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This paper deals with a formation control problem of nonholonomic mobile robots with obstacle avoidance. It is known that the mobile robots can achieve an arbitrary formation asymptotically by using virtual structures of the robots. However, in the presence of some obstacles, the real robots may not be able to avoid them even if the corresponding virtual(More)
OBJECTIVE Vascular endothelial growth factor (VEGF)-C is known to be associated with angiogenesis and lymphangiogenesis in various cancers. However, little is known about the clinical significance of determining the blood level of VEGF-C in patients with colorectal cancer. METHODS Plasma levels of VEGF-C in patients with colorectal cancer (n = 127) and(More)
Focal adhesion kinase (p125(FAK); 'FAK') is a tyrosine kinase that is localised to cellular focal adhesions and is associated with a number of other proteins, such as integrin adhesion receptors. We performed an immunohistochemical analysis of FAK protein expression to determine the relationship between FAK overexpression and clinicopathological factors in(More)
After HRp injection into the posterior cricoarytenoid (PCA), the thyroarytenoid (TA), the lateral cricoarytenoid (LCA) and the interarytenoid (IA) muscles, labeled neurons were identified in the nucleus ambiguus ipsilaterally. The motoneurons for the cricothyroid muscle (CT) were found ipsilaterally in the retrofacial and ambiguus nuclei. The labeled cell(More)
Following HRP (Horseradish Peroxidase) injections to cricothyroid muscle, recurrent laryngeal nerve and the vagal nerve at the level of nodose ganglion, labeled motoneurons were found to show a characteristic distribution in the brain stem of the monkey. Cricothyroid motoneurons extended from a level caudal to the facial nucleus to a level caudal to the(More)
After HRP injection into the geniohyoid muscle labeled neurons were found in the ventral part of the hypoglossal nucleus, extending in the rostral two-thirds (about) of this nucleus. After HRP injection in to the thyrohyoid muscle, the labeled neurons were identified in the lateral part of the caudal one-third (about) of the hypoglossal nucleus and in the(More)
Transforming growth factor beta (TGF-beta) regulates growth of various cells, and inactivation of the TGF-beta signaling pathway contributes to tumor progression. Smad2 is phosphorylated and activated by TGF-beta, resulting in the antiproliferative effects of TGF-beta signaling. Smurf2 (Smad ubiquitination regulatory factor 2) was identified as the Smad(More)
treatment, thereby reducing the difference in treatment results among different institutions; (3) to reduce unnecessary costs and efforts; (4) help enable people to undergo treatment without anxiety. These guidelines provide only guidance on the indications for treatment and do not restrict or prohibit the use of any treatment deviating from those described(More)
Following horseradish peroxidase (HRP) injection into the cephalopharyngeal muscle (CeP), the hyopharyngeal muscle (HP), the thyropharyngeal muscle (TP), the cricopharyngeal muscle (CP) and the cervical esophagus muscle (CE) of the cat, labeled neurons were identified in the nucleus retrofacialis and the rostral part of the nucleus ambiguus ipsilaterally.(More)