957 resultados para Place recognition algorithm
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Nominal Unification is an extension of first-order unification where terms can contain binders and unification is performed modulo α equivalence. Here we prove that the existence of nominal unifiers can be decided in quadratic time. First, we linearly-reduce nominal unification problems to a sequence of freshness and equalities between atoms, modulo a permutation, using ideas as Paterson and Wegman for first-order unification. Second, we prove that solvability of these reduced problems may be checked in quadràtic time. Finally, we point out how using ideas of Brown and Tarjan for unbalanced merging, we could solve these reduced problems more efficiently
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Age-related cognitive impairments were studied in rats kept in semi-enriched conditions during their whole life, and tested during ontogeny and adult life in various classical spatial tasks. In addition, the effect of intrahippocampal grafts of fetal septal-diagonal band tissue, rich in cholinergic neurons, was studied in some of these subjects. The rats received bilateral cell suspensions when aged 23-24 months. Starting 4 weeks after grafting, they were trained during 5 weeks in an 8-arm maze made of connected plexiglass tunnels. No age-related impairment was detected during the first eight trials, when the maze shape was that of a classical radial maze in which the rats had already been trained when young. The older rats were impaired when the task was made more difficult by rendering two arms parallel to each other. They developed an important neglect of one of the parallel tunnels resulting in a high amount of errors before completion of the task. In addition, the old rats developed a systematic response pattern of visits to adjacent arms in a sequence, which was not observed in the younger subjects. None of these behaviours were observed in the old rats with a septal transplant. Sixteen weeks after grafting, another experiment was conducted in a homing hole board task. Rats were allowed to escape from a large circular arena through one hole out of many, and to reach home via a flexible tube under the table. The escape hole was at a fixed position according to distant room cues, and olfactory cues were made irrelevant by rotating the table between the trials. An additional cue was placed on the escape position. No age-related difference in escape was observed during training. During a probe trial with no hole connected and no proximal cue present, the old untreated rats were less clearly focussed on the training sector than were either the younger or the grafted old subjects. Taken together, these experiments indicate that enriched housing conditions and spatial training during adult life do not protect against all age-related deterioration in spatial ability. However, it might be that the considerable improvement observed in the grafted subjects results from an interaction between the graft treatment and the housing conditions.
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BACKGROUND: Video-assisted thoracoscopic debridement has been shown to be a safe and efficient procedure for empyema in the adult patient. Its place in the management of childhood empyema remains controversial. METHODS: Over an 18-month period, 9 children were operated upon for pleural empyema. All children were initially treated with appropriate antibiotics and chest-tube drainage. Indication for surgery were persistent clinical symptoms and loculation of pleural fluid 5 to 7 days following initial treatment. In case of a duration of the illness of less than 14 days, an initial attempt was made to debride the pleural space by thoracoscopy. RESULTS: Mean duration of the illness prior to surgery was 15 days (range: 10-23 days), and mean duration of preoperative conservative treatment 10 days (range: 5-20 days). In five of the nine patients thoracoscopy was performed. In all patients thoracoscopy failed to provide adequate clearance of the diseased pleural space because of the advanced stage of the disease. The procedure was converted to a formal thoracotomy in four patients, the fifth patient continued to deteriorate and required formal thoracotomy and decortication seven days later. CONCLUSION: This limited experience suggests that, with the current management and indications, video-assisted thoracoscopic surgery adds little benefit to the treatment of childhood empyema.
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Introduction : L'HSA d'origine anévrismale est une pathologie au pronostic sombre, tout retard diagnostique exposant le patient à un risque élevé de récidives hémorragiques potentiellement fatales. La sensibilité du CT scanner étant jugée insuffisante dans cette indication, la majorité des recommandations actuelles préconisent la réalisation systématique d'une ponction lombaire après toute imagerie cérébrale négative. L'analyse spectrophotométrique du LCR permet en effet de différencier un saignement récent dans l'espace sous-arachnoïdien d'une ponction lombaire traumatique par détection de bilirubine. Or, le caractère invasif de cet examen et son manque de spécificité posent des difficultés en pratique. De plus, l'excellente sensibilité des CT de dernières générations, du moins dans les premières heures suivant la survenue de l'HSA, remet en question le dogme d'une PL systématique dans l'algorithme diagnostique d'une céphalée suspecte. Objectif : Evaluer le rendement diagnostique de la spectrophotométrie du LCR dans le cadre d'une suspicion d'HSA après une imagerie normale, afin d'en préciser les indications. Méthode : Étude monocentrique et rétrospective au Centre Hospitalier Universitaire Vaudois de Lausanne du 1er janvier 2005 au 18 novembre 2010. Extraction de toutes les spectrophotométries positives et analyse approfondie des dossiers concernés. Dans un second temps, et durant la même période, revue de tous les séjours hospitaliers comportant le diagnostic d'HSA , afin d'extraire en particulier les HSA dont le diagnostic a été établi par spectrophotométrie en raison d'une imagerie initiale négative ou non conclusive. Résultats : 869 PL du 1er janvier 2005 au 18 novembre 2010. 