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This paper is focused on designing a cost function of selecting a foothold for a physical quadruped robot walking on rough terrain. The quadruped robot is modeled with Denavitâ»Hartenberg (DH) parameters, and then a default foothold is defined based on the model. Time of Flight (TOF) camera is used to perceive terrain information and construct a 2.5D elevation map, on which the terrain features are detected. The cost function is defined as the weighted sum of several elements including terrain features and some features on the relative pose between the default foothold and other candidates. It is nearly impossible to hand-code the weight vector of the function, so the weights are learned using Supporting Vector Machine (SVM) techniques, and the training data set is generated from the 2.5D elevation map of a real terrain under the guidance of experts. Four candidate footholds around the default foothold are randomly sampled, and the expert gives the order of such four candidates by rotating and scaling the view for seeing clearly. Lastly, the learned cost function is used to select a suitable foothold and drive the quadruped robot to walk autonomously across the rough terrain with wooden steps. Comparing to the approach with the original standard static gait, the proposed cost function shows better performance.
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BACKGROUND: Recipient area scalp necrosis is considered a potential complication of hair transplantation, but has rarely been reported. A small number of patients have developed scalp necrosis after hair transplantation with the widely used Follicular unit excision (FUE) technique. There are no guidelines to prevent and manage this complication. The aim of this study was to provide an insight into the pathogenesis, prevention, and management of scalp necrosis following hair transplantation. METHODS: From 2012 to 2021, among more than 10 000 patients who underwent hair transplantation, only three developed scalp necrosis in our clinical experience, besides, one patient transferred to our hospital because of scalp necrosis after undergoing hair transplantation. According to the disease etiology and patients' symptom, a combination of wound management and antimicrobial therapy was employed. This study was approved by the institutional ethics committee of Nanfang Hospital. RESULTS: Of the four patients, three received timely treatment and had a good prognosis. Necrosis became confined and healed within 2-3 weeks. Grafts in the lesion area partially survived. In case 4, due to improper treatment at the early stage, the lesion developed extensively and deeply, which not only delayed wound healing, but also resulted in complete loss of grafts. CONCLUSION: Preoperative prophylaxis, timely diagnosis, and immediate treatment of scalp necrosis can prevent serious complications and reduce morbidity after hair transplantation.
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Folículo Piloso , Couro Cabeludo , Humanos , Couro Cabeludo/patologia , Folículo Piloso/transplante , Alopecia/etiologia , Alopecia/terapia , Alopecia/diagnóstico , Complicações Pós-Operatórias/diagnóstico , Complicações Pós-Operatórias/etiologia , Complicações Pós-Operatórias/terapia , Necrose/terapia , Necrose/complicaçõesRESUMO
Fast-continuous-rotation is an effective measure to improve the scanning speed and decrease the radiation dose for cone-beam CT. However, because of acceleration and deceleration of the motor, as well as the response lag of the scanning control terminals to the host PC, uneven-distributed and redundant projections are inevitably created, which seriously decrease the quality of the reconstruction images. In this paper, we first analyzed the aspects of the theoretical sequence chart of the fast-continuous-rotation mode. Then, an optimized sequence chart was proposed by extending the rotation angle span to ensure the effective 2π-span projections were situated in the stable rotation stage. In order to match the rotation angle with the projection image accurately, structure similarity (SSIM) index was used as a control parameter for extraction of the effective projection sequence which was exactly the complete projection data for image reconstruction. The experimental results showed that SSIM based method had a high accuracy of projection view locating and was easy to realize.
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Tomografia Computadorizada de Feixe Cônico/instrumentação , Tomografia Computadorizada de Feixe Cônico/métodos , Processamento de Imagem Assistida por Computador/métodos , Modelos Teóricos , AlgoritmosRESUMO
Lake ice thickness (LIT) is important for regional hydroclimate systems, lake ecosystems, and human activities on the ice, and is thought to be highly susceptible to global warming. However, the spatiotemporal variability in LIT is largely unknown due to the difficulty in deriving in situ measurements and the lack of an effective remote sensing platform. Despite intensive development and applications of lake ice models driven by general circulation model output, evaluation of the global LIT is mostly based on assumed "ideal" lakes in each grid cell of the climate forcing data. A method for calculating the actual global LIT is therefore urgently needed. Here we use satellite altimetry to retrieve ice thickness for 16 large lakes in the Northern Hemisphere (Lake Baikal, Great Slave Lake, and others) with an accuracy of â¼0.2 m for almost three decades. We then develop a 1-D lake ice model driven primarily by remotely sensed data and cross-validated with the altimetric LIT to provide a robust means of estimating LIT for lakes larger than 50 km2 across the Northern Hemisphere. Mean LIT (annual maximum ice thickness) for 1313 simulated lakes and reservoirs covering â¼840,000 km2 for 2003-2018 is 0.63 ± 0.02 m, corresponding to â¼485 Gt of water. LIT changes are projected for 2071-2099 under RCPs 2.6, 6.0, and 8.5, showing that the mean LIT could decrease by â¼0.35 m under the worst concentration pathway and the associated lower ice road availability could have a significant impact on socio-economic activities.
