Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Comparison of topography- and aperture-dependent motion compensation algorithms for airborne SAR

This letter presents a comparison between threeFourier-based motion compensation (MoCo) algorithms forairborne synthetic aperture radar (SAR) systems. These algorithmscircumvent the limitations of conventional MoCo, namelythe assumption of a reference height and the beam-center approximation.All these approaches rely on the inherent time–frequencyrelation in SAR systems but exploit it differently, with the consequentdifferences in accuracy and computational burden. Aftera brief overview of the three approaches, the performance ofeach algorithm is analyzed with respect to azimuthal topographyaccommodation, angle accommodation, and maximum frequencyof track deviations with which the algorithm can cope. Also, ananalysis on the computational complexity is presented. Quantitativeresults are shown using real data acquired by the ExperimentalSAR system of the German Aerospace Center (DLR).

Predictive ability of an early diagnostic guess in patients presenting with chest pain; a longitudinal descriptive study.

ABSTRACT: BACKGROUND: The intuitive early diagnostic guess could play an important role in reaching a final diagnosis. However, no study to date has attempted to quantify the importance of general practitioners' (GPs) ability to correctly appraise the origin of chest pain within the first minutes of an encounter. METHODS: The validation study was nested in a multicentre cohort study with a one year follow-up and included 626 successive patients who presented with chest pain and were attended by 58 GPs in Western Switzerland. The early diagnostic guess was assessed prior to a patient's history being taken by a GP and was then compared to a diagnosis of chest pain observed over the next year. RESULTS: Using summary measures clustered at the GP's level, the early diagnostic guess was confirmed by further investigation in 51.0% (CI 95%; 49.4% to 52.5%) of patients presenting with chest pain. The early diagnostic guess was more accurate in patients with a life threatening illness (65.4%; CI 95% 64.5% to 66.3%) and in patients who did not feel anxious (62.9%; CI 95% 62.5% to 63.3%). The predictive abilities of an early diagnostic guess were consistent among GPs. CONCLUSIONS: The GPs early diagnostic guess was correct in one out of two patients presenting with chest pain. The probability of a correct guess was higher in patients with a life-threatening illness and in patients not feeling anxious about their pain.

Reproducibility of straylight measurement by C-Quant for assessment of retinal straylight using the compensation comparison method.

BACKGROUND: Straylight gives the appearance of a veil of light thrown over a person's retinal image when there is a strong light source present. We examined the reproducibility of the measurements by C-Quant, and assessed its correlation to characteristics of the eye and subjects' age. PARTICIPANTS AND METHODS: Five repeated straylight measurements were taken using the dominant eye of 45 healthy subjects (age 21-59) with a BCVA of 20/20: 14 emmetropic, 16 myopic, eight hyperopic and seven with astigmatism. We assessed the extent of reproducibility of straylight measures using the intraclass correlation coefficient. RESULTS: The mean straylight value of all measurements was 1.01 (SD 0.23, median 0.97, interquartile range 0.85-1.1). Per 10 years of age, straylight increased in average by 0.10 (95%CI 0.04 to 0.16, p < 0.01]. We found no independent association of refraction (range -5.25 dpt to +2 dpt) on straylight values (0.001; 95%CI -0.022 to 0.024, p = 0.92). Compared to emmetropic subjects, myopia reduced straylight (-.011; -0.024 to 0.02, p = 0.11), whereas higher straylight values (0.09; -0.01 to 0.20, p = 0.09) were observed in subjects with blue irises as compared to dark-colored irises when correcting for age. The intraclass correlation coefficient (ICC) of repeated measurements was 0.83 (95%CI 0.76 to 0.90). CONCLUSIONS: Our study showed that straylight measurements with the C-Quant had a high reproducibility, i.e. a lack of large intra-observer variability, making it appropriate to be applied in long-term follow-up studies assessing the long-term effect of surgical procedures on the quality of vision.

The predictive value of psychological assessment of candidates for gastric bypass: A medical chart review

Background and Objectives: Guidelines for bariatric surgery demand a psychological evaluation of applicants. The aim of this study was to evaluate if the presence of "psychological risk factors" predicts postoperative weight loss after gastric bypass. Methods: Medical records of obese women who underwent bariatric surgery between 2000 and 2004 were reviewed. Psychological assessment consisted of a one-hour semi-structured interview, summarized in a written report. Anthropometric assessment at baseline and 6,12,18 and 24 months after surgery included body weight, height and body mass index. Results: The mean BMI of included patients (N = 92) was 46.2 + 6,3 kg/m(2) (range 38.4-69.7). Based on the psychological assessment, 27% (N = 25) of the patients were classified as having "psychological risk factors" and 28% (N = 26) were diagnosed with a psychiatric diagnosis, most often major depression. Two years after gastric bypass, 16% of patients with "psychological risk factors" achieved an excellent result (%EWL > 75) versus 39% of those without (p < 0.05). About 1 out of 4 patients was in postoperative psychiatric treatment, but only half of them were identified as having "psychological risk factors" at baseline. Weight loss of patients initiating a psychiatric treatment only after surgery was less than of patients who continued psychiatric treatment already initiated before surgery (55.7 + 14.8 versus 66.5 + 14.2 %EWL). Conclusions: A single semi-structured psychological interview may identify patients who are at risk for diminished postoperative weight loss; however, psychological assessment did not identify those patients who were in need of a psychiatric postoperative treatment.

