This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the...

'Pauci-immune' glomerulonephritis has been recognized as an important cause of rapidly progressive glomerulonephritis. The paucity of immune deposits can be separated from the other two major immunohistologic variants of crescentic glomerulonephritis, ie, antiglomerular basement membrane (GBM) antibody-mediated and immune complex-mediated glomerulonephritis. Here we describe the case of a 42-ye...

A 19 years old, male patient presented with symptoms of smoky urine for 2 weeks, puffiness of face and diminished urine output for 3 weeks associated with occasional lower abdominal and flank pain. Patient's history, clinical findings and available investigations were strongly suggestive of Idiopathic Rapidly Progressive Glomerulonephritis. The patient showed excellent response to glucocorticoi...

We propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A* algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting vehicle kinematic constraints with a cost to goal metric that considers only kinematically feasible paths to the goal. The method includes also a series of heuristics to accele...

Wegener's granulomatosis, microscopic polyangiitis, and renal limited vasculitis are associated with circulating anti-neutrophil cytoplasm antibodies and are an important cause of rapidly progressive glomerulonephritis. This review gives an account of recent advances in the understanding of the pathogenesis underlying these conditions and how these may lead to future treatments. Consideration i...

DISCUSSION To our knowledge, this is the irst case of IgMN in literature presenting with full-blown CresGN. The latter has varied from 2% to 18.5%. We have earlier reported a prevalence of IgMN of 18.5% in native renal biopsies in children presenting with INS in Pakistan. The disease is deined by its immunopathologic features: the light microscopic (LM) features being highly variable ranging fr...

The C1q solid phase and Raji cell radioimmune assays were used to determine the frequency of detectable circulating immune complexes in patients with glomerulonephritis. In this study, 46% of 56 patients with glomerulonephritis had evidence of circulating immune complexes. More important, circulating immune complexes were associated with some, but not other, types of glomerulonephritis. Thus, i...

In many relevant path planning problems, loop closure constraints reduce the configuration space to a manifold embedded in the higher-dimensional joint ambient space. Whereas many progresses have been done to solve path planning problems in the presence of obstacles, only few work consider loop closure constraints. In this paper, we present the AtlasRRT algorithm, a planner specially tailored f...

We report a young woman presenting with digital gangrene, paranasal sinusitis, mononeuritis multiplex, and rapidly progressive glomerulonephritis without asthma and eosinophilia - an extremely rare variant of this disease.

Sampling-based algorithms for path planning have achieved great success during the last 15 years, thanks to their ability to efficiently solve complex high-dimensional problems. However, standard versions of these algorithms cannot guarantee optimality or even high-quality for the produced paths. In recent years, variants of these methods, taking cost criteria into account during the exploratio...