applications such as grasping and manipulation. Our approach comprises the generation of next-best-scan (NBS) candidates and selection criteria, error minimization between scan patches and(More)
Research on humanoid robots for use in servicing tasks, e.g. fetching and delivery, attracts steadily more interest. With “Rollin' Justin” a mobile robotic system and research platform is presented that allows sophisticated control algorithms and dexterous manipulation. This video gives an overview of the mobile humanoid robotic system(More)
We present a next-best-scan (NBS) planning approach for autonomous 3D modeling. The system successively completes a 3D model from complex shaped objects by iteratively selecting a NBS based on previously acquired data. For this purpose, new range data is accumulated in-the-loop into a 3D surface (streaming reconstruction) and new continuous scan paths along(More)
This work is focused on global registration of surface models such as homogeneous triangle meshes and point clouds. The investigated approach utilizes feature descriptors in order to assign correspondences between the data sets and to reduce complexity by considering only characteristic feature points. It is based on the decomposability of rigid motions(More)
The Mediator complex-associated cyclin-dependent kinase CDK8 has been implicated in human disease, particularly in colorectal cancer where it has been reported as a putative oncogene. Here we report the discovery of 109 (CCT251921), a potent, selective, and orally bioavailable inhibitor of CDK8 with equipotent affinity for CDK19. We describe a(More)
We demonstrate a designed scaffold-hop approach to the discovery of 2,8-disubstituted-1,6-naphthyridine- and 4,6-disubstituted-isoquinoline-based dual CDK8/19 ligands. Optimized compounds in both series exhibited rapid aldehyde oxidase-mediated metabolism, which could be abrogated by introduction of an amino substituent at C5 of the 1,6-naphthyridine(More)
This work is focused on streaming particle filter registration of surface models such as homogeneous triangle meshes and point clouds. Part of the approach is a streaming curvature feature calculation. The investigated approach utilizes a particle filter to incrementally update pose estimates during data acquisition. The method is evaluated in real data(More)
This work contributes the optimization of a streaming pose estimation particle filter and its integration into an autonomous object modeling approach. The particle filter is advanced by an additional pose optimization in the particle weighting step. By integrating the method into the autonomous object modeling approach, the repositioning of objects is(More)
This thesis focuses on the development of an autonomous exploration and 3D mapping algorithm for a mobile service platform in an indoor environment. The designated robot platform is the KUKA omniRob additionally equipped with eight Time of Flight (ToF) cameras and the algorithm is developed and tested within the institute’s internal Mobile Robot Environment(More)