Financial protection of patients through compensation of providers: the impact of Health Equity Funds in Cambodia

Public providers have no financial incentive to respect their legal obligation to exempt the poor from user fees. Health Equity Funds (HEFs) aim to make exemptions effective by giving NGOs responsibility for assessing eligibility and compensating providers for lost revenue. We use the geographic spread of HEFs over time in Cambodia to identify their impact on out-of-pocket (OOP) payments. Among households with some OOP payment, HEFs reduce the amount paid by 35%, on average. The effect is larger for households that are poorer and mainly use public health care. Reimbursement of providers through a government operated scheme also reduces household OOP payments but the effect is not as well targeted on the poor. Both compensation models raise household non-medical consumption but have no impact on health-related debt. HEFs reduce the probability of primarily seeking care in the private sector.

Is intra-operative blood fllow predictive for early failure of radiocephalic arteriovenous fistula ?

Rapport de Synthèse : Introduction : Depuis plus de 50 ans, les fistules artérioveineuses radiocéphaliques (FAV) restent le meilleur accès d'hémodialyse en termes de perméabilité et de complications. Néanmoins, l'échec précoce dû aux thromboses ou à la non maturation entraîne leur abandon chez un nombre significatif de patients. Cette étude prospective est destinée à investiguer la mesure peropératoire du débit sanguin dans les FAV comme valeur prédictive d'échec précoce. Méthode : Nous avons sélectionné des patients nécessitant la confection d'une FAV pour hémodialyse en se basant sur le repérage veineux effectué par ultrason dans la période préopératoire. La mesure du débit sanguin dans la FAV a été réalisée systématiquement après la réalisation de l'anastomose en utilisant une sonde mesurant le temps de transit des globules rouges. Durant le suivi, le débit a été estimé par ultrason à des intervalles réguliers. Résultats : Nous avons réalisés 58 FAV chez 58 patients avec un suivi moyen de 30 jours. La thrombose et non maturation a été observée chez 8 patients (14%) et 4 patients (7%) respectivement. La valeur de débit peropératoire des fistules sans échec précoce était significativement plus élevée que dans les fistules avec échec précoce (230 v. 98 mL/min ; Ρ = 0.007), tout comme à une semaine (753 vs 228 mL/min ; P=0.0008) et 4 semaines (915 vs 245 mL/min, P<0.0001j. La mesure du débit avec une valeur seuil à 120 mL/min présente une sensibilité de 67%, une spécificité de 75% et une valeur prédictive positive de 91%. Conclusions : Un débit sanguin < 120mL/min a une bonne valeur prédictive positive d'échec précoce dans les FAV. Durant la procédure, cette valeur seuil, doit être utilisée pour sélectionner de manière appropriée les FAV nécessitant durant la même intervention une correction immédiate afin d'améliorer le débit. Une étude consécutive devra investiguer les origines des débits faibles des FAV objectivés durant leur confection.

Impaired left ventricular function as a predictive factor for mid-term survival in octogenarians after primary coronary artery bypass surgery.

BACKGROUND: The impact of preoperative impaired left ventricular ejection fraction (EF) in octogenarians following coronary bypass surgery on short-term survival was evaluated in this study. METHODS: A total of 147 octogenarians (mean age 82.1 ± 1.9 years) with coronary artery diseases underwent elective coronary artery bypass graft between January 2000 and December 2009. Patients were stratified into: Group I (n = 59) with EF >50%, Group II (n = 59) with 50% > EF >30% and in Group III (n = 29) with 30% > EF. RESULTS: There was no difference among the three groups regarding incidence of COPD, renal failure, congestive heart failure, diabetes, and preoperative cerebrovascular events. Postoperative atrial fibrillation was the sole independent predictive factor for in-hospital mortality (odds ratio (OR), 18.1); this was 8.5% in Group I, 15.3% in Group II and 10.3% in Group III. Independent predictive factors for mortality during follow up were: decrease of EF during follow-up for more that 5% (OR, 5.2), usage of left internal mammary artery as free graft (OR, 18.1), and EF in follow-up lower than 40% (OR, 4.8). CONCLUSIONS: The results herein suggest acceptable in-hospital as well short-term mortality in octogenarians with impaired EF following coronary artery bypass grafting (CABG) and are comparable to recent literature where the mortality of younger patients was up to 15% and short-term mortality up to 40%, respectively. Accordingly, we can also state that in an octogenarian cohort with impaired EF, CABG is a viable treatment with acceptable mortality.

