AIM: To review the results of our experience with the Medartis Aptus plating system for four corner arthrodesis of the wrist, which uses a combination of compression screws and variable angle locking screws.METHODS: W...AIM: To review the results of our experience with the Medartis Aptus plating system for four corner arthrodesis of the wrist, which uses a combination of compression screws and variable angle locking screws.METHODS: We reviewed the results of 17 procedures in 16 patients that underwent scaphoid excision and four corner fusion using the Medartis Aptus system between May 2010 and June 2014. The primary outcome measure was radiographic and clinical union. RESULTS: The mean clinical follow up time was 20.6 mo. The mean union time was 6 mo. Two non-unions required revision procedures. The mean disabilities of the arm, shoulder and hand score taken after union was 36. The mean final grip strength was 27 kg. The mean final range of movement was 30° flexion and 31° of extension. All patients had a restored scapholunate angle on postoperative radiographs. There were no incidences of dorsal impingement.CONCLUSION: Overall our experience with the Aptus plating system shows comparable results to other methods of fixation for four corner fusion, in the short to medium term.展开更多
The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) g...The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.展开更多
部分有序数据是同时包含有序特征与无序特征的一类数据,其广泛存在于现实生活中。传统的有序分类方法或者将所有特征都视为有序特征,或者对有序与无序特征分别进行处理,忽略了二者之间的关系,这些方法难以有效解决部分有序数据上的分类...部分有序数据是同时包含有序特征与无序特征的一类数据,其广泛存在于现实生活中。传统的有序分类方法或者将所有特征都视为有序特征,或者对有序与无序特征分别进行处理,忽略了二者之间的关系,这些方法难以有效解决部分有序数据上的分类问题。针对该问题,提出一种基于特征融合的部分有序深度森林模型,称为FFDF(feature fusion-based deep forest)。利用典型相关分析的思想,设计特征融合的贡献度计算方法,将有序特征和无序特征融合到同一特征空间,统一度量二者之间的关系。对融合的特征空间进行数据粒化,降低模型处理连续变量时的复杂性。设计融合空间下的特征矩阵输入级联森林,构建部分有序的深度森林模型。在来自UCI和WEKA的13个公共数据集上与部分单调决策树、有序分类模型、深度森林模型等六种方法进行比较实验,结果表明所提方法在准确性和平均绝对误差方面均优于对比方法;与集成模型深度森林gcForest和DF21进行了时间性能上的对比实验,结果表明所提方法在时间性能上优于对比方法。展开更多
文摘AIM: To review the results of our experience with the Medartis Aptus plating system for four corner arthrodesis of the wrist, which uses a combination of compression screws and variable angle locking screws.METHODS: We reviewed the results of 17 procedures in 16 patients that underwent scaphoid excision and four corner fusion using the Medartis Aptus system between May 2010 and June 2014. The primary outcome measure was radiographic and clinical union. RESULTS: The mean clinical follow up time was 20.6 mo. The mean union time was 6 mo. Two non-unions required revision procedures. The mean disabilities of the arm, shoulder and hand score taken after union was 36. The mean final grip strength was 27 kg. The mean final range of movement was 30° flexion and 31° of extension. All patients had a restored scapholunate angle on postoperative radiographs. There were no incidences of dorsal impingement.CONCLUSION: Overall our experience with the Aptus plating system shows comparable results to other methods of fixation for four corner fusion, in the short to medium term.
基金the National Natural Science Foundation of China (61720106012 and 61403215)the Foundation of State Key Laboratory of Robotics (2006-003)the Fundamental Research Funds for the Central Universities for the financial support of this work.
文摘The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.
文摘部分有序数据是同时包含有序特征与无序特征的一类数据,其广泛存在于现实生活中。传统的有序分类方法或者将所有特征都视为有序特征,或者对有序与无序特征分别进行处理,忽略了二者之间的关系,这些方法难以有效解决部分有序数据上的分类问题。针对该问题,提出一种基于特征融合的部分有序深度森林模型,称为FFDF(feature fusion-based deep forest)。利用典型相关分析的思想,设计特征融合的贡献度计算方法,将有序特征和无序特征融合到同一特征空间,统一度量二者之间的关系。对融合的特征空间进行数据粒化,降低模型处理连续变量时的复杂性。设计融合空间下的特征矩阵输入级联森林,构建部分有序的深度森林模型。在来自UCI和WEKA的13个公共数据集上与部分单调决策树、有序分类模型、深度森林模型等六种方法进行比较实验,结果表明所提方法在准确性和平均绝对误差方面均优于对比方法;与集成模型深度森林gcForest和DF21进行了时间性能上的对比实验,结果表明所提方法在时间性能上优于对比方法。
