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A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object

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Journal of Bionic Engineering 2024年第4期21卷 1761-1774页

作者： Junyi Wang Xiaofeng Xiong Silvia tolu Stanislav N.Gorb Department of Electrical and Photonics Engineering Technical University of DenmarkAnker Engelunds Vej 101Kongens LyngbyZealand2800Denmark SDU Biorobotics Mærsk Mc-Kinney Møller InstituteUniversity of Southern Denmark(SDU)Campusvej 55Odense MFunen5230Denmark Department Functional Morphology and Biomechanics Zoological InstituteUniversity of KielAm Botanischen Garten 1–9D-24118KielSchleswig-HolsteinGermany

This paper presents a learning-based control framework for fast(3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** addition,the trajectory similarity between simulated and physical whips is *** presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.

关键词： Deep reinforcement learning Deformable object manipulation Variable impedance control Sim2real Visual tracking

The Place of Human Resource Management in Lagos State Healthcare Delivery: A Statistical Overview

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Health 2023年第3期15卷 251-265页

作者： Maxwell Obubu Nkata Chuku Alozie Ananaba Rodio Diallo Firdausi Umar sadiq Emmanuel Sambo Oluwatosin Kolade tolu Oyenkanmi Kehinde Olaosebikan Oluwafemi Serrano Health Systems Consult Limited (HSCL) Abuja Nigeria Bill and Melinda Gates Foundation Abuja Nigeria Lagos State Health Management Agency (LASHMA) Lagos State Nigeria

Background: Behind every great system is an organized team;this is especially true in the healthcare industry, where a dedicated human resources team can effectively recruit employees, train staff, and implement safety measures in the workplace. The importance of human resources in the healthcare industry cannot be overstated, with benefits ranging from providing an orderly and effectively run facility to equipping staff with the most accurate and up-to-date training. Proper human resources management is critical in providing high-quality health care. A refocus on human resources management in healthcare requires more research to develop new policies. Effective human resources management strategies are greatly needed to achieve better outcomes and access to health care worldwide. Methods: This study leveraged NOI Polls census data on Health Facility Assessment for Lagos State. One thousand two hundred fifty-six health care facilities were assessed in Lagos State;numbers of Health workers were documented alongside their area of specialization. Also, demographic characterizations of the facilities, such as LGA, Ownership type, Facility Level Care, and Category of the facility, were also documented. Descriptive statistics alongside cross tabulation was done to present the various area of specialization of the health workers. Multiple response analysis was done to understand the distribution of human resources across the health facilities. At the same time, Chi-square and correlation tests were conducted to test the independence of various categories recorded while understanding the relationships among selected specialties. Results: The study revealed that Nurses were the most common health specialist in the Lagos State health facilities. At the same time, Gynecologists and General surgeons are the two medical specialists mostly common in health facilities. Midwives are the second most common health specialist working full time, while Generalist medical doctors make up

关键词： Healthcare Facilities Human Resources for Health Healthcare Delivery Lagos State SDGs on Health Multiple Response Analysis

Microbiological and Nutritional Assessment of Starter-Developed Fermented Tigernut Milk

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Food and Nutrition Sciences 2014年第6期5卷 495-506页

作者： Sherifah Monilola Wakil Oluwatobi tolu Ayenuro Kubrat Abiola Oyinlola Department of Microbiology University of Ibadan Ibadan Nigeria

Fermented tigernut milk (FTM) was prepared from three different varieties (fresh yellow, big and small dry brown) of tigernut (Cyperus esculenta) obtained from Bodija market, Ibadan, Oyo state. Fifty two microbial isolates were obtained from FTM at different fermentation times, 32 of which were on MRS agar, 12 on nutrient agar and 8 on malt extract agar. Lactic acid bacteria were identified as Lactobacillus plantarum (LP), Lactococcus lactis (LC), Lactobacillus brevis, Lactococcus cremoris, Lactobacillus bulgaricus and Lactococcus thermophilus (LT). The non-LAB identified includes E. coli, Bacillus species and Proteus species while the yeasts include Saccharomyces cerevisiae and Candida kefyr. Lactic acid bacteria were found to predominate the total microflora of the FTM with their count ranging between 2.0 × 104 cfu/ml to 2.0 × 108 cfu/ml. Microbiological examination revealed that the FTM was safe for consumption as non-LAB counts were below the limit of acceptance which is 2.0 × 105 cfu/ml for dairy milk by Codex Alimentarius Commission. The quantity of lactic acid produced by the LAB isolates ranged between 0.86 g/l - 2.86 g/l while that of hydrogen peroxide ranged between 0.16 g/l - 0.51 g/l. Starter cultures were selected based on predominance of isolate, physiological characteristics, quantity of lactic acid and hydrogen peroxide production. The tiger nut varieties were fermented with the following starter combinations LP, LP/LC, LP/LC/LT, LP/LT while the fifth was spontaneously fermented. The nutritional, chemical and sensory properties of the starter fermented tiger nut milk were evaluated. The highest protein content (24.80%) was obtained in FTM with mixed cultures of LP/LC/LT while the least (3.00%) was obtained in spontaneously fermented milk. There was a significant difference in the FTM varieties. The highest fat content (9.40%) was obtained in spontaneously fermented tiger nut milk while the least (3.40%) was found in FTM with mixed cultures of LP/LC/L