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Gelo , Lagos , Humanos , Gelo/análise , Ecossistema , Clima , Aquecimento GlobalRESUMO
Objective: To investigate the correlation between gene mutations and glucocorticoid resistance in pediatric acute lymphoblastic leukemia (ALL). Methods: A total of 71 children with ALL admitted to our center between September 2019 and September 2021 were enrolled. DNA obtained from bone marrow or peripheral blood samples at initial diagnosis was used for genetic testing via whole exome sequencing. Meanwhile, patient clinical information was collected. Subsequently, the correlations of gene mutations with clinical features and glucocorticoid resistance were analyzed. Results: Of the 71 children enrolled, 61 (85.9%) had B-cell ALL (B-ALL) and 10 (14.1%) had T-cell ALL (T-ALL). The five genes with the highest mutation frequency in B-ALL were TTN (24.4%), FLT3 (14.6%), TP53 (14.6%), MUC16 (9.8%), and EPPK1 (9.8%). In contrast, those with the highest frequency in T-ALL were NOTCH1 (54.5%), FBXW7 (27.3%), TTN (27.3%), MUC16 (27.3%), and PHF6 (18.2%). Upon statistical analysis, TTN and NOTCH1 mutations were found to be associated with prednisone resistance. Further, TTN and MUC16 mutations were associated with a lower age at diagnosis, and NOTCH1 mutations were associated with T-ALL in female patients. Leukocyte counts and LDH levels did not differ based on the presence of any common gene mutation, and no association between these gene mutations and overall survival was observed. Conclusions: Our study is the first to demonstrate the association between TTN mutation and glucocorticoid resistance in ALL. Our findings could guide strategies for overcoming drug resistance and aid in the development of drug targets.
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BACKGROUND: Diabetic retinopathy (DR) is the driving force of blindness in patients with type 2 diabetes mellitus (T2DM). DR has a high prevalence and lacks effective therapeutic strategies, underscoring the need for early prevention and treatment. Yunnan province, located in the southwest plateau of China, has a high pre-valence of DR and an underdeveloped economy. AIM: To build a clinical prediction model that will enable early prevention and treatment of DR. METHODS: In this cross-sectional study, 1654 Han population with T2DM were divided into groups without (n = 826) and with DR (n = 828) based on fundus photography. The DR group was further subdivided into non-proliferative DR (n = 403) and proliferative DR (n = 425) groups. A univariate analysis and logistic regression analysis were conducted and a clinical decision tree model was constructed. RESULTS: Diabetes duration ≥ 10 years, female sex, standing- or supine systolic blood pressure (SBP) ≥ 140 mmHg, and cholesterol ≥ 6.22 mmol/L were risk factors for DR in logistic regression analysis (odds ratio = 2.118, 1.520, 1.417, 1.881, and 1.591, respectively). A greater severity of chronic kidney disease (CKD) or hemoglobin A 1c increased the risk of DR in patients with T2DM. In the decision tree model, diabetes duration was the primary risk factor affecting the occurrence of DR in patients with T2DM, followed by CKD stage, supine SBP, standing SBP, and body mass index (BMI). DR classification outcomes were obtained by evaluating standing SBP or BMI according to the CKD stage for diabetes duration < 10 years and by evaluating CKD stage according to the supine SBP for diabetes duration ≥ 10 years. CONCLUSION: Based on the simple and intuitive decision tree model constructed in this study, DR classification outcomes were easily obtained by evaluating diabetes duration, CKD stage, supine or standing SBP, and BMI.
