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Guide Following Control Using Laser Range Sensor for a Smart Wheelchair
Koji Miyazaki,Masafumi Hashimoto,Masanari Shimada,Kazuhiko Takahashi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a guide following control(adriving support control) for a smart electric wheelchair, so that the wheelchair can follow a preceding person(guide). A walking guide is obtained from lasers can images by a nin-vehicle laser range sensor based on Kalman filter and data association, and the guide foot print is estimated. Based on position data of the foot print, acubicspline generate satarget path for the wheelchair. The wheelchair is controlled so that it can move along the guide foot print at a constant gap between the wheelchair and the guide. The experimental result validated the feasibility of the control method.
Koji Matsuo,Muneaki Shimada,Tsuyoshi Saito,Kazuhiro Takehara,Hideki Tokunaga,Yoh Watanabe,Yukiharu Todo,Kenichirou Morishige,Mikio Mikami,Toru Sugiyama 대한부인종양학회 2018 Journal of Gynecologic Oncology Vol.29 No.1
Objective: To examine the surgical-pathological predictors of para-aortic lymph node (PAN) metastasis at radical hysterectomy, and for PAN recurrence among women who did not undergo PAN dissection at radical hysterectomy. Methods: This is a retrospective analysis of a nation-wide cohort study of surgically-treated stage IB–IIB cervical cancer (n=5,620). Multivariate models were used to identify independent surgical-pathological predictors for PAN metastasis/recurrence. Results: There were 120 (2.1%) cases of PAN metastasis at surgery with parametrial involvement (adjusted odds ratio [aOR]=1.65), deep stromal invasion (aOR=2.61), ovarian metastasis (aOR=3.10), and pelvic nodal metastasis (single-node aOR=5.39 and multiple-node aOR=33.5, respectively) being independent risk factors (all, p<0.05). Without any risk factors, the incidence of PAN metastasis was 0.9%, while women exhibiting certain risk factor patterns (>20% of the study population) had PAN metastasis incidences of ≥4%. Among 4,663 clinically PAN-negative cases at surgery, PAN recurrence was seen in 195 (4.2%) cases that was significantly higher than histologically PAN-negative cases (2.5%, p=0.046). In clinically PAN-negative cases, parametrial involvement (adjusted hazard ratio [aHR]=1.67), lympho-vascular space invasion (aHR=1.95), ovarian metastasis (aHR=2.60), and pelvic lymph node metastasis (single-node aHR=2.49 and multiple-node aHR=8.11, respectively) were independently associated with increased risk of PAN recurrence (all, p<0.05). Without any risk factors, 5-year PAN recurrence risk was 0.8%; however, women demonstrating certain risk factor patterns (>15% of the clinically PAN-negative population) had 5-year PAN recurrence risks being ≥8%. Conclusion: Surgical-pathological risk factors proposed in this study will be useful to identify women with increased risk of PAN metastasis/recurrence.
Shuichi Shimada,Hideo Saito,Yoshihide Kawasaki,Shinichi Yamashita,Hisanobu Adachi,Narihiko Kakoi,Takashige Namima,Masahiko Sato,Atsushi Kyan,Koji Mitsuzuka,Akihiro Ito,Takuhiro Yamaguchi,Yoichi Arai 대한비뇨의학회 2017 Investigative and Clinical Urology Vol.58 No.4
Purpose: To evaluate renal function 1 year after radical nephrectomy (RN) for renal cell carcinoma, the preoperative predictors of postnephrectomy renal function were investigated by sex, and equations to predict the estimated glomerular filtration rate (eGFR) 1 year after RN were developed. Materials and Methods: A total of 525 patients who underwent RN between May 2007 and August 2011 at Tohoku University Hospital and its affiliated hospitals were prospectively evaluated. Overall, 422 patients were analyzed in this study. Results: Independent preoperative factors associated with postnephrectomy renal function were different in males and females. Preoperative eGFR, age, tumor size, and body mass index (BMI) were independent factors in males, while tumor size and BMI were not independent factors in females. The equations developed to predict eGFR 1 year after RN were: Predicted eGFR in males (mL/min/1.73 m2)=27.99−(0.196×age)+(0.497×eGFR)+(0.744×tumor size)−(0.339×BMI); and predicted eGFR in females=44.57−(0.275×age)+(0.298×eGFR). The equations were validated in the validation dataset (R2=0.63, p<0.0001 and R2=0.31, p<0.0001, respectively). Conclusions: The developed equations by sex enable better prediction of eGFR 1 year after RN. The equations will be useful for preoperative patient counseling and selection of the type of surgical procedure in elective partial or RN cases.
