Multiple Sensor Fusion and Motion Control of Snake Robot Based on Soft-Computing

There are many circumstance limits to human like extreme radioactivity, temperature

Is Retroflexion Helpful in Detecting Adenomas in the Right Colon?: A Single Center Interim Analysis

Background/AimsColonoscopy is less effective at screening for colorectal cancer in the right side of the colon. Retroflexion during colonoscopy is expected to improve the detection rate of colorectal adenomas. The aim of the present study was to evaluate the usefulness of retroflexion in the right-sided colon.MethodsFrom April to November 2013, a total of 398 patients were enrolled in this study. For each patient, a cap-assisted colonoscopic examination was performed. After cecal intubation, a forward view examination from the cecum up to the hepatic flexure was performed and all identified polyps were removed. The colonoscope was reinserted to the cecum, and a careful second forward view examination of the cecum to the hepatic flexure was performed, with removal of additionally identified polyps. The colonoscope was then reinserted to the cecum and retroflexed; a third colonoscopic examination was then performed to the hepatic flexure in retroflexion with removal of additional polyps. Total polyp numbers and characteristics were compared between the two forward view examinations and the retroflexion examination.ResultsA successful retroflexion was performed in 90.2% of patients. A total of 213 polyps and 143 adenomas were detected in the right-sided colon using the routine method of examining the right colon twice in forward view. An additional 35 polyps and 24 adenomas were detected on retroflexion. Of these 35 polyps, 27 (77.1%) were small-sized polyps (≤5 mm) and 24 (71.4%) were adenomas. Finding additional adenomas using the retroflexion technique was associated with older age.ConclusionsColonoscopic retroflexion is helpful in the detection of cecum and ascending colon adenomas, especially small-sized adenomas (≤5 mm). It is particularly useful in older patients

Cost of Rehabilitation Treatment of Patients With Cerebral Palsy in Korea

Objective To investigate rehabilitation treatment cost of patients with cerebral palsy (CP) according to age. Methods We analyzed the cost of rehabilitation treatment from 2007 to 2013 for patients diagnosed with CP by sourcing data from the National Health Information Database. Results While the number of recently born children requiring rehabilitation treatment has decreased, the number of patients requiring this treatment in other age groups has gradually increased. In addition, annual physical therapy, occupational therapy, hydrotherapy, and botulinum toxin injection treatment costs per person have increased. On the other hand, the number of orthopedic surgeries and selective dorsal rhizotomy performed has decreased. Conclusion This study investigated trends in the cost of treatment for patients with CP. This study can be used as a basis to provide treatment support for patients with CP

Assessing Environmentally Sensitive Land to Desertification Using MEDALUS Method in Mongolia

Desertification is a global phenomenon caused by various processes, including climate change, vegetation processes, and human activities. The need to combat desertification is increasing in many countries. A reasonable assessment of the vulnerability or sensitivity of land cover to desertification at national scales is crucial to formulate appropriate strategies or policies for combating it. The main purpose of this work was to quantitatively assess the sensitivity of land cover to desertification in Mongolia using the MEDALUS approach. The MEDALUS method is a widely known technique for assessing desertification in the Mediterranean area. In this study, the method was adjusted to be applied to Mongolia, while the numerical methods of the MEDALUS remained the same. The modified MEDALUS method used nine factors from 2003 and 2008 to quantify the sensitivity of land to desertification. As a result, our study resulted in the calculation and spatial distribution of the Environmental Sensitive Area Index (ESAI), produced throughout Mongolia. In 2003, the middle region of the southern Mongolia had the highest sensitivity to desertification, while sensitivity in 2008 increased in the western area. Mongolia’s area with the highest ESAI range increased approximately five times, indicating rapid desertification occurring throughout Mongolia from 2003 to 2008

Association of Poor Differentiation or Positive Vertical Margin with Residual Disease in Patients with Subsequent Colectomy after Complete Macroscopic Endoscopic Resection of Early Colorectal Cancer

In the presence of unfavorable pathologic results after endoscopic resection of colorectal cancer, colectomy is routinely performed. We determined the risk factors for residual diseases in patients with colectomy after complete macroscopic endoscopic resection of early colorectal cancer. We identified consecutive patients who underwent endoscopic resection of early colorectal cancer and subsequently underwent colectomy, from January 2011 to December 2014. Clinicopathologic risk factors related to the residual disease were analyzed. In total, 148 patients underwent endoscopic resection and subsequent colectomy. Residual disease on colectomy was noted in 16 (10.9%) patients. The rates of poorly differentiated/mucinous histology (p=0.028) and of positive or unknown vertical resection margin (p=0.047) were higher in patients with residual disease than in those without. In multivariate analysis, a poorly differentiated/mucinous histology and positive or unknown vertical resection margin were significantly associated with residual disease (odds ratio = 7.508 and 2.048, p=0.015 and 0.049, resp.). After complete macroscopic endoscopic resection of early colorectal cancer, there is a greater need for additional colectomy in cases with a positive or unknown vertical resection margin or a poorly differentiated/mucinous histology, because of their higher risk of residual cancer and lymph node metastasis

Development and field testing of biodegradable seedling plug-tray cutting mechanism for automated vegetable transplanter

Removing seedlings from plug-trays to transplant in the field poses transplanting shocks to the seedlings and may reduce the survival rate. Therefore, this study designed biodegradable plug-tray cutting mechanism (SPCM) that separates seedlings with plug-cells from plug-trays and eliminates a complex clamping mechanism. SPCM consists of three sub-mechanisms that align the plug-cell at the seedling discharge point to cut and separate the plug-cell from the plug-tray, allowing the seedling to fall into the transplanting hopper. The SPCM separated around 82% of the plug-cell and delivered it to the planting unit. Furthermore, the SPCM-equipped transplanter achieved a transplanting performance of 74% with pepper and cabbage seedlings, with an average field efficiency of 68%, field capacity of 0.032-0.035 ha h-1 and required 73% less labour than manual seedling transplanting. The transplanting performance was satisfactory, with most pepper seedlings (85%) transplanted with a planting angle less than 10°, and 7% of cabbage seedlings were inclined and had sufficient planting depth of 48 mm for cabbage and 53 mm for pepper. In conclusion, the SPCM is a step towards sustainable and efficient vegetable seedling transplanting. Increasing efficiency, planting accuracy, and sustainability present exciting opportunities for further research and development in the field