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This paper presents Hybrid Modified A* (HMA*) algorithm which is used to control an omnidirectional mecanum wheel automated guided vehicle (AGV). HMA* employs Modified A* and PSO to determine the best AGV path. The HMA* overcomes the A* technique’s drawbacks, including a large number of nodes, imprecise trajectories, long calculation times, and expensive path initialization. Repetitive point removal refines Modified A*’s path to locate more important nodes. Real-time hardware control experiments and extensive simulations using Matlab software prove the HMA* technique works well. To evaluate the practicability and efficiency of HMA* in route planning and control for AGVs, various algorithms are introduced like A*, Probabilistic Roadmap (PRM), Rapidly-exploring Random Tree (RRT), and bidirectional RRT (Bi-RRT). Simulations and real-time testing show that HMA* path planning algorithm reduces AGV running time and path length compared to the other algorithms. The HMA* algorithm shows promising results, providing an enhancement and outperforming A*, PRM, RRT, and Bi-RRT in the average length of the path by 12.08%, 10.26%, 7.82%, and 4.69%, and in average motion time by 21.88%, 14.84%, 12.62%, and 8.23%, respectively. With an average deviation of 4.34% in path length and 3% in motion time between simulation and experiments, HMA* closely approximates real-world conditions. Thus, the proposed HMA* algorithm is ideal for omnidirectional mecanum wheel AGV’s static as well as dynamic movements, making it a reliable and efficient alternative for sophisticated AGV control systems.
This study aimed to determine how modifiable risk factors, such as physical exercise and social support, and non-modifiable risk factors, such as genetic risk may affect cognitive function over time in older adults. As well, the study explored how changes in modifiable risk factors (i.e., increase in exercise) may affect cognitive function over time. This research question was shaped with the help of a patient partner team.
Participants and Methods:
The study used UK Biobank data, and patient partners were involved in shaping research questions/goals. The UK Biobank study had participants complete comprehensive baseline assessments (2006-2010), with subgroups also completing repeat assessments (2012-2013), imaging assessments (2014-ongoing) and/or repeat imaging assessments (2019-ongoing; i.e., 2-4 data points per participant). Age, sex, education, ethnicity, and apolipoprotein E (APOE) e4 status (at least one e4 allele present) data were collected at baseline. Employment, physical activity, social support, and recent depressive symptom data were collected across timepoints. A Fluid intelligence score was obtained at each timepoint via a series of thirteen 1-pt. reasoning tasks (range: 0-13). Participants who did not complete cognitive testing at baseline and at least one other time point, and those with neurological conditions or events (e.g., stroke, epilepsy, dementia) were excluded (final N=17,409).
Multi-Level Modeling (with Maximum Likelihood) was utilized, with fluid intelligence as the primary outcome measure. We ran Model 1: fully unconditioned, Model 2: with time predictor in years (baseline= 0), and Model 3: with baseline physical activity, social support and APOE e-4 predictors and covariates (mean-centered as appropriate), time-varying physical activity and social support predictors, and interaction terms. Nonsignificant interaction terms were trimmed from Model 3 to facilitate interpretation.
Results:
Model 1 was significant (p<.001) with an intraclass correlation (ICC) of 0.64, suggesting that 64% of the total variance in fluid intelligence in this sample is due to interindividual differences. Model 2 revealed that the average fluid intelligence score at baseline mean age (55.85) was 6.79 and significantly decreased with each year increase since baseline. Results from Model 3 (trimmed) revealed that being male, white, and having at least a university degree were associated with higher score at baseline, while being older and having more recent depressive symptoms were associated with lower scores. Higher social support quality was associated with higher scores while higher social support quantity was associated with lower scores at baseline; however, higher social support quantity at baseline was associated with less decline in scores over time. Surprisingly, having at least one e4 allele was associated with higher scores. Engaging in more moderate physical activity was associated with lower scores at baseline, however, individuals who increased the length of their moderate physical activity sessions over time showed higher timepoint-specific fluid intelligence scores. Additional significant interactions will be elaborated.
