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Path Planning in Consideration of Relative Velocity for Mobile Robot
Ryo OKUMURA,Hiroshi TAKEMURA,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper presents an avoidance efficiency improvement of path planning for mobile robot in consideration of the relative velocity of an obstacle. The potential method was used as the method of path planning. The potential method is one of the methods of path planning for mobile robot in unknown area. It creates a contour line figure, such as taking the target position low an obstacle high, based on the information from a LRF sensor. In this potential method, the area which takes the potential of an obstacle into consideration of is called “Interference Area”, and it is very important to select a threshold value. This paper, we focus on the form of Interference Area as a threshold value to select. By selecting the form of this Interference Area aims at efficiency improvement of path planning. We confirmed that the proposed Interference Area shape improves efficiency in path planning.
Okumura, Yasuhiro,Takamatsu, Manabu,Ohashi, Manabu,Yamamoto, Yorimasa,Yamamoto, Noriko,Kawachi, Hiroshi,Ida, Satoshi,Kumagai, Koshi,Nunobe, Souya,Hiki, Naoki,Sano, Takeshi The Korean Gastric Cancer Association 2018 Journal of gastric cancer Vol.18 No.4
A 55-year-old man visited our hospital for a detailed examination of a gastric submucosal tumor that was first detected 10 years prior. The tumor continued to grow and had developed a depressed area in its center. A histopathological examination of biopsy specimens revealed gastric adenocarcinoma of the fundic gland type (GA-FG). It was diagnosed as T2 based on the invasion depth as determined by white-light endoscopy and endoscopic ultrasonography. A total gastrectomy with lymphadenectomy was performed and a GA-FG in the mucosa and submucosa was confirmed histopathologically. However, there was a gradual transition to an infiltrative tubular adenocarcinoma with poorly differentiated components in the muscular and subserosal layers. Metastasis was identified in a dissected lymph node (LN). This is the first report of a GA-FG progressing to an aggressive cancer with LN metastasis. These findings modify our understanding of the pathophysiology of GA-FG.
Yasuhiro Okumura,Manabu Takamatsu,Manabu Ohashi,Yorimasa Yamamoto,Noriko Yamamoto,Hiroshi Kawachi,Satoshi Ida,Koshi Kumagai,Souya Nunobe,Naoki Hiki,Takeshi Sano 대한위암학회 2018 Journal of gastric cancer Vol.18 No.4
A 55-year-old man visited our hospital for a detailed examination of a gastric submucosal tumor that was first detected 10 years prior. The tumor continued to grow and had developed a depressed area in its center. A histopathological examination of biopsy specimens revealed gastric adenocarcinoma of the fundic gland type (GA-FG). It was diagnosed as T2 based on the invasion depth as determined by white-light endoscopy and endoscopic ultrasonography. A total gastrectomy with lymphadenectomy was performed and a GA-FG in the mucosa and submucosa was confirmed histopathologically. However, there was a gradual transition to an infiltrative tubular adenocarcinoma with poorly differentiated components in the muscular and subserosal layers. Metastasis was identified in a dissected lymph node (LN). This is the first report of a GA-FG progressing to an aggressive cancer with LN metastasis. These findings modify our understanding of the pathophysiology of GA-FG.
Kumagai, Hozumi,Kusaba, Hitoshi,Okumura, Yuta,Komoda, Masato,Nakano, Michitaka,Tamura, Shingo,Uchida, Mayako,Nagata, Kenichiro,Arita, Shuji,Ariyama, Hiroshi,Takaishi, Shigeo,Akashi, Koichi,Baba, Eishi Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.1
Background: Antiemetic triplet therapy including dexamethasone (DEX) is widely used for patients receiving highly emetogenic chemotherapy (HEC). In Japan, the appropriate dose of DEX has not been established for this combination. Materials and Methods: To assess the efficacy and safety of increased-dose DEX, we retrospectively examined patients receiving HEC with antiemetic triplet therapy. Results: Twenty-four patients (fosaprepitant group) were given an increased-dose of DEX (average total dose: 45.8mg), fosaprepitant, and 5-HT3 antagonist. A lower-dose of DEX (33.6mg), oral aprepitant, and 5-HT3 antagonist were administered to the other 48 patients (aprepitant group). The vomiting control rates in the fosaprepitant and aprepitant groups were 100% and 85.4% in the acute phase, and were 75.0% and 64.6% in the delayed phase. The incidences of toxicity were similar comparing the two groups. Conclusions: Triplet therapy using an increased-dose of DEX is suggested to be safe and effective for patients receiving HEC.
A Case of Sudden Onset Septicemia in Recurred Gastric Cancer Following S1 Plus Docetaxel Treatment
Sumiya Ishigami,Takaaki Arigami,Yoshikazu Uenosono,Yasuto Uchikado,Yoshiaki Kita,Ken Sasaki,Hiroshi Okumura,Hiroshi Kurahara,Yuko Kijima,Akihiro Nakajo,Kosei Maemura,Shoji Natsugoe 대한위암학회 2013 Journal of gastric cancer Vol.13 No.2
Pyogenic liver abscess in patients with malignant disease is a fatal state and is easily diagnosed. We presented a rare case of sudden fatal septicemia following anticancer treatment for recurred gastric cancer due to multiple liver abscesses which could not be diagnosed. A 72-year-old male with recurred gastric cancer received anticancer agents. He had a history of distal gastrectomy with right hepatic lobectomy for hepatic metastasis. He received anticancer treatment in the outpatient's service center periodically, and his performance status was preserved with nothing in particular. After administrating docetaxel, he suddenly developed septicemia and multiple organ failure and died 5 days after strong medical supports. Pathological autopsy revealed that multiple minute abscesses of the liver which could not be detected macroscopically were the causes of fatal septicemia. The etiology, therapies and prognosis of rare entity are being discussed.
A Case of Sudden Onset Septicemia in Recurred Gastric Cancer Following S1 Plus Docetaxel Treatment
Ishigami, Sumiya,Arigami, Takaaki,Uenosono, Yoshikazu,Uchikado, Yasuto,Kita, Yoshiaki,Sasaki, Ken,Okumura, Hiroshi,Kurahara, Hiroshi,Kijima, Yuko,Nakajo, Akihiro,Maemura, Kosei,Natsugoe, Shoji The Korean Gastric Cancer Association 2013 Journal of gastric cancer Vol.13 No.2
Pyogenic liver abscess in patients with malignant disease is a fatal state and is easily diagnosed. We presented a rare case of sudden fatal septicemia following anticancer treatment for recurred gastric cancer due to multiple liver abscesses which could not be diagnosed. A 72-year-old male with recurred gastric cancer received anticancer agents. He had a history of distal gastrectomy with right hepatic lobectomy for hepatic metastasis. He received anticancer treatment in the outpatient's service center periodically, and his performance status was preserved with nothing in particular. After administrating docetaxel, he suddenly developed septicemia and multiple organ failure and died 5 days after strong medical supports. Pathological autopsy revealed that multiple minute abscesses of the liver which could not be detected macroscopically were the causes of fatal septicemia. The etiology, therapies and prognosis of rare entity are being discussed.