Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

Optical scanning endoscope via a single multimode optical fiber

Optical endoscopy has become an essential diagnostic and therapeutic approach in modern biomedicine for directly observing organs and tissues deep inside the human body,enabling non-invasive,rapid diagnosis and treatment.Optical fiber endoscopy is highly competitive among various endoscopic imaging techniques due to its high flexibility,compact structure,excellent resolution,and resistance to electromagnetic interference.Over the past decade,endoscopes based on a single multimode optical fiber(MMF)have attracted widespread research interest due to their potential to significantly reduce the footprint of optical fiber endoscopes and enhance imaging capabilities.In comparison with other imaging principles of MMF endoscopes,the scanning imaging method based on the wavefront shaping technique is highly developed and provides benefits including excellent imaging contrast,broad applicability to complex imaging scenarios,and good compatibility with various well-established scanning imaging modalities.In this review,various technical routes to achieve light focusing through MMF and procedures to conduct the scanning imaging of MMF endoscopes are introduced.The advancements in imaging performance enhancements,integrations of various imaging modalities with MMF scanning endoscopes,and applications are summarized.Challenges specific to this endoscopic imaging technology are analyzed,and potential remedies and avenues for future developments are discussed.

Tapered Multimode Interference Combiners for Coherent Receivers

A new tapered multimode interference （MMl）-based coherent lightwave combiner is reported. A comprehensive theoretical analysis of mode behaviors in the tapered MMI waveguide is presented, and the output characteristics of the tapered MMI combiners with various structures are demonstrated. The combiner is fabricated on a silicon-on-insulator （SO1） substrate. Due to its advantages of having no end-facet reflection,easy extension to a multi-port configuration, high tolerance for fabrication errors, and compact size, the tapered MMI is a good candidate for a coherent lightwave combiner to be used in large-scale photonic integrated circuits.

An Efficient MMI SOI Splitter with Multimode Input/Output Waveguides

A 1×8 multimode interference power splitter with multimode input/output waveguides in SOI material is designed by the beam propagation method and fabricated by the inductive coupled plasma etching technology for use in fiber optics communication systems.The fabricated device exhibits low loss and good coupling uniformity.The excess loss is lower than 0 8dB,and the uniformity is 0 45dB at the wavelength of 1550nm.Moreover,the polarization dependent loss is lower than 0 7dB at 1550nm.The device size is only 2mm×10mm.

Multimode Process Fault Detection Using Local Neighborhood Similarity Analysis

Traditional data driven fault detection methods assume unimodal distribution of process data so that they often perform not well in chemical process with multiple operating modes. In order to monitor the multimode chemical process effectively, this paper presents a novel fault detection method based on local neighborhood similarity analysis(LNSA). In the proposed method, prior process knowledge is not required and only the multimode normal operation data are used to construct a reference dataset. For online monitoring of process state, LNSA applies moving window technique to obtain a current snapshot data window. Then neighborhood searching technique is used to acquire the corresponding local neighborhood data window from the reference dataset. Similarity analysis between snapshot and neighborhood data windows is performed, which includes the calculation of principal component analysis(PCA) similarity factor and distance similarity factor. The PCA similarity factor is to capture the change of data direction while the distance similarity factor is used for monitoring the shift of data center position. Based on these similarity factors, two monitoring statistics are built for multimode process fault detection. Finally a simulated continuous stirred tank system is used to demonstrate the effectiveness of the proposed method. The simulation results show that LNSA can detect multimode process changes effectively and performs better than traditional fault detection methods.

Twenty-four hour intra-arterial infusion of 5-fluorouracil,cisplatin,and leucovorin is more effective than 6-hour infusion for advanced hepatocellular carcinoma

AIM. To evaluate the time dependence of intra-arterial 5-fluorouracil （5-FU） therapy for advanced hepatocellular carcinoma （aHCC）. METHODS： Thirty-seven adult Japanese patients who had aHCC and liver cirrhosis were treated with combined intra-arterial 5-FU, cisplatin （CDDP）, and leucovorin （LV）. The Japan Integrated Staging score （JIS score） of each patient was 3 or more. The patients were divided into two groups, alter which the 15 patients in group S were treated with 6-h infusion chemotherapy （LV at 12 mg/h, CDDP at 10 mg/h, and 5-FU at 250 mg/m^2 per 4 h） and the 22 patients in group L were treated with 24-h infusion chemotherapy （LV at 12 mg/h, CDDP at 10 mg/h, and 5-FU at 250 mg/m^2 per 22 h）. Continuous infusion chemotherapy was performed v/a the proper hepatic artery every 5 d for 4 wk using an implanted drug reservoir. RESULTS： The percentages of patients with a partial response after 4 wk of chemotherapy were 6.7% in group S and 31.8% in group L. The survival of group L was significantly better than that of group S, with the median survival time being 496 d in group L and 226 d in group S （P 〈 0.05）. CONCLUSION： Continuous 24-h intra-arterial infusion is more effective for aHCC and can markedly prolong survival time as compared to 6-h infusion.

