Many sampling based algorithms have been introduced recently. Among them Rapidly Exploring Random Tree (RRT) is one of the quickest and the most efficient obstacle free path finding algorithm. Although it ensures probabilistic completeness, it cannot guarantee finding the most optimal path. Rapidly Exploring Random Tree Star (RRT*), a recently proposed extension of RRT, claims to achieve conver...

BACKGROUND Elderly patients with end-stage renal disease and severe extra-renal comorbidity have a poor prognosis on renal replacement therapy (RRT) and may opt to be managed conservatively (CM). Information on the survival of patients on this mode of therapy is limited. METHODS We studied survival in a large cohort of CM patients in comparison to patients who received RRT. RESULTS Over an ...

During 2009-10, real time RT-PCR and conventional RT-PCR techniques Used for detecting BTVs RNA in 310 blood samples. For real time and gel based RT-PCR segment-1 and segment-10 selected as conserve genes to search any BTV strains. Using these methods, 58 (%18.7) and 14 (%4.5) positive samples were detected among the clinically suspected sheep. Sensitivity of both molecular techniques evalua...

BACKGROUND Perioperative complication of end-organ injury including acute kidney injury (AKI) is a frequent and severe problem for patients undergoing left ventricular assist device (LVAD) implantation. This study evaluated an emerging AKI biomarker, plasma neutrophil gelatinase-associated lipocalin (NGAL), in a LVAD implantation cohort. METHODS AND RESULTS Of 31 LVAD implantation patients en...

BACKGROUND In a retrospective case-note and computer database analysis we assessed the outcome of very elderly patients (> or = 75 years old) with end-stage renal disease (ESRD) on renal replacement therapy (RRT). METHODS Fifty-eight individuals aged 75 or over (group 1) commenced RRT between 1 January 1991 and 31 December 1995. Comparisons were made with other patients commencing RRT who wer...

BACKGROUND Acute kidney injury requiring renal replacement therapy (AKI-RRT) is associated with high morbidity, mortality and resource utilization. The type of vascular access placed for AKI-RRT is an important decision, for which there is a lack of evidence-based guidelines. METHODS We conducted a prospective cohort study over a 16-month period with 154 patients initiated on AKI-RRT via eith...

This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the...

BACKGROUND & OBJECTIVES The poliovirus serotype identification and intratypic differentiation by real-time reverse transcription-polymerase chain reaction (rRT-PCR) assay is suitable for serotype mixtures but not for intratypic mixtures of wild and vaccine poliovirus strains. This study was undertaken to develop wild poliovirus 1 and 3 (WPV1 and WPV3) specific rRT-PCR assays for use. METHODS ...

This paper presents several modifications to the basic rapidly-exploring random tree (RRT) search algorithm. The fundamental idea is to utilize a heuristic quality function to guide the search. Results from a relevant simulation experiment illustrate the benefit and drawbacks of the developed algorithms. The paper concludes with several promising directions for future research.