Background: Functional brain imaging in acute migraine has proved challenging because of the logistic problems associated with an episodic condition. Since the seminal observation of brainstem activation in migraine, ...Background: Functional brain imaging in acute migraine has proved challenging because of the logistic problems associated with an episodic condition. Since the seminal observation of brainstem activation in migraine, there has been only a single case substantiating this finding.Objective: To test the hypothesis that brainstem activation could be detected in migraine and to refine the anatomic localization with higher-resolution positron emission tomography than previously used. Design: Using positron emission tomography with radioactive water (H215O), we studied acute migraine attacks occurring spontaneously. Five patients underwent imaging in ictal and interictal states, and the differences were analyzed by means of statistical parametric mapping. Setting: Tertiary referral center. Patients: Six volunteers with episodic migraine were recruited from advertisements in migraine newsletters. One patient was excluded because of use of preventive medication. Main Outcome Measure: Brainstem activation during migraine state vs interictal state. Results: Two patients had a typical migrainous aura before the onset of the headache. All of the attacks studied fulfilled standard diagnostic criteria for migraine. Comparing the migraine scans with interictal scans, there was significant activation in the dorsal pons, lateralized to the left (small volume correction, P=.003). Activation was also seen in the right anterior cingulate, posterior cingulate, cerebellum, thalamus, insula, prefrontal cortex, and temporal lobes. There was an area of deactivation in the migraine phase also located in the pons, lateralized to the right. Conclusions: Our findings provide clear evidence of dorsal pontine activation in migraine and reinforce the view that migraine is a subcortical disorder modulating afferent neural traffic.展开更多
This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an o...This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 Robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.展开更多
文摘Background: Functional brain imaging in acute migraine has proved challenging because of the logistic problems associated with an episodic condition. Since the seminal observation of brainstem activation in migraine, there has been only a single case substantiating this finding.Objective: To test the hypothesis that brainstem activation could be detected in migraine and to refine the anatomic localization with higher-resolution positron emission tomography than previously used. Design: Using positron emission tomography with radioactive water (H215O), we studied acute migraine attacks occurring spontaneously. Five patients underwent imaging in ictal and interictal states, and the differences were analyzed by means of statistical parametric mapping. Setting: Tertiary referral center. Patients: Six volunteers with episodic migraine were recruited from advertisements in migraine newsletters. One patient was excluded because of use of preventive medication. Main Outcome Measure: Brainstem activation during migraine state vs interictal state. Results: Two patients had a typical migrainous aura before the onset of the headache. All of the attacks studied fulfilled standard diagnostic criteria for migraine. Comparing the migraine scans with interictal scans, there was significant activation in the dorsal pons, lateralized to the left (small volume correction, P=.003). Activation was also seen in the right anterior cingulate, posterior cingulate, cerebellum, thalamus, insula, prefrontal cortex, and temporal lobes. There was an area of deactivation in the migraine phase also located in the pons, lateralized to the right. Conclusions: Our findings provide clear evidence of dorsal pontine activation in migraine and reinforce the view that migraine is a subcortical disorder modulating afferent neural traffic.
文摘This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 Robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.
