PURPOSE Wound infection after an ileostomy reversal is a common problem. To reduce wound-related complications, purse-string skin closure was introduced as an alternative to conventional linear skin closure. This study is designed to compare wound infection rates and operative outcomes between linear and purse-string skin closure after a loop ileostomy reversal. METHODS Between December 2002 ...

We present a system which constructs a topological map of an environment given a sequence of images. This system includes a novel image similarity score which uses dynamic programming to match images using both the appearance and relative positions of local features simultaneously. Additionally, an MRF is constructed to model the probability of loop-closures. A locally optimal labeling is found...

the article “oral manifestation in transplant patients” was read with enthusiasm.[1] however, the following points may be noted worthy. fissured tongue, atrophy of tongue papillae, and angular cheilitis can be observed in liver transplant patients and these may be due to concurrent hyposalivation, due to intake of diuretic drugs such as thiazides and loop diuretics.[2,3] excessive bleeding with...

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loopclosure detection method based on bags of visual words [1] which is able to detect when the robot has returned back to a previously visited place. An efficient optimizat...

This report derives a relative objective function for bundle adjustment – driven by the desire for a truly large scale simultaneous localization and mapping algorithm that can operate incrementally in constant time. It is precisely the choice of a single privileged coordinate frame that makes bundle adjustment expensive to solve. This is especially true during loop closures, when the single fra...

The opening/closure of the catalytic loop 6 over the active site in apo triosephosphate isomerase (TIM) has been previously shown to be driven by the global motions of the enzyme, specifically the counter-clockwise rotation of the subunits. In this work, the effect of the substrate dihydroxyacetone phosphate (DHAP) on TIM dynamics is assessed using two apo and two DHAP-bound molecular dynamics ...

Loop closing is a vital component for mobile robot navigation without a priori information of the environment, since the mobile robot has to explore, build and at the same time maintain a globally consistent map. Moreover, it allows the mobile robot to recover from positional drifts due to errors associated with sensor measurements once loop closing is performed. In this paper, an active loop c...

Loop closure detection is a critical component of large-scale simultaneous localization and mapping (SLAM) in loopy environments. This capability is challenging to achieve in longterm SLAM, when the environment appearance exhibits significant long-term variations across various time of the day, months, and even seasons. In this paper, we introduce a novel formulation to learn an integrated long...