Malignant fibrous histiocytoma(MFH) is one of most common types of soft-tissue sarcoma. However, it accounts for less than 1% of all human cancer types. In addition, primary MFH of the pancreas is very rare. Herein, w...Malignant fibrous histiocytoma(MFH) is one of most common types of soft-tissue sarcoma. However, it accounts for less than 1% of all human cancer types. In addition, primary MFH of the pancreas is very rare. Herein, we report of a 37-year-old man who presented with a pancreatic mass and did not show any specific symptoms. Pre-contrast computed tomography(CT) showed a heterogeneous, liquid-filled necrotic mass in the uncinate lobe of the pancreas. Contrast-enhanced CT showed a mild enhancement of solid components and the pancreaticoduodenal artery across the mass. The patient underwent a pancreaticoduodenectomy, ethanol ablation of the liver lesions, and chemotherapy with 4 cycles of ifosfamide and doxorubicin. The tumor recurred in the liver, but not in the pancreas, after 8 months.展开更多
This paper presents a probabilistic algorithm to collaborate distributed sensors for mobile robot localization. It uses a sample-based version of Markov localization—Monte Carlo localization (MCL), capable of localiz...This paper presents a probabilistic algorithm to collaborate distributed sensors for mobile robot localization. It uses a sample-based version of Markov localization—Monte Carlo localization (MCL), capable of localizing mobile robot in an any-time fashion. During robot localization given a known environment model, MCL method is employed to update robot’s belief whichever information (positive or negative) attained from environmental sensors. Meanwhile, an implementation is presented that uses color environmental cameras for robot detection. All the parameters of each environmental camera are unknown in advance and need be calibrated independently by robot. Once calibrated, the positive and negative detection models can be built up according to the parameters of environmental cameras. A further experiment, obtained with the real robot in an indoor office environment, illustrates it has drastic improvement in global localization speed and accuracy using our algorithm.展开更多
We examined the safety and efficacy of human umbilical cord mesenchymal stem cell(hUC-MSC)infusion for immune nonresponder(INR)patients with chronic HIV-1 infection,who represent an unmet medical need even in the era ...We examined the safety and efficacy of human umbilical cord mesenchymal stem cell(hUC-MSC)infusion for immune nonresponder(INR)patients with chronic HIV-1 infection,who represent an unmet medical need even in the era of efficient antiretroviral therapy(ART).Seventy-two INR patients with HIV were enrolled in this phase II randomized,double-blinded,multicenter,placebo-controlled,dose-determination trial(NCT01213186)from May 2013 to March 2016.They were assigned to receive high-dose(1.5 x 106/kg body weight)or low-dose(0.5 x 106/kg body weight)hUC-MSC,or placebo.Their clinical and immunological parameters were monitored during the 96-week follow-up study.We found that hUC-MSC treatment was safe and well-tolerated.Compared with baseline,there was a statistical increase in CD4+T counts in the high-dose(P<0.001)and low-dose(P<0.001)groups after 48-week treatment,but no change was observed in the control group.Kaplan-Meier analysis revealed a higher cumulative probability of achieving an immunological response in the low-dose group compared with the control group(95.8%vs.70.8%,P=0.00A).However,no significant changes in CD4/CD84-T counts and CD4/CD8 ratios were observed among the three groups.In summary,hUC-MSC treatment is safe.However,the therapeutic efficacy of hUC-MSC treatment to improve the immune reconstitution in INR patients still needs to be further investigated in a large cohort study.展开更多
基金Supported by a grant from the Research Fund for Young professors of Zhengzhou University(No.1421412090)
文摘Malignant fibrous histiocytoma(MFH) is one of most common types of soft-tissue sarcoma. However, it accounts for less than 1% of all human cancer types. In addition, primary MFH of the pancreas is very rare. Herein, we report of a 37-year-old man who presented with a pancreatic mass and did not show any specific symptoms. Pre-contrast computed tomography(CT) showed a heterogeneous, liquid-filled necrotic mass in the uncinate lobe of the pancreas. Contrast-enhanced CT showed a mild enhancement of solid components and the pancreaticoduodenal artery across the mass. The patient underwent a pancreaticoduodenectomy, ethanol ablation of the liver lesions, and chemotherapy with 4 cycles of ifosfamide and doxorubicin. The tumor recurred in the liver, but not in the pancreas, after 8 months.
文摘This paper presents a probabilistic algorithm to collaborate distributed sensors for mobile robot localization. It uses a sample-based version of Markov localization—Monte Carlo localization (MCL), capable of localizing mobile robot in an any-time fashion. During robot localization given a known environment model, MCL method is employed to update robot’s belief whichever information (positive or negative) attained from environmental sensors. Meanwhile, an implementation is presented that uses color environmental cameras for robot detection. All the parameters of each environmental camera are unknown in advance and need be calibrated independently by robot. Once calibrated, the positive and negative detection models can be built up according to the parameters of environmental cameras. A further experiment, obtained with the real robot in an indoor office environment, illustrates it has drastic improvement in global localization speed and accuracy using our algorithm.
基金This work was supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China(2017ZX10202102-004-002 and 2018ZX10302104-002)the Innovative Research Team in the National Natural Science Foundation of China(81721002)the National Key R&D Program of China(2017YFA0105703).
文摘We examined the safety and efficacy of human umbilical cord mesenchymal stem cell(hUC-MSC)infusion for immune nonresponder(INR)patients with chronic HIV-1 infection,who represent an unmet medical need even in the era of efficient antiretroviral therapy(ART).Seventy-two INR patients with HIV were enrolled in this phase II randomized,double-blinded,multicenter,placebo-controlled,dose-determination trial(NCT01213186)from May 2013 to March 2016.They were assigned to receive high-dose(1.5 x 106/kg body weight)or low-dose(0.5 x 106/kg body weight)hUC-MSC,or placebo.Their clinical and immunological parameters were monitored during the 96-week follow-up study.We found that hUC-MSC treatment was safe and well-tolerated.Compared with baseline,there was a statistical increase in CD4+T counts in the high-dose(P<0.001)and low-dose(P<0.001)groups after 48-week treatment,but no change was observed in the control group.Kaplan-Meier analysis revealed a higher cumulative probability of achieving an immunological response in the low-dose group compared with the control group(95.8%vs.70.8%,P=0.00A).However,no significant changes in CD4/CD84-T counts and CD4/CD8 ratios were observed among the three groups.In summary,hUC-MSC treatment is safe.However,the therapeutic efficacy of hUC-MSC treatment to improve the immune reconstitution in INR patients still needs to be further investigated in a large cohort study.
