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Academic literature on the topic 'Bower manuscript'

Author: Grafiati
Published: 26 July 2024
Last updated: 28 July 2024

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Journal articles on the topic "Bower manuscript"

1

Leonti, Marco, and Laura Casu. "Soma, food of the immortals according to the Bower Manuscript (Kashmir, 6th century A.D.)." Journal of Ethnopharmacology 155, no. 1 (August 2014): 373–86. http://dx.doi.org/10.1016/j.jep.2014.05.029.

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2

Clanchy, Michael. "Images of Ladies with Prayer Books: What do they Signify?" Studies in Church History 38 (2004): 106–22. http://dx.doi.org/10.1017/s042420840001576x.

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Monastic illumination of manuscripts gave to writings a force and prestige which was unprecedented. Throughout the millennium of western monasticism (500-1500 A.D.), the rich founded monasteries so that monks might pray and worship on their behalf. The monks displayed the fruit of their labours to their patrons in their churches and other works of art, particularly in their books. When with growing prosperity from about 1250 onwards the demand for individual prayer reached down to the middle class of knights and burgesses, they began to want wonderworking books of their own. They could not afford to buy a chantry chapel or a jewelled reliquary, but a small illuminated manuscript came within their means as the first step towards the purchase of paradise. Ladies in particular took to reciting the Latin Psalter and treasuring illuminated Books of Hours. In fifteenth-century depictions of the Annunciation, Mary is often shown seated in a sunlit bower with an open Book of Hours on her lap or displayed on a lectern. Likewise she is sometimes depicted with the Child Jesus on her knee, showing him a Book of Hours. The habit of possessing books might never have reached the laity if writing had not been so luxurious and so covetable. Illumination introduced the laity to script through images which could not fail to attract the eye. The children of the prosperous were introduced to the Psalter by their mothers or a priest for the purpose both of learning to read and of beginning formal prayer. To own a Psalter was therefore an act of familial as well as public piety.These words were written twenty years ago, for a conference at the Library of Congress in 1980 on ‘Literacy in historical perspective’. Since then, these themes have been addressed in several lectures and research papers at conferences, and I would stand by the main ideas expressed in that passage. Monks had indeed given extraordinary prestige to books and in particular to the illuminated liturgical book, which is a medieval invention. By the thirteenth century such books were being adapted for lay use and ownership, typically in Books of Hours. However, it is mistaken to say that lay use ‘began’ then, as the aristocracy – particularly in Germany – had been familiar with prayer books for centuries. In the twelfth century, Hildegard of Bingen was said to have learned only the Psalter ‘as is the custom of noble girls’. A Psalter for lay use dating from c.1150, which belonged to Clementia von Zähringen, has been preserved. It contains a full-page portrait of a lady – presumably Clementia herself – at folio 6v between the end of the Calendar and the Beatus page beginning the Psalms. This book has 126 folios in its present state (possibly one folio is missing at the end) and it measures 11 cm X 7 cm, no larger than a woman’s hand. The biography of Marianus Scotus, the eleventh-century Irish hermit who settled at Regensburg, describes how he wrote for poor widows and clerics ‘many little books and many Psalter manuals’ (‘multos libellos multaque manualia psalteria’). The diminutive form ‘libellos’ and the adjective ‘manualia’ emphasise that these manuscripts were small enough to hold in the hand, like Clementia von Zähringen’s book.
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Garcia, Francisco A. R., and Joel M. Childers. "Laparoscopic Bowel Injuries Among Gynecologic Patients." Diagnostic and Therapeutic Endoscopy 3, no. 4 (January 1, 1997): 241–47. http://dx.doi.org/10.1155/dte.3.241.

