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Determining Potential Obstacles in Unobservable Areas Based on Current and Past Perception
Julia Baumgartner,Henrik Bey,Dennis Faßbender,Jorn Thielecke 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
Automated vehicles perceive only a small part of their environment. Especially unobservable vehicles pose a significant risk. To achieve safe but also comfortable behavior, potential, unobservable vehicles must be considered in behavior planning. Conventional methods use solely the current observation of the environment to determine potential obstacles. Past observations are rarely considered, although these may contain helpful information to rule out potential obstacle positions. This paper presents a novel algorithm that uses past observations besides the current observation to determine possible obstacle states. By means of a particle filter, we iteratively predict and filter feasible states of a potential obstacle. This results in a probability distribution for the position and velocity of an unobservable obstacle. We furthermore present a concept for the interface between our method and a basic behavior planning algorithm. The real-time capable method is tested on both simulated and real-world data. By comparing the algorithm to a baseline algorithm which uses only the current observation, we show that our algorithm prevents overly cautious assumptions about a potential obstacle’s state in certain situations. As a result, a more comfortable driving behavior can be achieved.
Linda S. Baumgartner,Ernest Moore,David Shook,Steven Messina,Mary Clare Day,Jennifer Green,Rajesh Nandy,Michael Seidman,James E. Baumgartner 대한청각학회 2018 Journal of Audiology & Otology Vol.22 No.4
Background and Objectives: Sensorineural hearing loss (SNHL) in children is associated with neurocognitive morbidity. The cause of SNHL is a loss of hair cells in the organ of Corti. There are currently no reparative treatments for SNHL. Numerous studies suggest that cord blood mononuclear cells (human umbilical cord blood, hUCB) allow at least partial restoration of SNHL by enabling repair of a damaged organ of Corti. Our objective is to determine if hUCB is a safe treatment for moderate to severe acquired SNHL in children. Subjects and Methods: Eleven children aged 6 months to 6 years with moderate to severe acquired SNHL were treated with intravenous autologous hUCB. The cell dose ranged from 8 to 30 million cells/kg body weight. Safety was assessed by measuring systemic hemodynamics during hUCB infusion. Infusion-related toxicity was evaluated by measuring neurologic, hepatic, renal and pulmonary function before and after infusion. Auditory function, auditory verbal language assessments and MRI with diffusion tensor imaging (DTI) were obtained before and after treatment. Results: All patients survived, and there were no adverse events. No infusionrelated changes in hemodynamics occurred. No infusion-related toxicity was recorded. Five subjects experienced a reduction in auditory brainstem response (ABR) thresholds. Four of those 5 subjects also experienced an improvement in cochlear nerve latencies. Comparison of MRI with DTI sequences obtained before and after treatment revealed increased fractional anisotropy in the primary auditory cortex in three of five subjects with reduced ABR thresholds. Statistically significant (p<0.05) reductions in ABR thresholds were identified. Conclusions: TIntravenous hUCB is feasible and safe in children with SNHL.
Epilepsy Surgery in Children versus Adults
Lee, Ki Hyeong,Lee, Yun-Jin,Seo, Joo Hee,Baumgartner, James E.,Westerveld, Michael The Korean Neurosurgical Society 2019 Journal of Korean neurosurgical society Vol.62 No.3
Epilepsy is one of the most common chronic neurological disorder affecting 6-7 per 1000 worldwide. Nearly one-third of patients with newly diagnosed epilepsy continue to have recurrent seizures despite adequate trial of more than two anti-seizure drugs : drug-resistant epilepsy (DRE). Children with DRE often experience cognitive and psychosocial co-morbidities requiring more urgent and aggressive treatment than adults. Epilepsy surgery can result in seizure-freedom in approximately two-third of children with improvement in cognitive development and quality of life. Understanding fundamental differences in etiology, co-morbidity, and neural plasticity between children and adults is critical for appropriate selection of surgical candidates, appropriate presurgical evaluation and surgical approach, and improved overall outcome.
