Top-1 CORSMAL Challenge 2020 Submission: Filling Mass Estimation Using Multi-modal Observations of Human-robot Handovers

Human-robot object handover is a key skill for the future of human-robot collaboration. CORSMAL 2020 Challenge focuses on the perception part of this problem: the robot needs to estimate the filling mass of a container held by a human. Although there are powerful methods in image processing and audio processing individually, answering such a problem requires processing data from multiple sensors together. The appearance of the container, the sound of the filling, and the depth data provide essential information. We propose a multi-modal method to predict three key indicators of the filling mass: filling type, filling level, and container capacity. These indicators are then combined to estimate the filling mass of a container. Our method obtained Top-1 overall performance among all submissions to CORSMAL 2020 Challenge on both public and private subsets while showing no evidence of overfitting. Our source code is publicly available: https://github.com/v-iashin/CORSMALComment: Code: https://github.com/v-iashin/CORSMAL Docker: https://hub.docker.com/r/iashin/corsma

A New Dual Image Based Reversible Data Hiding Method Using Most Significant Bits and Center Shifting Technique

In this article, a new reversible data hiding method using most significant bits and center shifting technique in dual images is proposed. The proposed reversible data hiding method aims to securely hide high-capacity secret data. Instead of directly embedding the secret data, the method calculates new values with (n + 1) bits secret data and the n most significant bits of the cover image pixel values. Thus, it is impossible to extract secret data without obtaining the original cover image. Also, the center shifting process is performed to minimize the mean square error. After this process, the secret data to be hidden in the dual images are in the range [−3×2(n−1)+1, 3×2(n−1)−1]. The pixel values of stego images are obtained by using the secret data in this range value and cover image pixel values. As a result of experimental studies, when the payload is 2.5 bits per pixel (bpp), the peak signal-to-noise ratio value (PSNR), which expresses the visual quality, is above 34 (dB). In addition, the proposed method has proven secure against RS (regular and singular) analysis attacks

A New Dual Image Based Reversible Data Hiding Method Using Most Significant Bits and Center Shifting Technique

In this article, a new reversible data hiding method using most significant bits and center shifting technique in dual images is proposed. The proposed reversible data hiding method aims to securely hide high-capacity secret data. Instead of directly embedding the secret data, the method calculates new values with (n + 1) bits secret data and the n most significant bits of the cover image pixel values. Thus, it is impossible to extract secret data without obtaining the original cover image. Also, the center shifting process is performed to minimize the mean square error. After this process, the secret data to be hidden in the dual images are in the range [−3×2(n−1)+1, 3×2(n−1)−1]. The pixel values of stego images are obtained by using the secret data in this range value and cover image pixel values. As a result of experimental studies, when the payload is 2.5 bits per pixel (bpp), the peak signal-to-noise ratio value (PSNR), which expresses the visual quality, is above 34 (dB). In addition, the proposed method has proven secure against RS (regular and singular) analysis attacks

Comparison of pain, tibial slope, physical performance, dynamic balance and functional level in early and late stage gonartrosis patients

