McManus Vistisen (cratejaguar64)

org/project/scedar.Controlling the six legs of an insect walking in an unpredictable environment is a challenging task, as many degrees of freedom have to be coordinated. Solutions proposed to deal with this task are usually based on the highly influential concept that (sensory-modulated) central pattern generators (CPG) are required to control the rhythmic movements of walking legs. Here, we investigate a different view. To this end, we introduce a sensor based controller operating on artificial neurons, being applied to a (simulated) insectoid robot required to exploit the "loop through the world" allowing for simplification of neural computation. We show that such a decentralized solution leads to adaptive behavior when facing uncertain environments which we demonstrate for a broad range of behaviors never dealt with in a single system by earlier approaches. This includes the ability to produce footfall patterns such as velocity dependent "tripod", "tetrapod", "pentapod" as well as various stable intermediate patterns as observed in stick insects and in Drosophila. These patterns are found to be stable against disturbances and when starting from various leg configurations. Our neuronal architecture easily allows for starting or interrupting a walk, all being difficult for CPG controlled solutions. Furthermore, negotiation of curves and walking on a treadmill with various treatments of individual legs is possible as well as backward walking and performing short steps. This approach can as well account for the neurophysiological results usually interpreted to support the idea that CPGs form the basis of walking, although our approach is not relying on explicit CPG-like structures. Application of CPGs may however be required for very fast walking. Our neuronal structure allows to pinpoint specific neurons known from various insect studies. Interestingly, specific common properties observed in both insects and crustaceans suggest a significance of our controller beyond the realm of insects.Immunoglobulin genes are formed through V(D)J recombination, which joins the variable (V), diversity (D), and joining (J) germline genes. Since variations in germline genes have been linked to various diseases, personalized immunogenomics focuses on finding alleles of germline genes across various patients. Although reconstruction of V and J genes is a well-studied problem, the more challenging task of reconstructing D genes remained open until the IgScout algorithm was developed in 2019. In this work, we address limitations of IgScout by developing a probabilistic MINING-D algorithm for D gene reconstruction, apply it to hundreds of immunosequencing datasets from multiple species, and validate the newly inferred D genes by analyzing diverse whole genome sequencing datasets and haplotyping heterozygous V genes.BACKGROUND The aim of this study was to compare the clinical safety and effectiveness of transurethral bipolar plasmakinetic enucleation of the prostate (PKEP) vs. transurethral bipolar plasmakinetic resection of the prostate (PKRP) in the treatment of benign prostate hyperplasia (BPH) more than 80 ml. MATERIAL AND METHODS From June 2015 to February 2019, 179 BPH patients with prostate volume greater than 80 ml were enrolled and separated into a PKEP (n=81) group and a PKRP group (n=98). The patients in the 2 groups were followed up for 6 months. We collected and analyzed data from the international Prostate Symptom Score (IPSS), residual urine volume (RUV), quality of life (QOL), maximum urine flow rate (Qmax), and international erectile function index (ILEF-5). The clinical data collected during and after the operation and surgical complications were compared between the 2 groups. 8BromocAMP RESULTS The PKEP group had significantly shorter operation time, bladder flushing time, indwelling catheter time, and hospitalization time, and has less intraoperative blood loss, intraoperative blood transfusion, postoperative secondary hemor