In the field of robotics and automation, path planning holds significant potential for optimizing field operations. These operations must cover the work area comprehensively and efficiently with minimal movement. To achieve these goals, coverage path planning (CPP) utilizing the Boustrophedon method is essential. However, in an experimental environment, CPP often results in missed work areas due to cumulative sensor errors and structural inconsistencies. This paper aimed to improve CPP by employing the Douglas-Peucker algorithm to simplify the work path and minimizing missed areas. Additionally, Edge Zone Path method was used to generate edge paths, enhancing safety of the trajectory. For experimental purposes, data were acquired from an actual barn. The work area was divided using three segmentation algorithms. Among these, the Voronoi Segmentation, which demonstrated superior performance, was used to extract the data. Experimental results indicated that the proposed optimized CPP improved path safety by maintaining a safe distance from obstacles during frequent turns. Additionally, the Coverage Ratio increased the coverage area of the autonomous robot by an average of 17% compared to the original CPP. These findings suggest that the proposed method can generate more efficient and safe work paths.

Recently, a Total Ankle Arthroplasty (TAA) has been commonly used when no other options are available for patients with severe arthritis at the ankle joint. But bone resorption, aseptic loosening, instability, malalignment and fractures are generally known as the main reasons of TAA failures. Those TAA which have been designed up until now are generally based on the morphological and kinesiological characteristics of the ankle joint. They are adjusted by the ankle joint size of Westerners, although both the morphological and mechanical (strength) characteristics of the ankle joints of Asian are important in the development of a TAA suitable to Asians. Little information about the morphological and mechanical characteristics of the ankle joint of Asians is available for the development of a TAA suitable to Asians. The purpose of this study was, therefore, to analyze the morphological and mechanical characteristics of the ankle joints of Asians. Computed tomography data obtained from 50 patients (mean age: 64.14 ± 9.34 years) were analyzed.