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Accurate vehicle localization is important for autonomous driving and advanced driver assistance systems. Existing precise localization systems based on the global navigation satellite system cannot always provide lane-level accuracy even in open-sky environments. Map-based localization using high-definition (HD) maps is an interesting method for achieving greater accuracy. We propose a map-based localization method using a single camera. Our method relies on road link information in the HD map to achieve lane-level accuracy. Initially, we process the image-acquired using the camera of a mobile device-via inverse perspective mapping, which shows the entire road at a glance in the driving image. Subsequently, we use the Hough transform to detect the vehicle lines and acquire driving link information regarding the lane on which the vehicle is moving. The vehicle position is estimated by matching the global positioning system (GPS) and reference HD map. We employ iterative closest point-based map-matching to determine and eliminate the disparity between the GPS trajectories and reference map. Finally, we perform experiments by considering the data of a sophisticated GPS/inertial navigation system as the ground truth and demonstrate that the proposed method provides lane-level position accuracy for vehicle localization.
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This paper proposes a real-time position accuracy improvement method for a low-cost global positioning system (GPS), which uses geographic data for forming a digital road database in the digital map information. We link the vehicle's location to the position on the digital map using the map-matching algorithm to improve the position accuracy. In the proposed method, we can distinguish the vehicle direction on the road and enhance the horizontal accuracy using the geographic data composed of the vector point set of the digital map. We use the iterative closest point (ICP) algorithm that calculates the rotation matrix and the translation vector to compensate for the disparity between the GPS and the digital map information. We also use the least squares method to correct the error caused by the rotation of the ICP algorithm and link on the digital map to eliminate the residual disparity. Finally, we implement the proposed method in real time with a low-cost embedded system and demonstrate the effectiveness of the proposed method through various experiments.
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The application of TiO2 nanoparticles in the photocatalytic treatment of chemically or biologically contaminated water is an attractive, albeit unoptimized, method for environmental remediation. Here, TiO2 nanoparticles with mixed brookite/rutile phases were synthesized and calcined at 300-1100 °C to investigate trends in photocatalytic performance. The crystallinity, crystallite size, and particle size of the calcined materials increased with calcination temperature, while the specific surface area declined significantly. The TiO2 phase composition varied: at 300 °C, mixed brookite/rutile phases were observed, whereas a brookite-to-anatase phase transformation occurred above 500 °C, reaching complete conversion at 700 °C. Above 700 °C, the anatase-to-rutile phase transformation began, with pure rutile attained at 1100 °C. The optical band gaps of the calcined TiO2 nanoparticles decreased with rising calcination temperature. The mixed anatase/rutile phase TiO2 nanoparticles calcined at 700 °C performed best in the photocatalytic degradation of methylene blue owing to the synergistic effect of the crystallinity and phase structure. The photocatalytic virus inactivation test demonstrated excellent performance against the MS2 bacteriophage, murine norovirus, and influenza virus. Therefore, the mixed anatase/rutile phase TiO2 nanoparticles calcined at 700 °C may be considered as potential candidates for environmental applications, such as water purification and virus inactivation.
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Familial adenomatous polyposis (FAP) is an inherited disease characterized by the development of hundreds of colorectal adenomas, leading to a 100% lifetime risk of colorectal cancer. A prophylactic colectomy is recommended for patients with FAP to prevent colorectal cancer. Four surgical strategies are available for patients with FAP: proctocolectomy with permanent ileostomy, colectomy with ileorectal anastomosis, proctocolectomy with Kochs pouch continent ileostomy (Koch), and restorative proctocolectomy with ileal pouch-anal anastomosis (IPAA). Koch and IPAA, which make ileal pouch, have theoretical advantage of the elimination of the risk of colorectal cancer and adenomas and good functional outcome of reduced defecation frequency. However, recent reports have shown frequent development of adenomas and carcinomas in the ileal pouch after Koch or IPAA. We experienced 2 cases of multiple pouch adenomas after pouch surgery in FAP patients. Both patients were treated with endoscopic mucosal resection without complications. We report these 2 cases with a review of literatures.