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Asian leaf-eating monkeys have flexible, environmentally adaptable feeding strategies. The diet and food choices of white-headed langurs (Trachypithecus leucocephalus) have, however, not yet been studied in the Nongguan Karst Hills in China, where one of the two main surviving populations of this endangered species lives. From 2000 to 2002 inclusive, we adopted an innovative video playback analysis method to identify the food species used by the langurs and to calculate the corresponding feeding frequency for each species. The video-aided methodology was shown to be efficient. It provided high-quality images, and the plant species could be identified in 98.3% of the feeding records. Based on this analysis, we found that the langurs in Nongguan fed on 70 species of plants, among which 24 were identified as their staple food species. The cumulative curve for the staple food species reached a plateau at 255 (43.7%) feeding records. This result indicated that most of the langurs' staple food species had been identified by the analysis.
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Colobinae/fisiologia , Dieta , Preferências Alimentares , Gravação de Videoteipe/métodos , Animais , Comportamento Animal , China , Espécies em Perigo de Extinção , Comportamento AlimentarRESUMO
BACKGROUND: Frustrated with the embarrassing appearance, patients with androgenetic alopecia (AGA) suffer from poor quality of life and low self-esteem. Moreover, several researches indicate that self-esteem is an important factor affecting outcomes of cosmetic surgery. OBJECTIVE: This retrospective study aims to investigate the impact of hair transplantation on patients' self-esteem and satisfaction with appearance, as well as relationship between self-esteem and patient satisfaction which includes preoperative and postoperative satisfaction. METHODS: The preoperative and 9-month postoperative self-esteem were evaluated by Rosenberg Self-Esteem Scale (RSES), and preoperative satisfaction indicators (satisfaction with appearance, visual age and expected visual age) were assessed by Face-Q scale. At the same time, postoperative satisfaction indicators (satisfaction with appearance, visual age, satisfaction with decision, psychological well-being, and social function) were reevaluated as well. RESULTS: Of the 1106 male AGA patients, 875 completed a 9-month postoperative questionnaire. Compared with preoperative scores, postoperative scores of self-esteem and satisfaction with appearance showed an increase of 1.56 and 30.25 respectively (P < 0.05). Subgroup analysis showed that patients with high self-esteem level trended to have higher scores of postoperative satisfaction with appearance (P = 0.129), psychological well-being (P = 0.168), social function (P = 0.027), and satisfaction with decision (P = 0.043) compared with patients with low and average self-esteem level. CONCLUSION: Hair transplantation significantly elevated self-esteem level and increased satisfaction with appearance of AGA patients. Meanwhile, patients with low self-esteem level trended to have worse postoperative satisfaction. Thus, apart from ensuring the quality of operation, plastic surgeons should offer guidance based on patients' psychological state to improve postoperative satisfaction.
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PURPOSE: In China, most quality assessments (QAs) of the high-contrast resolution of medical computed tomography (CT) equipment is performed by subjective evaluation, which is simple but dependent on observer expertise. The purpose of this study was to compare the accuracy and degree of dispersion of evaluation results from observers with different expertise and to develop an objective, easily understandable new approach to minimize the error caused by the subjective nature of observer evaluation. The accuracy and reproducibility of this new approach was validated and compared using both subjective and objective evaluation methods. METHODS: This new objective evaluation method of high-contrast resolution was based on measurements of CT phantom images. The intensity profile of the aluminum line pairs' (LPs') images was extracted and quantified following the Rayleigh criterion. The interpolation method was employed to improve the consistency of the middle profile lines of each LP group for application of the Rayleigh criterion. With the introduction of a normalized margin, the accuracy of the results increased to the decimal level. Five junior observers and three QA professionals evaluated the high-contrast resolution of three different CT scanners using the subjective method, modulation transfer function (MTF) method, and the new objective method, and the results were compared statistically. RESULTS: The experimental standard deviations ranged from 0.4 LP/cm to 0.55 LP/cm for subjective visual inspection. The uncertainty of the expert group's results was much lower than that of the volunteer group. The experimental standard deviations of the MTF evaluation, according to both the standard deviation (SD) and point spread function (PSF) methods, were within the intervals of (0.04-0.06) LP/cm and (0.08-0.16) LP/cm, whereas that of the proposed objective evaluation method was approximately 0.02 LP/cm. The experimental data indicated that the results of the new objective evaluation were in accordance with those of the expert group's subjective evaluation and the MTF evaluation. CONCLUSIONS: In this study, the subjective evaluation results from experienced observers showed relatively less uncertainty and more accuracy than those from inexperienced observers. Furthermore, a new objective evaluation approach that is easily understood, accurate, and reproducible was developed in this study. Results acquired using this new method were comparable with those of expert groups' subjective evaluation and MTF evaluation. Specialized QA software that integrates the steps implemented in the new method is being developed to enhance the convenience of the approach and assist observers in obtaining accurate and replicable assessment results.