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- 저자 : Vishnu G. Nair (검색결과 3 건)
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2D-VPC: An Efficient Coverage Algorithm for Multiple Autonomous Vehicles
Vishnu G. Nair,K. R. Guruprasad 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.8
In this paper, we address a problem of multi-robotic coverage, where an area of interest is covered by multiple sensors, each mounted on an autonomous vehicle such as an aerial or a ground mobile robot. The area of interest is first decomposed into grids of equal size and then partitioned into Voronoi cells. Each robot/sensor is assigned the task of covering the corresponding Voronoi cell. We propose an optimal gridding size and partitioning methodology that eliminate the coverage inefficiencies induced by the partitioning process. We carried out experiments using multiple quadcopters and mobile robots to demonstrate and validate the proposed multi-sensor coverage strategy.
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Vishnu G. Nair,Adarsh Rag S.,Jayalakshmi K. P.,Dileep M. V.,K. R. Guruprasad 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7
In this paper, a dynamic workspace allocation methodology for coverage path planning using multiple robots in the presence of obstacles is presented. The entire workspace is initially partitioned using the Manhattan Voronoi partitioning method, without considering the obstacles present, and the robots execute Multi-Robot Simultaneous Exploration and Coverage (MRSimExCoverage) using the Spanning Tree Coverage (STC) algorithm and cover the workspace. A dynamic workspace re-allocation strategy to optimize the area covered by each robot, whenever obstacles are detected, so as to avoid certain obstacle-induced coverage issues is studied. Simulation experiments within the Matlab/V-rep environment are used to demonstrate and validate the performance of the proposed algorithm. Though the authors used the STC algorithm for path planning for demonstration, any suitable coverage algorithm may be used.
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Nair Vishnu Vikraman,Kundnani Vishal G.,Shetty Abhijith,Anand Manikant,Jain Mukul,Dewnany Nikhil 대한척추외과학회 2023 Asian Spine Journal Vol.17 No.6
Study Design: Retrospective cohort study.Purpose: This study aimed to compare the efficacy of bisphosphonates and teriparatide in the management of osteoporotic vertebral compression fractures with regard to pain management, prevention of nonunion, and radiological as well as clinical outcomes.Overview of Literature: Osteoporosis refers to a skeletal disorder characterized by decreased bone strength caused by poor bone density and quality causing fragility, resulting in long periods of pain-related immobilization.Methods: In a 24-month follow-up retrospective study, 191 patients with osteoporotic vertebral compression fractures were randomly assigned to the bisphosphonate group (n=104) or the teriparatide group (n=87), with patients opting for their treatment between January 2016 and October 2020. Demographic data and patient-reported outcomes scores, including the Visual Analog Scale (VAS), Oswestry Disability Index (ODI), union rates, and kyphosis progression, were assessed at baseline, 6 months, 1 year, and 2 years after treatment.Results: Both groups had a significant decrease in VAS, from 8.38±0.74 to 3.15±1.40 in the bisphosphonate group and from 8.49±0.73 to 1.11±0.31 in the teriparatide group. The ODI scores reduced significantly at 2-year follow-ups, recording 25.02±13.94 and 15.11±2.17 in the bisphosphonate and teriparatide groups, respectively. Risks of nonunion development were slightly higher at 11.53% in the bisphosphonate group and 8.63% in the teriparatide group required operative intervention. The kyphosis progression angles were also significantly lower in the teriparatide group (4.97°±0.78°) than in the bisphosphonate group (8.09°±1.25°).Conclusions: Over time, numerous studies have demonstrated the efficacy of bisphosphonates and teriparatide in ameliorating pain. In this study, the efficacy of teriparatide surpassed that of bisphosphonates in certain aspects, such as the initial 6-month union rates and reduction in the progression of segmental kyphosis. However, bisphosphonates and teriparatide yield similar and favorable union rates at 1 year and final follow-up.
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