36 (4.1%) examens positifs (concentration de bilirubine dans le LCR > 0.3 μmol/l), dont 14 (38.9%) dans un contexte d'HSA (valeur prédictive positive de 38.9%). Sur les 14 cas positifs, 3 ont été diagnostiqués exclusivement par la PL, mais aucune dans un cadre d'HSA anévrismale. Dans la même périodepériode, 235 HSA diagnostiquées, dont 7 (2.9%) avec une imagerie cérébrale initiale négative. Sur ces 7 cas, seuls 2 ont été diagnostiqués comme une HSA d'origine anévrismale. La sensibilité du CT dans notre recherche atteint donc 99.15%. Discussion : Sur les 36 spectrophotométries positives, 22 se sont révélées a posteriori faussement positives, confirmant dès lors la faible spécificité et la faible valeur prédictive positive de l'analyse spectrophotométrique du LCR . Ces faux positifs entraînent la réalisation d'examens invasifs (angiographie cérébrale conventionnelle), dont les complications sont bien décrites. Bien que les résultats ne nous permettent pas de chiffrer le nombre potentiel d'HSA manquées faute d'un examen du LCR, aucun cas d'HSA d'origine anévrismale n'a été diagnostiqué sur la base exclusive de la PL durant la période étudiée. Cette faible spécificité appuie l'idée de développer un score clinique prédictif afin de ne réserver la PL qu'aux patients jugés à haut risque d'HSA. La PL garde néanmoins un rôle dans la détection des HSA d'origine non anévrismales. Conclusions : Lors d'une suspicion clinique d'HSA, le rendement diagnostique de l'analyse du LCR après un angio- CT cérébral normal est faible, tout comme son impact sur la prise en charge, au prix d'un nombre important de faux positifs. La PL reste certainement indiquée face à des céphalées suspectes évoluant depuis plus de 24 heures. Toutefois, au vu de l'excellente valeur prédictive négative d'un CT cérébral réalisé précocement et interprété par un neuroradiologue, cet examen ne devrait être réservé qu'aux situations à haut risque d'HSA. A cet égard, le développement d'un score prédictif validé permettrait de mieux sélectionner les candidats à une PL.
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Summary Background: We previously derived a clinical prognostic algorithm to identify patients with pulmonary embolism (PE) who are at low-risk of short-term mortality who could be safely discharged early or treated entirely in an outpatient setting. Objectives: To externally validate the clinical prognostic algorithm in an independent patient sample. Methods: We validated the algorithm in 983 consecutive patients prospectively diagnosed with PE at an emergency department of a university hospital. Patients with none of the algorithm's 10 prognostic variables (age >/= 70 years, cancer, heart failure, chronic lung disease, chronic renal disease, cerebrovascular disease, pulse >/= 110/min., systolic blood pressure < 100 mm Hg, oxygen saturation < 90%, and altered mental status) at baseline were defined as low-risk. We compared 30-day overall mortality among low-risk patients based on the algorithm between the validation and the original derivation sample. We also assessed the rate of PE-related and bleeding-related mortality among low-risk patients. Results: Overall, the algorithm classified 16.3% of patients with PE as low-risk. Mortality at 30 days was 1.9% among low-risk patients and did not differ between the validation and the original derivation sample. Among low-risk patients, only 0.6% died from definite or possible PE, and 0% died from bleeding. Conclusions: This study validates an easy-to-use, clinical prognostic algorithm for PE that accurately identifies patients with PE who are at low-risk of short-term mortality. Low-risk patients based on our algorithm are potential candidates for less costly outpatient treatment.
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Thyroid and parathyroid surgery takes an important place in general surgery. Preservation of essential cervical structures and cosmetic of outcomes of cervical incisions are major concern. Several minimally invasive strategies have been developed recently but their acceptance in the surgical community is low. Their main advantages are focused tissue dissection and improved cosmetics. In this review, management and surgical indications of thyroid nodules and parathyroid adenomas are discussed. The various minimally invasive techniques are described and their current indications are reviewed.
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Neuroimaging studies typically compare experimental conditions using average brain responses, thereby overlooking the stimulus-related information conveyed by distributed spatio-temporal patterns of single-trial responses. Here, we take advantage of this rich information at a single-trial level to decode stimulus-related signals in two event-related potential (ERP) studies. Our method models the statistical distribution of the voltage topographies with a Gaussian Mixture Model (GMM), which reduces the dataset to a number of representative voltage topographies. The degree of presence of these topographies across trials at specific latencies is then used to classify experimental conditions. We tested the algorithm using a cross-validation procedure in two independent EEG datasets. In the first ERP study, we classified left- versus right-hemifield checkerboard stimuli for upper and lower visual hemifields. In a second ERP study, when functional differences cannot be assumed, we classified initial versus repeated presentations of visual objects. With minimal a priori information, the GMM model provides neurophysiologically interpretable features - vis à vis voltage topographies - as well as dynamic information about brain function. This method can in principle be applied to any ERP dataset testing the functional relevance of specific time periods for stimulus processing, the predictability of subject's behavior and cognitive states, and the discrimination between healthy and clinical populations.
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The development and tests of an iterative reconstruction algorithm for emission tomography based on Bayesian statistical concepts are described. The algorithm uses the entropy of the generated image as a prior distribution, can be accelerated by the choice of an exponent, and converges uniformly to feasible images by the choice of one adjustable parameter. A feasible image has been defined as one that is consistent with the initial data (i.e. it is an image that, if truly a source of radiation in a patient, could have generated the initial data by the Poisson process that governs radioactive disintegration). The fundamental ideas of Bayesian reconstruction are discussed, along with the use of an entropy prior with an adjustable contrast parameter, the use of likelihood with data increment parameters as conditional probability, and the development of the new fast maximum a posteriori with entropy (FMAPE) Algorithm by the successive substitution method. It is shown that in the maximum likelihood estimator (MLE) and FMAPE algorithms, the only correct choice of initial image for the iterative procedure in the absence of a priori knowledge about the image configuration is a uniform field.