Conclusions:
Results suggest that increases in the length of moderate physical activity exercise sessions were associated with better cognitive function over time. Having better social support quality was also associated with better cognitive function, while higher social support quantity was associated with less cognitive decline over time. These findings suggest that positive lifestyle changes in older adulthood may slow cognitive decline.
In recent months, pharmaceutical manufacturers have brought legal challenges to a provision of the 2022 Inflation Reduction Act (IRA) empowering the federal government to negotiate the prices Medicare pays for certain prescription medications. One key argument made in these filings is that price negotiation is a “taking” of property and violates the Takings Clause of the US Constitution. Through original case law and health policy analysis, we show that government price negotiation and even price regulation of goods and services, including patented goods, are constitutional under the Takings Clause. Finding that the IRA violates the Takings Clause would radically upend settled constitutional law and jeopardize the US’s most important state and federal health care programs.
Background: Success of Endovascular Thrombectomy (EVT) requires ultra-fast access to specialized neuro imaging, neurological assessment and an angio suite with interventional radiologists. Prior access was via transport to Vancouver and outcomes were poor, with a high rate of disability or death. This appeared primarily due to long delays. Methods: Quality control process, in parallel to the introduction of a new intervention, EVT, to Vancouver Island, to determine if this intervention could be delivered with reasonable safety and good outcomes. Patients receiving EVT from May, 2016 until Sep, 2019 are included, with 90-day outcomes. Data was collected by stroke nurses. Results: The proportion of patients having a good outcome was comparable to that of the major clinical trial involving Canadian academic centres. The proportion sustaining a poor outcome was comparable to the control group in that trial population (who still received tPA treatment where possible). This was despite a median age 4.5 years greater than in that trial. Conclusions: EVT required coordination of multiple services. Victoria General Hospital performance in terms of speed to treatment was slower than in the published trials. This is a factor in determining outcome and is therefore an important quality improvement target moving forward.
Anticholinergic medications block cholinergic transmission. The central effects of anticholinergic drugs can be particularly marked in patients with dementia. Furthermore, anticholinergics antagonise the effects of cholinesterase inhibitors, the main dementia treatment.
Objectives
This study aimed to assess anticholinergic drug prescribing among dementia patients before and after admission to UK acute hospitals.
Methods
352 patients with dementia were included from 17 hospitals in the UK. All were admitted to surgical, medical or Care of the Elderly wards in 2019. Information about patients’ prescriptions were recorded on a standardised form. An evidence-based online calculator was used to calculate the anticholinergic drug burden of each patient. The correlation between two subgroups upon admission and discharge was tested with Spearman’s Rank Correlation.
Results
Table 1 shows patient demographics. On admission, 37.8% of patients had an anticholinergic burden score ≥1 and 5.68% ≥3. At discharge, 43.2% of patients had an anticholinergic burden score ≥1 and 9.1% ≥3. The increase was statistically significant (rho 0.688; p=2.2x10-16). The most common group of anticholinergic medications prescribed at discharge were psychotropics (see Figure 1). Among patients prescribed cholinesterase inhibitors, 44.9% were also taking anticholinergic medications.
Conclusions
This multicentre cross-sectional study found that people with dementia are frequently prescribed anticholinergic drugs, even if also taking cholinesterase inhibitors, and are significantly more likely to be discharged with a higher anticholinergic drug burden than on admission to hospital.
Conflict of interest
This project was planned and executed by the authors on behalf of SPARC (Student Psychiatry Audit and Research Collaborative). We thank the National Student Association of Medical Research for allowing us use of the Enketo platform. Judith Harrison was su
To study the possible association between invasive fungal sinusitis (mucormycosis) and coronavirus disease.
Methods
A prospective observational study was conducted at a tertiary care centre over four months, involving all patients with mucormycosis of the paranasal sinuses suffering from or having a history of coronavirus disease infection.
Results
Twenty-three patients presented with mucormycosis, all had an association with coronavirus disease 2019. The ethmoids (100 per cent) were the most common sinuses affected. Intra-orbital extension was seen in 43.47 per cent of cases, while intracranial extension was only seen in 8.69 per cent. Diabetes mellitus was present in 21 of 23 cases, and was uncontrolled in 12 cases. All patients had a history of steroid use during their coronavirus treatment.
