ABSTRACT
Complete coverage path planning requires that the mobile robot traverse all reachable positions in the environmental map. Aiming at the problems of local optimal path and high path coverage ratio in the complete coverage path planning of the traditional biologically inspired neural network algorithm, a complete coverage path planning algorithm based on Q-learning is proposed. The global environment information is introduced by the reinforcement learning method in the proposed algorithm. In addition, the Q-learning method is used for path planning at the positions where the accessible path points are changed, which optimizes the path planning strategy of the original algorithm near these obstacles. Simulation results show that the algorithm can automatically generate an orderly path in the environmental map, and achieve 100% coverage with a lower path repetition ratio.
ABSTRACT
Purpose: To investigate whether the K-line classification in different cervical dynamic position of patients with Ossification of the Posterior Longitudinal Ligament (OPLL) affects clinical outcome after Anterior Controllable Antedisplacement and Fusion (ACAF) surgery. Methods: A total of 93 patients who suffered from cervical spondylosis caused by OPLL underwent ACAF surgery between June 2015 and December 2017 in a single institution. Neutral, neck-flexed and neck-extended cervical radiographs were obtained from every patient. Subsequently they were classified into K-line (+) and K-line (-) with reference to the K-line classification criteria. Clinical outcomes were assessed by the JOA score, improvement rate (IR) and visual analogue scale (VAS). Radiological assessment included Cobb angle and occupation ratio (OR) of OPLL. Correlations between the long-term surgical outcomes and classification of K-line in different dynamic position were analyzed by one-way analysis of variance. Results: Significant improvements were shown in all postoperative clinical and radiographic assessments (P < 0.05). There were no differences in IR, Cobb angle and VAS among flexion K-line (-), flexion K-line (+), extension K-line (-) and extension K-line (+) at the 2-year follow-up (P > 0.05). However, the OR of extension K-line (-) (16.13% ± 11.58%) was higher than that of extension K-line (+) (9.00% ± 10.27%) and flexion K-line (+) subgroup (9.47% ± 9.97%) (P < 0.05). Conclusion: The ACAF procedure has shown satisfactory surgical outcomes in various K-line classifications in different dynamic position.
ABSTRACT
Lactotropes are prolactin (PRL)-secreting endocrine cells in the anterior pituitary. We have established the zinc finger protein ZBTB20 as an essential transcription factor for lactotrope specification, the disruption of which results in complete loss of lactotropes in mice. However, the potential role of ZBTB20 in mature lactotropes remains unclear. Here we demonstrate that ZBTB20 acts as a critical cell-autonomous regulator for PRL expression in mature lactotropes in adult mice. Via a CRISPR/Cas9 approach, we first generated a tamoxifen-inducible Prl-CreER knockin mouse line that could efficiently mediate gene recombination specifically in lactotropes. Conditional deletion of the Zbtb20 gene specifically in mature lactotropes at adulthood led to a substantial decrease in PRL levels both in the pituitary and in plasma, without significant alterations of lactotrope relative density in the pituitary from male or female mice. Furthermore, conditional disruption of Zbtb20 in adult female mice did not significantly change pregnancy-elicited lactotrope expansion, but caused an impaired mammary gland expansion and lactation due to the PRL defect. Thus, our data point to an important role of ZBTB20 in regulating PRL expression and lactotrope function at adulthood.
