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- Fernebro, Eva, et al.
(författare)
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Prognostic importance of the soluble plasminogen activator receptor, suPAR, in plasma from rectal cancer patients
- 2001
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Ingår i: European Journal of Cancer. - 1879-0852. ; 37:4, s. 486-491
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Tidskriftsartikel (refereegranskat)abstract
- Colorectal cancer is one of the most common tumour types with approximately one third of the tumours located within the rectum. Rectal cancer differs somewhat from colon cancer, e.g. regarding the method of operation and the use of preoperative radiotherapy due to a tendency for local tumour recurrence. Proteolytic enzymes have been identified as key molecules in tumour invasion and metastasis, and factors within the urokinase-plasminogen activation (uPA) system have been associated with prognosis in several tumour types, including colorectal cancer. Recently, methods have been developed to analyse the soluble fraction of the plasminogen activator receptor (suPAR) in blood samples. An association between elevated suPAR levels and poor prognosis has recently been demonstrated in colorectal cancer. We have measured suPAR levels in pretreatment plasma samples from 173 rectal cancer patients in order to confirm its prognostic strength in this clinical entity. suPAR levels were determined in ethylenediamine tetraacetic acid (EDTA) plasma by a kinetic enzyme-linked immunosorbent assay (ELISA) and analysed with respect to sex, age, Dukes' stage, tumour differentiation grade and survival. In a univariate analysis, continuous suPAR plasma levels were associated with survival (P<0.001) with shorter survival among patients with high suPAR values. Patients with suPAR values within the upper quartile had significantly shorter survival (hazard ratio (HR) 2.2, 95% confidence interval (CI) 1.3-43.7, P=0.002). In a multivariate Cox analysis, increasing suPAR values predicted shorter survival independent from Dukes' stage and tumour differentiation grade with an adjusted HR of 2.2 per ng/ml suPAR (95% CI 1.2-4.0, P=0.01). This study thus confirms that measurement of suPAR in preoperative plasma samples gives independent prognostic information in rectal cancer patients, higher values being associated with shorter survival.
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- Jensfelt, Patric, et al.
(författare)
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Pose tracking using laser scanning and minimalistic environmental models
- 2001
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Ingår i: IEEE transactions on robotics and automation. - : Institute of Electrical and Electronics Engineers (IEEE). - 1042-296X. ; 17:2, s. 138-147
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Tidskriftsartikel (refereegranskat)abstract
- Keeping track of the position and orientation over time using sensor data, i.e., pose tracking, is a central component in many mobile robot systems. In this paper, we present a Kalman filter-based approach utilizing a minimalistic environmental model. By continuously updating the pose, matching the sensor data to the model is straightforward and outliers can be filtered out effectively by validation gates, The minimalistic model paves the way for a low-complexity algorithm with a high degree of robustness and accuracy. Robustness here refers both to being able to track the pose for a long time, but also handling changes and clutter in the environment. This robustness is gained by the minimalistic model only capturing the stable and large scale features of the environment. The effectiveness of the pose tracker will be demonstrated through a number of experiments, including a run of 90 min, which clearly establishes the robustness of the method.
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- Kragic, Danica, et al.
(författare)
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Cue integration for visual servoing
- 2001
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Ingår i: IEEE transactions on robotics and automation. - : Institute of Electrical and Electronics Engineers (IEEE). - 1042-296X. ; 17:1, s. 18-27
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Tidskriftsartikel (refereegranskat)abstract
- The robustness and reliability of vision algorithms is, nowadays, the key issue in robotic research and industrial applications. To control a robot in a closed-loop fashion, different tracking systems have been reported in the literature, A common approach to increased robustness of a tracking system is the use of different models (CAD model of the object, motion model) known a priori, Our hypothesis is that fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. A particular application is the estimation of a robot's end-effector position in a sequence of images. The research investigates the following two different approaches to cue integration: 1) voting and 2) fuzzy logic-based fusion, The two approaches have been tested in association,vith scenes of varying complexity. Experimental results clearly demonstrate that fusion of cues results in a tracking system with a robust performance. The robustness is in particular evident for scenes with multiple moving objects and partial occlusion of the tracked object.
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