Conclusion
New manifestations of coronavirus disease 2019 are appearing over time. The association between coronavirus and mucormycosis of the paranasal sinuses must be given serious consideration. Uncontrolled diabetes and over-zealous use of steroids are two main factors aggravating the illness, and both of these must be properly checked.
Suicide is a major global health concern. Bhutanese refugees resettled in the USA are disproportionately affected by suicide, yet little research has been conducted to identify factors contributing to this vulnerability. This study aims to investigate the issue of suicide of Bhutanese refugee communities via an in-depth qualitative, social-ecological approach.
Methods.
Focus groups were conducted with 83 Bhutanese refugees (adults and children), to explore the perceived causes, and risk and protective factors for suicide, at individual, family, community, and societal levels. Audio recordings were translated and transcribed, and inductive thematic analysis conducted.
Results.
Themes identified can be situated across all levels of the social-ecological model. Individual thoughts, feelings, and behaviors are only fully understood when considering past experiences, and stressors at other levels of an individual's social ecology. Shifting dynamics and conflict within the family are pervasive and challenging. Within the community, there is a high prevalence of suicide, yet major barriers to communicating with others about distress and suicidality. At the societal level, difficulties relating to acculturation, citizenship, employment and finances, language, and literacy are influential. Two themes cut across several levels of the ecosystem: loss; and isolation, exclusion, and loneliness.
Conclusions.
This study extends on existing research and highlights the necessity for future intervention models of suicide to move beyond an individual focus, and consider factors at all levels of refugees’ social-ecology. Simply focusing treatment at the individual level is not sufficient. Researchers and practitioners should strive for community-driven, culturally relevant, socio-ecological approaches for prevention and treatment.
Background: With advancements in technology, the use of video as a pedagogical method in medical education has gained in popularity, and may aid in teaching clinical skills. In the UBC MD program, videos have been used to assist in teaching the -neurological exam for several decades, but the currently available videos are outdated and not of contemporary quality. Methods: Drawing upon the cognitive theory of multimedia learning from Mayer and Moreno (2003) which describes methods to maximize learning by minimizing cognitive load, we developed a tool to systematically assess pedagogical videos. We inventoried twelve existing neurology videos and analyzed their use of methods such as weeding (removing extraneous information), signalling (visually highlighting important information), and chunking (grouping similar information together). Results: Generally, older videos had poor audiovisual quality that introduced extraneous load, while more current videos had higher production value, albeit inconsistent with the depth of their content. We therefore produced a new three-part neurological exam video series. We wrote storyboards, filmed with a focus on visually depicting the exam and findings, and edited to elucidate relevant physiological concepts. Conclusions: The end product has been adopted by the UBC MD program, and can be shared with other programs who may wish to adopt them.
Background: Previously-identified deficiencies in stroke training for emergency and internal medicine trainees led us to develop a competency-based curriculum for a stroke rotation, based upon entrusbable professional activities (EPAs). EPAs are observable and measurable activities that are routine care within a given medical specialty. Methods: We surveyed stroke- and non-stroke neurologists using a modified Delphi process with two iterations. The survey sought input on the number and nature of EPAs considered most important and achievable during a one month stroke rotation. Results: Surveyed neurologists considered 5-10 EPAs as adequate and reasonable to achieve during a one month elective. A list of the most essential EPAs was obtained and will be used as the basis of a curriculum for rotating residents in Internal and Emergency medicine at the Island Medical Program in Victoria, BC. Conclusions: Our work highlights an approach to meeting an identified gap in resident training in an important area of neurology (stroke). A competency based approach to medical education, focusing on EPAs, offers an innovative way of approaching resident education that seeks to ensure residents develop skills that experts in the field have identified as most essential for the work at hand (in this case, the proper management of stroke patients).