Improved survival for hepatocellular carcinoma with portal vein tumor thrombosis treated by intra-arterial chemotherapy combining etoposide,carboplatin,epirubicin and pharmacokinetic modulating chemotherapy by 5-FU and enteric-coated tegafur/uracil:A pilo

AIM： To investigate the poor prognosis of HCC with PVTT, we evaluated the efficacy by a new combination chemotherapy for advanced hepatocellular carcinoma （HCC） with portal vein tumor thrombus （PVTT）. METHODS： From 2002 to 2007, a total of 10 consecutive patients with Stage IVA HCC accompanied by PVTT were studied prospectively to examine the efficacy of treatment by intra-arterial infusion of a chemotherapeutic agents consisting of etoposide, carboplatin, epirubicin and pharmacokinetic modulating chemotherapy by 5-FU and enteric-coated tegafur/uracil. RESULTS： The mean course of chemotherapy was 14.4 （range, 9-21） too. One patient showed complete response （CR） with disappearance of HCC and PVI-F after treatment, and the two patients showed partial response （PR）, response rate （CR ＋ PR/All cases 30%）. The median survival time after the therapy was 457.2 d. The one-year survival rate was 70%. Adverse reactions were tolerable.CONCLUSION： Although the prognosis of most patients with Stage IVA HCC by PVTT is poor, our combination chemotherapy may induces long-term survival and is an effective treatment and produced anti-tumor activity with tolerable adverse effects in patients for advanced Stage IVA HCC accompanied by PVTT.

Efficacy of intra-arterial contrast-enhanced ultrasonography during transarterial chemoembolization with drug-eluting beads for hepatocellular carcinoma

AIM To assess the usefulness of intra-arterial contrastenhanced ultrasonography(IAUS) during transarterial chemoembolization(TACE) with drug-eluting beads(DEB) for hepatocellular carcinoma(HCC).METHODS Thirty two patients with 39 HCC underwent DEB-TACE guided with IAUS, and examined by contrast-enhanced ultrasonography(CEUS) or dynamic CT after DEB-TACE were enrolled in this study. CEUS findings before DEBTACE and IAUS findings were compared. Treatments judged to be complete and incomplete for lesions were appropriate and insufficient, respectively. Findings on CEUS and/or dynamic CT performed 1, 3 and 6 mo after DEB-TACE were evaluated using m RECIST(CR/PR/SD/PD).RESULTS The treatments were complete and incomplete in 26 and 13 lesions, respectively. On imaging evaluation using CEUS and/or dynamic CT one month after treatment, 25 and 1 lesions were judged to be CR and PR, respectively, and at 6 mo after treatment, the results were CR, PR, SD and PD for 24, 1, 0 and 1 of these lesions, respectively, in the 26 completely treated lesions. Of the 13 lesions in which treatment was incomplete, the results on imaging at one month after treatment were CR, PR, SD and PD for 0, 6, 4 and 3 lesions, respectively. The overall CR rate at 6 mo after treatment was 61.5%(24/39).CONCLUSION A combination of DEB-TACE with IAUS can improve the therapeutic effects in patients with HCC.

Use of intra-arterial chemotherapy for retinoblastoma:results of a survey

·AIM: To obtain baseline knowledge about the current use of intra-arterial chemotherapy(SSOAIC) in centers worldwide.·METHODS: A survey including questions about the use of SSOAIC was emailed to retinoblastoma experts.·RESULTS:Seventy-nine(response rate 69.9%) doctors from 63 centers in 35 countries responded. Thirty-one centers from 19 countries use SSOAIC. Twelve performed more than 50 procedures. Melphalan is the most commonly used drug but 15 centers use more than one drug. First line therapy for advanced unilateral disease is the most common use of SSOAIC(74.2%). Centers with larger experience(】50 applications) were less likely using melphalan alone(P =0.06) and significantly more likely using SSOAIC in more situations such as second line in preference to radiotherapy P =0.05. Nineteen(61.2%)stated that SSOAIC improved their results and 21(77.8%)reported less toxicity compared to other treatments.Three centers reported that SSOAIC did not improve their results. There were regional variations in the use of SSOAIC which is used more frequently as secondary treatment in Europe compared to the USA and Japan.Ten centers identified cost is the major limiting factor for SSOAIC.· CONCLUSION: SSOAIC is used in an increasing number of centers worldwide with regional variations.Centers with more experience in SSOAIC use it in more situations including other drugs than melphalan. The majority of the centers using this technique reportedimproved results and few complications.

