Multirobot Pushing—How Many Robots are Sufficient?

<p>This paper asks how many cooperating homogeneous robots are required to perform a block pushing task in a known environment. This task is particularly challenging in the presence of a highly cluttered obstacle field where the connectivity of the robots’ free configuration space depends on the block’s configuration. In order to simplify the problem, we define an equivalence relation over block configurations based on the connectivity of the robots’ free configuration space. We build a data structure that captures the relationships among the resulting equivalence classes, and then we encode constraints into the data structure that must be satisfied for the robots to be able to push the block between equivalence classes. We present an algorithm that operates on this data structure and uses existing optimization techniques to solve several variants of the minimum sufficient robots problem. Next, we give an implementation of this algorithm for an environment consisting of axis-aligned rectangles. Additionally, we provide a complete planner that finds a feasible path for the block in this environment.</p

Clinical Practice Guidelines for Vaccine Management in Ambulatory Care - A Systematic Review following the AGREE II Approach

Vaccine storage to maintain the cold chain is of utmost importance to assure vaccines´ effectiveness. This review compares the reporting quality and the content of international guidelines/practice recommendations on this issue

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning

Robotics Institut

Generation Y and surgical residency - Passing the baton or the end of the world as we know it? Results from a survey among medical students in Germany

Introduction The current student generation have their own expectations toward professional life and pay particular attention to their work-life balance. Less interest in work-intensive specialties leads to a shortage of skilled candidates especially in surgery. In order to motivate students into a surgical residency, new priorities become important. A deeper understanding of the underlying arguments and students' expectations towards a surgical training are necessary to counteract a future shortage of specialized surgeons. Methods We conducted an internet-based survey among medical students at two representative German university hospitals to gain more information about the underlying mechanisms that lead to opting for and against a surgical career. We particularly paid attention to gender differences and differences between students of different academic years. Results A total of 1098 students participated in the survey. Sixty-four percent were female. The majority of the students were of the opinion that surgery is an interesting and meaningful profession. In contrast, when it comes to their own career choice, most students (89% female and 81% male) are not willing to choose a surgical specialty. While students are certainly willing to spend a large amount of time on their professional lives, at the same time they demand planning reliability and a sufficient work-life balance. Flexibility in working hours and an existing childcare program were identified as predominant factors for all students and in particular for female students. The same applies to a respectful conversional tone and appreciation of the individual work. Factors like prestige and salary were less relevant than self-fulfillment in terms of respectful interaction and balancing their working and private lives. There was significant difference in female and male students as female students have clearer ideas concerning career planning but at the same time are less self-confident than their male colleagues. Moreover, there was a significant difference between junior and senior students regarding career planning with a shift to less work-intensive specialties and especially away from a surgical residency in older students. Adjustments to working hours models, working environment, clinical curriculum and a respectful interaction are factors that might increase the willingness of young students to choose a surgical career

Software improvement for evaluation of laryngopharyngeal pH testing (Restech) - a comparison between DataView 3 and 4