The Birmingham Hip Resurfacing procedure (BHR) is metal-on-metal resurfacing procedure for hip arthritis. BHR was associated with low risk of surgical site infection (SSI; 0.6%). In addition to antimicrobials, superficial SSIs were treated with incision and drainage, whereas deep incisional or organ-space SSIs required removal of prosthesis.
This study aimed to identify risk factors associated with carbapenem-resistant Enterobacteriaceae (CRE) colonization among patients screened with rectal cultures upon admission to a hospital or long-term acute care (LTAC) center and to compare risk factors among patients who were screen positive for CRE at the time of hospital admission with those screen positive prior to LTAC admission.
Methods.
A retrospective nested matched case-control study was conducted from June 2009 to December 2011. Patients with recent LTAC exposure were screened for CRE carriage at the time of hospital admission, and patients admitted to a regional LTAC facility were screened prior to LTAC admission. Cases were patients with a positive CRE screening culture, and controls (matched in a 3:1 ratio to cases) were patients with negative screening cultures.
Results.
Nine hundred five cultures were performed on 679 patients. Forty-eight (7.1%) cases were matched to 144 controls. One hundred fifty-eight patients were screened upon hospital admission and 521 prior to LTAC admission. Independent predictors for CRE colonization included Charlson's score greater than 3 (odds ratio [OR], 4.85 [95% confidence interval (CI), 1.64–14.41]), immunosuppression (OR, 3.92 [95% CI, 1.08–1.28]), presence of indwelling devices (OR, 5.21 [95% CI, 1.09–2.96]), and prior antimicrobial exposures (OR, 3.89 [95% CI, 0.71–21.47]). Risk factors among patients screened upon hospital admission were similar to the entire cohort. Among patients screened prior to LTAC admission, the characteristics of the CRE-colonized and noncolonized patients were similar.
Conclusions.
These results can be used to identify patients at increased risk for CRE colonization and to help target active surveillance programs in healthcare settings.
To determine whether increases in contact isolation precautions are associated with decreased adherence to isolation practices among healthcare workers (HCWs).
Design.
Prospective cohort study from February 2009 to October 2009.
Setting.
Eleven teaching hospitals.
Participants.
HCWs.
Methods.
One thousand thirteen observations conducted on HCWs. Additional data included the number of persons in isolation, types of HCWs, and hospital-specific contact precaution practices. Main outcome measures included compliance with individual components of contact isolation precautions (hand hygiene before and after patient encounter, donning of gown and glove upon entering a patient room, and doffing upon exiting) and overall compliance (all 5 measures together) during varying burdens of isolation.
Results.
Compliance with hand hygiene was as follows: prior to donning gowns/gloves, 37.2%; gowning, 74.3%; gloving, 80.1%; doffing of gowns/gloves, 80.1%; after gown/glove removal, 61%. Compliance with all components was 28.9%. As the burden of isolation increased (20% or less to greater than 60%), a decrease in compliance with hand hygiene (43.6%—4.9%) and with all 5 components (31.5%—6.5%) was observed. In multivariable analysis, there was an increase in noncompliance with all 5 components of the contact isolation precautions bundle (odds ratio [OR], 6.6 [95% confidence interval (CI), 1.15-37.44]; P = .03) and in noncompliance with hand hygiene prior to donning gowns and gloves (OR, 10.1 [95% CI, 1.84—55.54]; P = .008) associated with increasing burden of isolation.
Conclusions.
As the proportion of patients in contact isolation increases, compliance with contact isolation precautions decreases. Placing 40% of patients under contact precautions represents a tipping point for noncompliance with contact isolation precautions measures.
Sharp-tail sunfish (Masturus lanceolatus) occurrence in Indian seas is uncommon and its taxonomy is still in controversy. The species was hooked in a sub-surface long-line during an exploratory survey for oceanic tuna and allied fish within the Indian exclusive economic zone in the Lakshadweep Sea along the west coast of India by survey ship MFV ‘Yellow Fin’ attached to the Fishery Survey of India, Mormugoa, Goa, India. It is reported to be the first Masturus species in the Lakshadweep Sea. The sample weighted 100 kg and had a total length of 147 cm. The morphometric and meristic measurements were made and results indicated; the species recorded was the third largest in total length and the heaviest in terms of mass compared to earlier reports in Indian seas.
