• Electronics and Telecommunications Trends
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• v.39 no.4
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• pp.10-20
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• 2024

Recent advancements in autonomous flight technologies for Unmanned Aerial Vehicles (UAVs) have greatly expanded their applicability for various tasks, including delivery, agriculture, and rescue. This article presents a comprehensive survey of path planning techniques in autonomous navigation and exploration that are tailored for UAVs. The robotics literature has studied path and motion planning, from basic obstacle avoidance to sophisticated algorithms capable of dynamic decision-making in challenging environments. In this article, we introduce popular path and motion planning approaches such as grid-based, sampling-based, and optimization-based planners. We further describe the contributions from the state-of-the-art in exploration planning for UAVs, which have been derived from these well-studied planners. Recent research, including the method we are developing, has improved performance in terms of efficiency and scalability for exploration tasks in challenging environments without human intervention. On the basis of these research and development trends, this article discusses future directions in UAV path planning technologies, illustrating the potential for UAVs to perform complex tasks with increased autonomy and efficiency.

• Journal of the Korean Arthroscopy Society
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• v.10 no.1
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• pp.83-86
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• 2006

Purpose: We repoted the clinical results and introduction of surgical techniques for the patients with tears of the triangular fibrocartilage complex (TFCC) who had arthroscopic management. Materials and Methods: According to Palmer classification, nine patients(9 wrists) with type 1B lesions of the triangular fibrocartilage complex from 2001 to 2004 were included in this study. The mean follow-up period was 28 months. Six were male and three were female, right side was in seven cases and left side in two cases. Nine patients received arthroscopic debridement and repair by outside-in technique. To assess the clinical outcomes, the visual analogue pain scale(VAPS), grip strength, range of motion were investigated. Results: The average of VAPS improved from 6.2 to 1.4. The grip strength of wrists of all nine patients improved after surgery and the range of motion of all wrists reached full range. Conclusion: Arthroscopic repair of type 1B tear of the triangular fibrocartilage complex has satisfactory results. The repair by outside-in technique was simple and we could have secure fixation.

• Clinics in Shoulder and Elbow
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• v.18 no.3
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• pp.152-158
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• 2015

Background: Acromioclavicular (AC) stability is maintained through a complex combination of soft-tissue restraints that include coracoclavicular (CC), AC ligament and overlying muscles. Among these structures, the role of the CC ligament has continued to be studied because of its importance on shoulder kinematics, especially after AC injury. This study was designed to determine the geometric change of conoid and trapezoid ligaments and resulting stresses on these ligaments according to various scapular motions. Methods: The scapuloclavicular (SC) complex was isolated from a fresh-frozen cadaver by removing all soft tissues except the AC and CC ligaments. The anatomically aligned SC complex was then scanned with a high-resolution computed tomography scanner into 0.6- mm slices. The Finite element model of the SC complex was obtained and used for calculating the stress on different parts of the CC ligaments with simulated movements of the scapula. Results: Average stress on the conoid ligament during anterior tilt, internal rotation, and scapular protraction was higher, whereas the stress on the trapezoid ligament was more prominent during posterior tilt, external rotation, and retraction. Conclusions: We conclude that CC ligament plays an integral role in regulating horizontal SC motion as well as complex motions indicated by increased stress over the ligament with an incremental scapular position change. The conoid ligament is the key structure restraining scapular protraction that might occur in high-grade AC dislocation. Hence in CC ligament reconstructions involving only single bundle, every attempt must be made to reconstruct conoid part of CC ligament as anatomically as possible.

• Journal of Acupuncture Research
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• v.28 no.6
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• pp.177-184
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• 2011

Objectives : To evaluate the effectiveness of oriental complex therapy with $Dokhwalgisaeng-tang$($Duhuojisheng-tang$) $Gamibang$ on the lumbago patient. Methods : 13 lumbago patients were treated with $Dokhwalgisaeng-tang$($Duhuojisheng-tang$) $Gamibang$, acupunture, moxibustion, pharmacopuncture, cupping, oriental physical therapy and exercise for lumbago. ODI(Oswestry diability index), ROM(range of motion), pain self assessment were checked to evaluate the effectiveness of the treatment. Results : ODI, pain self assessment and ROM were all improved but there were no statistical significance except pain self assessment($p$<0.001). Coclusions : Oriental complex therapy with $Dokhwalgisaeng-tang$($Duhuojisheng-tang$) $Gamibang$ might improve low back pain.

• The Journal of the Acoustical Society of Korea
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• v.21 no.1E
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• pp.42-48
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• 2002

In this paper, a computer simulation method is presented far the dynamic analysis of a hydraulic engine mount system. The hydraulic engine mount system controls the damping characteristics using the viscosity of fluid flow. The complex stiffnesses of the main rubber for the hydraulic engine mount system are computed using a finite element analysis. The equations of motion considering the parameters of the hydraulic engine mount system are derived. To investigate the effects of the hydraulic engine mount system, the computer simulation running over a typical rough road is carried out using a vehicle dynamic model. These results are compared with those of the conventional rubber mount system.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.397-400
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• 1991

This paper presents a cartesian space decentralized adaptive controller design for the end effector of the robot manipulator to track the given desired trajectory in the cartesian coordinate. By the cartesian based control scheme, the task related high level motion command is directly executed without solving the complex inverse kinematic equations. The controller does not require the complex manipulator dynamic model, and hence it is computationally very efficient. Each degree of freedom of the end effector on the cartesian space is controlled by a PID feedback controller and a velocity acceleration feed forward conpensation part. Simulation results for a two-link direct drive manipulator conform that the present cartesian based decentralized scheme is feasible.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.68-75
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• 2004

Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2014.06a
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• pp.26-27
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• 2014

This paper presents an adaptive interpolation filtering scheme for the High Efficiency Video Coding (HEVC) standard. In regards to interpolation for motion estimation and compensation, the conventional HEVC employs 8-tap and 4-tap filters for luma and chroma samples, respectively. Coefficients in such filters are determined by discrete cosine transform (DCT). In the proposed scheme, boundary strength values are stored after the execution of the deblocking filter. For each block, the sum of boundary strength values is calculated to indicate whether its region is complex or simple. Consequently, based on the region classification, 12-tap and 8-tap interpolation filters are used for complex and simple regions, respectively. This process is applied to luma sample interpolation only. Simulation results show 1.8% average BD-rate reduction compared to the conventional method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.301-305
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• 2001

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking(or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, complex, coupled manipulator dynamics. The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. In path planning, DP is applied to applied to find the shortest path form initial position to final position with the assumptions that there is no obstacle and that each path is straight line. In path control, the phase plane technique is applied to the minimum-time control with the assumptions that the bound on each actuator torque is a function of joint position and velocity or constant. This algorithm can be used for any manipulator that has rigid link, known dynamics equations of motion, and joint angles that can be determined at a given position on the path.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2796-2798
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• 2005

This Paper presents a method that a mobile robot can track persons in complex environment using particle filters. The topic of person following using mobile robot is researched in many different areas. The main problems of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. We present appearance adaptive models in a particle filter to realize robust visual tracking algorithm. Adaptive appearance model can handle occlusion with other people while target is moving.