Predictive value of anti-neutrophil cygtoplasmic antibodies (ANCA) in small vessel vasculitis

Résumé Valeur prédictive des anticorps dirigés contre le cytoplasme des neutrophiles (ANCA) dans les vasculites des vaisseaux de petit calibre But du travail : Les vasculites sont des pathologies le plus souvent sévères et parfois létales ; elles nécessitent une reconnaissance et un traitement précoces. Il est donc utile de pouvoir disposer de marqueurs diagnostiques, et éventuellement de marqueurs qui puissent prédire l'activité de la maladie. Les « antineutrophil cytoplasm antibodies » (ANCA) constituent une famille d'autoanticorps dirigés contre des antigènes du cytoplasme des neutrophiles, cellules clés du processus inflammatoire au cours des vasculites. De nombreuses études ont tenté de préciser l'utilité des ANCA dans le diagnostic et le suivi des vasculites avec des résultats contradictoires. Le but de ce travail a été de passer en revue l'évolution clinique des patients suivis dans notre service pour une vasculite à ANCA et évaluer la valeur prédictive des ANCA comme marqueur de récidive. Méthode: Les dossiers médicaux de 36 patients, suivis à notre consultation ambulatoire d'immunologie et allergie du CHUV pour une vasculite à ANCA entre janvier 1990 et décembre 2001, ont été analysés de manière rétrospective afin d'établir une base de données. Les données démographiques, le type de vasculite (granulomatose de Wegener ou polyangéite microscopique) et ses caractéristiques (organes touchés), les traitements reçus, les dosages des ANCA (par immunofluorescence et par ELISA avec détermination des anti-PR3 et/ou anti-MPO), et l'évolution clinique (récidive/rémission) ont été considérés. La valeur pronostique des ANCA dans notre population a été calculée utilisant les valeurs prédictives positive et négative, la likelihood et les odds ratios. La valeur statistique a été examinée par les tests Chi-square test ou Fisher's exact test (valeur significative définie comme p <0.05) à l'aide du programme GraphPad Instat software version 3, San Diego, CA. Résultats : Vingt-trois patients atteints d'une maladie de Wegener et treize d'une polyangéite microscopique ont été suivis pour une durée médiane de cinq ans (entre 1 mois et 16 ans). La plupart des patients ont été traités avec des corticostéroïdes associés à du cyclophosphamide. Une rémission a été obtenue chez 21 patients (91 %) atteints d'une maladie de Wegener, mais 74% ont présenté par la suite une récidive. Tous les patients atteints d'une polyangéite microscopique sont entrés en rémission et 33% ont par la suite récidivé. Une élévation persistante (définie comme supérieure à 6 mois) des ANCA ne s'est pas révélée associée à un risque statistiquement significatif de récidive (p=0.14). En revanche, une élévation soudaine du taux des ANCA s'est démontrée prédictive d'une récidive (table 3). Conclusion : Durant le suivi de certaines vasculites, comme la granulomatose de Wegener et la polyangéite microscopique une élévation des ANCA doit faire redouter une exacerbation de la maladie et, par conséquent, justifie une surveillance accrue.

The MicroArray Quality Control (MAQC)-II study of common practices for the development and validation of microarray-based predictive models.

Gene expression data from microarrays are being applied to predict preclinical and clinical endpoints, but the reliability of these predictions has not been established. In the MAQC-II project, 36 independent teams analyzed six microarray data sets to generate predictive models for classifying a sample with respect to one of 13 endpoints indicative of lung or liver toxicity in rodents, or of breast cancer, multiple myeloma or neuroblastoma in humans. In total, >30,000 models were built using many combinations of analytical methods. The teams generated predictive models without knowing the biological meaning of some of the endpoints and, to mimic clinical reality, tested the models on data that had not been used for training. We found that model performance depended largely on the endpoint and team proficiency and that different approaches generated models of similar performance. The conclusions and recommendations from MAQC-II should be useful for regulatory agencies, study committees and independent investigators that evaluate methods for global gene expression analysis.

Prognostic and predictive biomarkers in resected colon cancer: current status and future perspectives for integrating genomics into biomarker discovery.

