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One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton

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Chinese Journal of Mechanical Engineering 2021年第1期34卷 20-29页

作者： Maowen Sun Xiaoping Ouyang Jouni mattila Huayong Yang Gang Hou State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou 310027China Department of Intelligent Hydraulics and Automation Tampere University33101 TampereFinland Guiyang HYC Hydraulic Co. LtdGuiyang 550018China

The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic ***,the traditional hydraulic system is normally centralized,inefficient,and bulky during application,which limits its development in the *** improving the robot's performance,its hydraulic actuating system should be optimized *** this paper a novel hydraulic actuating system(HAS)based on electric-hydrostatic actuator is proposed,which is applied to hip and knee *** HAS integrates an electric servo motor,a high-speed micro pump,a specific tank,and other components into a *** specific parameters are obtained through relevant simulation according to human motion data and load *** dynamic models of the HAS are built,and validated by the system *** of trajectory tracking and human-exoskeleton interaction are carried out,which demonstrate the proposed HAS has the ability to be applied to the *** with the previous prototype,the total weight of the HAS in the robot is reduced by about 40%,and the power density is increased by almost 1.6 times.

关键词： Hydraulic actuating system(HAS) Lower-body exoskeletons Lightweight and integrated System identification Working mode test

Surgical care quality and oncologic outcome after D2 gastrectomy for gastric cancer

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World Journal of Gastroenterology 2015年第47期21卷 13294-13301页

作者： Johanna Mrena Anne mattila Jan B?hm ismo Jantunen Ilmo Kellokumpu Department of Surgery Central Hospital of Central Finland Department of Pathology Central Hospital of Central Finland Department of Oncology Central Hospital of Central Finland

AIM: To examine the quality of surgical care and longterm oncologic outcome after D2 gastrectomy for gastric ***: From 1999 to 2008, a total of 109 consecutive patients underwent D2 gastrectomy without routine pancreaticosplenectomy in a multimodal setting at our institution. Oncologic outcomes together with clinical and histopathologic data were analyzed in relation to the type of surgery performed. Staging was carried out according to the Union for International Cancer Control criteria of 2002. Patients were followedup for five years at the outpatient clinic. The primary measure of outcome was long-term survival with the quality of surgery as a secondary outcome measure. Clinical data were retrospectively collected from the patient records, and causes of death were obtained from national ***: A total of 109 patients(58 men) with a mean age of 67.4 ± 11.2 years underwent total gastrectomy or gastric resection with D2 lymph node dissection. The tumor stage distribution was as follows: stageⅠ,(27/109) 24.8%; stage Ⅱ,(31/109) 28.4%; stage Ⅲ,(41/109) 37.6%; and stage Ⅳ,(10/109) 9.2%. Forty patients(36.7%) received chemotherapy or chemoradiotherapy. The five-year overall survival rate for all 109 patients was 45.0%, and was 47.1% for the 104 patients treated with curative R0 resection. The five-year disease-specific survival rates were 53.0% and 55.8%, respectively. In a multivariate analysis, body mass index and tumor stage were independent prognostic factors for overall survival(both P < 0.01), whereas body mass index, tumor stage, tumor site, Lauren classification, and lymph node invasion were prognostic factors for cancer-specific survival(all P < 0.05). Postoperative 30-d mortality was 1.8% and 30-d, surgical(including three anastomotic leaks, two of which were treated conservatively), and general morbidities were 26.6%, 12.8%, and 14.7%, ***: D2 dissection is a safe surgical option for gastric cancer, providing quality

关键词： Gastric cancer Quality of care Survival Gastric surgery Clinical practice

Hidden Markov Models:Inverse Filtering,Belief Estimation and Privacy Protection

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Journal of Systems Science & Complexity 2021年第5期34卷 1801-1820页

作者： LOURENCO Ines mattila Robert ROJAS Cristian R. HU Xiaoming WAHLBERG Bo Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Division of Optimizations and Systems Theory School of Engineering SciencesKTH Royal Institute of TechnologyStockholmSweden

A hidden Markov model(HMM)comprises a state with Markovian dynamics that can only be observed via noisy *** paper considers three problems connected to HMMs,namely,inverse filtering,belief estimation from actions,and privacy enforcement in such a ***,the authors discuss how HMM parameters and sensor measurements can be reconstructed from posterior distributions of an HMM ***,the authors consider a rational decision-maker that forms a private belief(posterior distribution)on the state of the world by filtering private *** authors show how to estimate such posterior distributions from observed optimal actions taken by the *** the setting of adversarial systems,the authors finally show how the decision-maker can protect its private belief by confusing the adversary using slightly sub-optimal *** range from financial portfolio investments to life science decision systems.