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Adenoma/diagnóstico , Polipose Adenomatosa do Colo/cirurgia , Bolsas Cólicas , Neoplasias Primárias Múltiplas/diagnóstico , Adenoma/cirurgia , Polipose Adenomatosa do Colo/diagnóstico , Adulto , Anemia Ferropriva/diagnóstico , Endoscopia Gastrointestinal , Feminino , Humanos , Masculino , Neoplasias Primárias Múltiplas/cirurgia , Proctocolectomia RestauradoraRESUMO
In this study, we investigated conditions for the alkaline hydrolysis and black-disperse dyeing of sea-island-type polyethylene terephthalate (PET) ultramicrofiber tricot fabric. We examined the weight loss ratios and tensile strengths according to the NaOH content (10%-30% on mass of fabric (omf)) during treatment; the optimal conditions used 25% omf NaOH for 30 min at 100 °C for an average weight loss ratio of 23.47%. By scanning electron microscope (SEM) analysis, the 'sea' components are extracted with increasing NaOH concentration until 25% omf NaOH, and damage of the 'island' components above 25% omf NaOH leads to a reduction in tensile strength. The dyeing conditions, including temperature (95-135 °C), time (20-60 min), pH buffer solution concentration (1-9 g/L), and contents of dispersant (1-9 g/L) and UV-absorbent (5%-25% omf) were also explored. The optimal dyeing conditions were established as a dye concentration of 8% omf with 1 g/L dispersant, 1 g/L pH buffer solution concentration, and 10% omf UV-absorbent at 135 °C for 40 min at a 1:10 goods-to-liquor ratio. The rubbing colorfastness values for the fabrics dyed with the black disperse dye spanned four grades under dry and wet conditions. The light colorfastness values of the dyed fabrics were good to excellent in the range of 4-5 grades.
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A primary tumor of the tympanic membrane is very rare. Herein, we describe a patient with a thick tympanic membrane that caused progressive hearing loss. The patient was treated with total resection of the tympanic membrane and was diagnosed with fibroma after histopathologic examination. There was no evidence of recurrence 2 years after the operation, and the patient's hearing was normal. Fibroma may arise in the tympanic membrane and should be regarded as a possible cause of the mass of the tympanic membrane.
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Neoplasias da Orelha/diagnóstico , Fibroma/diagnóstico , Membrana Timpânica , Idoso , Diagnóstico Diferencial , Neoplasias da Orelha/cirurgia , Feminino , Fibroma/cirurgia , Humanos , Procedimentos Cirúrgicos Otológicos/métodos , Otoscopia , Tomografia Computadorizada por Raios XRESUMO
BACKGROUND/AIMS: Striking geographic differences have been noted in the etiology of fulminant hepatic failure (FHF). The prognosis of patients with FHF who do not receive liver transplantation in a timely manner is quite dismal. This study intended to identify the etiology and outcome of FHF in Korean adults and to examine the role of urgent living-donor liver transplantation (LDLT) for treating this unique situation. METHODS: We identified all the adult FHF patients who were referred to our unit between 1999 and 2004. FHF was defined as severe acute hepatitis complicated by the rapid development of hepatic encephalopathy within 8 weeks of the initial symptoms in the patients without a previous history of liver disease. RESULTS: One hundred fourteen patients (47 males and 67 females) were identified. The mean age was 39.5+/-15.3 years. Drugs were the most common cause (28.1%) of FHF (herbal medications, 9.6%), and acute viral infection accounted for 23.7% (HBV accounted for 15.8%). Indeterminate etiologies were noted in 34%. The 90-day survival rate of the nontransplant group was only 15%. Fourteen patients received liver transplants (13 right-lobe LDLT, 1 cadaveric whole liver), and 12 of these (85.7%) survived and showed good graft function during 22 months of median follow-up. CONCLUSIONS: Although the causes of FHF in Korea were diverse, HBV infection and herbal medications were responsible for a significant proportion of the cases. Since urgent LDLT improved the overall survival rate of patients with FHF, this should be considered as an important treatment option for patients suffering with FHF.