Is it relevant that intra-arterial chemotherapy may be effective for advanced pancreatic cancer?

Unresectable pancreatic cancers have an extremely dismal prognosis and chemoresistant nature. The treatment of pancreatic cancer is still problematic. Gemcitabine is a promising new agent that has been studied recently for palliation of advanced pancreatic cancer. However,the response rates have been highly variable,and are often irreproducible. To improve this low response rate,various treatments are needed because no standard treatment exists. Intra-arterial chemotherapy is considered to take advantage of the first pass effect of the drug,generating higher local drug concentrations in tumor cells with lower toxicity. Regional intra-arterial chemotherapy may provide high levels of cytostatic concentrations within the tumor and,simultaneously,a low rate of systemic side effects compared with systemic administration of anti-neoplastic drugs. Intra-arterial chemotherapy has been introduced as an alternative treatment for advanced pancreatic cancer. Further clinical trials of this method should be subjected to a prospective randomized controlled study for advanced pancreatic cancer.

Semi-vectorial analysis of a compact wavelength demultiplexer based on the tapered multimode interference coupler

Based on a parabolically tapered multimode interference （MMI） coupler with a deep-etched SiO2/SiON rib waveguide, a compact wavelength demultiplexer operating at 1.30 and 1.55 μm wavelengths is proposed and analysed by using three-dimensional semi-vectorial finite-difference beam propagation method （3D-SV-FD-BPM）. The results show that a MMI section of 330.0 μm in length, which is only 76% length of a straight MMI coupler, is achieved with the contrasts of 42.3 and 39.2dB in quasi-TE mode, and 38.4 and 37.8dB in quasi-TM mode at wavelengths 1.30 and 1.55μm, respectively, and the insertion losses below 0.2dB at both wavelengths and in both polarization states, The alternating direction implicit algorithm with the Crank-Nicholson scheme is applied to the discretization of the 3D-SV-FD-BPM formulation along the longitudinal direction. Moreover, a modified FD scheme is constructed to approximate the resulting equations along the transverse directions, in which the discontinuities of the derivatives of magnetic field components Hy and Hx along the vertical and horizontal interfaces, respectively, are involved.

Combined intra-arterial chemotherapy and intravitreal melphalan for the treatment of advanced unilateral retinoblastoma

●AIM:To evaluate the efficacy and safety of combined intraarterial chemotherapy(IAC)and intravitreal melphalan(IVM)for the treatment of advanced unilateral retinoblastoma.●METHODS:This retrospective study involved 30 consecutive eyes from 30 Chinese patients with advanced unilateral retinoblastoma.All patients were initially treated with IAC combined with IVM.The clinical status and complications were recorded at each visit.●RESULTS:The International Intraocular Retinoblastoma Classification groups were D in 23 eyes and E in 7 eyes.All eyes showed severe cloud vitreous seeds at the first visit.The mean number of IAC cycles and intravitreal injections was 3.2(range,3-4)and 6(range,1-14),respectively.The median follow-up time was 29 mo(range,7-36 mo).Treatment success with regression of the retinal tumor and vitreous seeds was achieved in 29 of 30 eyes(96.7%).Globe salvage was attained in 93.3%(28/30)eyes,and enucleation(n=2)was per formed due to neovascular glaucoma and persistent vitreous hemorrhage.Complications included retinal pigment epithelium(RPE)atrophy(n=13;43%),mild lens opacity(n=7;23%),vitreous hemorrhage(n=5;17%)and rhegmatogenous retinal detachment(n=1;3%).No extraocular tumor extension or metastasis occurred.●CONCLUSION:Combined IAC and IVM is effective and safe for the treatment of advanced unilateral retinoblastoma.

