Photodynamic therapy response in cats with cutaneous squamous cell carcinoma as a function of fluence

The response of advanced stage cutaneous squamous cell carcinomas (SCC) following treatment with photodynamic therapy (PDT) has been poor. It was the aim of this pilot study to determine whether an increase in the delivered fluence (i.e. energy density) would improve the duration of tumour remission in cats with advanced-stage SCC. Tumours were treated with aluminium phthalocyanine tetrasulphonate (AlPcS₄) PDT at a fluence of either 100 J cm⁻² or 200 J cm⁻² and tumour response was evaluated at regular intervals. Those feline tumours treated with a fluence of 100 J cm⁻² ( n = 8) had a significantly shorter median remission duration (69 days; range 0–619 days) than those feline tumours treated with 200 J cm⁻² ( n = 6; 522 days; range 151–1057 days). It is our conclusion that a fluence of 200 J cm⁻² is well tolerated and more effective when treating cats with advanced stage cutaneous SCC.     

基于距离误差的机器人参数辨识模型与冗余性分析

为避免机器人运动学参数辨识过程中,测量坐标系与机器人基坐标系之间繁琐的坐标变换,首先利用关节旋量的空间几何特性,提出了基于伴随变换的距离误差模型。其次,针对距离误差模型中可辨识参数的冗余性,通过辨识雅可比矩阵的零空间分析,确定了可辨识参数的数目与误差测量方式之间的关系。确定了绕对应关节旋转的测量方式和相对初始位形的测量方式下可辨识参数的数目。最后,对KUKA youBot机器人的运动学参数辨识进行了实验研究,实验结果验证了距离误差模型的有效性和参数冗余性分析的正确性。