Path planning for parking of an autonomous vehicle

Z razvojem avtomatsko vodenih vozil (AGV) in avtomatiziranih skladišč se je razvila potreba po razvoju algoritmov za avtonomno planiranje poti in tudi avtonomnem planiranju poti za parkiranje. Eden od ključnih problemov pri procesu parkiranja je planiranje poti. V tej študiji bo prikazano reševanje problema poti parkiranja štirikolesnega vozila AGV. V teoretičnem delu so predstavljeni trije algoritmi za planiranje poti: Dubinsove poti, RRT (ang. Rapidly-exploring random tree) algoritem in algoritem za iskanje poti s pomočjo krožnih lokov. V praktičnem delu je narejena študija algoritma za iskanje poti s pomočjo krožnih lokov, sam algoritem je implementiran in testiran v simulacijskem okolju. Glavni poudarek je na testiranju delovanja tega algoritma in predstavitvi rezultatov simulacije. Pot, ki povezuje začetno pozicijo AGV s končno pozicijo je sestavljena iz krožnih lokov. Algoritem je testiran v simulacijskem okolju, kjer so dimenzije parkirnega prostora in AGV-ja v naprej določene. Na začetku algoritem najde več kot eno končno krožnico, ki povezuje začetno in končno pozicijo AGV-ja. Krožnica, ki je izbrana kot končna izpolnjuje dva pogoja: radij končnega kroga mora bit večji od radija obračanja (Rturn) AGV-ja in tangentna točka med končno krožnico in krožnico obračanja AGV-ja mora bit nad X-osjo lokalnega koordinatnega sistema. Predlagani algoritem zagotavlja praktično metodo načrtovanja poti brez računsko zamudnega računanja, prav tako pa je sposoben najti končno pot iz katerekoli začetne pozicije AGV-ja. V tej študiji je bilo pokazano, da se dolžina poti spreminja s spreminjanjem naslednjih parametrov: pozicija in orientacija AGV-ja, krmilni kot, parkiranje naprej ali vzvratno. Narejeni so bili štirje optimizacijski algoritmi. Prvi dva algoritma optimirata pozicijo in orientacijo AGV-ja, če poznamo njegov krmilni kot theta. S to optimizacijo dobimo najboljše območje, kjer se lahko parkirni proces začne in tudi najboljšo orientacijo AGV-ja za parkiranje. Tretji algoritem optimira krmilni kot theta, kjer imamo podano začetno pozicijo in orientacijo AGV-ja. S to optimizacijo dobimo krmilni kot, s katerim pridemo do najbolj optimalne (najkrajše) poti. Pri zadnji optimizaciji se preveri način parkiranja (naprej ali vzvratno) s katerim pridemo do najbolj optimalne (najkrajše) poti. S pomočjo vseh optimizacij je bilo ugotovljeno, da je pot najkrajša, ko je začetna pozicija AGV-ja tudi tangenta točka med končno krožnico in krožnico obračanja AGV-ja. Dobra stran algoritma je, da vedno najde pot. Z uporabo različnih vrst optimizacije lahko pot prilagodimo glede na potrebe uporabnika (optimalno pot, ki pomeni najkrajšo pot, ali pot z določenim številom manevrov ali druge).Nadaljnji razvoj algoritma bi lahko vseboval testiranje na realnem primeru v realnem okolju.A path planning algorithm for parking an autonomous vehicle. Recently, with the development of self-driving, autonomous vehicles and automated warehouses there have been a growing interest in the development of autonomous path planning as well as parking algorithms. In this study, a solution for path planning in autonomous parking for 4-wheel-AGV(Automated Guided Vehicle) is presented. In the theoretic part of the study 3 path planning algorithms are exposed such as: Dubbin’s path, RRT (Rapidly-exploring random tree) algorithm and an arc path planning algorithm. In the practical part of the study the arc path parking algorithm is implemented and tasted. The main focus is given to algorithm testing and presentation of obtained test results in simulation environment. The path is circle arc that connects the vehicle initial position and goal position of the vehicle inside the parking space. The algorithm is tested in a simulation environment where parking space and dimension of the vehicle are known. At the beginning from the initial position of the vehicle to the final position the algorithm find more than one potential final circle that can be used to defending the final arc path. But the circle that is picked as final path has to have radius larger than the turning radius of the vehicle and the tangent point between the potential final circle and circles with turning radius of the car have to be above X axis of the local coordinate system. The proposed path planning algorithm provides a practical method of path planning without expensive computation and it was proved that if find a final path from any initial position. In the study it was proved that the length of the final path in changing depending on this parameters: position in orientation of the vehicle, steering angle and parking forward/backward. In the study 4 different optimizations to find the shortest path were done so the optimal path can be found. First one is optimization of the positions and orientations of the vehicle where we know the steering angle thata. With this optimization the best area where the vehicle should start with the parking procedure and path planning and the best orientation of the vehicle are found. Third is optimization of the steering angle theta, where we have the initial starting position and orientation of the vehicle. With this optimization we get what is the best steering angle of the vehicle so we get the optimal path length. And the last optimization is with parking forward/backward. With the optimization it was shown that the length of the path is shortest when vehicle park forward if it is turn with the front side of it to the parking spot. And if it park backward it is better if it is turned with the back towards the parking spot. Also while doing all the optimizations it was shown that the shortest path is found if the tangent point between final circle and circle with turning radius is same as the position point of the vehicle. The good side of the algorithm is that it always find a path, without expensive computations. But the path might not be always optimal, that is why it is good to know the optimization parameter that is important. If it is searching for optimal path meaning the shortest path, or the path with defined number of maneuvers or other optimization. The further work on the algorithm would be implementing and testing in on a real example in real environment

