We consider the problem of planning smooth paths for a vehicle in a region bounded by polygonal chains. The paths are represented as B-spline functions. A path is found by solving an optimization problem using a cost function designed to care for both the smoothness of the path and the safety of the vehicle. Smoothness is defined as small magnitude of the derivative of curvature and safety is d...

OBJECTIVE Nipple fluid production and atypical breast duct cells in women at high risk of breast cancer have been associated with further increased risk. Most publications on ductal lavage for cell collection report cannulating fluid-yielding ducts only. We report lavage of fluid-yielding and non-fluid-yielding ducts in women at high inherited breast cancer risk. METHODS A pilot breast cancer...

The goal of paper is to present the magnetic field calculations in high current bus ducts. Finiteelement method is used to do this. Bus ducts under study have figure such as circle area. Thecalculations will be using mathematical relations, meshed geometric shape and analyzing them.Geometric mean will help us to determine the value of magnetic field. COMSOL software is appliedfor simulation stu...

Anatomic variations in forensic extrahepatic bile ducts is common. Knowledge of extrahepatic bile duct variations is important for surgeons in order to prevent iatrogenic damage during surgery. This study aims to determine the variations in extrahepatic bile ducts among 150 cadavers located at the Kerman Medicine Organization. We performed autopsies on 150 cadavers. Bile ducts were exposed an...

Background: Rupture into the biliary ducts is the most frequent complication of hydatid liver disease. In endemic areas of Echinococcus granulosus, development of jaundice in a patient with liver cyst is initially suspected to have hydatid cyst. Case Presentation: A 48 year-old woman with history of asymptomatic hydatid liver cysts was admitted to the emergency department with right upper qu...

BACKGROUND/PURPOSE The origin of cholangiolocellular carcinoma (CoCC) is still controversial. To solve this problem, morphometric and immunohistochemical features of CoCC were examined. MATERIALS AND METHODS Cancerous ducts: 15 CoCC lesions from 13 resected and two autopsied cases. Non-neoplastic ducts: 20 specimens of non-cancerous areas of eight resected CoCC cases and of 12 resected hepato...