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Falência Hepática Aguda/cirurgia , Transplante de Fígado , Adolescente , Adulto , Idoso , Criança , Feminino , Humanos , Falência Hepática Aguda/etiologia , Falência Hepática Aguda/mortalidade , Doadores Vivos , Masculino , Pessoa de Meia-Idade , Taxa de SobrevidaRESUMO
BACKGROUND: High dorsal deflection of the nasal septum around the bony-cartilaginous junction ("keystone area") is often missed and difficult to treat because of the importance of septal support. This study introduces a new technique of septoplasty to correct this dorsal deviation. METHODS: Forty-two patients with severe dorsal septal deviation around the bony-cartilaginous junction were included in the study. The surgical process was as follows: after elevation of mucoperichondrial flap, deflected bony septum and surplus cartilage were removed. Then, partial thickness scorings were performed on the concave side of the deviated cartilaginous septum. For correcting the dorsal deviation around bony-cartilaginous junction, greenstick fracture and two suture holes were made at higher bony septum. Modified mattress suture was performed across the deflected bony-cartilaginous junction while pushing the deviated septum to the midline gently. Subjective and objective improvements were evaluated with questionnaires and acoustic rhinometry at least 3 months after the surgery. RESULTS: Significant improvements in nasal obstruction (4.61-2.42) and discomfort (1.82-1.39) were achieved. On acoustic rhinometry, cross-sectional area (CSA(1); 0.41 ± 0.18 to 0.64 ± 0.22 cm(2)) and CSA(2) (0.83 ± 0.37 to 1.39 ± 0.36 cm(2)) at the narrower sides showed significant improvements and the ratio of the wider to narrower sides in CSA(1) (2.61 ± 1.91 to 1.47 ± 0.61) and CSA(2) (2.07 ± 1.51 to 1.33 ± 0.40) showed significant improvements. CONCLUSION: The proposed "modified mattress suture technique" provides positive initial results for correction of the high dorsal deviation of septum around the bony-cartilaginous junction.
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Obstrução Nasal/cirurgia , Septo Nasal/cirurgia , Rinoplastia , Técnicas de Sutura , Adolescente , Adulto , Feminino , Humanos , Masculino , Pessoa de Meia-Idade , Septo Nasal/patologia , Rinometria Acústica , Resultado do Tratamento , Adulto JovemRESUMO
BACKGROUND: Despite the importance of olfactory function, no effective medications have been identified to treat olfactory disorders. This study was performed to evaluate the functional recovery of olfaction damaged by 3-methylindole (3MI) in a mouse model with hydroxymethylglutaryl-coenzyme A reductase inhibitors (statins). METHODS: In a randomized placebo-controlled trial, 24 healthy female BALB/c mice (aged 9-10 weeks and weighing 18-20 g each) were randomly allocated to statin-treated or control groups. Olfactory loss was induced by i.p. injections of 3MI. Atorvastatin (10 mg/kg) or normal saline was then administered per os with a gastric tube for 3 weeks. The effects of treatment were evaluated by food-finding tests and Western blot analysis. RESULTS: Both groups showed complete losses of olfactory function 1 week after 3MI injection. Three weeks after 3MI injection, 9 of the 12 mice in the statin-treated group (75%) passed a food-finding test, in which they were able to find the food within 3 minutes, at least two times out of three trials. However, only two mice in the control group (16.6%) passed the food-finding test, and this difference was statistically significant (p = 0.004; chi-square test). The expression level of the olfactory marker protein was also elevated in the statin-treated group (p = 0.030; Wilcoxon rank sum test). CONCLUSION: Statins are associated with recovery of olfaction after 3MI injection in a mouse model.
