Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation

This paper copes with parameter-robust controller design for transportation system by multiple unmanned aerial vehicles. The transportation is designed in the form of string connection. Minimal state-space realization of slung-load dynamics is obtained by Newtonian approach with spherical coordinates. Linear quadratic Gaussian / loop transfer recovery (LQG/LTR) is implemented to control the position and attitude of all the vehicles and payloads. The controller's robustness against variation of payload mass is improved using parameter-robust linear quadratic Gaussian (PRLQG) method. Numerical simulations are conducted with several transportation cases. The result verifies that LQG/LTR shows fast performance while PRLQG has its strong point in robustness against system variation

Application and evaluation of the MLVA typing assay for the Brucella abortus strains isolated in Korea

<p>Abstract</p> <p>Background</p> <p>A Brucella eradication program has been executed in Korea. To effectively prevent and control brucellosis, a molecular method for genetic identification and epidemiological trace-back must be established. As part of that, the MLVA typing assay was evaluated and applied to <it>B. abortus </it>isolates for analyzing the characteristics of the regional distribution and relationships of foreign isolates.</p> <p>Results</p> <p>A total of 177 isolates originating from 105 cattle farms for the period 1996 to 2008 were selected as representatives for the nine provinces of South Korea. A dendrogram of strain relatedness was constructed in accordance with the number of tandem repeat units for 17 loci so that it was possible to trace back in the restricted areas. Even in a farm contaminated by one source, however, the <it>Brucella </it>isolates showed an increase or decrease in one TRs copy number at some loci with high DI values. Moreover, those 17 loci was confirmed in stability via <it>in-vitro </it>and <it>in-vivo </it>passage, and found to be sufficiently stable markers that can readily identify the inoculated strain even if minor changes were detected. In the parsimony analysis with foreign <it>Brucella </it>isolates, domestic isolates were clustered distinctively, and located near the Central and Southern American isolates.</p> <p>Conclusion</p> <p>The MLVA assay has enough discrimination power in the <it>Brucella </it>species level and can be utilized as a tool for the epidemiological trace-back of the <it>B. abortus </it>isolates. But it is important to consider that <it>Brucella </it>isolates may be capable of undergoing minor changes at some loci in the course of infection or in accordance with the changes of the host.</p

Molecular Structure of Selected Tuber and Root Starches and Effect of Amylopectin Structure on Their Physical Properties

The objectives of this study were to characterize starches isolated from potato, canna, fern, and kudzu, grown in Hangzhou, China, for potential food and nonfood applications and to gain understandings of the structures and properties of tuber and root starches. Potato and canna starches with B-type X-ray patterns had larger proportions of amylopectin (AP) long branch chains (DP g37) than did fern (C-type) and kudzu (CA-type) starches. The analysis of Naegeli dextrins suggested that fern and kudzu starches had more branch points, R-(1,6)-D-glycosidic linkages, located within the double-helical crystalline lamella than did the B-type starches. Dispersed molecular densities of the C- and CA-type APs (11.6-13.5 g/mol/nm3) were significantly larger than those of the B-type APs (1.4-6.1 g/mol/nm3) in dilute solutions. The larger proportion of the long AP branch chains in the B-type starch granules resulted in greater gelatinization enthalpy changes (ΔH). Retrograded kudzu starch, which had the shortest average chain length (DP 25.1), melted at a lower temperature (37.9 °C) than the others. Higher peak viscosities (550-749 RVU at 8%, dsb) of potato starches were attributed to the greater concentrations of phosphate monoesters, longer branch chains, and larger granule sizes compared with other tuber and root starches

Short-Term Effects of Combined Serial Casting and Botulinum Toxin Injection for Spastic Equinus in Ambulatory Children with Cerebral Palsy

