BACKGROUND Antineutrophil cytoplasmic antibody (ANCA)-associated crescentic glomerulonephritis (CGN) is a major cause of rapidly progressive glomerulonephritis (RPGN). ANCA-associated CGN is generally classified into pauci-immune RPGN, in which there are few or no immune complexes. CASE PRESENTATION A 78-year-old man presented with RPGN after a 7-year course of chronic proteinuria and hematur...

This paper considers the problem of online informative motion planning for a network of heterogeneous mobile sensing agents, each subject to dynamic constraints, environmental constraints, and sensor limitations. Previouswork has not yielded algorithms that are amenable to such general constraint characterizations. In this paper, the information-rich rapidly-exploring random tree algorithm is p...

Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up m...

In this paper, I explore the application of various random sampling based algorithms to dynamic models of bicycles. Starting with relatively simple 3-dimensional state space models of bicycle and working up to a more realistic 7dimensional model that incorporates skidding, I examine RRT, RG-RRT, RRT*, and LQR-RRT*.

BACKGROUND To reduce the burden of disease from malaria, innovative approaches are needed to engender behavior change. One unobservable, but fundamental trait-preferences for risk-may influence individuals' willingness to adopt new health technologies. We explore the association of risk preferences with malaria care-seeking behavior and the acceptability of malaria rapid diagnostic tests (RDTs)...

Traversing challenging structures like boulders, rubble, stairs and steps, mobile robots need a special level of mobility. Robots with reconfigurable chassis are able to alter their configuration to overcome such structures. This paper presents a two-stage motion planning scheme for reconfigurable robots in rough terrain. First, we consider the robot’s operating limits rather than the complete ...

About 20 species of rapidly growing mycobacteria species that are capable of infecting human beings and causing bloodstream infections have been identified. Many more of these species are being discovered worldwide, especially in resource-poor settings. These microorganisms have been known to cause outbreaks and pseudo-outbreaks. Although rapidly growing mycobacteria are not highly virulent or ...

This paper presents a novel framework and paradigm for creating rapidly deployable intelligent interactive environments, and in particular, homes. We argue that common household information appliances, such as televisions and stereos, present a seamless and nonintrusive point from which to "observe" and interact with members of a household ̄ To this end, we describe the framework of our distribu...

This paper describes a system for rapidly retargetable interactive translingual retrieval. Basic functionality can be achieved for a new document language in a single day, and further improvements require only a relatively modest additional investment. We applied the techniquesfirst to searchChinese collections using English queries, and have successfully added French, German, and Italian docum...

An 8 year old boy presented with a swelling on the left side of the face (A). On inquiry, he revealed that it had been rapidly growing since he first noticed 15 days earlier, and was associated with sharp pain at night. He had constitutional symptoms such as weight loss and fatigue, but no history of fever. On examination, the swelling had a shiny appearance, with no changes in skin color and t...