关键词： Tigernut Milk Pasteurization Fermentation Starter-Development Mixed-Culture

Reducing Sharp Fluctuations in Body Temperature and Optimizing Production Index of Broilers Using Dietary Electrolytes

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Open Journal of Animal Sciences 2020年第2期10卷 266-277页

作者： Ibukun Olukorede Popoola Oluwabukola Rashidat Popoola Oluwaseyi Olamide Olajide Akinyemi Alaba Adeyemi Queenesther tolu Alegbejo Department of Animal Science University of Ibadan Ibadan Nigeria Agricultural Research and Biometrics Department Thisavrous Pyrgos Int. Resources Oyo State Nigeria

A degree centigrade fall or rise in body temperature of broiler chickens is sufficient to reduce performance, alter sound physiological state and divert nutritional metabolism in quest for ensuring thermal balance. Thermoregulatory mechanisms of newly hatched chicks are poorly developed, and fluctuations in brooding temperature coupled with severe environmental temperatures in the tropics could threaten the survivability, production and economic integrity of fast-growing strains of broilers. However, information on the effect of sharp fluctuations in body temperature on nutrient intake and European production index (EPI) of broilers fed dietary electrolytes is scanty and thus investigated. Using a total of 300, one-day-old unsexed broiler chicks (Arbor Acre) that were randomly allotted to six dietary treatments (T1-210, T2-240, T3270, T4-300, T5-330 and T6-360 mEq/kg electrolyte balance), data on performance characteristics and their correlations with body temperature and EPI at prestarter, starter and finisher phases were determined using standard procedures. Data were analysed using descriptive statistics and ANOVA at α = 0.05. At prestarter phase, feed intake (FI) had a strong and positive relationship with protein intake (r = 1.00;p < 0.01), EPI (r = 0.96;p < 0.01) and potassium (K) intake (r = 0.66;p < 0.01), but was negatively correlated with temperature change (r = ?0.39;p < 0.05). However, FI was not significantly correlated with body weight (BW), body weight gain (BWG), sodium (Na) and water intake. At starter phase, EPI was positively correlated to K intake (r = 0.38;p < 0.05), but not Na and chloride (Cl) intake. European production index of starter chicks could be enhanced by increasing the level of K intake through dietary supplementation up to 1.02%. Weight gain was adversely affected by sharp changes in temperature at finisher phase. Increase in water intake may not be a remedial tool in lowering sharp fluctuations in body temperature. However, sharp

关键词： Temperature Change Broilers European Production Index Dietary Electrolyte Balance Heat Stress

Comparison of Endoscopic Retrograde Cholangiopancreatography(ERCP)and Magnetic Resonance Cholangiopancreatography(MRCP)in Bile Duct Imaging

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Surgical Science 2012年第10期3卷 489-493页

作者： Mehmet Ali Eryilmaz Omer Karahan Ismet tolu Ahmet Okus Serden Ay Baris Sevinc Ahmet Hakan Halici Konya Training and Research Hospital General Surgery Clinic KonyaTurkey Konya Training and Research Hospital Radiology Clinic KonyaTurkey

Purpose: The aim of this study was to compare magnetic resonance cholangiopancreatography (MRCP) with endoscopic retrograde cholangiopancreatography (ERCP) in diagnosing bile duct pathologies. Materials and Methods: We documented the data of 171 patients with both ERCP and MRCP between January 2009 and December 2010 at the Konya Education and Research Hospital. Results: Of the 171 patients, 100 (58.5%) were female and 71 (41.5%) were male. The median age was 63 (55 to 89). ERCP was used to diagnose bile duct stones in 102 (59%) patients, bile duct tumour in 14 (8%) patients, hydatic cysts opening up to the bile duct in 4 (2%) patients and bile duct stenosis in 3 (1.8%) patients. For the detection of bile duct stones, MRCP had a sensitivity of 92%, a specificity of 74% and a diagnostic accuracy of 83%. For bile duct tumours, MRCP had a sensitivity of 85%, a specificity of 98% and a diagnostic accuracy rate of 92%. Conclusion: In our centre, the results of MRCP and ERCP were similar for the last two years. However, MRCP was superior with respect to diagnosis as it was cheaper and non-invasive. Thus, ERCP should be preferred for therapeutic processes.