关键词： Belief estimation counter-adversarial systems hidden Markov models inverse decision making inverse filtering

Peptic ulcer and childhood adversities experienced by working-aged people

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World Journal of Gastroenterology 2009年第27期15卷 3405-3410页

作者： Markku PT Sumanen Markku J Koskenvuo Lauri H Sillanmki Kari J mattila Kangasala Health Center and Medical School University of TampereFI 33014 Finland Department of Public Health University of HelsinkiFI 00014 Finland Department of General Practice University of Tampere Medical School and Hospital District of PirkanmaaFI 33014 Finland

AIM: To study the association between self-reported peptic ulcer and childhood ***: The Health and Social Support Study (HeS-Sup) population consisted of a stratif ied random sample drawn from the Finnish Population Register in four age groups: 20-24, 30-34, 40-44 and 50-54. The survey was carried out by postal questionnaire during 1998, with a response rate of 40.0%. A follow-up questionnaire was sent during 2003 to all those who responded to the f irst. Altogether 19 626 individuals returned the follow-up questionnaire; a response rate of 75.8%. The subjects were asked whether a doctor had told them that they have or have had peptic ulcer. The analyses covered those who responded aff irmatively to both the baseline and the follow-up enquiries (n = 718). Those not re-porting a peptic ulcer in either of the two questionnaires (n = 17 677) were taken as controls. The subjects were further requested (through six questions) to think about their childhood ***: The most common adversities mentioned were long-lasting financial difficulties in the family, serious conflicts in the family, and a family member seriously or chronically ill. All the adversities reported, except parental divorce, were more common among peptic ulcer patients than among controls (P values varied between < 0.001 and 0.003). Age- and sex-adjusted odds ratios (OR) of childhood adversities in the multivariate logistic analysis for self-reported pep-tic ulcer varied between 1.45 and 2.01. Adjusting for smoking, heavy drinking, stress and nonsteroidal anti-inflammatory drug use had no further influence (ORs between 1.22 and 1.73).CONCLUSION: Our findings suggest that childhood adversities maintain a connection with and have a predictive role in the development of peptic ulcer.

关键词： Peptic ulcer Working-aged Childhood adversities Stress factors Predictive role

Fecal microbiota transplantation for the maintenance of remission in patients with ulcerative colitis:A randomized controlled trial

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World Journal of Gastroenterology 2023年第17期29卷 2666-2678页

作者： Perttu Lahtinen Jonna Jalanka Eero mattila Jyrki Tillonen Paula Bergman Reetta Satokari Perttu Arkkila Department of Gastroenterology Päijät-Häme Central HospitalLahti 15610Finland Department of Medicine University of HelsinkiHelsinki 00014Finland Human Microbiome Research Program Faculty of MedicineUniversity of HelsinkiHelsinki 00014Finland Department of Infectious Diseases Helsinki University HospitalHelsinki 00029UusimaaFinland Department of Bioinformatics Helsinki University HospitalHelsinki 00014Finland Department of Gastroenterology University HelsinkiCenter HospitalHelsinki 00029UusimaaFinland

BACKGROUND Fecal microbial transplantation(FMT)is a promising new method for treating active ulcerative colitis(UC),but knowledge regarding FMT for quiescent UC is *** To investigate FMT for the maintenance of remission in UC *** Forty-eight UC patients were randomized to receive a single-dose FMT or autologous transplant via *** primary endpoint was set to the maintenance of remission,a fecal calprotectin level below 200μg/g,and a clinical Mayo score below three throughout the 12-mo *** secondary endpoints,we recorded the patient’s quality of life,fecal calprotectin,blood chemistry,and endoscopic findings at 12 *** The main endpoint was achieved by 13 out of 24(54%)patients in the FMT group and by 10 out of 24(41%)patients in the placebo group(log-rank test,P=0.660).Four months after FMT,the quality-of-life scores decreased in the FMT group compared to the placebo group(P=0.017).In addition,the disease-specific quality of life measure was higher in the placebo group than in the FMT group at the same time point(P=0.003).There were no differences in blood chemistry,fecal calprotectin,or endoscopic findings among the study groups at 12 *** adverse events were infrequent,mild,and distributed equally between the *** There were no differences in the number of relapses between the study groups at the 12-mo ***,our results do not support the use of a single-dose FMT for the maintenance of remission in UC.