PURPOSE: The purpose of this paper is to test the hypothesis that combination therapy of serial cast and botulinum toxin type A (BTX-A) injection can further enhance the effects of a BTX-A injection in ambulant children with cerebral palsy (CP) who have an equinus foot. MATERIALS AND METHODS: Children in group A (30 legs of 21 children) received a serial casting application after an injection of BTX-A, and children in group B (25 legs of 17 children) received only a BTX-A injection. Assessments were performed before the intervention and 1 month after the intervention. RESULTS: After the intervention, there were significant improvements in tone, dynamic spasticity, and passive range of motion (ROM) in both groups. However, the changes were greater in group A than in group B. Dimension D (standing) in Gross Motor Function Measure (GMFM)-66 was significantly improved in group A but not in group B. On the other hand, there were no significant changes in dimension E (walking, running, jumping) in GMFM-66 in either group. CONCLUSION: The results of our study suggest that a serial casting application after BTX-A injection can enhance the benefits of BTX-A injection in children with cerebral palsy.ope

Perpendicular-bias-field-dependent vortex-gyration eigenfrequency

We found that the angular frequency ??0 of vortex-core gyrations is controllable by the application of static perpendicular bias fields Hp as studied by micromagnetic simulations and Thiele's-approach- based quantitative interpretation. The observed linear dependence of ??0 on Hp could be explained in terms of the dynamic variables of the vortex, the gyrovector constant G, and the potential stiffness constant , for cases of negligible damping. Here we calculated the values of G and ?? as a function of Hp directly from the simulation numerical data using Thiele's equivalent force equations, providing a more correct understanding of the remarkable change of ??0 with Hp. This micromagnetic-simulation-based quantitative analysis is a straightforward, accurate, and effective means of understanding vortex dynamics in nanoscale magnetic elements.open7

A Comparative Study on the Efficacy of Covered Metal Stent and Plastic Stent in Unresectable Malignant Biliary Obstruction

Background/AimsThe placement of self expandable metal stent (SEMS) is one of the palliative therapeutic options for patients with unresectable malignant biliary obstruction. The aim of this study was to compare the effectiveness of a covered SEMS versus the conventional plastic stent.MethodsWe retrospectively evaluated 44 patients with unresectable malignant biliary obstruction who were treated with a covered SEMS (21 patients) or a plastic stent (10 Fr, 23 patients). We analyzed the technical success rate, functional success rate, early complications, late complications, stent patency and survival rate.ResultsThere was one case in the covered SEMS group that had failed technically, but was corrected successfully using lasso. Functional success rates were 90.5% in the covered SEMS group and 91.3% in the plastic stent group. There was no difference in early complications between the two groups. Median patency of the stent was significantly prolonged in patients who had a covered SEMS (233.6 days) compared with those who had a plastic stent (94.6 days) (p=0.006). During the follow-up period, stent occlusion occurred in 11 patients of the covered SEMS group. Mean survival showed no significant difference between the two groups (covered SEMS group, 236.9 days; plastic stent group, 222.3 days; p=0.182).ConclusionsThe patency of the covered SEMS was longer than that of the plastic stent and the lasso of the covered SEMS was available for repositioning of the stent

Analysis of Content Legibility for Smartphones of Websites of the Korean Urological Association and Other Urological Societies in Korea

Purpose: We performed an analysis of the smartphone legibility of the websites of the Korean Urological Association (KUA) and other urological societies. Materials and Methods: This study was conducted on the websites of the KUA and nine other urological societies. Each website was accessed via iPhone Safari and Android Chrome, respectively, to evaluate the establishment and readability of the mobile web pages. The provision of Really Simple Syndication (RSS) feeds by the websites and whether the websites had Twitter and Facebook accounts were evaluated. In addition, a validation test on the web standards was performed by using the World Wide Web Consortium (W3C???) Markup Validation Service, and subsequently the numbers of errors and warnings that occurred were analyzed. Results: When accessed via Safari, two websites were legible, four were somewhat legible, and four were somewhat illegible. When accessed via Chrome, two websites were legible, six were somewhat legible, and two were somewhat illegible. One website provided an RSS feed and two websites managed members via separate Twitter accounts. No website supported mobile web pages. The result of the W3C??? Markup Validation test on 10 websites showed a mean error rate of 221.6 (range, 13-1,477) and a mean warning rate of 127.13 (range, 0-655). Conclusions: The smartphone legibility level of the websites of urological societies was relatively low. Improved smartphone legibility and web standard compliance of the websites of urological societies are required to keep up with the popularity of smartphones