Carbapenem-resistant Enterobacteriaceae (CRE) are rapidly emerging worldwide. Control group selection is critically important when analyzing predictors of antimicrobial resistance. Focusing on modifiable risk factors can optimize prevention and resource expenditures. To identify specific predictors of CRE, patients with CRE were compared with 3 control groups: (1) patients with extended-spectrum β-lactamase (ESBL)-producing Enterobacteriaceae, (2) patients with non-ESBL-containing Enterobacteriaceae, and (3) uninfected controls.
Design.
Matched multivariable analyses.
Patients and Setting.
Patients possessing CRE that were isolated at Detroit Medical Center from September 1, 2008, to August 31, 2009.
Methods.
Patients were matched (1:1 ratio) to the 3 sets of controls. Matching parameters included (1) bacteria type, (2) hospital/ facility, (3) unit/clinic, (4) calendar year, and (5) time at risk (ie, from admission to culture). Matched multivariable analyses were conducted between uninfected controls and patients with CRE, ESBL, and non-ESBL Enterobacteriaceae. Models were also designed comparing patients with CRE to patients with ESBL, patients with non-ESBL Enterobacteriaceae, and all 3 non-CRE groups combined.
Results.
Ninety-one unique patients with CRE were identified, and 6 matched models were constructed. Recent (less than 3 months) exposure to antibiotics was the only parameter that was consistently associated with CRE, regardless of the group to which CRE was compared, and was not independently associated with isolation of ESBL or non-ESBL Enterobacteriaceae.
Conclusions.
Exposure to antibiotics within 3 months was an independent predictor that characterized patients with CRE isolation. As a result, antimicrobial stewardship efforts need to become a major focus of preventive Interventions. Regulatory focus regarding appropriate antimicrobial use might decrease the detrimental effects of antibiotic misuse and spread of CRE.
Plant-specific transcription factors belonging to the dehydration response element binding (DREB)/C-repeat binding factor (CBF) subfamily of the AP2/EREBP family specifically interact with dehydration-responsive elements (DRE)/C-repeat (CRT) and control the expression of many stress-inducible genes in plants. Two major subgroups of DREB proteins are represented by DREB1 and DREB2, which are induced specifically under cold and drought/salt stress, respectively. A DREB2 transcription factor gene from sorghum, SbDREB2 was identified and cloned in binary vectors, such that it was driven either by a constitutive CaMV35S promoter or a stress-inducible rd29A promoter. These gene constructs were transferred into rice through Agrobacterium tumefaciens-mediated transformation. Expression patterns of the native DREB gene (OsDREB2) and the transgene (SbDREB2) were similar. Both genes showed induction at 1 h exposure to drought, after which expression gradually dropped to basal levels by 24 h. Constitutive expression of SbDREB2 led to pleiotropic effects in rice and these transgenics did not set seed. The rd29A: SbDREB2 rice plants set seed and the grains collected from primary transformants were sown to raise T1 plants. The drought-stressed rd29A: SbDREB2 transgenics showed a significantly higher number of panicles as compared to the wild-type rice plants. Other phenological and agronomic traits were not affected in wild-type and rd29A: SbDREB2 transgenic rice.