关键词： Fecal microbial transplantation Ulcerative colitis Quality of life Maintenance of remission Inflammatory bowel disease Fecal calprotectin

Incidence of pediatric injury visits decreased while trauma surgeries remained stable during the first and second waves of the COVID-19 pandemic in Finland:a register-based study

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World Journal of Pediatric Surgery 2021年第4期4卷 47-51页

作者： Joonas Kuorikoski Ilari Kuitunen Mikko Uimonen Ville M mattila Ville Ponkilainen Department of Surgery Central Finland Central HospitalJyvaskylaFinland Department of Pediatrics Mikkeli Central HospitalMikkeliFinland Department of Pediatrics University of Eastern FinlandMikkeliFinland Department of Orthopaedics and Traumatology Tampere University HospitalTampereFinland Faculty of Medicine and Health Technology Tampere UniversityTampereFinland

Introduction The COVID-19 pandemic has reduced pediatric emergency department(ED)visits and *** study evaluates the incidence of pediatric trauma ED visits and surgeries in Finland during the first and second waves of the *** Three large Finnish hospitals,covering one-sixth of the Finnish pediatric population,*** on all ED visits and trauma surgeries between January 2017 and December 2020 were collected from hospital discharge *** incidences with 95%CI were calculated per 100000 person-months by Poisson exact method and compared by incidence rate ratio(IRR).Results During the lockdown the incidence of head injuries(IRR 0.19,95%CI 0.04 to 0.87),sprains(IRR 0.25,95%CI 0.14 to 0.46),and fractures(IRR 0.36,95%CI 0.25 to 0.51)decreased in the 13-17 years age *** the 4-12 years age group a 55%decrease(IRR 0.45,95%CI 0.22 to 0.96)in head injuries was *** the period of regional restrictions a subtle decrease in head injuries was seen in the 13-17 years age group(IRR 0.26,95%CI 0.09 to 0.78).During the lockdown in March 2020 the incidence of fractures decreased in the oldest age group(13-17 years)(IRR 0.62,95%CI 0.46 to 0.85),while a rebound in incidence was seen at the end of the lockdown period in *** The nationwide lockdown and the cancellation of sports and other hobbies markedly decreased the injuries among children aged 13-17 years,while the decrease was lower among children aged 4-12 *** of sports and hobbies did not affect patients under 4 years of age.

关键词： injuries pediatric markedly

Fish and fish side streams are valuable sources of high-value components

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Food Quality and Safety 2019年第4期3卷 209-226页

作者： Anna-Liisa Välimaa Sari Mäkinen Pirjo mattila Pertti Marnila Anne Pihlanto Maarit Mäki Jaakko Hiidenhovi Natural Resources Institute Finland(Luke) Oulu Natural Resources Institute Finland(Luke) Jokioinen Natural Resources Institute Finland(Luke) Turku

The current practice of fish processing generates increasing quantities of side streams and waste,such as skin,heads,frames,viscera,and fillet cut *** may account for up to 70%of the fish used in industrial ***-value fish catches,and under-utilized fish species comprise another source of side *** side streams have been discarded in the environment leading to environmental problems or they have ended up as low commercial value products,such as feed for fur animals and ***,several studies have shown that fish side streams contain valuable bioactive ingredients and fractions,such as fish oils,proteins and peptides,collagen,gelatin,enzymes,chitin,and *** compounds and fractions may provide the opportunity to develop novel applications in health promoting foods,special feeds,nutraceuticals,pharmaceuticals,and cosmetic *** utilization of side streams and low-value fish would simultaneously improve both the environmental and ecological sustainability of *** review summarizes the current knowledge on fish and fish side streams as sources of high-value components such as peptides with antimicrobial,antioxidative,antihypertensive,and antihyperglycemic properties,proteins such as fish collagen and gelatin,fish enzymes,fish oils and fatty acids,polysaccharides like glucosaminoglycans,chitin and chitosan,vitamin D,and *** technologies for recovering the high-value fractions and potential product applications are ***,safety aspects related to the raw material,technologies,and fractions are considered.