Amaç: Bu çalışma, erken evre ve geç evre gonartrozlu hastalarda ağrı, tibial eğim, fiziksel performans, dinamik denge ve işlevsel seviyenin karşılaştırılması amacıyla yapıldı. Gereç ve Yöntemler: Çalışmaya, Amerikan Romatoloji Derneği ölçütlerine göre gonartroz tanısı konulmuş 56 hasta dâhil edildi. Hastalar, Kellgren-Lawrence ölçütleri esas alınarak erken evre (erken evre 1, erken evre 2) 28 kişi, geç evre (geç evre 3, geç evre 4) 28 kişi olmak üzere 2 gruba ayrıldı. Hastaların demografik bilgileri alındıktan sonra Numerik Ağrı Skalası ile ağrı şiddetleri; tibia proksimal anatomik aks ile tibial eğimleri; 30 sn kalk otur testi, merdiven inip çıkma testi ve 6 Dakika Yürüme Testi mesafesi ile fiziksel performansları; Y Denge Testi ile dinamik dengeleri ve Diz İncinme ve Osteoartrit Sonuç Skoru ile işlevsel seviyeleri değerlendirildi. Bulgular: Erken evre ve geç evre gonartrozu olan hastalar, demografik özellikler (yaş, boy, vücut ağırlığı, beden kitle indeksi) açısından karşılaştırıldığında grupların homojen dağıldığı görüldü (p>0,05). Erken evre gonartrozlu hastaların, geç evre gonartroz hastalarına göre ağrı şiddetlerinin daha düşük, fiziksel performans, dinamik denge ve işlevsel seviyelerinin ise daha iyi olduğu bulundu (p0,05). Sonuç: Sonuç olarak gonartrozun ilerleyen evrelerinde, hastaların ağrı şiddetinin arttığı, fiziksel performans, dinamik denge ve işlevsel seviyenin azaldığı, ancak tibial eğimin ise değişmediği görüldü. Gonartrozlu hastalarda, erken evreden itibaren uygulanacak fizyoterapi ve rehabilitasyon programlarının, bu hasta grubunda ileride ortaya çıkabilecek olumsuz klinik sonuçlara karşı koruyucu olabileceği düşünüldü.ABS TRACT Objective: This study was conducted to compare pain, tibial slope, physical performance, dynamic balance, and functional level in patients with early and late-stage gonarthrosis. Material and Methods: Fifty-six patients diagnosed with gonarthrosis according to American Rheumatology Association criteria were included in the study. The patients were divided into 2 groups, based on KellgrenLawrence criteria, as 28 patients in early-stage (early stage 1, early stage 2), and 28 patients in late-stage (late stage 3, late-stage 4). After obtaining the demographic information of the patients, pain intensity was determined with Numeric Pain Scale, tibial slopes with Tibia Proximal Anatomic Axis, physical performances with the 30-second standup test, stair up and down test, and 6 Minute Walking Test distance, the dynamic balance was evaluated with Y Balance Test and functional levels were evaluated with Knee Injury and Osteoarthritis Outcome Score. Results: When the patients with early and late-stage gonarthrosis were compared in terms of demographic characteristics (age, height, body weight, body mass index), it was observed that the groups were homogeneously distributed (p>0.05). It was found that early-stage gonarthrosis patients had lower pain intensity and better physical performance, dynamic balance, and functional levels compared to late-stage gonarthrosis patients (p0.05). Conclusion: As a result, it was observed that in the advanced stages of gonarthrosis, the pain intensity of the patients increased, physical performance, dynamic balance, and functional level decreased, but the tibial slope did not change. It was thought that physiotherapy and rehabilitation programs to be applied from the early stage in patients with gonarthrosis may be protective against future negative clinical consequences in this patient group.No sponso

Is there any potential or additive effect of anemia on hepatorenal syndrome?

Background/Aims: Hepatorenal syndrome (HRS) is a severe complication of advanced cirrhosis and is characterized by renal dysfunction and poor survival rates. Although anemia is a non-rare condition in advanced liver cirrhosis, there is no publication regarding the potential or additive effects of anemia on HRS and renal dysfunction in patients with cirrhosis. We investigated whether severe anemia is a precipitant factor for HRS.Materials and Methods: In this prospective study, consecutive patients with cirrhosis with and without renal dysfunction were enrolled. A total of 29 patients with cirrhosis with HRS meeting the HRS diagnostic criteria (9 patients with type 1 HRS and 20 with type 2 HRS) and 37 patients with cirrhosis without HRS were included. The demographic features, laboratory data (particularly anemic parameters), and clinical scores of patients with and without HRS were evaluated.Results: Grades of ascites, Child-Turcotte-Pugh (CTP) scores, and Model of End Stage Liver Disease (MELD) scores were significantly higher in contrast to hemoglobin levels; hematocrit concentrations were significantly lower in patients with type 1 and 2 HRS than in those with non-HRS stable cirrhosis. There was a negative correlation between the hemoglobin-hematocrit and serum creatinine levels. In the logistic regression analysis, the hemoglobin levels and CTP and MELD scores were statistically significant for an onset of HRS.Conclusion: Anemia may contribute to HRS and deteriorated renal function in patients with HRS because anemic hypoxia can lead to microcirculatory renal ischemia in the kidneys and anemia can also activate sympathetic activity and hyperdynamic circulation in the pathogenesis of HR

