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The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

The term lipotoxicity has been used to describe how excess lipid accumulation leads to cellular dysfunction and death in non-adipose tissues, including skeletal muscle. While lipotoxicity has been found in cultured skeletal muscle cells with high-fat feeding, the consequences of lipotoxicity in vivo are still unknown, particularly in Type-I muscle, which is metabolically affected by lipotoxicity. The aim of this study was to investigate the effects of a high-fat diet on changes in the morphology and apoptotic protein expression of Type-I muscle loss in rats. The rats were fed either a high-fat diet or a normal diet for six weeks, and then lipid accumulation, inflammation response, and nucleus infiltration were measured, and PARP protein expression was cleaved by Oil Red O staining, H & E staining, and Western blot, respectively. Lipid accumulation, inflammation response, nucleus infiltration, and cleaved PARP protein expression were significantly (p<0.05) higher in the high-fat diet group than they were in the normal diet group. The weight of Type-I muscle tended to be lower in the high-fat diet group compared to the normal diet group, but the difference was not statistically significant. These results indicate that a high-fat diet triggers cell death in Type-I muscle via lipotoxicity, which suggests that a high-fat diet may be associated with sarcopenia.

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