BACKGROUND When gastroesophageal reflux contents reach above the upper esophageal sphincter, patients may, in addition to typical reflux symptoms, present with atypical, extraesophageal symptoms related to laryngopharyngeal reflux (LPR). Surgical treatment of LPR has shown to lead to 70% symptom improvement, however no gold standard for the diagnosis of LPR exists. In 2007, the Restech Dx-pH was released as a valid method to measure acid exposure above the upper esophageal sphincter. Recently, a new software update was introduced for analysis of measured pH data and calculation of composite scores. The effect of the changes applied to the new software version have not yet been analyzed. AIM To compare results generated by DataView 3 to the most recently released DataView 4. METHODS All patients with gastroesophageal reflux disease symptoms were seen in a specialized surgical outpatient clinic for gastrointestinal function testing. Retrospective chart review was performed of all patients presenting with suspected gastroesophageal reflux disease and extraesophageal reflux symptoms, who underwent laryngopharyngeal pH monitoring using the Restech Dx-pH system (Respiratory Technology Corp., Houston, TX, United States) and simultaneous esophageal pH monitoring. DataView 3 and DataView 4 were used to evaluate Restech studies obtained. Diary entries such as mealtimes, supine and upright periods, and symptoms were entered manually to ensure accuracy and precise conversion of data between both software versions. Pairedttest was performed for statistical analysis of results. RESULTS A total of 174 patients (63.8% female) met inclusion criteria, all suffering from extraesophageal reflux symptoms as well as typical gastroesophageal reflux disease symptoms. Mean RYAN score upright was 48.77 in DataView 3 compared to 22.17 in DataView 4, showing a significant difference (P-a= 0.0001). Similar results were shown for supine period (mean RYAN Score DataView 3 5.29vs1.42 in DataView 4,(c) P= 0.0001). For upright periods 80 patients showed a decrease of value of the RYAN score with a mean of -58.9 (mean 51.1% decrease). For supine position 25 patients showed a decrease of value of the RYAN score with a mean of -15.13 [range (-153.44)-(-0.01)], which equals a mean decrease of value of 44.5%. Ten patients showed no oropharyngeal acid exposure in DataView 3, but mild/moderate (n= 7) or severe (n= 3) acid exposure in DataView 4. Correlation with positive esophageal pH measurement was improved in all 10 patients. CONCLUSION Results of both software versions cannot be compared to each other. However, our data suggests that DataView 4 may be an improvement of the Restech pH measurement in the evaluation of LPR

Short- and long-term follow-up of patients with non-neoplastic esophageal perforation

Purpose Esophageal perforation is associated with high morbidity and mortality. In addition to surgical treatment, endoscopic endoluminal stent placement and endoscopic vacuum therapy (EVT) are established methods in the management of this emergency condition. Although health-related quality of life (HRQoL) is becoming a major issue in the evaluation of any therapeutic intervention, not much is known about HRQoL, particularly in the long-term follow-up of patients treated for non-neoplastic esophageal perforation with different treatment strategies. The aim of this study was to evaluate patients' outcome after non-neoplastic esophageal perforation with focus on HRQoL in the long-term follow-up. Methods Patients treated for non-neoplastic esophageal perforation at the University Hospital Cologne from January 2003 to December 2014 were included. Primary outcome and management of esophageal perforation were documented. Long-term quality of life was assessed using the Gastrointestinal Quality of Life Index (GIQLI), the Health-Related Quality of Life Index (HRQL) for patients with gastroesophageal reflux disease (GERD), and the European Organization for Research and Treatment of Cancer (EORTC) questionnaires for general and esophageal specific QoL (QLQ-C30 and QLQ-OES18). Results Fifty-eight patients were included in the study. Based on primary treatment, patients were divided into an endoscopic (n = 27; 46.6%), surgical (n = 20; 34.5%), and a conservative group (n = 11; 19%). Short- and long-term outcome and quality of life were compared. HRQoL was measured after a median follow-up of 49 months. HRQoL was generally reduced in patients with non-neoplastic esophageal perforation. Endoscopically treated patients showed the highest GIQLI overall score and highest EORTC general health status, followed by the conservative and the surgical group. Conclusion HRQoL in patients with non-neoplastic esophageal perforation is reduced even in the long-term follow-up. Temporary stent or EVT is effective and provides a good alternative to surgery, not only in the short-term but also in the long-term follow-up

Summary of the participating students.

<p>A total of 1098 students participated in the survey. 11% of all female students and 19% of the male students are planning to choose a residency in a surgical field.</p

Long-term planning for all students expressed as a percentage of positive answers for male and female.

<p>Long-term planning for all students expressed as a percentage of positive answers for male and female.</p

What do you see as obstacles to choosing a surgical residency?

<p>What do you see as obstacles to choosing a surgical residency?</p