Trajectory generation of moving robots using after deformation of artificial potential fields

A trajectory generation method based on an artificial potential field approach may be useful for real-time motion planning of a moving robot, since it is effective and computationally much less expensive than other methods using global information on a task space. In the present paper, we argue that dynamic behavior of a generated trajectory and control of the direction of motion of the moving robot shold be taken into accout within the framework of the artificial potential field approach for practical use, and propose a new method using active deformation of the artificial potential field. The method can regulate movement time from an initial position to a goal, and velocity profile of the trajectory as well as the position and the direction of motion of the robot by changing the orientation and the shape of the artificial potential ellipse

A DESIGN METHOD OF BURSTING USING TWO-PARAMETER BIFURCATION DIAGRAMS IN FITZHUGH–NAGUMO MODEL

Spiking and bursting observed in nerve membranes seem to be important when we investigate information representation model in the brain. Many topologically different bursting responses are observed in the mathematical models and their related bifurcation mechanisms have been clarified. In this paper, we propose a design method to generate bursting responses in FitzHugh-Nagumo model with a simple periodic external force based on bifurcation analysis. Some effective parameter perturbations for the amplitude of the external input are given from the 2-parameter bifurcation diagram

BIFURCATIONS IN TWO-DIMENSIONAL HINDMARSH–ROSE TYPE MODEL

We analyze a two-dimensional Hindmarsh-Rose type model exhibiting properties of both Class 1 and Class 2 neurons. Although the system is two-dimensional and contains only four parameters, the obtained bifurcation diagrams show that the bifurcation structure satisfies conditions for emergence of both features with constant stimuli

Passive Oral Immunization by Egg Yolk Immunoglobulin (IgY) to Vibrio cholerae Effectively Prevents Cholera

In an attempt to prepare egg yolk immunoglobulin (IgY) to treat and prevent cholera, hens were immunized by a mixture of heat- or formalin-killed Vibrio cholerae O1 and O139 organisms, or by the recombinant cholera toxin B subunit (CTB). The IgYs were partially purified from egg yolk and orally administered to suckling mice before or after challenge with live O1 or O139 cells. The anti-O1 and O139 IgYs and the mixture of either IgY with anti-CTB IgY significantly protected the occurrence of cholera caused by both O1 and O139 infection. Since large amounts of IgY can be prepared very easily and at low cost, this seems to be a useful procedure for preventing and treating cholera

Analysis of the 619 Brånemark System TiUnite Implants : A Retrospective Study

The purpose of this retrospective study was to determine the outcome of Brånemark System TiUnite® implants (Nobel Biocare/Sweden), and to identify the risk factors associated with implant failure. A total of 151 patients (83 maxillae and 91 mandibles) received 619 implants from July 2003 until May 2010. The patients included 86 males and 65 females, with a median age of 51.6 years and an age range of 16 to 90 years at the time of implant surgery. Seventeen maxillae and 16 mandibles were completely edentulous, and 66 maxillae and 75 mandibles were partially edentulous. All the patients were followed until June 2011. Among the 619 implants, 9 maxillary implants and 8 mandibular implants were unsuccessful. The overall survival rate was 96.82%. A logistic regression analysis identified that a history of steroid treatment, application of a dento-maxillary prosthesis, a lack of mechanical coupling between the implants, and the length of the implants (≤8.5mm) were significant predictors of implant failure

A New Device That Protects from Minilaparotomy Wound Infection in Minimally-Invasive Approaches to Colon Cancer

Background: Unfortunate complications in some patients who undergo minimally-invasive resections for colorectal cancer using a minilaparotomy are the development of postoperative wound infection or tumor recurrence at in the minilaparotomy site. These complications are potentially avoidable. In an effort to prevent these problems, we designed an easy-to-use device named the Lap-Protector TM. The purpose of this study was to evaluate the efficacy of the Lap-Protector TM in preventing bacterial infection and tumor recurrence at minilaparotomy incision sites. Patients and Methods: Ninety-eight colon cancer patients who underwent minimally-invasive resections using minilaparotomy (minilaparotomy or laparoscopic-assisted approach) with the assistance of the Lap-Protector TM between January 1999 and August 2000 were compared with 87 patients treated without this device between January 1997 and December 1998. Postoperative wound infection and tumor recurrence rates at the minilaparotomy site were retrospectively analyzed. Results: Patient characteristics (age, sex, body mass index, and frequency of diabetes mellitus), tumor location, operative procedures, and pathological parameters were similar between the two groups. Four patients (4.6%) in the control group developed postoperative wound infections versus none in the Lap-Protector TM group (P=0.047). With a median follow-up of 8.3 (range, 1.3 to 19.3) and 29.7 (range, 8.4 to 54.4) months in the Lap-Protector TM group and control group, respectively, neither group has recorded a tumor recurrence at the minilaparotomy site. Conclusion: The Lap-Protector TM appears to prevent wound infection after minimally-invasive resections for colon cancer using a minilaparotomy. Longer follow-up to evaluate tumor recurrence rates at the minilaparotomy site is necessary

In vitro expansion of CD34+CD38- cells under stimulation with hematopoietic growth factors on AGM-S3 cells in juvenile myelomonocytic leukemia

advance online publication, August 8, 2014 [Epub ahead of print]ArticleLEUKEMIA. 29(3):606-614 (2015)journal articl