Polarization-selective vortex-core switching by orthogonal Gaussian-pulse currents

We experimentally demonstrate low-power-consumption vortex-core switching in magnetic nanodisks using tailored rotating magnetic fields that are produced with orthogonal and unipolar Gaussian-pulse currents. Optimal width of the orthogonal pulses and their time delay are found to be determined only by the angular eigenfrequency {\omega}_D for a given vortex-state disk of its polarization p, such that {\sigma} = 1/{\omega}_D and {\Delta}t = {\pi}p/2{\omega}_D, as studied from analytical and micromagnetic numerical calculations. The estimated optimal pulse parameters are in good agreements with the experimentally found results. This work provides a foundation for energy-efficient information recording in vortex-core cross-point architecture.Comment: 32 pages, 10 figure

The submucosal fibrosis: what does it mean for colorectal endoscopic submucosal dissection?

Background/AimsEndoscopic submucosal dissection (ESD) allows removal of colorectal epithelial neoplasms en bloc regardless of size. Colorectal ESD is a difficult procedure because of technical difficulties and risks of complications. This study aimed to assess the relationship between ESD outcome and degree of submucosal fibrosis.MethodsPatients with colorectal tumors undergoing ESD and their medical records were reviewed retrospectively. The degree of submucosal fibrosis was classified into three types. The relationship between ESD outcome and degree of submucosal fibrosis was analyzed.ResultsESD was performed in 158 patients. Thirty-eight cases of F0 (no) fibrosis (24.1%) and 46 cases of F2 (severe) fibrosis (29.1%) were observed. Complete resection was achieved for 138 lesions (87.3%). Multivariate analysis demonstrated that submucosal invasion of tumor and histology of carcinoma were independent risk factors for F2 fibrosis. Severe fibrosis was an independent risk factor for incomplete resection.ConclusionsSevere fibrosis is an important factor related to incomplete resection during colorectal ESD. In cases of severe fibrosis, the rate of complete resection was low even when ESD was performed by an experienced operator. Evaluation of submucosal fibrosis may be helpful to predict the submucosal invasion of tumors and technical difficulties in ESD

Epidemiology and Assessment of Traumatic Spinal Cord Injury With Concomitant Brain Injury: An Observational Study in a Regional Trauma Center

Objective To analyze the epidemiological information of patients with traumatic spinal cord injury (SCI) and concomitant traumatic brain injury (TBI) and to suggest points to be aware of during the initial physical examination of patients with SCI. Methods This study was a retrospective, observational study conducted in a regional trauma center. All the records of patients diagnosed with traumatic SCI between 2016 and 2020 were reviewed. A total of 627 patients with confirmed traumatic SCI were hospitalized. A retrospective study was conducted on 363 individuals. Results The epidemiological data of 363 individuals were investigated. Changes in American Spinal Injury Association Impairment Scale (AIS) scores in patients with SCI were evaluated. The initial evaluation was performed on average 11 days after the injury, and a follow-up examination was performed 43 days after. Fourteen of the 24 patients identified as having AIS A and SCI with concomitant TBI in the initial evaluation showed neurologic level of injury (NLI) recovery with AIS B or more. The conversion rate in patients with SCI and concomitant TBI exceeded that reported in previous studies in individuals with SCI. Conclusions Physical, cognitive, and emotional impairments caused by TBI present significant challenges in rehabilitating patients with SCI. In this study, the influence of concomitant TBI lesions could have caused the initial AIS assessment to be incorrect