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Satoko Abiko,Kengo Tashiro 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper presents attitude recovery control for a quad tilt rotor UAV. The quad tilt rotor UAV has ability of flying with cmpletely independent 3 DOF position and 3 DOF attitude control by changing the thrust directions. This type of UAV is expected to perform better response to the disturbance by virtue of the mechanism of changing the thrust directions compared to the conventional multi-rotor UAV. This paper proposes disturbance detection method using IMU sensor and develops attitude recovery control against impact disturbance. The numerical simulation and fundamental flight experiments were carried out to evaluate the effectiveness of the proposed method compared to the conventional PID control.
Ikuo Konishi,Kaoru Abiko,Takuma Hayashi,Koji Yamanoi,Ryusuke Murakami,Ken Yamaguchi,Junzo Hamanishi,Tsukasa Baba,Noriomi Matsumura,Masaki Mandai,Kyoto Study Group for Ovarian Cancer Research 대한부인종양학회 2022 Journal of Gynecologic Oncology Vol.33 No.5
Epithelial ovarian cancer remains the lethal gynecological malignancy in women. The representative histotype is high-grade serous carcinoma (HGSC), and most patients with HGSC present at advanced stages with peritoneal dissemination. Since the peritoneal dissemination is the most important factor for poor prognosis of the patients, complete exploration for its molecular mechanisms is mandatory. In this narrative review, being based on the clinical, pathologic, and genomic findings of HGSC, chromosomal instability and epigenetic dynamics have been discussed as the potential drivers for cancer development in the fallopian tube, acquisition of cancer stem cell (CSC)-like properties, and peritoneal metastasis of HGSC. The natural history of carcinogenesis with clonal evolution, and adaptation to microenvironment of peritoneal dissemination of HGSC should be targeted in the novel development of strategies for prevention, early detection, and precision treatment for patients with HGSC.
Sachiko Kitamura,Kaoru Abiko,Noriomi Matsumura,Hidekatsu Nakai,Yumiko Akimoto,Hirotoshi Tanimoto,Ikuo Konishi 대한부인종양학회 2017 Journal of Gynecologic Oncology Vol.28 No.4
Objective: Some, but not all, granulosa cell tumors are characterized by estrogen production. This study was designed to determine whether there are clinical or pathological variations ingranulosa cell tumors in relation to the expression of sex steroid synthesis enzymes. Methods: Clinical symptoms, serum hormonal values, and histology of 30 granulosacell tumor patients who underwent surgery between 2002 and 2014 were retrospectivelyreviewed. Results: Most patients presented with abnormal genital bleeding including abnormalmenstrual cycles. Eight of 16 patients older than 50 years had endometrial hyperplasia andone had endometrial cancer. Serum 17β-estradiol (E2) levels tended to be higher in patientsover 50 years of age (p=0.081). Serum follicle-stimulating hormone (FSH) levels were low inall patients irrespective of serum E2 levels. Magnetic resonance imaging revealed a thickerendometrium in older as compared to younger patients (p<0.05). Tumor cells in the majorityof cases were positive for inhibin α and P450 aromatase, irrespective of age and serum E2levels. P450 17α-hydroxylase (P450c17) expression varied among cases. P450c17 was stronglypositive in luteinized tumor cells and weakly positive in theca cells and fibroblasts. High E2levels were associated with P450c17-positive cells in the tumor (p<0.05). Conclusion: The expression of hormone-synthesizing enzymes divides granulosa celltumors into 2 distinct types; tumors with P450c17-positive cells show elevated serum E2 andrelated clinical symptoms, while tumors without these cells show symptoms related to FSHsuppression by inhibin.