Erectile Dysfunction in Men with Adult Congenital Heart Disease: A Prevalent but Neglected Issue
Alicia Jeanette Fischer,Christin Grundlach,Paul C Helm,Ulrike Mm Bauer,Helmut Baumgartner,Gerhard-Paul Diller 대한심장학회 2022 Korean Circulation Journal Vol.52 No.3
Background and Objectives: For adult men with congenital heart disease (ACHD), data on erectile dysfunction (ED) is limited. We aimed to assess the frequency of ED, its role in patient-physician communication and to identify parameters predicting ED. Methods: Male ACHD ≥18 years registered at the German National Register for Congenital Heart Defects were invited to participate in an online questionnaire about sexual health. Participants with presumed ED according to International Index of Erectile Function Score were compared to patients without ED. Results: The 371 patients responded to the questionnaire (83% with moderate to highly complex ACHD). The 43% presented with more than mild ED. When ED was present, patients complained about general anxiety to be sexually active more often (p<0.05) and underwent sexual activity less frequently compared to those without ED (p<0.05). Age ≥40 years (odds ratio [OR], 3.04; p=0.002), being single (OR, 6.82; p<0.0001), anxiety to be sexually active (OR, 2.64; p=0.0002) and psychiatric disease (OR, 4.33; p<0.0007) emerged as independent predictors for ED. Overall, patients sought medical advice in 6.7% of cases, whilst 29.6% would appreciate an active approach by the physician to address this sensitive topic. Conclusions: ED is affecting one third to one half of male ACHD according to a questionnaire-based analysis. Older age, being single, fear of sexual activity due to ACHD and psychiatric disorder emerged as independent predictors for ED. These parameters can easily be assessed to identify patients at risk. ED should be addressed proactively by health professionals.
Robson, Kiyoshi C. D.,Koivisto, Bryan D.,Yella, Aswani,Sporinova, Barbora,Nazeeruddin, Mohammad K.,Baumgartner, Thomas,Grä,tzel, Michael,Berlinguette, Curtis P. American Chemical Society 2011 Inorganic Chemistry Vol.50 No.12
<P>The syntheses and the electrochemical spectroscopic properties of a suite of asymmetrical <I>bis</I>tridentate cyclometalated Ru(II) complexes bearing terminal triphenylamine (TPA) substituents are reported. These complexes, which contain structural design elements common to both inorganic and organic dyes that exhibit superior power conversion efficiencies in the dye-sensitized solar cell (DSSC), are broadly formulated as [Ru<SUP>II</SUP>(L-2,5′-thiophene-TPA-R<SUB>1</SUB>)(L-R<SUB>2</SUB>)]<SUP>+</SUP> [L = tridentate chelating ligand (e.g., 2,2′:6′,2′′-terpyridine (tpy); deprotonated forms of 1,3-di(pyridin-2-yl)benzene (Hdpb) or 6-phenyl-2,2′-bipyridine (Hpbpy)); R<SUB>1</SUB> = −H, −Me, −OMe; R<SUB>2</SUB> = −H, −CO<SUB>2</SUB>Me, −CO<SUB>2</SUB>H]. The following structural attributes were systematically modified for the series: (i) electron-donating character of the terminal substituents (e.g., R<SUB>1</SUB> = −H, −Me, −OMe) placed <I>para</I> to the amine of the “L-2,5′-thiophene-TPA-R<SUB>1</SUB>” ligand framework; (ii) electron-withdrawing character of the tridentate chelate distal to the TPA-substituted ligand (e.g., R<SUB>2</SUB> = −H, −CO<SUB>2</SUB>Me, −CO<SUB>2</SUB>H); and (iii) position of the organometallic bond about the Ru(II) center. UV–vis spectra reveal intense and broad absorption bands arising from a collection of metal-to-ligand charge-transfer (MLCT) and TPA-based intraligand charge-transfer (ILCT) transitions that, in certain cases, extend beyond 800 nm. Electrochemical data indicate that the oxidative behavior of the TPA and metal chelate units can be independently modulated except in cases where the anionic phenyl ring is in direct conjugation with the TPA unit. In most cases, the anionic character of the cyclometalating ligands renders a metal-based oxidation event prior to the oxidation of the TPA unit. This situation can, however, be reversed with an appropriately positioned Ru–C bond and electron-rich R<SUB>1</SUB> group. This finding is important in that this arrangement confines the highest occupied molecular orbital (HOMO) to the TPA unit rather than the metal, which is optimal for sensitizing TiO<SUB>2</SUB>; indeed, a remarkably high power conversion efficiency (η) in the DSSC (i.e., 8.02%) is measured for the TPA-substituted pbpy<SUP>–</SUP> chelate where R<SUB>1</SUB> = −OMe. These results provide a comprehensive strategy for improving the performance of <I>bis</I>tridentate Ru sensitizers devoid of NCS<SUP>–</SUP> groups for the DSSC.</P><P>A series of bichromic cyclometalated <I>bis</I>tridentate Ru(II) complexes containing a triphenylamine-based donor unit produce broad, intense absorbance profiles. The ability to modulate the redox behavior of each of the chromophore units independently was exploited to converge on a high-performance class of dyestuff devoid of NCS<SUP>−</SUP> ligands.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/inocaj/2011/inocaj.2011.50.issue-12/ic200011m/production/images/medium/ic-2011-00011m_0012.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/ic200011m'>ACS Electronic Supporting Info</A></P>