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Bowel injury is an uncommon but recognized risk of operative laparoscopy. Because of the significant morbidity that can occur with this complication, it is important that clinicians be aware of its incidence, presentation, and management. This manuscript outlines the common causes of bowel injury, including herniation and traumatic bowel perforation. Management of laparoscopic bowel injuries is discussed and recommendations are made for avoidance of such complications.
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Bokova, Elizaveta, Wendy Jo Svetanoff, John M. Rosen, Marc A. Levitt, and Rebecca M. Rentea. "State of the Art Bowel Management for Pediatric Colorectal Problems: Functional Constipation." Children 10, no. 6 (June 19, 2023): 1078. http://dx.doi.org/10.3390/children10061078.

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Background: Functional constipation (FC) affects up to 32% of the pediatric population, and some of these patients are referred to pediatric surgery units to manage their constipation and/or fecal incontinence. The aim of the current paper is to report the recent updates on the evaluation and management of children with FC as a part of a manuscript series on bowel management in patients with anorectal malformations, Hirschsprung disease, spinal anomalies, and FC. Methods: A literature search was performed using Medline/PubMed, Google Scholar, Cochrane, and EMBASE databases and focusing on the manuscripts published within the last 5–10 years. Results: The first step of management of children with FC is to exclude Hirschsprung disease with a contrast study, examination under anesthesia, anorectal manometry (AMAN). If AMAN shows absent rectoanal inhibitory reflex, a rectal biopsy is performed. Internal sphincter achalasia or high resting pressures indicate botulinum toxin injection. Medical management options include laxatives, rectal enemas, transanal irrigations, and antegrade flushes. Those who fail conservative treatment require further assessment of colonic motility and can be candidates for colonic resection. The type of resection (subtotal colonic resection vs. Deloyer’s procedure) can be guided with a balloon expulsion test. Conclusion: Most of the patients with FC referred for surgical evaluation can be managed conservatively. Further studies are required to determine an optimal strategy of surgical resection in children unresponsive to medical treatment.
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Novichkov, Aleksei Valer'evich, and Aleksei Anatol'evich Reznikov. "MILITARY-STRATEGIC PREPARATION OF GREAT BRITAIN DURING THE SECOND ANGLO-BOER WAR." Manuscript, no. 4 (May 2018): 55–58. http://dx.doi.org/10.30853/manuscript.2018-4.11.

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6

Kajdańska, Aleksandra. "Transkulturowe znaczenie ksiąg ubioru na przykładzie hiszpańskiego Boxer Codex w nowożytnej Europie." Gdańskie Studia Azji Wschodniej, no. 24 (December 2023): 215–36. http://dx.doi.org/10.4467/23538724gs.23.033.19028.

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The transcultural significance and the significance for costuming of a book on dress: The Boxer Codex in early-modern Europe The Boxer Codex is a Spanish manuscript dated approximately to 1590. It was written in the Philippines in Manila, having been commissioned by the contemporary governor of Manila, Gomez Pérez Desmariñas. The document is called after the name of the last private owner of the codex, Charles R. Boxer, a historian and specialist on the history of colonialism in Asia. It contains illustrations showing figures in costumes representing peoples living in areas colonized by the Spaniards in Asia (The Philippines) and neighbouring lands, such as China, Japan, the Spice Islands (the Moluccas), Brunei, Java, Siam (Thailand), Northern and Central Vietnam, and others. Alongside the illustrations are texts describing the geography and customs of the minorities who live there; these, research shows, may be copies from the work of Martin de Rada, Miguel Rojo de Brito, and other anonymous authors. This article examines the manuscript from the perspective of costume studies. Because of the very extensive material in the manuscript, the author has selected several illustrations connected with Chinese dress in order to show its richness and the first European view of Chinese culture on the threshold of modern times. The author juxtaposes these with the already well-known accounts of the Polish sinologist Michał Boym (1612-1659). Boym’s accounts of Chinese dress (and not just of that) form a supplement to the illustrations from The Boxer Codex. This manuscript is also one of the first documents relating to the so-called volumes of costumes, which were put together both in Europe and in the Far East, and which made it possible to learn about still undiscovered countries and their inhabitants.
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Rawat, Rajneesh, Manik Gedam, Jyoti Baghel, and Shalini Baghel. "A rare association of uterine leiomyoma with mesenteric vein thrombosis and bowel gangrene: case report." International Journal of Reproduction, Contraception, Obstetrics and Gynecology 10, no. 4 (March 24, 2021): 1721. http://dx.doi.org/10.18203/2320-1770.ijrcog20211167.

