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  • 1
    Online Resource
    Online Resource
    SAGE Publications ; 2018
    In:  The International Journal of Robotics Research Vol. 37, No. 8 ( 2018-07), p. 841-866
    In: The International Journal of Robotics Research, SAGE Publications, Vol. 37, No. 8 ( 2018-07), p. 841-866
    Abstract: Grid mapping is a well-established approach for environment perception in robotic and automotive applications. Early work suggests estimating the occupancy state of each grid cell in a robot’s environment using a Bayesian filter to recursively combine new measurements with the current posterior state estimate of each grid cell. This filter is often referred to as binary Bayes filter. A basic assumption of classical occupancy grid maps is a stationary environment. Recent publications describe bottom-up approaches using particles to represent the dynamic state of a grid cell and outline prediction-update recursions in a heuristic manner. This paper defines the state of multiple grid cells as a random finite set, which allows to model the environment as a stochastic, dynamic system with multiple obstacles, observed by a stochastic measurement system. It motivates an original filter called the probability hypothesis density / multi-instance Bernoulli (PHD/MIB) filter in a top-down manner. The paper presents a real-time application serving as a fusion layer for laser and radar sensor data and describes in detail a highly efficient parallel particle filter implementation. A quantitative evaluation shows that parameters of the stochastic process model affect the filter results as theoretically expected and that appropriate process and observation models provide consistent state estimation results.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2018
    detail.hit.zdb_id: 2015221-8
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  • 2
    In: Antiviral Therapy, SAGE Publications, Vol. 16, No. 5 ( 2011-07), p. 751-758
    Abstract: Upper respiratory tract infection is a frequent cause of morbidity worldwide. Although the course of infection is usually mild, it is responsible for enormous social and economic costs. Immunostimulation with bacterial extracts consisting of ribosomal RNA and proteoglycans, such as Ribomunyl®, was introduced into the clinic in the 1980s as a new treatment concept, but did not achieve widespread application. Ribomunyl® has been proposed to activate innate immunity, but the contribution of its RNA content as well as its antiviral potential has not been studied. Methods Peripheral blood mononuclear cells from healthy donors and immune cells from adenoids were incubated with Ribomunyl® either by itself or formulated in a complex with cationic polypeptides such as poly-l-arginine or protamine, and induction of cytokines was quantified by ELISA. Results Ribomunyl® in complex with either poly-l-arginine or protamine, but not on its own, was able to strongly induce interferon-α ( P 〈 0.01) and interleukin-12 ( P 〈 0.01) in peripheral blood mononuclear cells, whereas induced tumour necrosis factor-α and interleukin-6 levels were independent of the formulation. Comparable results were obtained in immune cells from adenoids, suggesting efficacy also in virus-affected tissue. Cell sorting, RNase digests and selective receptor expression show that the RNA in Ribomunyl® acts as an agonist of Toll-like receptor (TLR)7 and TLR8. Conclusions Ribomunyl® is, in principle, able to potently induce antiviral interferon-α and interleukin-12 via TLR7 and TLR8, respectively, but only when formulated in a complex with cationic polypeptides.
    Type of Medium: Online Resource
    ISSN: 1359-6535 , 2040-2058
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2011
    detail.hit.zdb_id: 2118396-X
    SSG: 15,3
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  • 3
    In: Foot & Ankle International, SAGE Publications, Vol. 28, No. 2 ( 2007-02), p. 224-231
    Abstract: Background: Intramedullary implants are being used with increasing frequency for tibiotalocalcaneal fusion (TTCF). Clinically, the question arises whether intramedullary (IM) nails should have a compression mode to enhance biomechanical stiffness and fusion-site compression. This biomechanical study compared the primary stability of TTCF constructs using compressed and uncompressed retrograde IM nails and a screw technique in a bone model. Methods: For each technique, three composite bone models were used. The implants were a Biomet nail (static locking mode and compressed mode), a T2™ femoral nail (compressed mode); a prototype IM nail 1 (PT1, compressed mode), a prototype IM nail 2 (PT2, dynamic locking mode and compressed mode), and a three-screw construct. The compressed contact surface of each construct was measured with pressure-sensitive film and expressed as percent of the available fusion-site area. Stiffness was tested in dorsiflexion and plantarflexion (D/P), varus and valgus (V/V), and internal rotation and external rotation (I/E) (20 load cycles per loading mode). Results: Mean contact surfaces were 84.0 ± 6.0% for the Biomet nail, 84.0 ± 13.0% for the T2 nail, 70.0 ± 7.2% for the PTI nail, and 83.5 ± 5.5% for the compressed PT2 nail. The greatest primary stiffness in D/P was obtained with the compressed PT2, followed by the compressed Biomet nail. The dynamically locked PT2 produced the least primary stiffness. In V/V, PT1 had the (significantly) greatest primary stiffness, followed by the compressed PT2. The statically locked Biomet nail and the dynamically locked PT2 had the least primary stiffness in V/V. In I/E, the compressed PT2 had the greatest primary stiffness, followed by the PT1 and the T2™ nails, which did not differ significantly from each other. The dynamically locked PT2 produced the least primary stiffness. The screw construct's contact surface and stiffness were intermediate. Conclusions: The IM nails with compression used for TTCF produced good contact surfaces and primary stiffness. They were significantly superior in these respects to the uncompressed nails and the screw construct. The large contact surfaces and great primary stiffness provided by the IM nails in a bone model may translate into improved union rates in patients who have TTCF.
    Type of Medium: Online Resource
    ISSN: 1071-1007 , 1944-7876
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2007
    detail.hit.zdb_id: 2129503-7
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