Active wavefront shaping for controlling and improving multimode fi ber sensor

Wavefront shaping(WFS)techniques have been used as a powerful tool to control light propagation in complex media,including multimode fibers.In this paper,we propose a new application of WFS for multimode fber-based sensors.The use of a single multimode fiber alone,without any special fabrication,as a sensor based on the light intensity variations is not an easy task.The twist effect on multimode fiber is used as an example herein.Experimental results show that light intensity through the multimode fiber shows no direct relationship with the twist angle,but the correlation coefficient(CC)of speckle patterns does.Moreover,if WFS is applied to transform the spatially seemingly random light pattern at the exit of the multimode fiber into an optical focus.The focal pattern correlation and intensity both can serve to gauge the twist angle,with doubled measurement range and allowance of using a fast point detector to provide the feedback.With further development,WFS may find potentials to facilitate the development of multimode fber-based sensors in a variety of scenarios.

Forecast Method of Multimode System for Debris Flow Risk Assessment in Qingping Town,Sichuan Province,China

The Wenchuan Earthquake of May 12,2008 triggered large numbers of geo-hazards.The heavy rain on 13 August 2010 triggered debris flows with total volume of more than 6 million cubic meters and the debris flows destroyed 500 houses and infrastructure built after the Wenchuan Earthquake.The study area Qingping Town was located in the northwestern part of the Sichuan Basin of China,which needs the second reconstructions and the critical evaluation of debris flow.This study takes basin as the study unit and defines collapse,landslide and debris flow hazard as a geo-hazard system.A multimode system composed of principal series system and secondary parallel system were established to evaluate the hazard grade of debris flow in 138 drainage basins of Qingping Town.The evaluation result shows that 30.43% of study basins(42 basins) and 24.58% of study area,are in extremely high or high hazard grades,and both percentage of basin quantity and percentage of area in different hazard grades decrease with the increase of hazard grade.According to the geo-hazard data from the interpretation of unmanned plane image with a 0.5-m resolution and field investigation after the Wenchuan Earthquake and 8.13 Big Debris Flow,the ratio of landslides and collapses increased after the Wenchuan Earthquake and the ratios of extremely high or high hazard grades were more than moderate or low hazard grades obviously.23 geo-hazards after8.13 Big Debris Flow in Qingping town region all occurred in basins with extremely high or high hazard grades,and 9 debris flows were in basins with extremely high hazard grade.The model of multimode system for critical evaluation could forecast not only the collapse and landslide but also the debris flow precisely when the basin was taken as the study unit.

Multimode Process Monitoring Based on Fuzzy C-means in Locality Preserving Projection Subspace

For complex industrial processes with multiple operational conditions, it is important to develop effective monitoring algorithms to ensure the safety of production processes. This paper proposes a novel monitoring strategy based on fuzzy C-means. The high dimensional historical data are transferred to a low dimensional subspace spanned by locality preserving projection. Then the scores in the novel subspace are classified into several overlapped clusters, each representing an operational mode. The distance statistics of each cluster are integrated though the membership values into a novel BID (Bayesian inference distance) monitoring index. The efficiency and effectiveness of the proposed method are validated though the Tennessee Eastman benchmark process.

Efficacy of second-course intra-arterial chemotherapy in children for advanced retinoblastoma recurrence after intra-arterial chemotherapy

Purpose: The present study determined the efficacy and toxicity of second-course intra-arterial chemotherapy(IAC) in advanced retinoblastoma(RB) recurrence in children following failed initial IAC. Materials and Methods: A total of 24 child patients with unilateral or bilateral intra-ocular advanced RB(IIRC Group D and Group E) undergoing second-course IAC treatment after initial intra-arterial chemotherapy between September 2011 and November 2016 were enrolled. Global salvage, ocular adverse events, and systemic adverse events were assessed. Results: Following second-course IAC, 15(62.5%) showed complete control at 34 months follow-up, while 8 cases(33.3%) failed the treatment and 1 patient with metastatic disease(4.2%) eventually died of brain metastasis after refusing treatment. Ocular adverse events included eyelid edema(n=12), ptosis(n=5), forehead erythema(n-5), enophthalmos(n=3), and cataract(n=2). None of the patients had systemic adverse events, such as stroke or sepsis. Also, no secondary neoplasms and technical complications were observed. Conclusion: Second-course IAC is a potential alternative to enucleation in children with advanced RB, who fail an initial course of IAC. However, patients with advanced RB should be managed at experienced centers in order to consider all the alternatives before enucleation.

An Improved PLS (IPLS) Method Utilizing Local Standardization Strategy for Multimode Process Monitoring

Complex industrial process often contains multiple operating modes, and the challenge of multimode process monitoring has recently gained much attention. However, most multivariate statistical process monitoring (MSPM) methods are based on the assumption that the process has only one nominal mode. When the process data contain different distributions, they may not function as well as in single mode processes. To address this issue, an improved partial least squares (IPLS) method was proposed for multimode process monitoring. By utilizing a novel local standardization strategy, the normal data in multiple modes could be centralized after being standardized and the fundamental assumption of partial least squares (PLS) could be valid again in multimode process. In this way, PLS method was extended to be suitable for not only single mode processes but also multimode processes. The efficiency of the proposed method was illustrated by comparing the monitoring results of PLS and IPLS in Tennessee Eastman(TE) process.