Yoshizawa, Eri,Shimada, Koji,Ha, Ho Kyung,Kim, Tae Wan,Kang, Sung Ho,Chung, Kyung Ho Oceanographic Society of Japan 2015 Journal of oceanography Vol.71 No.2
<P> In the late 2000s, the dominant sea ice type in the Arctic Ocean changed from multi-year ice to first-year ice. In this condition, winter growth of first-year ice and resultant ice thickness at the melt onset are key preconditions on whether sea ice can survive or will disappear during the following summer. The growth rate strongly depends on upper ocean thermal conditions. In the Pacific sector of the Arctic Ocean, the warm Pacific Summer Water, which is a major heat source affecting the sea ice growth, is transported toward the basin by the oceanic Beaufort Gyre, driven by winds and sea ice motions, but the response time scale of the oceanic Beaufort Gyre to surface forcing has been unclear until now. In the present study, we examine the relationship between the ocean dynamic height near the Northwind Ridge as a proxy of the northward volume transport and curls of winds and sea ice velocities, using multiple regression models that evaluate relative contributions of past surface forcing to the current state of the oceanic Beaufort Gyre. As a result, the time scale of the delayed oceanic response in 2006?2012 was estimated to be about 3 years. Taking into account the response time scale, the multiple regression model using the satellite-derived sea ice motion data successfully reconstructed the observed variations of ocean dynamic heights within an accuracy of 0.2 dynamic cm, which corresponded to about 2 % of the amplitude of the observed variations. </P>
Facial EMG pattern evoked by pleasant and unpleasant odor stimulus
( Hiroshi Yamada ),( Noriaki Kaneki ),( Koji Shimada ),( Hironori Okii ) 한국감성과학회 2002 춘계학술대회 Vol.2002 No.-
Activities of venter frontalis, corrugator, levator labii superioris and greater zygomatic muscles were measured for five male subjects while they made pleasant, unpleasant and neutral facial expressions, and while they were presented pleasant, disgusting, and neutral odors. Pleasant expression and odor activated zygomatic muscles while unpleasant expression and odor increased corrugator muscle activity.
Hidetomo Saito,Kimio Saito,Yoichi Shimada,Toshiaki Yamamura,Shin Yamada,Takahiro Sato,Koji Nozaka,Hiroaki Kijima,Naohisa Miyakoshi 대한슬관절학회 2018 대한슬관절학회지 Vol.30 No.4
Purpose: High tibial valgus osteotomy (HTO) is a wellestablished surgical procedure for patients with medial compartment osteoarthritis (OA) of the knee. The hybrid closedwedge HTO (CWHTO) procedure permits extensive correction in patients with severe deformities or patellofemoral joint OA. The aim of this study was to report the shortterm results in a consecutive series of patients treated with hybrid CWHTO.Materials and Methods: We retrospectively evaluated the clinical outcomes and radiographic parameters in 29 consecutive knees that underwent hybrid CWTHO to correct medial compartment OA at an average followup of 52.6 months. Clinical outcomes were assessed using the Lysholm score and knee scoring system of the Japanese Orthopedic Association (JOA). The KellgrenLawrence grading system and pre and postoperative mechanical axis (MA), femorotibial angle (FTA), posterior tibial slope, and patella height were assessed.Results: The FTA and MA significantly changed from 180.7° to 170.4° and from 22.0° to 60.2°, respectively. No significant differences were observed between the mean pre and postoperative posterior tibial slope, InsallSalvati ratio, or CatonDeschamps index. The postoperative JOA and Lysholm scores significantly improved from 76.7 to 95.8 and from 58.8 to 90.2, respectively. Conclusions: Satisfactory outcomes can be achieved with hybrid CWHTO in patients with medial OA.
Analysis of bone in adenine-induced chronic kidney disease model rats
Hikaru Saito,Naohisa Miyakoshi,Yuji Kasukawa,Koji Nozaka,Hiroyuki Tsuchie,Chiaki Sato,Kazunobu Abe,Ryo Shoji,Yoichi Shimada 대한골다공증학회 2021 Osteoporosis and Sarcopenia Vol.7 No.4
Objectives: The purpose of this study is to investigate the stage of chronic kidney disease (CKD) in adenine-induced CKD model rats by serum analyses, and to examine bone mineral density (BMD), bone strength, and microstructure of trabecular and cortical bone in these rats. Methods: Eight-week-old, male Wistar rats (n ¼ 42) were divided into 2 groups: those fed a 0.75% adenine diet for 4 weeks until 12 weeks of age to generate CKD model rats (CKD group); and sham rats. The CKD and sham groups were sacrificed at 12, 16, and 20 weeks of age (n ¼ 7 in each group and at 12, 16, and 20 weeks), and various parameters were evaluated, including body weight, renal wet weight, muscle wet weight, renal histology, biochemical tests, BMD, biomechanical testing, and micro-computed tomography (CT). The parameters were compared between the 2 groups at the various time points. Results: In the CKD model rats, at 20 weeks of age, serum creatinine, phosphorus, and intact-PTH levels were elevated, and serum calcium levels were normal, indicating that the CKD was stage IV and associated with secondary hyperparathyroidism. Decreased BMDs of the whole body and the femur were observed as bone changes, and micro-CT analysis showed deterioration of bone microstructure of the cortical bone that resulted in decreased bone strength in the cortical and trabecular bone. Conclusions: These CKD model rats showed stage IV CKD and appear appropriate for evaluating the effects of several treatments for CKD-related osteoporosis and mineral bone disorder.