Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight.

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a codesigned hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open source and open hardware and supports both model-based and neural network-based controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, graphics processing unit (GPU)-accelerated compute hardware for real-time perception and neural network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural network-based controllers. Our demonstrators include trajectory tracking at up to 5g and 70 kilometers per hour in a motion capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Last, we demonstrate its use for hardware-in-the-loop simulation in virtual reality environments. Because of its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research.

Irritant contact dermatitis caused by cosmetics containing excessive mercury.

BACKGROUND: Irritant contact dermatitis (ICD) is a localized, nonimmune-induced inflammatory skin reaction, characterized by multiform skin lesions, including erythema, scaling, edema, blisters, and erosion. Mercury and its related compounds are highly allergic agents that can induce allergic contact dermatitis. AIMS: This article aims to clarify the skin damage caused by irritant contact dermatitis caused by the addition of high doses of mercury to skin care products. PATIENTS: A 30-year-old female patient sought treatment at our Institute for contact dermatitis. RESULTS: Through the patch test of the patients and the component detection of the skin care products her use. A large amount of mercury was found in skin care products, and the patient had no apparent allergic reaction to mercury. CONCLUSIONS: We considered irritant contact dermatitis caused by excess mercury, and the patient's condition improved with treatment.

Efficacy and related factors analysis in HMME-PDT in the treatment of port wine stains.

OBJECTIVE: To observe the efficiency and safety of hematoporphyrin mono-methylether photodynamic therapy (HMME-PDT) in treating port-wine stains (PWS) with Chinese patients, and to evaluate the advantage of photograph,VISIA Complexion Analysis System, and dermoscopy in efficacy evaluation.Analyzing changes of pain during treatment and related adverse reactions. METHOD: 62 patients were treated in our department during2017-2019 with HMME-PDT, among which, 20 cases were pink type, 32 cases were purple type and remain 11 cases were nodular thickening type. Initially, all patients received an intravenous injection of 5 mg/kg HMME, and then the lesion areas of the patients were exposed to 532 nm LED green light after 10 min. The irradiation power density was range between 80-100 mW/cm2. By utilization of photograph,VISIA system, and dermoscopy to evaluate the clearance after treatments, and then informing the patients to value the pain level during the treatment via visual analogue scale(VAS), and recording the adverse reactions. RESULT: After 2 times treatments, 11 of the 62 cases were cured (17.74 %), 17 cases showed a good efficacy (27.42 %), 20 cases indicated alleviation (32.26 %), while 14 cases displayed no efficacy (22.58 %).By observation, The VISIA system combined with image analysis software is an excellent technique in assessing efficacy. Dermoscopy helps to classify PWS types.It showed that the pain level each patient could endure was distinct, and it's remarkable that when receiving consecutive 12.09 ± 3.74 min of treatment, most of patients have showed severe pain.Patients with severe pain except young children who couldn't value the pain, had better efficacy.The side effects after treatment mainly displayed with edema, crust, hyperpigmentation. No recurrence within 2 years. CONCLUSION: It shows that after treating with HMME-PDTt efficacy is remarkable, with advantage of safety and fewer side effects. HMME_PDT should undergo further research and promotion. VISIA system combined with image analysis software and dermoscopy are excellent techniques for evaluating efficacy.

Efficacy and safety of bivalirudin versus heparin in patients undergoing percutaneous coronary intervention: A meta-analysis of randomized controlled trials.

BACKGROUND: The efficacy and safety of bivalirudin versus heparin in patients undergoing percutaneous coronary intervention (PCI)(1) remains controversial in to date. Our meta-analysis was undertaken to evaluate the efficacy and safety of bivalirudin compared with heparin in patients undergoing PCI. METHODS: We searched PubMed, Cochrane Library, EMBASE, Clinical Trials.gov databases for randomized controlled trials (RCTs).(2) The primary efficacy endpoint was mortality. Secondary efficacy endpoints were incidence of major adverse cardiovascular events (MACE),(3) myocardial infarction (MI),(4) target vessel revascularization (TVR)(5) and stent thrombosis up to 30days and 1year. The safety endpoint was major bleeding up to 30days. Subgroup analyses were also conducted according to the clinical status of patients and the different use rate of GPI in two groups. RESULTS: 17 RCTs met the including criteria and 40,655 patients were included. No significant difference was observed in mortality (risk ratio [RR](6) 0.90; 95% confidence interval [CI](7) 0.77 to 1.05; p=0.19; I(2)=20%) and the risk of MACE (RR 1.02; 95% CI 0.96 to 1.09; p=0.45; I(2)=37%). Bivalirudin increased the risk of MI (RR 1.10; 95% CI 1.02 to 1.19; p=0.01; I(2)=13%), TVR (RR 1.20; 95% CI 1.04 to 1.38; p=0.01; I(2)=6%) and stent thrombosis (RR 1.32; 95% CI 1.08 to 1.60; p=0.006; I(2)=0%) but decreased the risk of major bleeding (RR 0.54; 95% CI 0.48 to 0.61; p<0.00001; I(2)=0). CONCLUSION: Bivalirudin is associated with higher risk of MI, stent thrombosis and TVR but lower risk of major bleeding compared with heparin. The reduction of major bleeding is associated with the glycoprotein platelet IIb/IIIa inhibitor (GPI)(8) use rate.