Acupuncture in the treatment of pain

Pain is a feeling that can be felt in many areas in the body (back, pelvis, chest, abdomen) and is triggered by the nervous system. Pain is most common symptom in conditions of the musculoskeletal system, but also can accompany other conditions like hormonal imbalance, autoimmune, neurological diseases etc. The Traditional Chinese Medicine (TCM) recommends more intensive treatment for pain with acupuncture and herbal medicine, so the blocked Qi can be released and the normal body function can be stimulated. In our study we have done a survey on our patients with questionnaire of 13 questions in our clinic. In the survey participated 41 patients, 6 male and 35 female, of different age groups, with different conditions and with main symptom ofpain. All patients have done acupuncture treatment in our clinic in the past year with certain number of treatments. In 63.41% or 26 patients, the overall health condition was improved totally, in 31.71% or 13 patients the condition is partially better and only 4.88% or 2 patients did not have any improvement

Cyrillic Manuscript Heritage: Vol. 38

CMH 38 cover design based on the cover design of CMH 34 created by Eva Dujardin Dale.Biannual newsletter of the Hilandar Research Library (HRL) and the Resource Center for Medieval Slavic Studies (RCMSS), The Ohio State University. Includes: features by guest contributors, which may appear under the column heading of "HRL Journal" – where Cyrillic Manuscript Heritage asks researchers who have used the resources of the HRL in the past year to describe their experience and work; a column, "Director's Desk," by the Director of RCMSS; "RCMSS & HRL News Notes," i.e., reports on recent visitors, research, events, exhibits, projects, updates, etc.; contributors to both the Hilandar Endowment Fund and Hilandar's Friends of the Library Fund are listed, as are donors of "Gifts in Kind." Also included may be seasonal announcements regarding the International Hilandar Conference series and the Medieval Slavic Summer Institute.Front cover image: SPEC.OSU.HRL.GMS.FRAG.2, two sides of a single vellum leaf from a Byzantine Greek Gospel lectionary, purchased by the HRL with donations made to the Hilandar Endowment Fund and Hilandar Friends of the Library funds by Frances Roslovic, the Ostich Family, and Sharon Fullerton Maliska; Table of Contents, masthead, front cover photo caption, p. 2; "From the Director's Desk" by Dr. Predrag Matejic, p. 3; "Our Visitors": "A Blast from the Past," photo by Jessi Jones, "A Family Affair" and "HRL Public Lecture on Ivan the Terrible," photos by Jessi Jones, and photo by Georgios Anagnostou of Dr. William Kaldis and his daughter Maria Kaldis Arend, p. 4; "A Special Chaplains' Visit to the HRL" and "An Undergraduate Class Visit," photos by Jessi Jones, p. 5; "All in the Family: A Research Visit from an Alumna of MSSI 2001" by Monica White, photo courtesy of M. White, pp. 6, 8; "'Approaches to the Editing of Slavonic Texts' Workshop in Regensburg, Germany" by Susana Torres Prieto, photos courtesy of S. Torres