Treatment of malignant digestive tract obstruction by combined intraluminal stent installation and intra-arterial drug infusion

AIM: To study the palliative treatment of malignant obstruction of digestive tract with placement of intraluminal stent combined with intra-arterial infusion of chemotherapeutic drugs. METHODS: A total of 281 cases of digestive tract malignant obstruction were given per oral (esophagus, stomach, duodenum and jejunum), per anal (colon and rectum) and percutaneous transhepatic (biliary) installation of metallic stent. Among them, 203 cases received drug infusion by cannulation of tumor supplying artery with Seldinger's technique. RESULTS: Altogether 350 stents were installed in 281 cases, obstructive symptoms were relieved or ameliorated after installation. Occurrence of restenotic obstruction was 8-43 weeks among those with intra-arterial drug infusion, which was later than 4-26 weeks in the group with only stent installation. The average survival time of the former group was 43 (3-105) weeks, which was significantly longer than 13 (3-24) weeks of the latter group. CONCLUSION: Intraluminal placement of stent combined with intra-arterial infusion chemotherapy is one of the effective palliative therapies for malignant obstruction of the digestive tract with symptomatic as well as etiological treatment.

Intra-arterial thrombolysis for early hepatic artery thrombosis after liver transplantation

BACKGROUND Early hepatic artery thrombosis(E-HAT)is a serious complication after liver transplantation(LT),which often results in graft failure and can lead to patient deaths.Treatments such as re-transplantation and re-anastomosis are conventional therapeutic methods which are restricted by the shortage of donors and the patient’s postoperative intolerance to re-laparotomy.Due to the advances in interventional techniques and thrombolytics,endovascular treatments are increasingly being selected by more and more centers.This study reviews and reports our single-center experience with intra-arterial thrombolysis as the first choice therapy for E-HAT after deceased donor LT.AIM To evaluate the feasibility and reasonability of intra-arterial thrombolysis for EHAT after deceased donor LT.METHODS A total of 147 patients who underwent deceased donor LT were retrospectively reviewed in our hospital between September 2011 and December 2016.Four patients were diagnosed with E-HAT.All of these patients underwent intraarterial thrombolysis with alteplase as the first choice therapy after LT.The method of arterial anastomosis and details of the diagnosis and treatment of EHAT were collated.The long-term prognosis of E-HAT patients was also recorded.The median follow-up period was 26 mo(range:23 to 30 mo).RESULTS The incidence of E-HAT was 2.7%(4/147).E-HAT was considered when Doppler ultrasonography showed no blood flow signals and a definite diagnosis was confirmed by immediate hepatic arterial angiography when complete occlusion of the hepatic artery was observed.The patients were given temporary thrombolytics(mainly alteplase)via a 5-Fr catheter which was placed in the proximal part of the thrombosed hepatic artery followed by continuous alteplase using an infusion pump.Alteplase dose was adjusted according to activated clotting time.The recanalization rate of intra-arterial thrombolysis in our study was 100%(4/4)and no thrombolysis-related mortality was observed.During the follow-up period,patient survival rate was 75%(3/4),and biliary complications were present in 50%of patients(2/4).CONCLUSION Intra-arterial thrombolysis can be considered first-line treatment for E-HAT after deceased donor LT.Early diagnosis of E-HAT is important and follow-up is necessary even if recanalization is successful.

Orthogonal nonnegative matrix factorization based local hidden Markov model for multimode process monitoring

Traditional data driven fault detection methods assume that the process operates in a single mode so that they cannot perform well in processes with multiple operating modes. To monitor multimode processes effectively,this paper proposes a novel process monitoring scheme based on orthogonal nonnegative matrix factorization(ONMF) and hidden Markov model(HMM). The new clustering technique ONMF is employed to separate data from different process modes. The multiple HMMs for various operating modes lead to higher modeling accuracy.The proposed approach does not presume the distribution of data in each mode because the process uncertainty and dynamics can be well interpreted through the hidden Markov estimation. The HMM-based monitoring indication named negative log likelihood probability is utilized for fault detection. In order to assess the proposed monitoring strategy, a numerical example and the Tennessee Eastman process are used. The results demonstrate that this method provides efficient fault detection performance.