The Pele La Group in the Wachi La section in the Black Mountains of central Bhutan represents the easternmost exposure of Cambrian strata known in the Himalaya. The group contains a succession of siliciclastic rocks with minor amounts of carbonate, the uppermost unit of which, the Quartzite Formation, bears age-diagnostic trilobite body fossils that are approximately 493 Ma old. Trilobite species include Kaolishania granulosa, Taipaikia glabra and the new species Lingyuanaspis sangae. A billingsellid brachiopod, Billingsella cf. tonkiniana, is co-occurrent. This fauna is precisely correlated with that of a specific stratigraphic horizon within the upper part of the Kaolishania Zone, Stage 9 of the Cambrian System, Furongian Epoch of the North China block, and thus represents the youngest Cambrian sedimentary rocks yet known from the Himalaya. The faunal similarity suggests proximity between North China and the Himalayan margin at this time. This unit was deposited in a predominantly storm-influenced shelf and shoreface environment. U–Pb geochronological data from detrital zircon grains from the fossil-bearing beds of the Quartzite Formation and strata of the underlying Deshichiling Formation show grain age spectra consistent with those from Cambrian rocks of the Lesser and Tethyan Himalaya in Tibet, India and Pakistan. These data support continuity of the northern Gondwanan margin across the Himalaya. Prominent peaks of approximately 500 Ma zircons in both the Quartzite and Deshichiling formations are consistent with the Furongian (late Cambrian) age assignment for these strata. The presence of these relatively young zircon populations implies rapid post-cooling erosion of igneous bodies and subsequent deposition which may reflect the influence of a widespread Cambro-Ordovician orogenic event evident in the western Himalaya.
We report a rare and unusual case of a patient with an ingested fishbone which migrated from the oropharynx to the anterior compartment of the retropharyngeal space and then to the deep neck space in the nasopharynx (i.e. the carotid space). This report aims to describe a successful, minimally invasive method of foreign body removal which avoided both major skull base surgery and any potential life-threatening complications. A secondary aim is to highlight the role of intra-operative fluoroscopy, an under-used tool.
Case report:
We present a 67-year-old man with a history of fish bone impaction but no fish bone visible on plain X-ray or flexible endoscopy. The diagnosis of fish bone lodged in the retropharyngeal space was confirmed by computed tomography. Surgical exploration of the anterior retropharyngeal space failed to locate the fish bone, as it had migrated to a new, unknown location. Intra-operative fluoroscopy was vital for the removal of the fish bone, as it was impossible to see with the naked eye and had migrated from its previously imaged position. The fish bone was finally retrieved bimanually using external pressure on the submandibular region, which displaced the fish bone, and fluoroscopic guidance, which assisted its removal from the nasopharyngeal lumen.
Conclusion:
To the best of our knowledge, this is the first reported case of bimanual, intra-operative, fluoroscopy-guided, intra-luminal removal of a migratory fish bone from the deep neck space in this region of the nasopharynx.
Groundnuts are mostly grown during the rainy season (kharif) in India. Most of the cultivation is without irrigation. Consequently the crop experiences water deficits of different intensities and durations, depending upon the rainfall distribution. Yields are poor under such conditions. In other leguminous species irrigation at flowering usually improves yield, if the pod development period coincides with a break in rainfall or water deficit (Khanna-Chopra, Koundal & Sinha, 1980). Thus, an understanding of reproductive behaviour and reproductive efficiency could be helpful in adjusting planting to coincide with favourable agroclimatic conditions. Alternatively, this understanding could help in scheduling irrigation.
Rapeseed and mustard cultivars aro morphologically determinate but the growth of the raceme, which is a corymbose type, is indeterminate. On the raceme flower opening proceeds acropetally in a sequential manner with one or two flowers opening each day. Thus there is a considerable time lag between first and last flower opening within the same raceme. In these oil-seed crops, besides leaves both pod wall and stems are photosynthetically active and the share of assimilates contributed by these three organs to the growing seeds has been estimated to be 37, 32 and 31%, respectively (Brar & Thies, 1977). A rapid decline in leaf area during pod filling in rapeseed and mustard (Chauhan & Bhargava, 1984) and rape (Allen & Morgan, 1972) cultivars has been observed. The assimilate supply to the pods developing at different periods may, therefore, differ owing to a decline in the leaf source as well as increasing intornal competition between pods. In winter oil-seed rape (Brassica napus), both mutual competition for assimilates and shading resulting from excessive pod production have been reported to cause heavy seed and pod losses (Mendham, Shipway & Scott, 1981). No information is available for rapeseed and mustard cultivars on how different components of the pod, such as its weight, seed weight, number of seeds and seed oil percentage, change according to their position on the terminal raceme. This information may be useful in deciding the appropriate number of pods on a raceme for optimum yield.