1,799 research outputs found
Suburban immigrants to wildlands disrupt honest signaling in ultraviolet plumage
No full text<p>Tringali, A., and R. Bowman. 2015. Suburban immigrants to wildlands disrupt honest signaling in ultra-violet plumage. Avian Conservation and Ecology 10(1): 9. http://dx.doi.org/10.5751/ACE-00746-100109<br>Copyright © 2015 by the author(s).</p
Globally optimal inverse kinematics method for a redundant robot manipulator with linear and nonlinear constraints
No full textThis paper presents a novel inverse kinematics global method for a redundant robot manipulator performing a tracking maneuver. The proposed method, based on the choice of appropriate initial joint trajectories that satisfy the kinematic constraints to be used as inputs for a multi-start optimization algorithm, allows for the optimization of different integral cost functions, such as kinetic energy and joint torques norm, and can provide solutions with a variety of constraints, both linear and nonlinear. Furthermore, it is suitable for multi-objective optimization, and it is able to find multiple optima with minimal input from the user, and to solve cyclic trajectories. Problems with a high number of parameters have been addressed providing a sequential version of the method based on successive stages of interpolation. The results of simulations with a three-Degrees-of-Freedom (DOF) redundant manipulator have been compared with a solution available in the literature based on the calculus of variations, thus leading to the validation of the method. Moreover, the effectiveness of the presented method has been shown when used to solve problems with constraints on joint displacement, velocity, torque, and power
Pediatric ERCP with a single-use duodenoscope in an immunocompromised child
No full textA 7-year-old girl with combined immunodeficiency (dedicator of cytokinesis 8 deficiency) was referred to our unit. During the last year, the patient had a persistent increase on liver function tests (alanine aminotransferase 3, GammaGT 6), a reduction in IgM (18 mg/dL), and an increase in IgE (300-600 mg/dL). Common bile duct dilatation (11 mm) with irregular intrahepatic ducts was evident on magnetic resonance cholangiography, and liver biopsy results were compatible with primary sclerosing cholangitis. Because the patient was a candidate for stem
cell transplantation to treat immunodeficiency, after multidisciplinary discussion, biliary sphincterotomy was chosen to prevent worsening of biliary obstruction during the forthcoming transplantation period.
To reduce the risk of duodenoscope-related infection in this immunocompromised child, ERCP was performed with a single-use duodenoscope (Exalt Model-D
A survey on planning, expectations and factors influencing the stabilization process of migrating people in Palermo, Western Sicily
No full textBackground. Europe constitutes a major pole of attraction for the migratory fluxes. The migrating population is made up of many different individuals, carrying different projects of life and expectations. The consistence of the phenomena, in few decades, will be responsible for deep changes in the demographic structure of the European population. The purpose of this investigation was to attempt to draw an identikit of migrating people and to evaluate those factors which may be considered important to positively influence the process of stabilization. Moreover, the research tried to evaluate the differences among those migrating people who have recently arrived, still considering this country as a landing shore, and those who have definitely settled in Sicily. Methods. The research was carried out through a 42 items multiple choice answer questionnaire administered to two groups of individuals who were born in a non European Union (EU) country. Individuals, who were still trying to settle (group A), were chosen at random in the streets of the city, while individuals with a solid and integrated family were chosen at random from the municipality of Palermo, Sicily. To compare the two different groups of individuals Student's t and Chi square tests were used together with standard descriptive statistics and linear regression analysis. Results. Results seem to indicate that positive factors for integration are years of residence in the same place, support from the family since the very beginning of the migratory project, stable interethnic social structure. What did not seem to constitute determining factors in the territory analysed are: age, gender, country of origin, religion. Higher education levels apparently play a negative role. Child bearing indexes are higher than European levels. Birth rate was use in the attempt of modelling a projection of population growth. Discussion. The collected data brings forth the snapshot of the typical immigrant as a young strong healthy individual, longing to start a family on safe values, who accepts transitory precarious living conditions in order to improve them. The major negative factors in the migratory project are those of social nature. Governments have generally adopted a politics of control on entry and of managing the emergency. There is a need for a politics of empowerment and exploitation of the capacity of the migrants. Deep changes occurring in the demographic structure of the European population might influence the social contest. Decrease European birth rate and increasing immigration may create a melting pot, where Europeans may take a role of an endangered species
Commentary
No full textThis video by Hirano and co-workers shows an interesting case of pancreato-
scopy performed with an ultrathin endoscope (5 mm diameter) with a transpar-
ent hood attached to the ti
Endoscopic snare papillectomy for adenoma of the ampulla of vater: Long-term results in 135 consecutive patients
No full textBackground: The premalignant nature of ampullary adenomas justifies their radical excision. Aims: Aim of this study is to evaluate the long-term results of endoscopic snare papillectomy in a consecutive series of patients with ampullary adenomas. Methods: Patients who underwent endoscopic snare papillectomy between October 1999 and October 2017 were identified from an electronic database. Endoscopic snare papillectomy was performed en bloc, when possible; a pancreatic stent or a nasopancreatic drainage were inserted. Endoscopic follow-up was scheduled after 3, 6 and 12 months for the first year, then yearly. Results: Endoscopic snare papillectomy was performed in 135 patients (70 M, mean age 60.5 years) by en bloc (83%) or piecemeal (17%) resection. Delayed bleeding occurred in 16 patients (11.8%), infected retroperitoneal collections in 6 patients (4.4%), pancreatitis in 4 patients (3%). One patient died (0.7%). Follow-up was available in 103/114 (90.3%) patients. In case of residual (24.3%) and recurrent (23.3%), adenomas endoscopic retreatment was successful in 42/49 cases (85.7%). After a mean follow-up of 40 months, 93.2% (96/103) of the patients were disease free Conclusion: Endoscopic snare papillectomy of ampullary adenomas is effective with favorable long-term outcomes. Compliance to the scheduled follow-up is important for the early detection and re-treatment of recurrences
Endoscopic retrograde cholangiopancreatography: A comprehensive review as a single diagnostic tool
No full textEndoscopic retrograde cholangiopancreatography (ERCP) was initially introduced in clinical practice as diagnostic tool. However, the presence of adverse events and the development of non-invasive techniques, such as magnetic resonance cholangiopancreatography (MRCP) and endoscopic ultrasound (EUS), limited its role as a stand-alone diagnostic choice, modifying its role to the leader of therapeutic pancreatobiliary endoscopy. Despite technological advances, there are still conditions where non-invasive diagnostic modalities are inconclusive,
such as indeterminate biliary and pancreatic duct strictures, primary sclerosing cholangitis functional stenoses, intraductal papillary mucinous neoplasms (IPMNs) and paediatric indications, such as congenital anatomical abnormalities. This narrative review aimed to identify and analyse indications of diagnostic ERCP, without the need for therapeutic manipulations
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