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Uterine fibroids are the most common benign pelvic tumors in women. There are many complications reported with fibroids. However, mesenteric vein thrombosis and small bowel gangrene caused by a uterine fibroid are rare. This manuscript reports a rare case of 40 year female with a large uterine fibroid associated with mesenteric vein thrombosis and bowel ischemia. She underwent exploratory laparotomy in which resection of gangrenous bowel including jejunum and ileum was done along with left sided jejunostomy and right sided ileostomy. Total abdominal hysterectomy with bilateral salpingooophorectomy was done followed by jejunoileal anastomosis 6 weeks later. Hence, in patients presenting with acute abdomen and uterine fibroids, bowel gangrene must be included in the differential diagnosis.
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Bokova, Elizaveta, Wendy Jo Svetanoff, Joseph J. Lopez, Marc A. Levitt, and Rebecca M. Rentea. "State of the Art Bowel Management for Pediatric Colorectal Problems: Anorectal Malformations." Children 10, no. 5 (May 8, 2023): 846. http://dx.doi.org/10.3390/children10050846.

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Up to 79% of patients with anorectal malformations (ARMs) experience constipation and/or soiling after a primary posterior sagittal anoplasty (PSARP) and are referred to a bowel management program. We aim to report the recent updates in evaluating and managing these patients as part of the manuscript series on the current bowel management protocols for patients with colorectal diseases (ARMs, Hirschsprung disease, functional constipation, and spinal anomalies). The unique anatomic features of ARM patients, such as maldeveloped sphincter complex, impaired anal sensation, and associated spine and sacrum anomalies, indicate their bowel management plan. The evaluation includes an examination under anesthesia and a contrast study to exclude anatomic causes of poor bowel function. The potential for bowel control is discussed with the families based on the ARM index calculated from the quality of the spine and sacrum. The bowel management options include laxatives, rectal enemas, transanal irrigations, and antegrade continence enemas. In ARM patients, stool softeners should be avoided as they can worsen soiling.
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López Ruiz, María del Carmen. "David Hamidovič, Claire Clivaz, Sarah Bowen Savant (eds.), in coll. with Alessandra Marguerat, Ancient Manuscripts in Digital Culture. Visualization, Data Mining, Communication, Brill, Leiden–Boston 2019 (Digital Biblical Studies, 3), PP. XVI + 28." Mediterranea. International Journal on the Transfer of Knowledge 6 (March 31, 2021): 357–60. http://dx.doi.org/10.21071/mijtk.v6i.13012.

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Review of: David Hamidovič, Claire Clivaz, Sarah Bowen Savant (eds.), in coll. with Alessandra Marguerat, Ancient Manuscripts in Digital Culture. Visualization, Data Mining, Communication, Brill, Leiden–Boston 2019 (Digital Biblical Studies, 3), PP. XVI + 28
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Nair, Jayasree, and Akhil Maheshwari. "Non-coding RNAs in Necrotizing Enterocolitis- A New Frontier?" Current Pediatric Reviews 18, no. 1 (February 2022): 25–32. http://dx.doi.org/10.2174/1573396317666211102093646.

