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Malignant peripheral nerve sheath tumor (MPNST) can be difficult to diagnose because it lacks specific immunohistochemical markers. S-100, which is a useful marker of MPNST, has limited diagnostic utility. Recent studies suggest that nestin, which is an intermediate filament protein, is expressed in neuroectodermal stem cells. The diagnostic utility of immunostains for nestin and three other neural markers (S-100, CD56 and protein gene product 9.5 (PGP 9.5)) were evaluated in 35 cases of MPNST and in other spindle cell tumors. All MPNST cases were strongly positive for nestin and had cytoplasmic staining. Stains for S-100, CD56, and PGP 9.5 were positive in fewer cases (17/35, 11/35, and 29/35 cases, respectively), and had less extensive staining. Nestin was negative in 10/10 leiomyomas, and weak nestin expression was seen in 10/10 schwannomas, 3/10 neurofibromas, 2/8 synovial sarcomas, 2/10 liposarcomas, 4/7 carcinosarcomas and 3/7 malignant fibrous histiocytomas. In contrast, strong nestin positivity was seen in 10/10 rhabdomyosarcomas, 15/19 leiomyosarcomas, and 9/9 desmoplastic melanomas. Nestin is more sensitive for MPNST than other neural markers and immunostains for nestin in combination with other markers could be useful in the diagnosis of MPNST.

Abstract-This paper presents the development of the modeling and recognition of human driving behavior based on a stochastic switched auto-regressive exogenous (SS-ARX) model. First, a parameter estimation algorithm for the SS-ARX model with multiple measured input-output sequences is developed based on the expectation-maximization (EM) algorithm. This can be achieved by extending the parameter estimation technique for the conventional hidden Markov model (HMM). Second, the developed parameter estimation algorithm is applied to driving data with the focus being on driver's collision avoidance behavior. The driving data were collected using a driving simulator based on the CAVE virtual environment, which is a stereoscopic immersive virtual reality (VR) system. Then, the parameter set for each driver is obtained and certain driving characteristics are identified from the viewpoint of switched control mechanism. Finally, the performance of the SS-ARX model as a behavior recognizer is examined. The results show that the SS-ARX model holds remarkable potential to function as a behavior recognizer.

BackgroundGallbladder agenesis (GBA) is extremely rare in dogs.Hypothesis/ObjectivesTo describe the history, clinical signs, diagnosis, treatment, and outcomes of dogs with GBA.AnimalsSeventeen client‐owned dogs with GBA.MethodsMedical records from 2006 through 2016 were retrospectively reviewed. Dogs were included when GBA was suspected on abdominal ultrasonography and confirmed by gross evaluation. Signalment, clinical signs, clinicopathological data, diagnostic imaging, histopathology, treatment, and outcome were recorded.ResultsDogs were of 6 different breeds, and Chihuahuas (10 of 17) were most common. Median age at presentation was 1.9 (range, 0.7–7.4) years. Clinical signs included vomiting (5 of 17), anorexia (2 of 17), ascites (2 of 17), diarrhea (1 of 17), lethargy (1 of 17), and seizures (1 of 17). All dogs had increased serum activity of at least 1 liver enzyme, most commonly alanine aminotransferase (15 of 17). Fifteen dogs underwent computed tomography (CT) cholangiography; common bile duct (CBD) dilatation was confirmed in 12, without evidence of bile duct obstruction. Gross evaluation confirmed malformation of the liver lobes in 14 of 17 dogs and acquired portosystemic collaterals in 5 of 17. Ductal plate malformation was confirmed histologically in 16 of 17 dogs. During follow‐up (range, 4–3,379 days), 16 of 17 dogs remained alive.Conclusions and Clinical ImportanceDogs with GBA exhibit clinicopathological signs of hepatobiliary injury and hepatic histopathological changes consistent with a ductal plate abnormality. Computed tomography cholangiography was superior to ultrasound examination in identifying accompanying nonobstructive CBD distention. Computed tomography cholangiography combined with laparoscopic liver biopsy is the preferable approach to characterize the full disease spectrum accompanying GBA in dogs.

