MuNES: Multifloor Navigation Including Elevators and Stairs

We propose a scheme called MuNES for single mapping and trajectory planning including elevators and stairs. Optimized multifloor trajectories are important for optimal interfloor movements of robots. However, given two or more options of moving between floors, it is difficult to select the best trajectory because there are no suitable indoor multifloor maps in the existing methods. To solve this problem, MuNES creates a single multifloor map including elevators and stairs by estimating altitude changes based on pressure data. In addition, the proposed method performs floor-based loop detection for faster and more accurate loop closure. The single multifloor map is then voxelized leaving only the parts needed for trajectory planning. An optimal and realistic multifloor trajectory is generated by exploring the voxels using an A* algorithm based on the proposed cost function, which affects realistic factors. We tested this algorithm using data acquired from around a campus and note that a single accurate multifloor map could be created. Furthermore, optimal and realistic multifloor trajectory could be found by selecting the means of motion between floors between elevators and stairs according to factors such as the starting point, ending point, and elevator waiting time. The code and data used in this work are available at https://github.com/donghwijung/MuNES

Simultaneous deletion of floxed genes mediated by CaMKIIa-Cre in the brain and in male germ cells: application to conditional and conventional disruption of Go-alfa

The Cre/LoxP system is a well-established approach to spatially and temporally control genetic inactivation. The calcium/calmodulin-dependent protein kinase II alpha subunit (CaMKIIα) promoter limits expression to specific regions of the forebrain and thus has been utilized for the brain-specific inactivation of the genes. Here, we show that CaMKIIα-Cre can be utilized for simultaneous inactivation of genes in the adult brain and in male germ cells. Double transgenic Rosa26+/stop-lacZ::CaMKIIα-Cre+/Cre mice generated by crossing CaMKIIα-Cre+/Cre mice with floxed ROSA26 lacZ reporter (Rosa26+/stop-lacZ) mice exhibited lacZ expression in the brain and testis. When these mice were mated to wild-type females, about 27% of the offspring were whole body blue by X-gal staining without inheriting the Cre transgene. These results indicate that recombination can occur in the germ cells of male Rosa26+/stop-lacZ::CaMKIIα-Cre+/Cre mice. Similarly, when double transgenic Gnao+/f::CaMKIIα-Cre+/Cre mice carrying a floxed Go-alpha gene (Gnaof/f) were backcrossed to wild-type females, approximately 22% of the offspring carried the disrupted allele (GnaoΔ) without inheriting the Cre transgene. The GnaoΔ/Δ mice closely resembled conventional Go-alpha knockout mice (Gnao−/−) with respect to impairment of their behavior. Thus, we conclude that CaMKIIα-Cre mice afford recombination for both tissue- and time-controlled inactivation of floxed target genes in the brain and for their permanent disruption. This work also emphasizes that extra caution should be exercised in utilizing CaMKIIα-Cre mice as breeding pairs.Fil: Choi, Chan-Il. Ajou University. School of Medicine; Corea del SurFil: Yoon, Sang-Phil. Ajou University. School of Medicine; Corea del SurFil: Choi, Jung-Mi. Ajou University. School of Medicine; Corea del SurFil: Kim, Sung-Soo. Ajou University. School of Medicine; Corea del SurFil: Lee, Young-Don. Ajou University. School of Medicine; Corea del SurFil: Birnbaumer, Lutz. National Institute of Environmental Health Sciences; Estados Unidos. Pontificia Universidad Católica Argentina "Santa María de los Buenos Aires". Instituto de Investigaciones Biomédicas. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Investigaciones Biomédicas; ArgentinaFil: Suh-Kim. Haeyoung. Ajou University. School of Medicine; Corea del Su

Prediction Data Processing Scheme using an Artificial Neural Network and Data Clustering for Big Data

Various types of derivative information have been increasing exponentially, based on mobile devices and social networking sites (SNSs), and the information technologies utilizing them have also been developing rapidly. Technologies to classify and analyze such information are as important as data generation. This study concentrates on data clustering through principal component analysis and K-means algorithms to analyze and classify user data efficiently. We propose a technique of changing the cluster choice before cluster processing in the existing K-means practice into a variable cluster choice through principal component analysis, and expanding the scope of data clustering. The technique also applies an artificial neural network learning model for user recommendation and prediction from the clustered data. The proposed processing model for predicted data generated results that improved the existing artificial neural network–based data clustering and learning model by approximately 9.25%

Readmissions following elective radical total gastrectomy for early gastric cancer: A case-controlled study

AbstractBackgroundReadmission after gastrectomy is one of the factors that reflect quality of life. Therefore, we analyzed the several factors related to readmissions after total gastrectomy for early gastric cancer.MethodsFrom January 2002 through December 2009, 102 consecutive patients who underwent radical total gastrectomy for early gastric cancer were enrolled in this study. We evaluated the incidence, cause, time point, and type of treatment for readmission after discharge; we compared the readmission and non-readmission groups in regard to clinicopathologic features and postoperative outcomes.ResultsThe readmission rate during the five years after total gastrectomy was 22 of 102 (21.6%). The most common cause for readmission was esophagojejunostomy stricture (5 cases). The treatment given for 31 readmissions included 23 conservative therapies, 3 radiologic or endoscopic interventions, and 5 re-operations. No significant differences were detected in the clinicopathologic feature, postoperative outcomes, or 5-year survival rates between the readmission and non-readmission group. No specific risk factor was found to be associated with readmission.ConclusionAlthough we could not determine a specific risk factor associated with readmission after radical total gastrectomy, prevention of readmission by evaluating the causes and treatments after radical total gastrectomy can improve the patient's quality of life