The number of agents that are potentially effective in the adjuvant treatment of locally advanced resectable colon cancer is increasing. Consequently, it is important to ascertain which subgroups of patients will benefit from a specific treatment. Despite more than two decades of research into the molecular genetics of colon cancer, there is a lack of prognostic and predictive molecular biomarkers with proven utility in this setting. A secondary objective of the Pan European Trials in Adjuvant Colon Cancer-3 trial, which compared irinotecan in combination with 5-fluorouracil and leucovorin in the postoperative treatment of stage III and stage II colon cancer patients, was to undertake a translational research study to assess a panel of putative prognostic and predictive markers in a large colon cancer patient cohort. The Cancer and Leukemia Group B 89803 trial, in a similar design, also investigated the use of prognostic and predictive biomarkers in this setting. In this article, the authors, who are coinvestigators from these trials and performed similar investigations of biomarker discovery in the adjuvant treatment of colon cancer, review the current status of biomarker research in this field, drawing on their experiences and considering future strategies for biomarker discovery in the postgenomic era.

Predictive accuracy and usefulness of calibration of the ESC SCORE in Switzerland.

BACKGROUND: Prevention of cardiovascular disease (CVD) at the individual level should rely on the assessment of absolute risk using population-specific risk tables. OBJECTIVE: To compare the predictive accuracy of the original and the calibrated SCORE functions regarding 10-year cardiovascular risk in Switzerland. DESIGN: Cross-sectional, population-based study (5773 participants aged 35-74 years). METHODS: The SCORE equation for low-risk countries was calibrated based on the Swiss CVD mortality rates and on the CVD risk factor levels from the study sample. The predicted number of CVD deaths after a 10-year period was computed from the original and the calibrated equations and from the observed cardiovascular mortality for 2003. RESULTS: According to the original and calibrated functions, 16.3 and 15.8% of men and 8.2 and 8.9% of women, respectively, had a 10-year CVD risk > or =5%. Concordance correlation coefficient between the two functions was 0.951 for men and 0.948 for women, both P<0.001. Both risk functions adequately predicted the 10-year cumulative number of CVD deaths: in men, 71 (original) and 74 (calibrated) deaths for 73 deaths when using the CVD mortality rates; in women, 44 (original), 45 (calibrated) and 45 (CVD mortality rates), respectively. Compared to the original function, the calibrated function classified more women and fewer men at high-risk. Moreover, the calibrated function gave better risk estimates among participants aged over 65 years. CONCLUSION: The original SCORE function adequately predicts CVD death in Switzerland, particularly for individuals aged less than 65 years. The calibrated function provides more reliable estimates for older individuals.

Bonafide, type-specific human papillomavirus persistence among HIV-positive pregnant women: predictive value for cytological abnormalities, a longitudinal cohort study

This study investigated the rate of human papillomavirus (HPV) persistence, associated risk factors, and predictors of cytological alteration outcomes in a cohort of human immunodeficiency virus-infected pregnant women over an 18-month period. HPV was typed through L1 gene sequencing in cervical smears collected during gestation and at 12 months after delivery. Outcomes were defined as nonpersistence (clearance of the HPV in the 2nd sample), re-infection (detection of different types of HPV in the 2 samples), and type-specific HPV persistence (the same HPV type found in both samples). An unfavourable cytological outcome was considered when the second exam showed progression to squamous intraepithelial lesion or high squamous intraepithelial lesion. Ninety patients were studied. HPV DNA persistence occurred in 50% of the cases composed of type-specific persistence (30%) or re-infection (20%). A low CD4+T-cell count at entry was a risk factor for type-specific, re-infection, or HPV DNA persistence. The odds ratio (OR) was almost three times higher in the type-specific group when compared with the re-infection group (OR = 2.8; 95% confidence interval: 0.43-22.79). Our findings show that bonafide (type-specific) HPV persistence is a stronger predictor for the development of cytological abnormalities, highlighting the need for HPV typing as opposed to HPV DNA testing in the clinical setting.

Predictive Biomarkers to Chemoradiation in Locally Advanced Rectal Cancer.

There has been a high local recurrence rate in rectal cancer. Besides improvements in surgical techniques, both neoadjuvant short-course radiotherapy and long-course chemoradiation improve oncological results. Approximately 40-60% of rectal cancer patients treated with neoadjuvant chemoradiation achieve some degree of pathologic response. However, there is no effective method of predicting which patients will respond to neoadjuvant treatment. Recent studies have evaluated the potential of genetic biomarkers to predict outcome in locally advanced rectal adenocarcinoma treated with neoadjuvant chemoradiation. The articles produced by the PubMed search were reviewed for those specifically addressing a genetic profile's ability to predict response to neoadjuvant treatment in rectal cancer. Although tissue gene microarray profiling has led to promising data in cancer, to date, none of the identified signatures or molecular markers in locally advanced rectal cancer has been successfully validated as a diagnostic or prognostic tool applicable to routine clinical practice.