关键词： fish side streams bioactive peptides fish polysaccharides fish oils

Faecal microbiota transplantation in patients with Clostridium difficile and significant comorbidities as well as in patients with new indications:A case series

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World Journal of Gastroenterology 2017年第39期23卷 7174-7184页

作者： Perttu Lahtinen Eero mattila Veli-Jukka Anttila Jyrki Tillonen Matti Teittinen Pasi Nevalainen Seppo Salminen Reetta Satokari Perttu Arkkila Department of Gastroenterology Paijat-Hame Central HospitalLahti 15850Finland Department of Infectious Diseases Helsinki University Hospital Department of Medicine Hyvinkaa Hospital Department of Medicine Tampere University Hospital Functional Foods Forum University of Turku Immunobiology Research Program Faculty of MedicineUniversity of Helsinki Department of Gastroenterology Helsinki University Hospital

Fecal microbiota transplantation(FMT) is effective in recurrent Clostridium difficile infection(r CDI). Knowledge of the safety and efficacy of FMT treatment in immune deficient patients is scarce. FMT has been suggested as a potential method for an increasing number of new indications besides r CDI. Among our FMT-treated r CDI patients, we reviewed those with major comorbidities: two human immunodeficiency virus patients, six haemodialysis patients, two kidney transplant patients, two liver transplant patients and a patient with chronic lymphatic leukaemia. We also reviewed those treated with FMT for indications other than r CDI: Salmonella carriage(two patients), trimethylaminuria(two patients), small intestinal bacterial overgrowth(SIBO;one patient), and lymphocytic colitis(one patient), as well as a common variable immunodeficiency patient with chronic norovirus infection and ESBL-producing Escherichia coli(E. coli) carriage. Of the thirteen r CDI patients treated with FMT, eleven cleared the CDI. The observed adverse events were not directly attributable to FMT. Concerning the special indications, both Salmonellas and ESBL-producing E. coli were eradicated. One trimethylaminuria patient and one SIBO-patient reported a reduction of symptoms. Three patients did not experience a benefit from FMT: chronic norovirus, lymphocytic colitis and the other fish malodour syndrome. There were no reported side effects in this group. FMT appeared to be safe and effective for immunocompromised patients with r CDI. FMT showed promise for the eradication of antibiotic-resistant bacteria, but further research is warranted.

关键词： Faecal microbiota transplantation Antibiotic resistance Clostridium difficile infection Microbiota Immunodeficiency Salmonella infection

Contents of phytochemicals and antinutritional factors in commercial protein-rich plant products

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Food Quality and Safety 2018年第4期2卷 213-219页

作者： Pirjo H.mattila Juha-Matti Pihlava Jarkko Hellström Markus Nurmi Merja Eurola Sari Mäkinen Taina Jalava Anne Pihlanto Natural Resources Institute Finland Itäinen Pitkäkatu 420520TurkuFinland and Natural Resources Institute Finland 31600 JokioinenFinland

Objectives:The goal of this study was to determine several beneficial and antinutritional compounds in the commercial products of some protein-rich *** and Methods:Samples of faba bean(Vicia faba),lupin(Lupinus angustifolius),rapeseed press cake(Brassica rapa/napus ***),flaxseed(Linum usitatissimum),oil hemp seed(Cannabis sativa),buckwheat(Fagopyrum esculentum),and quinoa(Chenopodium quinoa)were purchased from the grocery stores and from the *** phytochemicals were analyzed using various validated ***:Rape seed press cake contained the highest contents of *** highest contents of proanthocyanidins were found in faba bean(470±14 mg/100g DW).Secoisolariciresinol-diglucoside content in the flaxseeds was 138±32 mg/100 g DW and the lignanamide content of hemp seeds was 77±22 mg/100 g *** content of phytic acid in rapeseed cake,hemp seed and flaxseed samples was 3.9±0.1,3.5±0.2,and 1.9±0 g/100 g DW,*** seed cake contained glucosinolates 2.08±0.74 umol/g DW and faba bean contained vicine and convicine 0.77±0.11 and 0.42±0.02 g/100 g DW,*** contained saponins 557 mg/100 g DW and after abrasive milling/pearling the content was 36 mg/100 g ***,the phytochemicals were concentrated in the outer shell of the *** activities against proteolytic enzymes,trypsin andα-chymotrypsin,varied among the samples *** activity was found in buckwheat samples,whereas lupin and rapeseed press cake had no inhibitory activity against tested ***:This paper presented new findings on the contents of phytochemicals in various under-used plant protein sources.

关键词： protein-rich plants phytochemicals antinutrients determination contents.