关键词： ERCP MRCP Bile Duct Disease Diagnosis Treatment

Orbital Involvement in Multiple Myeloma: A Case Report

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Journal of Cancer Therapy 2012年第6期3卷 1052-1054页

作者： Sara Terenzi Daniela di Cristino Alessandra Murgia Dania Janniello Elisabetta Ponti Barbara tolu Sara Cicchetti Riccardo Santoni Department of Diagnostic Imaging Molecular Imaging Interventional Radiology and Radiotherapy Tor Vergata University General Hospital Rome Italy.

Purpose: To report a retro-orbital localization of Multiple Myeloma (MM) describing its treatment and clinical result. Case report: A 50-years-old male patient with Magnetic Resonance Imaging (MRI) evidence of a retro-orbital mass with exophthalmos, due to the pathological diagnosis of MM, was referred for Radiation Therapy (RT). Discussion: The orbital involvement in Multiple Myeloma is rare and few cases are reported in the literature. The treatment of choice is RT alone with a prescribed dose ranging between 40 Gy and 45 Gy. In our patient the retro-orbital lesion, measuring 26 × 16 mm, was treated with Intensity Modulated Radiotherapy Technique (IMRT) delivering 4400 cGy with conventional fractionation. The treatment was well tolerated, the patient experienced a complete regression of the exophthalmos without any significant side effect.

关键词： Plasma Cell Tumours Multiple Myeloma Tumours of the Orbit Radiation Therapy

Hypofractioned Radiation Therapy in the Treatment of Partial Breast: 30 Gy in Five Consecutive Fractions

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Journal of Cancer Therapy 2012年第6期3卷 1151-1158页

作者： Sara Terenzi Rosaria Barbarino Maria Daniela Falco Daniela di Cristino Luana Di Murro Dania Janniello Gianluca Ingrosso Alessandra Murgia Grazia Tortorelli Barbara tolu Riccardo Santoni Department of Diagnostic Imaging Molecular Imaging Interventional Radiology and Radiotherapy Tor Vergata University General Hospital Viale Oxford Rome Italy.

Background and Purpose: Recent prospective studies have explored the partial breast irradiation (PBI) for patients with early-stage breast cancer using different technical approaches. The purpose of this study is to explore feasibility, tumor control and acute and late toxicity of a specific hypo-fractionated 3D-CRT when treating postmenopausal patients with early breast cancer with partial breast irradiation, using five fractions in five consecutive days. Materials and Methods: Ten patients, aged ≥ 70 underwent breast conservative surgery for invasive breast carcinoma with a complete microscopic resection;no lymphovascular invasion was found and negative axillary node status was assessed. Metal clips were positioned in the surgical bed at the time of surgery. All of the patients provided an informed consent for breast irradiation. Seven patients received Tamoxifen. Of the ten patients, five were treated for left breast disease, and five for right breast disease. The dose fractionation schedule was 3000 cGy delivered to the isocenter in 5 fractions (600 cGy/fr) using 6 MV photons. According to the linear quadratic model and an α/β ratio of 4 Gy this prescription is equivalent to 50 Gy in a standard 2-Gy fractionation schedule. Patients were treated in the supine position. A comercial breast board was used as immobilization device in order to keep the arms of the patient raised. The clinical target volume (CTV) was drawn with a uniform 1-cm three-dimensional margin around the surgical clips. The CTV was limited to 3 mm from the skin surface and 3 mm from the lung-chest wall interface. A three-dimensional margin was added to the CTV to obtain the planning target volume (PTV). The ipsilateral and controlateral breast, the ipsilateral and controlateral lung, heart and spinal cord were contoured as organs at risk (OAR). The treatment was developed using Precise Plan Treatment Planning System and four no-coplanar fields. The constraints used have been: uninvolved breast (

关键词： Breast Cancer Partial Breast Irradiation Hypofractioned

Construction of a Simple Rectum Model Using Image Guidance in Prostate Patients Treated with 3D Conformal Radiotherapy

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Journal of Cancer Therapy 2014年第12期5卷 1039-1048页

