ARS: AI-Driven Recovery Controller for Quadruped Robot Using Single-Network Model.

Legged robots, especially quadruped robots, are widely used in various environments due to their advantage in overcoming rough terrains. However, falling is inevitable. Therefore, the ability to overcome a falling state is an essential ability for legged robots.

Prediction of compensated liver cirrhosis by ultrasonography and routine blood tests in patients with chronic viral hepatitis.

Background/aims: Liver biopsy is a standard method for diagnosis of liver cirrhosis in patients with chronic hepatitis. Because liver biopsy is an invasive method, non-invasive methods have been used for diagnosis of compensated liver cirrhosis in patients with chronic hepatitis. The current study was designed to evaluate the usefulness of ultrasonography and routine blood tests for diagnosis of compensated liver cirrhosis in patients with chronic viral hepatitis.