Serum lactate dehydrogenase is a possible predictor of platinum resistance in ovarian cancer
Asami Ikeda,Ken Yamaguchi,Hajime Yamakage,Kaoru Abiko,Noriko Satoh-Asahara,Kenji Takakura,Ikuo Konishi 대한산부인과학회 2020 Obstetrics & Gynecology Science Vol.63 No.6
ObjectiveThe need for tailoring ovarian cancer treatments to individual patients is increasing. This study aimed to evaluate theprognostic value of pretreatment laboratory test data for predicting the response and survival outcomes of platinumbasedchemotherapy in ovarian cancer. MethodsWe enrolled 270 patients with ovarian cancer diagnosed at the Kyoto Medical Center (n=120; group A) and KyotoUniversity (n=150; group B). Data on 9 blood parameters (neutrophil to lymphocyte ratio [NLR], platelet to lymphocyterate [PLR], C-reactive protein, lactate dehydrogenase [LDH], glucose, total cholesterol, high-density lipoprotein [HDL],low-density lipoprotein, and triglyceride levels), cancer pathology, cancer stage, cytoreduction outcomes, serumcancer antigen 125 levels, platinum-free interval (PFI), disease-free survival (DFS), and overall survival were assessedretrospectively. ResultsNLR, PLR, LDH, and HDL were significantly different in advanced stage patients (P<0.001, <0.001, 0.029, and <0.001,respectively). The Kaplan-Meier curves revealed that high LDH level (≥250 U/L) was associated with reduced PFI(P=0.037 and 0.012) and DFS (P=0.007 and 0.002) in groups A and B, respectively. High NLR (≥4) was associated withreduced DFS in both groups (P=0.036 and 0.005, respectively). LDH showed higher area under the curve (AUC) valuesin predicting platinum resistance with a PFI of less than 6 months and 12 months (AUC=0.606 and 0.646, respectively)than NLR. In the multivariate analysis, LDH remained significant (P=0.019) after adjusting for the 9 blood parameters. ConclusionSerum LDH level may possibly predict platinum resistance and prognosis in ovarian cancer and may be useful whendeveloping precision medicine for individual patients.
Makiko So,Taito Miyamoto,Ryusuke Murakami,Kaoru Abiko,Junzo Hamanishi,Tsukasa Baba,Masaki Mandai 대한부인종양학회 2019 Journal of Gynecologic Oncology Vol.30 No.6
Objective: In patients with recurrent ovarian cancer (ROC) in whom surgery is likely torender them disease-free, it is unclear whether secondary cytoreductive surgery (SCS)combined with chemotherapy is superior to chemotherapy alone. The aim of this study wasto evaluate the 2 treatment options in Tian-model low-risk patients. Methods: We retrospectively reviewed 118 ROC cases treated in our hospital between2004 and 2016. Of these, 52 platinum-sensitive cases were classified as low-risk (completeresection anticipated) using the Tian model. Prognostic factors were assessed with univariateand multivariate analysis using Cox's regression model. Progression-free survival (PFS)and overall survival (OS) were compared in patients treated with SCS plus chemotherapy(SCS group) and those treated with chemotherapy alone (chemotherapy group), using apropensity-score-based matching method. Results: By multivariate analysis, the only factor associated with better OS was SCS. PFS and OSwere significantly longer in the SCS group compared to the chemotherapy group in the matchedcohort (median PFS: 21.7 vs. 15.1 months, p=0.027 and median OS: 91.4 vs. 33.4 months,p=0.008, respectively). In cases with multiple-site recurrence, the SCS group also showedsignificantly longer OS than the chemotherapy group (median 91.4 vs. 34.8 months, p=0.022). In almost all SCS cases, cooperation was required from other departments, and operation timewas lengthy (median 323 minutes); however, no serious complications occurred. Conclusion: SCS combined with chemotherapy results in better PFS and OS than chemotherapyalone in first platinum-sensitive ROC patients categorized as low-risk by Tian's model.
Mitsuhiro Obara,Tsutomu Ishimaru,Tomomi Abiko,Daisuke Fujita,Nobuya Kobayashi,Seiji Yanagihara,Yoshimichi Fukuta 한국식물생명공학회 2014 Plant biotechnology reports Vol.8 No.3
The root is the sole organ taking up water andnutrients from soils. Hence, root system architecture (RSA)is important for enhancing high-level and stable rice(Oryza sativa L.) production. However, the geneticimprovement of RSA has received less attention than yieldand yield components. Here, we aimed to identify andcharacterize quantitative trait loci (QTLs) for RSA bydetermining the maximum root length (MRL) of seedlingsgrown hydroponically under various concentrations ofNH4?. We used a total of 280 introgression lines (ILs) withan Indica-type variety IR64 genetic background, consistingof ten sibling ILs groups, to detect the QTLs. Greatervariation of MRL was found in three sibling ILs groups. Intotal, five QTLs were detected by single marker analyses:two each on chromosomes 5 and 6 and one on chromosome7. Among them, the most effective QTL was detected on asegment derived from IR69093-41-2-3-2 (YP5), which waslocalized to the long-arm of chromosome 6. The QTL,designated as qRL6.4-YP5, concerned in root elongation. MRL and total root length of a near-isogenic line (NIL) forqRL6.4-YP5 were significantly (15.2–24.6 %) higher thanthose of IR64 over a wide range of NH4? concentrations. Root number and weight of the NIL were the same as thoseof IR64. These results indicated that qRL6.4-YP5 was aconstitutive QTL for root length in response to change innitrogen concentrations. To enhance yield potential byimproving RSA, qRL6.4-YP5 might help to improve rootdevelopment in rice molecular breeding programs withmarker-assisted selection.
