Robots require a certain set of skills to perceive and analyse the environment and act accordingly. For tracked mobile robots getting good odometry data from sensory information is a challenging key prerequisite to perform in an unstructured dynamic environment, thus an essential issue in the tracked mobile robotics domain. In this article, we construct a ROS-based tracked mobile robot system taking the Jaguar V4 mobile robot as the base platform. On which several visual odometry solutions based on different cameras and methods (Intel RealSense T265, Zed camera, RTAB-Map RGBD) are integrated and benchmark comparison is performed. Analysis of new challenges faced by different methods while applied on a tracked vehicle as well as recommendations and conclusions are presented. Intel RealSense T265 solution proved to perform well in uncertain conditions which involves bounded vibrations and low lighting conditions with low latency, which result in good map generation. Further evaluations with a path planning algorithm and Intel RealSense T265 were conducted to test the effect of the robot's motion profiles on odometry data accuracy.
Parcel sorting is becoming a significant challenge for delivery distribution centers and is mostly automated by using high-throughput sorting machinery, but manual work is still used to feed these machines by placing the parcels on the conveyor belt. In this paper, an AI-based robotic solution that automates the parcel placement task was developed. The architecture of the proposed system along with methods on how to implement it are described by using the currently available hardware and software components. The described choices lead to a well-functioning system and the gained insights will facilitate building similar systems for parcel delivery automation.
Introduction: Blastomycosis is an uncommon; potentially life threatening granulomatous fungal infection. The aim of this study is to report hospital and intensive care unit (ICU) outcomes of patients admitted with blastomycosis.Methods: All patients admitted for treatment of blastomycosis at the Mayo Clinic-Rochester, Minnesota between 01/01/2006 and 09/30/2019 were included. Demographics, comorbidities, clinical presentation, ICU admission, and outcomes were reviewed.Results: A total of 84 Patients were identi ed with 93 unique hospitalizations primarily for blastomycosis. The median age at diagnosis was 49 (IQR 28.1-65, range: 6-85) years and 56 (66.7%) were male. The most frequent comorbidities incl uded hypertension (n=28, 33.3%); immunosuppressed state (n=25, 29.8%) and diabetes mellitus (n=21, 25%). The lungs were the only organ involved in 56 (66.7%) cases and the infection was disseminated in 19 (22.6%) cases.A total of 29 patients (34.5%) underwent ICU admission due to complications of blastomycosis. ICU related events included mechanical ventilation (n=21, 25%), acute respiratory distress syndrome (ARDS) (n=13, 15.5%), tracheostomy (n=9, 10.7%), renal replacement therapy (n=8, 9.5%), and extracorporeal membrane oxygenation (ECMO) (n=4, 4.8%). A total of 12 patients (14.3%) died in the hospital; all of whom had undergone ICU admission. In-hospital mortality was associated with renal replacement therapy (RRT) (P=0.0255).Conclusions: Blastomycosis is a serious, potentially life-threatening infection that results in signi cant morbidity and mortality with a 34.5% ICU admission rate. Renal replacement therapy was associated with in-hospital mortality.
INTRODUCTION:Extranodal marginal zone lymphoma of mucosa associated lymphoid tissue (MALT Lymphoma) is a rare disorder, but is the most common cause of primary pulmonary lymphoma involvement. Cystic changes along with nodularity has been previously reported in MALT lymphomas along with light chain deposition disease (LCDD). CASE PRESENTATION:A 44 y/o previously smoking female patient presented with a 3-year history of progressive dyspnea in the setting of extensive cystic lung disease. Her extensive lung cysts had previously raised concern for lymphangioleiomyomatosis (LAM) and she had undergone an open lung biopsy (OLB) about 2 years prior. She also had a 10-year history of Rheumatoid Arthritis (RA) for which she had previously received methotrexate, adalimumab and leflunomide. The OLB was negative for LAM, but no alternative diagnosis was made based on the biopsy results. Due to progressive dyspnea, she presented to our facility where a fresh evaluation of her case was undertaken. A repeat CT Chest again confirmed extensive cystic lung changes that were not present 12 years ago and had minimally progressed from the time of OLB two years ago (figure 1). Pulmonary function testing (PFTs) showed a severe obstructive pattern with a positive bronchodilator response. Laboratory testing confirmed positive results for rheumatoid factor, CCP, ANA as well as SSA & SSB antibodies. A review of the OLB confirmed the presence of an atypical lymphoplasmacytic infiltrate associated with nodular kappa light chain deposition disease (LCDD). The overall pattern was consistent with extranodal marginal zone lymphoma of mucosa associated lymphoid tissue (MALT lymphoma). The biopsy confirmed the presence of cystic changes within the nodular light chain deposits. PET scan was negative for extrathoracic lymphoma and the patient was started on Rituximab.DISCUSSION: We present a case of pulmonary MALT Lymphoma with LCDD presenting with extensive cystic lung disease and severe airflow obstruction. The case was initially mistaken for LAM and appropriate therapy was delayed for 2 years. MALT lymphomas with LCDD are rare causes of pulmonary cystic disease and generally have a good prognosis with an overall 5-year survival rate exceeding 80% and a median survival over 10 years. Given the positive Sjogren's antibodies and the presence of lung cysts; lymphocytic interstitial pneumonia (LIP) was also considered in the differential diagnosis. The presence of severe airflow obstruction on lung function was somewhat atypical in this case and a component of bronchiolitis obliterans from RA could not be entirely excluded. CONCLUSIONS:Extranodal marginal zone B cell lymphoma of the lung can present with extensive cystic lung disease that can mimic other common causes of cystic lung disease such as LAM, LIP and Birt Hogg Dube disease and PLCH. Prognosis is generally good and Rituximab is the most commonly used initial treatment approach.
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