Mixed adenoneuroendocrine carcinoma of the ampulla:Two case reports

Mixed adenoneuroendocrine carcinoma(MANEC)is a malignant tumor with adenocarcinoma and neuroendocrine components,with≥30%of each component required.MANEC of the ampulla is rare.To the best of our knowledge,only 15 cases of MANEC of the ampulla have been reported in the English-language literature.Here,we report two cases of MANEC of the ampulla in two womenaged 43 and 60 years,which was confirmed by histology after pancreaticoduodenectomy.These tumors contained neuroendocrine and adenocarcinoma components.The neuroendocrine components were positive for chromogranin A(Cg A),synaptophysin(Syn)and CD56 by immunostaining.The adenocarcinoma components were negative for Cg A,Syn and CD56.Both cases were T3N0M0(StageⅢA).They survived for 15 and 20 mo after surgery,respectively.A brief discussion about the histopathological features,clinical behavior and treatment of MANEC of ampulla,and review of the relevant literature are presented.

三轮全向移动机器人里程计在线校正方法研究

传统里程计校正方法常使用离线校正手段,在地面环境发生改变的情况下,校正效果较差。为解决上述问题,提高机器人定位精度,以三轮全向移动机器人为平台,提出一种结构简单、鲁棒性强的在线里程计校正方法。该方法通过扩展卡尔曼滤波算法处理传感器数据,以得到机器人的实时位姿信息和速度信息,结合三轮全向移动平台的动力学模型,及时修正里程误差。在V-REP中设计仿真实验,实验结果表明:采用所提方法,校正后的里程精度有了极大改善,并克服了离线校正方法受地面环境影响的问题。在已有实际平台上验证了该算法的有效性。