作者： Marco D’Andrea Maria Daniela Falco Dahlia Fedele Elisabetta Ponti Barbara tolu Daniela Di Cristino Rosaria Barbarino Luana Di Murro Grazia Tortorelli Andrea Duggento Paolo Bagalà Maria Guerrisi Riccardo Santoni Laboratory of Medical Physics and Expert Systems National Cancer Institute Regina Elena Rome Italy Department of Diagnostic Imaging Molecular Imaging Interventional Radiology and Radiotherapy Tor Vergata University General Hospital Rome Italy Department of Biomedicine and Prevention Medical Physics Section Tor Vergata University Rome Italy

Purpose: To evaluate the performance of a rectum model in predicting late rectal toxicity of prostate patients undergoing 3D conformal radiation therapy while following a dietary protocol combined with image guidance. Methods: A linear accelerator equipped with a Cone Beam Computed Tomography (CBCT) system was used to treat 20 patients who were following a dietary protocol. The set-up was verified by co-registering CBCT scans with the planning CT scan (pCT). A mean dose volume histogram () as the arithmetical mean of the rectum DVHs from each CBCT scan was obtained. A suitably defined 3D rectum model (Average Rectum, AR) was defined and its DVH (DVHAR) was calculated. DVHs were also evaluated for the first five CBCT scans using both methods (5 >?and DVHAR5). The Lyman-Kutcher-Burman NTCP model with QUANTEC parameters was used to compare the calculated DVHs. The QUANTEC dose values were used to describe the time behaviour of the relative volumes using the Gamma Distribution for the frequency of the relative rectum volumes at each QUANTEC dose value. Results: No statistically significant differences between NTCPAR5 and NTCPAR and between NTCP and NTCP were found. The best agreement with the observed toxicity rate (0%) was obtained form DVHAR. The Gamma Distributions of the rectum volumes at the QUANTEC dose levels were found to be highly variable among the patients. Conclusions: Both dietary protocol and image guidance were found effective in limiting late rectal toxicity. AR was a better predictor for late rectal toxicity and better described the rectum volume during the treatment course. Finally, from the Gamma distributions, and from our toxicity data, we can suggest V75 as the best predictor of late rectal toxicity.

关键词： Organ Motion Prostate Cancer Rectal Toxicity Radiotherapy

Setting Research Priorities for Cervical Cancer Prevalence, Prevention and Treatment in WHO Africa Region

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Advances in Reproductive Sciences 2021年第1期9卷 41-49页

作者： Leopold Ouedraogo Triphonie Nkurunziza Assumpta Muriithi Chilanga Asmani Hayfa Elamin Souleymane Zan Bigirimana Françoise Mihretu Belete Gbenou Dina Dadji Kwami Kim Caron Rahn Ali Moazzam tolu Lemi Blami Dao Issiaka Sombie Okech Mollent Reproductive Maternal Health and Ageing WHO Regional Office for Africa Brazzaville Congo Department of Reproductive Health and Research World Health Organization Geneva Switzerland JHPIEGO Ouagadougou Burkina Faso West Africa Health Organization Ouagadougou Burkina Faso Peak Moments Global HR Solutions Nairobi Kenya

Background: Cervical cancer has been ranked among the leading causes of deaths among women in Africa. Despite this, priority setting mechanisms used in planning for programmes and interventions that respond to sexual and reproductive health and rights services particularly in cervical cancer prevalence, prevention and treatment have not adequately taken into account research based evidence to respond appropriately. Methods: We adapted the Child Health and Nutrition Research Initiative method. A wide range of stakeholders identified potential research areas in an online survey. A technical working group comprising of 67 participants reviewed the questions for modification and removal of out scope questions. Finally, scoring and ranking was done to provide the top ten priorities questions. Results: “Cost-benefit analysis of systematic human papillomavirus vaccination compared to the current cost of cervical cancer in public health care systems” scored 27. This was followed by two research questions ranked at 24 points: “assessment of women’s and girls’ knowledge on the importance of early cervical cancer screening,” and “human papilloma virus vaccination and contributions of new technologies to the supply and storage of vaccines, including human papillomavirus vaccine”. Conclusion: The study identified 10 priority research questions that can guide the agenda for cervical cancer prevalence, prevention and treatment in the WHO Africa region. The identified priorities will be of use to policy makers, researchers and programmers and other stakeholders who can invest in areas that greatly affect cervical cancer prevalence, prevention and treatment.

关键词： Cervical Cancer Screening Secondary Prevention HPV Vaccination Sexual and Reproductive Health