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The purpose of this study was to investigate the reliability and validity of the Chinese version of Pelvic Floor Distress Inventory (PFDI) and Pelvic Floor Impact Questionnaire (PFIQ). Women who presented for pelvic floor disorders completed the Chinese version of PFDI and PFIQ, SF-36, a 3-day urinary and fecal diary. POP-Q assessment, urodynamic study,(More)
In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a(More)
We describe a framework that combines a software development paradigm, a software visualization technique, and a tool for robot programming. This infrastructure is called “Graphical State Space Programming” (GSSP), and allows robot application programs to be decomposed and visualized within state-dependent views. Our approach simplifies and(More)
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which interleaves efficient model-based object detection with temporal filtering of image-based bounding box estimation. This(More)
This paper presents an approach to learn meaningful spatial relationships in an unsupervised fashion from the distribution of 3D object poses in the real world. Our approach begins by extracting an over-complete set of features to describe the relative geometry of two objects. Each relationship type is modeled using a relevance-weighted distance over this(More)
BACKGROUND Polypoid lesions of the gallbladder encompass a wide variety of pathology. Although most of these lesions are benign, some early carcinomas of the gallbladder do present as polypoid lesions. Problems remain in selecting patients with polypoid lesions of the gallbladder for surgery, the operative approach, and the method of follow-up of those(More)
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