Prieto, pp. 7-8; Unnumbered insert: recto - "In Memoriam: Professor Charles Edward Gribble," based on an obituary written by Daniel E. Collins, photo courtesy of the OSU department of Slavic and East European Languages and Cultures, and verso: Medieval Slavic Summer Institute 2017 announcement, photos by Jessi Jones; "HRL Journal: Accessing the Forbidden" by Kristina Nikolovska, photo courtesy of K. Nikolovska, p. 9; "Catching up with our MSSI Alumni," photos courtesy of Michael Furman, Alice Sullivan, and Federica Candido, p. 10; "HRL Journal: Examining the Serbian Euchologion" by Tatiana Afanas'eva, photo courtesy of T. Afanas'eva, p. 11; "HRL Journal: My First Trip to the U.S." by Marta Peña Escudero, photos courtesy of M. Peña Escudero, pp. 12, 14; "Manuscript Marginalia Lecture by Dr. Nikolovska," photo by Jessi Jones, p. 13; "A Step into Sociology: Slovene Scholars' Lecture," photos by Jessi Jones, p. 13; "In Memoriam: Protinica Ljubica Matejic," photo courtesy of Nenad Matejic, p. 14; Contributions to the Hilandar Endowment Fund, Gifts through Friends of the Library, and Gifts-in-Kind to the Hilandar Research Library, p. 15; back cover, birth announcement of Predrag Matejic's granddaughter, Elisaveta Todora Matejic, photo courtesy of Svetoslav and Sarah Matejic

Comparison of root surface roughness induced by hand and ultrasonic instrumentation on treated molars: an in vitro study

Objective: To compare the effects of hand and ultrasonic instrumentation on root surface of treated molars. Materials and Methods: 20 molars extracted from orthodontic reasons were followed in vitro. After extraction, the teeth are washed with distilled water, kept at room temperature in phosphate buffer solution pH 7,0. At mesial and distal cervical third of the roots were formed parallel grooves using carbide borer .The first groove is made 3 mm over enamel-cement junction(ECJ) of the crown, and the second is 3 mm under ECJ (in apical direction).This zone is treated in two ways: manually treated samples (hand instrumentation) using Gracey curettes 5-6 (Gracey; Hu-Friedy, Chicago, IL, USA), and ultrasound treated (KAVO, SONIC flex 2000 , number 5 - 6; frequency 6000 Hz). After 48 hours, samples were examined by scanning electron microscope, SEM model VEGA3LMU. Samples were examined with magnification ranging from 17 x to 300 x. Additional SEM micrographs with magnification higher than 300x were taken for detailed examination. The presence of fissures and cracks in 1mm² are calculated with mathematical formula. Results: Presence of fissures on root surface (cement) of molars treated with hand instrumentation for Z = -5,41 and p <0,001 (p = 0,000) is significantly lower compared to the presence of fissures on root ssurface (cement) of molars treated with ultrasonic instrumentation. Conclusion: Manual instrumentation is safer in the treatment of root surfaces, as opposed to applied ultrasound instrumentation, causing numerous and wide fissures in molars. Keywords: root surface, scaling and root planning, ultrasonic instrumentation, manual instrumentatio