Safety Profile of Atorvastatin 80 mg: A Meta-Analysis of 17 Randomized Controlled Trials in 21,910 Participants.

INTRODUCTION: Atorvastatin 80 mg/day has significant benefits for the primary and secondary prevention of cardiovascular and cerebrovascular disease. To our knowledge, no meta-analysis focusing on assessing the safety profile of atorvastatin 80 mg/day has been performed; therefore, our aim was to evaluate the tolerability and adverse event (AE) patterns of this drug/dose. METHODS: We conducted a search of the Cochrane Library, EMBASE and PubMed databases through to July 2015 for randomized controlled trials (RCTs). The safety endpoints included the incidence of discontinuations due to AEs, transaminase elevation, creatine kinase (CK) elevation, myalgia and rhabdomyolysis. We also conducted subgroup analyses according to the length of follow-up and clinical condition. RESULTS: Data from 17 RCTs involving 21,910 participants were included. Pooled analyses showed that atorvastatin 80 mg/day was less tolerable [risk ratio (RR) 1.29, 95 % confidence interval (CI) 1.17-1.42] and increased the risk of transaminase elevation (RR 4.59, 95 % CI 3.26-6.48) compared with controls. No significant difference was observed between the two groups in terms of the incidence of CK elevation (RR 1.38, 95 % CI 0.97-1.95), myalgia (RR 1.06, 95 % CI 0.93-1.20), and rhabdomyolysis (RR 0.67, 95 % CI 0.19-2.36). CONCLUSIONS: Patients treated with atorvastatin 80 mg/day, specifically patients with coronary artery disease (CAD), have a higher risk of transaminase elevation, which is not seen if patient exposure is less than 16 weeks. Atorvastatin 80 mg/day is less well-tolerated compared with controls, especially in patients with CAD, but an overall favorable tolerability profile is found if patient exposure is less than 52 weeks.

Short-term and long-term effects of dipeptidyl peptidase-4 inhibitors in type 2 diabetes mellitus patients with renal impairment: a meta-analysis of randomized controlled trials.

To assess the short-term and long-term effects of dipeptidyl peptidase-4 (DPP-4) inhibitors in type 2 diabetes mellitus patients with renal impairment, a meta-analysis of randomized clinical trials of DPP-4 inhibitor interventions in type 2 diabetes mellitus patients with renal impairment was performed. PubMed, Embase, Cochrane Library and ClinicalTrials.gov were searched through the end of March 2015. Randomized clinical trials were selected if (1) DPP-4 inhibitors were compared with a placebo or other active-comparators, (2) the treatment duration was ≥12 weeks and (3) data regarding changes in haemoglobin A1c (HbA1c ), changes in fasting plasma glucose or hypoglycaemia and other adverse events were reported. Of 790 studies, ten studies on eight randomized clinical trials were included. Compared with the control group, DPP-4 inhibitors were associated with a greater HbA1c reduction in both the short-term [mean differences (MD) = -0.45, 95% confidence intervals (-0.57, -0.33), p < 0.0001] and long-term [MD = -0.33, 95% confidence intervals (-0.63, -0.03), p = 0.03] treatments. However, the long-term greater reduction in HbA1c with DPP-4 inhibitor treatment was only significant when the control treatment comprised placebo plus stable background treatment, but not glipizide plus stable background treatment. DPP-4 inhibitors were associated with a greater fasting plasma glucose reduction [MD = -12.59, 95% confidence intervals (-22.01, -3.17), p = 0.009] over the short-term; however, this effect was not present over the long-term. Regarding the hypoglycaemia adverse events assessment, the long-term treatment data indicated there was no increased risk of hypoglycaemia compared with placebo or active-controlled anti-diabetic drugs. The present meta-analysis confirms that DPP-4 inhibitors are effective and equivalent to other agents in type 2 diabetes mellitus patients with renal impairment. Copyright © 2015 John Wiley & Sons, Ltd.