Farklı el ve ayak formlarının bulunduğu büyük bir sinpolidaktili topluluğu

Of a large synpolydactyly kindred the distinctive phenotypes from each other, homozygous phenotypes produced by the marriages of two heterozygote people and a few minor modifications are presented in this study. The kindred was described in 1995 and has been getting larger since then. We have been visiting the kindred since 2002 May. Evaluating the kindred, we found 125 affected people and described the different phenotypic features clinically and radiologically. Six hand and five foot phenotypes were discriminated. A few distinctive phenotypes undescribed in 1995 were found in the last generation mainly formed by the 89 people born after 1995. Development of different phenotypes may have resulted from incomplete penetrance, variable expressivity, consangineous marriages and multiple genetic factors affecting synpolydactyly inheritance. While the kindred’s expansion is a problem in view of public health, it is important surgical standpoint because of different defomities and modified malformations, as well.Bu çalışmada geniş bir sinpolidaktili topluluğunun birbirinden farklı fenotipleri, iki heterozigot bireyin evliliklerinden doğan homozigot sinpolidaktili fenotipi ve birkaç minör modifikasyonu sunulmaktadır. Mayıs 2002’ den itibaren incelemekte olduğumuz bu topluluk, tanımlandığı 1995 yılından itibaren genişlemektedir. Bu saha çalışması sonucunda 125 sinpolidaktilili birey saptandı ve klinik-radyolojik farklı fenotipik özellikler taşıyan altı de- ğişik el ve beş farklı ayak deformitesi grubu tanımlandı. Son jenerasyonu oluşturan ve 1995’ten sonra doğan 89 çocuk arasında daha önceki çalışmada tanımlanmamış klinik bulgu açısından birkaç farklı özellik belirlendi. Fenotiplerdeki farklılık sinpolidaktili kalıtımında etkili olan düşük penetrans, ekspressivite çeşitliliği, yakın akraba evliliği ve çoklu genetik faktörler nedeniyle gelişmiş olabilir. Topluluğun genişlemesi halk sağlığı açısından bir sorun teşkil ederken, değişik deformitelerin ortaya çıkması da cerrahi teknik açısından önemlidir

An immunohistochemical approach to detect oncogenic CTNNB1 mutations in primary neoplastic tissues.

The Wnt/β-catenin signaling pathway is dysregulated in different types of neoplasms including colorectal cancer (CRC). Aberrant activation of this signaling pathway is a key early event in the development of colorectal neoplasms, and is mainly caused by loss of function mutations in Adenomatous Polyposis Coli (APC), and less frequently by β-catenin stabilization mutations via missense or interstitial genomic deletions in CTNNB1. In this study, we have defined an immunohistochemical algorithm to dissect Wnt pathway alterations in formalin-fixed and paraffin-embedded neoplastic tissues. Basically, consecutive sections of tumor specimens were stained by immunohistochemistry with two different monoclonal antibodies against β-catenin: one (anti-active β-catenin antibody) recognizes hypo-phosphorylated β-catenin and the other recognizes the total pool of β-catenin. We validated the strategy in the HCT116 CRC cell line which has an in-frame deletion of β-catenin serine 45, and then studied human tumor microarrays containing colon adenomas, CRCs, solid pseudopapillary neoplasms of the pancreas as well as the whole tissue sections of CRCs, desmoid fibromatosis, and pilomatrixoma of the skin. In some tumors, we found strong β-catenin cytoplasmic and/or nuclear staining with the total β-catenin antibody but no staining with the anti-active β-catenin antibody. This was inferred to be an altered/mutant β-catenin staining pattern. All six colon adenomas of the 126 total adenomas studied for the altered/mutant β-catenin staining pattern had presumptively pathogenic point mutations or deletions in CTNNB1. Four of 10 CRCs with the alterated/mutant β-catenin staining pattern studied in depth, from 181 total CRCs from tissue microarray, had pathogenic CTNNB1 mutations. The frequencies of CTNNB1 alterations in non-colonic tumors with altered/mutant β-catenin staining ranged between 46 and 100%. Our results demonstrate that the immunohistochemical approach described here can detect oncogenic forms of β-catenin in primary tissue samples and can also highlight other tumors with presumptive novel defects activating the Wnt/β-catenin pathway