The Role of Helicobacter Pylori in Development of Lesion in Oral Cavity

Background/Aim: to examine the connection of H. Pylori in saliva and biopsy material with oral lesions. Material and Methods: Sixty patients with dyspeptic complaints were followed up at the Clinic for Gastroenterology at University Medical Clinical Centre in Skopje, divided into two groups: first group consisted of 30 patients without presence of H. pylori, and the second group with 30 subjects and presence of H. pylori. The presence or absence of H. pylori has been ascertained after endoscopic examination-gastroscopy, and implemented urease test (CLO-test). All patients were clinically followed in order to determinate mouth burning, recurrent aphthous stomatitis (RAS), acid taste and lingual papillary hyperplasia according to Cohen and Proctor. The presence of H. pylori in saliva has been ascertained before endoscopic examination, after chewing Orbit gum without sugar for 1 min using by Pronto dry test. Determination of H. pylori in biopsy material has been ascertained by rapid urease test (RUT). Results: At 30 patients with dyspeptic complaints and presence of Helicobacter pylori, 16 patients (53,33%) had lingual papillary hyperplasia, acid taste, burning mouth and recurrent aphthous stomatitis (RAS). At 4 patients (13,33%) was confirmed acid taste, and also at 4 patients (13,33%) burning mouth. At 2 patients (6,67%) was confirmed lingual papillary hyperplasia, burning mouth, and recurrent aphthous stomatitis (RAS). At the same time, at 2 patients (6,67%) was confirmed burning mouth, and recurrent aphthous stomatitis (RAS), until at 1 patient (3,33%) lingual papillary hyperplasia, as at 1 patient (3,33%) lingual papillary hyperplasia and acid taste. At patients without presence of Helicobacter pylori but with dyspeptic complaints, was confirmed burning mouth in 14 patients (46,67%), lingual papillary hyperplasia, burning mouth, and acid taste in 7 patients (23,33%); in 3 patients (10,00) lingual papillary hyperplasia, burning mouth, and in 2 patients (6,67%) was confirmed recurrent aphthous stomatitis (RAS). Acid taste was registered in 2 patients (6,67%), and also lingual papillary hyperplasia in 2 patients (6,67%). There was a significant differences in clinical aspect between the patients with and without presence of H. pylori, for p< 0,01(p= 0,002); Pearson Chi-square= 20,10 и and p<0,05(p= 0,01). Conclusions: H. pylori in saliva and biopsy material detected with CLO test are reason for oral lesions at patients with dyspeptic complaints who have the presence of H. pylori. Key words: CLO-test, H. pylori, Oral Lesions, Halitosis, Recurrent Aphthous Stomatiti

'Let it be known': Interrogating Historical Writing in Church Slavonic Paratexts of Southeastern Europe (1371-1711)

The period of Ottoman rule, pejoratively termed the ‘Turkish yoke’, is often regarded in the Balkans – a region divided by quests for self-definition – as a period of darkness and suffering. Given the paucity of South Slavic historical records, scholars have sought to corroborate evidence of the ‘yoke’ in ‘historical paratexts’, fragmentary records of historical events to be found in the margins of Church Slavonic manuscripts and early printed books. With the Ottoman Empire on the verge of collapse in the first decades of the twentieth century, scholars and folklorists from the several splintered nations that form the Balkans became very interested in archiving and compiling these paratextual materials into published compendia, a trend which continues up to the present day. They believed that conserving these presumed eyewitness testimonials would preserve the core of the nation, an idea that has been transmitted largely unchallenged. These paratexts are seen as ‘writing from below’ which records facts about the suffering brought about by Ottoman rule. Present scholarship in the Balkans has interpreted ‘znatise’ (‘let it be known’), the formulaic expression that announces some of these annotations, as indicative of a self-conscious tendency to create historically truthful records of the South Slavs under Ottoman rule. However, one only needs to sift through these various records to be struck by the repetitions and the limited scope of the patterns that pervade a majority of these inscriptions as opposed to the range of observations that could be expected to result from an autobiographical impulse. This thesis accounts for these patterns and challenges the dominant interpretation of these paratexts by locating them within the larger writing traditions to which they belonged. By interrogating the relationship between paratextual writing and Church Slavonic historiography, this study provides an alternative framework which explains and brings together sources that have otherwise been left disparate and scattered. The formula ‘let it be known’ is to be understood not as testimony but rather as apocalyptic prophecy. The thesis demonstrates that historical paratexts mainly recorded those events -- such as natural disaster, famine, the outbreak of disease and celestial phenomena -- that were understood as portents and figured in apocalyptic literature. In this light, the clergy’s tone towards the military successes and the Ottoman reign is shown to be determined by an apocalyptic understanding of history. We also see how South Slavic attitudes towards the Ottomans were diverse with references to the Sultan ranging from ‘son of perdition’ (Antichrist) to ‘Tsar’ depending on the political relations between a diocese and the Ottoman administration. The thesis also provides new readings of three important paratextual accounts: (i) Monk Isaija’s colophon of 1371 (ii) Deacon Dimitar’s colophon of 1466 and (iii) the self-narratives of Mihail of Kratovo written between 1649 and 1660. The labels of ‘truthfulness’, ‘factuality’, and ‘sincerity’ that have been attributed to these first person accounts are questioned by demonstrating the socially strategic and ambiguous nature of these paratexts

