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Heuristics for Motion Planning Based on Learning in Similar Environments
Ogay, Dmitriy,Kim, Eun-Gyung The Korea Institute of Information and Commucation 2014 Journal of information and communication convergen Vol.12 No.2
This paper discusses computer-generated heuristics for motion planning. Planning with many degrees of freedom is a challenging task, because the complexity of most planning algorithms grows exponentially with the number of dimensions of the problem. A well-designed heuristic may greatly improve the performance of a planning algorithm in terms of the computation time. However, in recent years, with increasingly challenging high-dimensional planning problems, the design of good heuristics has itself become a complicated task. In this paper, we present an approach to algorithmically develop a heuristic for motion planning, which increases the efficiency of a planner in similar environments. To implement the idea, we generalize modern motion planning algorithms to an extent, where a heuristic is represented as a set of random variables. Distributions of the variables are then analyzed with computer learning methods. The analysis results are then utilized to generate a heuristic. During the experiments, the proposed approach is applied to several planning tasks with different algorithms and is shown to improve performance.
Observation of Coiled Blood Plexus in Rat Skin with Diffusive Light Illumination
Ogay, V.,Min, F.,Kim, K.,Kim, J.,Bae, K.H.,Han, S.C.,Soh, K.S. Elsevier 2009 Journal of Acupuncture & Meridian Studies Vol.2 No.1
Blood plexuses are characteristic anatomical features of acupuncture points (APs). We developed an optical technique using diffusive light illumination to increase the brightened area of skin for observation of the blood plexuses in skin. We found that the blood plexuses were coiled blood vessels which came out of the perforations in the fascia of muscle. The coiled vessels could be straightened by stretching the skin. We observed a series of blood plexuses at the putative APs along the left and right kidney meridian lines in the abdominal skin of rats. In addition, the locations of the plexuses on the muscle fascia were just above the putative acupuncture muscle channels along the kidney meridians. Furthermore, immunohistochemical analysis of the skin specimens of the plexuses revealed its neurovascular bundle nature as expected from known anatomical features of the APs.
Comparison of the Characteristic Features of Bonghan Ducts, Blood and Lymphatic Capillaries
Ogay, V.,Bae, K.H.,Kim, K.W.,Soh, K.S. Elsevier 2009 Journal of Acupuncture & Meridian Studies Vol.2 No.2
Objective: To show that the characteristic morphological and ultrastructural features of a Bonghan corpuscle and duct presented here are consistent with the description given in the early reports of Bonghan Kim. Materials and Methods: We compared the morphological aspects of Bonghan ducts with those of blood and lymphatic capillaries on the ultrastructural level to display the manifestly distinctive nature of the Bonghan system. Results: The walls of the ductules were observed to be composed of a single layer of endothelial cells with characteristic rod-shaped nuclei and were not surrounded by a basal lamina or by accessory cells, such as pericytes or smooth muscle cells. The abluminal cell membranes of Bonghan ductules were not attached by anchoring filaments to the fibers of extracellular matrices as observed in lymphatic capillaries. The cytoplasmic processes of ductule endothelial cells appear to form overlapping and interdigitated interconnections which completely lack junctional elements. Although the cytoplasm of ductule endothelial cells contained a well-developed rough endoplasmic reticulum and many free ribosomes and polysomes, there was a relatively small number of pinocytotic vesicles and lacks specific organelles, such as Weibel-Palade bodies. Conclusions: The Bonghan corpuscles are specialized structures consisting of different types of immune cells randomly scattered as single cells in the matrix or clustered in follicle-like formations. Moreover, the Bonghan ductules in the corpuscle contain flowing immune cells and occasionally basophilic bodies.