This paper deals with the design and control of a power assist system for lifting objects based on weight perception. We considered vertical lifting force (load force) as the desired dynamics for lifting objects with the power assist system. Load force consists of inertial force and gravitational force. We hypothesized that weight perception due to inertial force may differ from perceived weight due to gravitational force for lifting objects with a power assist system. Based on this hypothesis, we designed a 1-degree-of-freedom (DOF) (vertical up-down) power assist system and determined a psychophysical relationship between actual weights and power-assisted weights for lifted objects. We also determined the excess in the load forces that subjects applied when lifting objects with the system. The excessive load force causes problems such as sudden high acceleration of the lifted object, user safety and other concerns while lifting the object, loss of system maneuverability and stability, and possibly fatal accidents. We modified the power-assist control based on the psychophysical relationship and the load force characteristics. Modifying control reduced the excess in load forces and significantly enhanced maneuverability, naturalness, ease of use, stability, and safety. We proposed using the findings to design industrial power assist systems for transporting heavy objects in various industries such as assembly and manufacturing, mining, logistics and transport, construction, disaster management and rescue, and military operations.

Abstract-This paper presents a modeling strategy of human driving behavior based on the controller switching model focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive virtual environment. In our modeling, the control scenario of the human driver, that is, the mapping from the driver's sensory information to the operation of the driver such as acceleration, braking and steering, is expressed by Piecewise Polynomial (PWP) model. Since the PWP model includes both continuous behaviors given by polynomials and discrete logical conditions, it can be regarded as a class of Hybrid Dynamical System (HDS). The identification problem for the PWP model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control law' according to the sensory information. Also, the driving characteristics of the beginner driver and the expert driver are compared and discussed. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's collision avoidance maneuver.

BacUlus brevis 47 contains two surface (S)-layer proteins, termed the outer wall protein (OWP) and the middle wall protein (MWP), which form a hexagonal array in the cell wall. The MWP and OWP genes are contained in the 9-kilobase-pair (kbp) Bcll fragment and constitute an operon under coordinate control of their expression. The nucleotide sequence of a 3.8-kbp EcoRI-SacI fragment containing the entire MWP gene has been determined in this study. Together with the DNA sequence of the promoter region for the MWP-OWP gene operon (H. Yamagata, T. Adachi, A. Tsuboi, M. Takao, T. Sasaki, N. Tsukagoshi, and S. Udaka, J. Bacteriol. 169:1239Bacteriol. 169: -1245Bacteriol. 169: , 1987 168:365-373, 1986), the complete nucleotide sequence of the MWP-OWP gene operon has been determined. The MWP gene encodes a secretory precursor of the MWP, consisting of a total of 1,053 amino acid residues with a 'signal peptide of 23 amino acid residues at its amino-terminal end. Bacillus subtilis harboring the MWP gene synthesized an immunoreactive polypeptide with almost the same molecular weight as the authentic MWP, as judged by sodium dodecyl sulfate-polyacrylamide gel electrophoresis. The amino acid compositions deduced from the MWP and OWP genes were similar to the chemical amino acid compositions of other S-layer proteins in the predominance of acidic amino acids compared with basic'amino acids and in the very low content of sulfur-containing amino acids. The acidic nature of the MWP and OWP'was confirmed by isoelectric focusing on polyacrylamide gels. In addition, circular dichroism spectra indicated that the S-layer proteins in B. brevis 47 were composed of approximately 30% ,8-sheet and 59o o-helical structures, with the remainder of the polypeptide backbone being aperiodic in nature.Many gram-positive and gram-negative bacteria, including many archaebacteria, possess a paracrystalline surface (S) layer as the outermost component of their cell envelopes (34). Taking into account the presence of the regular S layer at the interface between a cell and its environment, it may not only function as a protection barrier against environmental hazards, such as lytic enzymes (25,33) and heavy metals (3), but may also play a role in controlling the influx of nutrients or the efflux of metabolites. The S layers of many bacteria have been examined in terms of their morphology, chemistry, and assembly (31,32,34), and it was found that in most cases, the S layers are composed of protein or glycoprotein subunits, which are arranged on the cell surface in a regularly repeating hexagonal, tetragonal, or linear pattern.Bacillus brevis 47 has a morphologically unique threelayered cell wall structure consisting of two protein layers and a peptidoglycan layer (50), similar to that of Bacillus sp. strain C.I.P. 76-111 (21). The outer two protein layers, termed the outer and middle wall layers, are composed of protein subunits, the outer wall protein (OWP) and the middle wall protein (MWP), respectively (41, 50). The OWP and MWP form a hexagonal ar...

CT cholangiography delineates the structural characteristics of the biliary system and partially estimates its patency in dogs with gallbladder mucocoele. Therefore this procedure may be useful as a preoperative screen of the bile duct system in dogs with gallbladder mucocoele.