@article{BachmannSchrederEngelhardtetal.2021, author = {Bachmann, Friederike and Schreder, Martin and Engelhardt, Monika and Langer, Christian and Wolleschak, Denise and M{\"u}gge, Lars Olof and D{\"u}rk, Heinz and Sch{\"a}fer-Eckart, Kerstin and Blau, Igor Wolfgang and Gramatzki, Martin and Liebisch, Peter and Grube, Matthias and Metzler, Ivana v. and Bassermann, Florian and Metzner, Bernd and R{\"o}llig, Christoph and Hertenstein, Bernd and Khandanpour, Cyrus and Dechow, Tobias and Hebart, Holger and Jung, Wolfram and Theurich, Sebastian and Maschmeyer, Georg and Salwender, Hans and Hess, Georg and Bittrich, Max and Rasche, Leo and Brioli, Annamaria and Eckardt, Kai-Uwe and Straka, Christian and Held, Swantje and Einsele, Hermann and Knop, Stefan}, title = {Kinetics of renal function during induction in newly diagnosed multiple myeloma: results of two prospective studies by the German Myeloma Study Group DSMM}, series = {Cancers}, volume = {13}, journal = {Cancers}, number = {6}, issn = {2072-6694}, doi = {10.3390/cancers13061322}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-234139}, year = {2021}, abstract = {Background: Preservation of kidney function in newly diagnosed (ND) multiple myeloma (MM) helps to prevent excess toxicity. Patients (pts) from two prospective trials were analyzed, provided postinduction (PInd) restaging was performed. Pts received three cycles with bortezomib (btz), cyclophosphamide, and dexamethasone (dex; VCD) or btz, lenalidomide (len), and dex (VRd) or len, adriamycin, and dex (RAD). The minimum required estimated glomerular filtration rate (eGFR) was >30 mL/min. We analyzed the percent change of the renal function using the International Myeloma Working Group (IMWG) criteria and Kidney Disease: Improving Global Outcomes (KDIGO)-defined categories. Results: Seven hundred and seventy-two patients were eligible. Three hundred and fifty-six received VCD, 214 VRd, and 202 RAD. VCD patients had the best baseline eGFR. The proportion of pts with eGFR <45 mL/min decreased from 7.3\% at baseline to 1.9\% PInd (p < 0.0001). Thirty-seven point one percent of VCD versus 49\% of VRd patients had a decrease of GFR (p = 0.0872). IMWG-defined "renal complete response (CRrenal)" was achieved in 17/25 (68\%) pts after VCD, 12/19 (63\%) after RAD, and 14/27 (52\%) after VRd (p = 0.4747). Conclusions: Analyzing a large and representative newly diagnosed myeloma (NDMM) group, we found no difference in CRrenal that occurred independently from the myeloma response across the three regimens. A trend towards deterioration of the renal function with VRd versus VCD may be explained by a better pretreatment "renal fitness" in the latter group.}, language = {en} } @phdthesis{Hess2009, author = {Hess, Martin}, title = {Motion coordination and control in systems of nonholonomic autonomous vehicles}, isbn = {978-3-923959-55-6}, doi = {10.25972/OPUS-3794}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-46442}, school = {Universit{\"a}t W{\"u}rzburg}, year = {2009}, abstract = {This work focuses on coordination methods and the control of motion in groups of nonholonomic wheeled mobile robots, in particular of the car-like type. These kind of vehicles are particularly restricted in their mobility. In the main part of this work the two problems of formation motion coordination and of rendezvous in distributed multi-vehicle systems are considered. We introduce several enhancements to an existing motion planning approach for formations of nonholonomic mobile robots. Compared to the original method, the extended approach is able to handle time-varying reference speeds as well as adjustments of the formation's shape during reference trajectory segments with continuously differentiable curvature. Additionally, undesired discontinuities in the speed and steering profiles of the vehicles are avoided. Further, the scenario of snow shoveling on an airfield by utilizing multiple formations of autonomous snowplows is discussed. We propose solutions to the subproblems of motion planning for the formations and tracking control for the individual vehicles. While all situations that might occur have been tested in a simulation environment, we also verified the developed tracking controller in real robot hardware experiments. The task of the rendezvous problem in groups of car-like robots is to drive all vehicles to a common position by means of decentralized control laws. Typically there exists no direct interaction link between all of the vehicles. In this work we present decentralized rendezvous control laws for vehicles with free and with bounded steering. The convergence properties of the approaches are analyzed by utilizing Lyapunov based techniques. Furthermore, they are evaluated within various simulation experiments, while the bounded steering case is also verified within laboratory hardware experiments. Finally we introduce a modification to the bounded steering system that increases the convergence speed at the expense of a higher traveled distance of the vehicles.}, subject = {Robotik}, language = {en} }