Kinodynamic Motion Planning with Artificial Wavefront Propagation
Ogay, Dmitriy,Kim, Eun-Gyung The Korea Institute of Information and Commucation 2013 Journal of information and communication convergen Vol.11 No.4
In this study, we consider the challenges in motion planning for automated driving systems. Most of the existing online motion-planning algorithms, which take dynamics into account, find it difficult to operate in an environment with narrow passages. Some of the existing algorithms overcome this by offline preprocessing if environment is known. In this work an online algorithm for motion planning with dynamics in an unknown cluttered environment with narrow passages is presented. It utilizes an idea of hybrid planning with sampling- and discretization-based motion planners, which run simultaneously in a full configuration space and a derived reduced space. The proposed algorithm has been implemented and tested with a real autonomous vehicle. It provides significant improvements in computational time performance over basic planning algorithms and allows the generation of smoother paths than those generated by the recently developed hybrid motion planners.
Catecholamine-storing Cells at Acupuncture Points of Rabbits
소광섭,Vyacheslav Ogay,Min Su Kim,Hyo Jun Seok,Cheon Joo Choi, 사단법인약침학회 2008 Journal of Acupuncture & Meridian Studies Vol.1 No.2
Recent studies have shown that specific sites of the skin related to the acu points contain a high concentration of catecholamines, especially noradrenaline (NA). Considering this newly discovered property of the acupoints we assumed that heterogeneous distribution of cutaneous catecholamines could be associated with a specific location of catecholamine-storing cells in acupoint sites. In the present work we used an immunohistochemical method and confocal laser scanning microscopy to examine the presence of catecholamine-storing cells at acupoints of rabbits. Double immunofluorescence staining with antibodies against adrenaline and NA revealed only the cells storing NA in the dermal layer of rabbit skin. NA-storing cells were randomly scattered as single cells as well as existing in small clusters in a globular tissue formation surrounded by blood vessels and capillaries. Microscopic analysis of histological sections also revealed that the distribution of NA-storing cells was closely associated with the location of acupoints. Thus results from our study strongly suggest that acupoint areas of rabbit skin contain catecholamine-storing cells which can release a high level of NA during acupuncture stimulation.
Visualization of Bonghan Microcells by Electron and Atomic Force Microscopy
Baik, K.Y.,Ogay, V.,Jeoung, S.C.,Soh, K.S. Elsevier 2009 Journal of Acupuncture & Meridian Studies Vol.2 No.2
Objectives: The origin of adult stem cells remains an open question. If they derive from embryos, it is difficult to determine the mechanism which interrupts their differentiation during tissue formation. In the 1960s, the Bonghan microcell was suggested as one possible, yet to be described, route of stem cell production, such that they have the potential to proliferate to produce normal cells. Materials and Methods: In this study, Bonghan microcells were isolated from Bonghan tissues on rat organ surfaces, and their detailed morphology examined by electron and atomic force microscopy. Results: The ultrastructure observed distinguished them from apoptotic bodies and other microorganisms, and their unique, possible proliferation feature, as protruding threads, was imaged by atomic force microscopy. Conclusions: The unique threadlike structure of the Bonghan microcell is consistent with Prof. Kim's observation in the first step of making a cell. Understanding of the functions of this threadlike structure may give a clue to understand the origin or the differentiation cue of adult stem cells.
Imaging of Fluorescent Nanoparticles Distributed in Mouse Skin
소광섭,백구연,V. Ogay,Y. W. Lee,J. K. Lee,S. H. Lee,Y. J. Kim 한국물리학회 2008 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.53 No.2
Fluorescence imaging and electron microscopic image analysis are important tools to study the behavior and the distribution of nanoparticles in skin. We injected 50-nm-sized polyethylene-glycolcoated nanoparticles and studied their distribution and interaction at the injection site by using fluorescence microscopes and electron microscopes. We found two barriers, the basement membrane that kept the nanoparticles from diffusing to the epidermis layer and another barrier that prevented diffusion to the muscle layer. The uptake capability of various cells was also investigated. This biomedical physics study will be useful for investigating and preventing serious medical problems that can be caused by the increasing use of nanoparticle-laden drug administrations.