An Age Estimation System on the AIBO
Hironobu Fukai,Yuuki Nishie,Kohki Abiko,Yasue Mitsukura,Minoru Fukumi,Masahiro Tanaka 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we propose an age estimation system on the AIBO. AIBO is an entertainment robot produced by SONY co., Ltd.. AIBO has many sensors to get information around itself and moves according to its instinct. This autonomous action is considerably natural. However, it is inadequate to communicate with people. If AIBO can estimate the human age from a face image, it becomes more excellent entertainment robot. Then, we propose the age estimation method on the AIBO by using face image. In this paper, the apparent age feature is extracted by the fast Fourier transform (FFT), and it is selected by the GA. Moreover, the age is estimated by the 1-dimensional SOM. In order to show the effectiveness of the proposed method, we show the simulation examples.
Manish Kolakshyapati,Masaaki Takeda,Takafumi Mitsuhara,Satoshi Yamaguchi,Masaru Abiko,Shingo Matsuda,Kaoru Kurisu 대한척추신경외과학회 2018 Neurospine Vol.15 No.3
Central nervous system tuberculosis is a devastating complication of systemic tuberculosis. Intradural extramedullary (IDEM) tuberculoma at the foramen magnum is rare, and mimics en plaque meningioma. We report the case of a 53-year-old woman who presented with dysesthesia of the tongue and lower cranial nerve (CN) palsy, with onset 4 months prior to admission. The neurologic examination revealed left upper-limb weakness and hypoesthesia on the sole and dorsum of the left foot. Other physical examinations revealed no features of tubercular infection. Laboratory investigations likewise showed no signs of infection or inflammation. Magnetic resonance imaging of the brain showed an IDEM mass originating from the left intradural surface at the foramen magnum extending to the C2 segment and compressing the brainstem and upper cervical cord. The mass was isointense/hypointense on T1- and T2-weighted images and homogeneously-enhanced on postcontrast images. The lesion also exhibited the dural-tail sign and was preoperatively diagnosed as en plaque meningioma. The patient underwent surgery via the left transcondylar fossa approach with partial laminectomy of the atlas. Intraoperatively, the mass exhibited a dural origin and encased the vertebral artery and lower CNs, with strong adhesions. While the histopathological study of the mass was strongly suggestive of tuberculoma with multifocal granulomas, caseous necrosis, and Langerhans giant cells, extensive diagnostic studies failed to detect Mycobacterium tuberculosis itself. Although the patient had recurrence with multisystem involvement, she responded well to antitubercular treatment. IDEM tuberculoma of the foramen magnum may present as en plaque meningioma. Histopathology is required for a definitive diagnosis. Prompt surgical resection and decompression with adequate antitubercular treatment yield better neurological outcomes.
Ayami Inoue,Ken Yamaguchi,Yasuhisa Kurata,Ryusuke Murakami,Kaoru Abiko,Junzo Hamanishi,Eiji Kondoh,Tsukasa Baba,Aki Kido,Ikuo Konishi,Noriomi Matsumura 대한부인종양학회 2017 Journal of Gynecologic Oncology Vol.28 No.5
Objective: Carcinosarcoma of the uterine corpus has a poor prognosis. Although pathologicalnecrosis is a prognostic factor of endometrial cancer, the clinicopathological influences of anunenhanced region observed on magnetic resonance imaging (MRI) are inconclusive. The aimof our study was to determine the clinicobiological impact of the presence of an unenhancedregion on MRI, which can represent necrosis, in uterine carcinosarcoma. Methods: The clinicopathological factors of 29 patients diagnosed with uterinecarcinosarcoma were assessed retrospectively. The percentage of the tumor that wasunenhanced on MRI was determined. The clinicopathological factors related to theunenhanced regions were evaluated. The prognostic significance was assessed using theKaplan-Meier method and Cox regression model. Results: Although the presence of pathological necrosis was not a poor prognosticfactor (p=0.704), unenhanced regions on MRI correlated with poor prognosis when theunenhanced regions in the tumor accounted for more than 10% of the total tumor (p=0.019). The percentage of unenhanced regions was positively correlated with stage (p=0.028;r=0.4691) and related to tumor size (p=0.086; r=0.3749). The Cox regression analysisindicated that the presence of lymph node (LN) metastasis and more than 10% of the tumorbeing unenhanced on MRI were prognostic factors of overall survival in the univariateanalyses (p=0.018 and p=0.047, respectively). Conclusion: The unenhanced region on MRI, which represents pathological necrosis, reflectstumor progression, and semi-quantification of the region is useful to predict the prognosis inpatients with uterine carcinosarcoma.