Two Case Reports: Acupuncture Treatment for Trigeminal Neuralgia

The trigeminal nerve is the 5th cranial nerve and it carries sensation from the face to the brain. Trigeminal neuralgia is a chronic pain disorder that affects the trigeminal nerve and produces intense facial pain along one or more of the three branches of this nerve. Pain may be triggered by eating, brushing of the teeth, touching trigger points on the face during everyday activities such as washing the face or applying make-up or even air drafts, which increase the discomfort of those suffering from this disorder. For trigeminal neuralgia the Western Medicine suggests treatment with medications, surgery and stereotactic radiation therapy. According to Traditional Chinese Medicine (TCM), trigeminal neuralgia usually occurs when there is blockage in the stomach meridian and the main treatment for trigeminal neuralgia is acupuncture. In this article are shown two patients, males, both 66 years old, diagnosed with trigeminal neuralgia. Acupuncture treatments were made in our clinic for TCM and acupuncture with fire needle on a trigger i.e. Ashi points. One of the patients needed only one treatment, the other needed six treatments

Acupuncture treatment for pain after tooth extraction

Acupuncture has limited application in dentistry, but it can relief dental symptoms very quickly. The acupuncture plays important role in the dental science, because it can be effective in treating many dental conditions like facial pain, TMJ dysfunction, dry mouth problems, post-operative pain, dental anxiety and etc. Acupuncture is also used for treating pain aftrer tooth extraction. There are various causes of toothache. According to Traditional Chinese Medicine (TCM), toothache is caused by a stagnation of energy in the body. In this article are shown three patients, two males, both 66 years old and one 30 years old female, with dental pain after molar extraction. Acupuncture treatments were made in clinic for TCM and acupuncture in Skopje, Macedonia. The patients needed no more than 5 treatments to achieve the positive results and relieve the pain

Остеопороза

Остеопорозата е системско скелетно заболување, кое се карактеризира со намалена коскена маса и нарушување на коскената микроархитектура и зголемување на склоноста кон фрактури и деформитети. Остеопорозата претставува здраствен проблем во светот и кај нас со точно дефинирани постапки за нејзина превенција, дијагностицирање и третман. Најважната цел на едукацијата е запознавање на пациентите со причините, превенцијата и лекувањето на остеопорозата

Acupuncture Treatment For Shoulder Bursitis

Inflammation of the mucous bags or bursitis is very common clinical picture. In the human body there are about 160 bursas. Shoulder bursitis is inflammation of the shoulder bursa. Bursas can be superficial and deep. Deep bursas are present at birth, while surface bursas develop for several months to years after birth, in places where there is friction. Traditional Chinese Medicine (TCM) suggests that bursitis can be treated with Chinese herbs, acupuncture or a combination of bot