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  • 1995-1999  (3)
  • Biped locomotion  (1)
  • Half-Fourier imaging  (1)
  • Key words Atrophy of cerebellar granular layer  (1)
  • 1
    ISSN: 1432-0533
    Keywords: Key words Atrophy of cerebellar granular layer ; MELAS ; Neuropathology ; White matter gliosis
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract This report concerns an autopsy case of mitochondrial myopathy, encephalopathy, lactic acidosis, and stroke-like episodes (MELAS) with unusual neuropathological findings. The patient was a Japanese woman who was 21 years old at the time of death. Her mother is a patient with genetically confirmed MELAS. Her clinical manifestations included convulsions and lactic acidosis in the latter half of the first decade of life, followed by deafness, dementia, muscle weakness in the lower extremities, slight ataxia in the upper and lower extremities, and diabetes mellitus. Muscle biopsy revealed ragged-red fibers, and genetic study showed a point mutation at nucleotide pair 3243 in mitochondrial DNA. She died of lactic acidosis. In the clinical course, she did not develop stroke-like episodes. The neuropathological examination revealed not only minute to small necrotic foci in the cerebral cortex, amygdala, hippocampus, and cerebellum, but also prominent white matter gliosis in the central nervous system and cerebellar cortical degeneration of granular cell type. Our neuropathological findings, including prominent white matter gliosis of the central nervous system and cerebellar cortical degeneration of granular cell type, may indicate morphologically widespread cellular dysfunction, not restricted to either neuronal or vascular derangement, in the brain pathology of MELAS.
    Type of Medium: Electronic Resource
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  • 2
    ISSN: 1432-1084
    Keywords: Key words: Cisternography ; MR imaging ; Half-Fourier imaging ; Cranial nerves
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract. Application of a three-dimensional half-fourier single-shot fast spin-echo sequence to MR cisternography is presented. This technique is capable of demonstrating normal cranial nerves. It is also useful in screening for acoustic neuroma as well as in the diagnosis of neurovascular compression.
    Type of Medium: Electronic Resource
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  • 3
    Electronic Resource
    Electronic Resource
    Springer
    Artificial life and robotics 3 (1999), S. 55-60 
    ISSN: 1614-7456
    Keywords: Biped locomotion ; Optimal motion ; Inverse kinematics ; Inverse dynamics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract In this paper we propose a calculation method for the optimal trajectory of a biped locomotion machine which is based on inverse kinematics and inverse dynamics. First, the trajectory of the waist is expressed by a Fourier series, where the bases are selected appropriately so that the periodic boundary conditions are strictly satisfied. A biped locomotion machine establishes optimal walking by using kicking forces to the ground at the moment of switching legs. In order to include the effecs of the kicking forces, additional terms that indicate the impulsive forces at the moment of switching legs are included in the formulation. Then the angles of each joint are determined by inverse kinematics, and using inverse dynamics, the input torques of each joint are expressed in terms of Fourier coefficients. By defining the performance index as a quadratic form of the input torques, the motion planning problem is formulated as an optimization problem of the trajectory of the waist, whose paramaters are Fourier coefficients of the trajactory of the waist. Using the successive quadratic programming (SQP) method, the optimal trajectory of a biped locomotion machine is obtained.
    Type of Medium: Electronic Resource
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