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Ácidos Heptanoicos/administração & dosagem , Inibidores de Hidroximetilglutaril-CoA Redutases/administração & dosagem , Transtornos do Olfato/tratamento farmacológico , Transtornos do Olfato/fisiopatologia , Seios Paranasais/efeitos dos fármacos , Pirróis/administração & dosagem , Animais , Atorvastatina , Modelos Animais de Doenças , Feminino , Ácidos Heptanoicos/efeitos adversos , Humanos , Inibidores de Hidroximetilglutaril-CoA Redutases/efeitos adversos , Camundongos , Camundongos Endogâmicos BALB C , Transtornos do Olfato/induzido quimicamente , Seios Paranasais/fisiologia , Pirróis/efeitos adversos , Recuperação de Função Fisiológica , Escatol/administração & dosagem , Olfato/efeitos dos fármacosRESUMO
OBJECTIVES: To compare the velopharyngeal function, swallowing and speech of the conventional and modified radial forearm free flap (RFFF) for soft palate reconstruction. METHODS: Retrospective clinical study. Twenty-eight patients who underwent oropharyngeal reconstruction with RFFF were divided into two groups: 10 patients had conventional folded RFFF and 18 patients underwent modified method. RESULTS: The average speech intelligibility score in modified RFFF group was 8.0+/-2.4, and 6.2+/-2.2 in conventional RFFF group (P<0.05). The nasalance was 27.4+/-7.8% in modified group and 38.6+/-2.7% in conventional group during no nasal passage reading and 43.6+/-7.3% in modified group, 55.2+/-7.6% in conventional group during high nasal passage reading (P<0.05). The subjective swallowing functional score was 2.8 in modified group and 2.1 in conventional group. CONCLUSION: The speech assessment and nasalance demonstrate a more favorable outcome in modified group than conventional group.
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Granulocytic sarcoma (GS) is an extramedullary tumor composed of immature myeloid cells, typically occurring during the course of acute myelogenous leukemia. Non-leukemic GS, that is, GS with no evidence of overt leukemia and no previous history of leukemia, is very rare, and even more unusual is nonleukemic GS of the bile duct. We report a case of nonleukemic GS of the bile duct. The patient was initially misdiagnosed as a bile duct carcinoma arising in the hilum of the liver (so-called Klatskin tumor), and received a right lobectomy of the liver. Histological examination of the tumor yielded the diagnosis of GS, and the bone marrow biopsy did not show any evidence of leukemia. Considering the risk of subsequent development of overt leukemia, the patient was treated with two cycles of combination chemotherapy as used in the cases of acute myelogenous leukemia. To date, he has remained free of disease 15 months after treatment.
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Neoplasias dos Ductos Biliares/induzido quimicamente , Sarcoma Mieloide/diagnóstico , Adulto , Neoplasias dos Ductos Biliares/diagnóstico por imagem , Neoplasias dos Ductos Biliares/metabolismo , Ductos Biliares/química , Ductos Biliares/patologia , Diagnóstico Diferencial , Humanos , Imuno-Histoquímica , Antígenos Comuns de Leucócito/análise , Masculino , Peroxidase/análise , Radiografia Abdominal , Sarcoma Mieloide/diagnóstico por imagem , Sarcoma Mieloide/metabolismo , Tomografia Computadorizada por Raios X/métodosRESUMO
Pheochromocytoma is a tumor that produces a variety of biologically active substances in addition to catecholamines. We report here a patient with a pheochromocytoma, who presented with acute inflammatory symptoms and marked abnormalities in liver function and hematological tests. A 31-year-old man, who had experienced intermittent fever, chills and weight loss during the previous several months, was referred to our hospital for further evaluation. Laboratory examination revealed anemia, leukocytosis with elevated inflammatory markers, and abnormalities in coagulation and liver function tests. Histological examination revealed a marked plasmacytosis in the bone marrow and lymphocyte infiltration into the portal area of the liver. Along with increases in serum catecholamine and urine catecholamine metabolites, his serum interleukin (IL)-6 level was increased to 300 pg/ml, compared with a normal range of 3-12 pg/ml. Left adrenalectomy was performed. The adrenal tumor was densely immunostained with antibody to IL-6. After resection of his adrenal tumor, his serum IL-6 level returned to normal (11 pg/ml) and all symptoms subsided with normalization of laboratory findings.