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Abstract: With the recognition that only 2% of the human genome encodes for a protein, a large part of the “non-coding” portion is now being evaluated for a regulatory role in cellular processes. These non-coding RNAs (ncRNAs) are subdivided based on the size of the nucleotide transcript into microRNAs (miRNAs) and long non-coding RNAs (lncRNAs), but most of our attention has been focused on the role of microRNAs (miRNAs) in human health and disease. Necrotizing enterocolitis (NEC), an inflammatory bowel necrosis affecting preterm infants, has a multifactorial, unclear etiopathogenesis, and we have no specific biomarkers for diagnosis or the impact of directed therapies. The information on ncRNAs, in general, and particularly in NEC, is limited. Increasing information from other inflammatory bowel disorders suggests that these transcripts may play an important role in intestinal inflammation. Here, we review ncRNAs for definitions, classifications, and possible roles in prematurity and NEC using some preliminary information from our studies and from an extensive literature search in multiple databases including PubMed, EMBASE, and Science Direct. miRNAs will be described in another manuscript in this series, hence in this manuscript we mainly focus on lncRNAs.
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Books on the topic "Bower manuscript"

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G, Chandler David, and Army Records Society (Great Britain), eds. Military miscellany II: Manuscripts from Marlborough's wars, the American War of Independence and the Boer War. Stroud: Sutton PublishingSociety, 2005.

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2

Rietberg, Museum, ed. The glory of the Great Goddess: An illustrated manuscript from Kashmir from the Alice Boner Collection in the Museum Rietberg Zürich. Zürich: Museum Rietberg Zürich, 1989.

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Fischer, E. Die Perlenkette dem Geliebten: Elf illustrierte Palmblätter zur Rasika Haravali-Romanze des Dichters Upendra Bhanja von Orissa, Indien aus der Sammlung Alice Boner im Museum Rietberg Zürich. Zürich: Museum Rietberg Zürich, 1990.

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4

XLPress, Notebooks. German Boxer: Blank Sheet Music 150 Pages 6 X 9 in. 11 Staves per Page Music Staff Composition Notation Songwriting Staff Manuscript. Independently Published, 2019.

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Hassan, Hamidah, Santhna Letchmi Panduragan, Samsiah Mat, Mohd Said Nurumal, and Jalina Karim, eds. Essential Nursing Guidelines: Clinical skills and Procedures. UMS Press, 2021. http://dx.doi.org/10.51200/essentialnursingguidelinesumspress2021-978-967-2962-88-5.

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This book was an amalgamation of 120 contributors from various fields of nursing throughout Malaysia who shared their opinions and experiences in privileging this book for use in the nursing practice. The Malaysian Nursing Board collaborated during the later stage of the manuscript development to ensure complete and accurate content. The scope of skills encompasses the basics of nursing procedures and procedures specialised care. It has 17 units of basic components of care that comprise 136 procedures needed in nursing practice. The book is created based on the requirements of 14 ADL covering the following aspects; Fundamental of Nursing, Vital Signs, Personal Hygiene, Bed Making, Moving and Positioning, Maintaining Airway and Oxygenation, Oral and Enthral Nutrition, Specimen, Bowel and Elimination, Comfort Measures, Medication, Intravenous, Wound Care, Bandages, Intraoperative Procedures, Special Procedures and Care After Death. The skills and procedures were selected and consulted with experienced clinicians, nursing lecturers, nurse instructors and significant others whom we had wisely sought to ensure the book quality is sure-fire.
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XLPress, Notebooks. Boxer Dog: Blank Sheet Music 150 Pages 8. 5 X 11 in. 12 Staves per Page Music Staff Composition Notation Songwriting Staff Manuscript. Independently Published, 2019.

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7

Rensselaer, Kiliaen van. Van Rensselaer Bowier Manuscripts: Being The Letters Of Kiliaen Van Rensselaer, 1630-1643, And Other Documents Relating To The Colony Of Rensselaerswyck. Franklin Classics, 2018.

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Kotb. Delicious Colon Relief Diet : Secrets for Irritable Bowel and Diverticulitis Relief : 2 Manuscripts: The Leaky Gut Miracle and Think Like Your Colon. Independently Published, 2018.

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Rensselaer, Kiliaen Van. Van Rensselaer Bowier Manuscripts: Being the Letters of Kiliaen Van Rensselaer, 1630-1643, and Other Documents Relating to the Colony of Rensselaerswyck. Franklin Classics Trade Press, 2018.

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Rensselaer, Kiliaen Van. Van Rensselaer Bowier Manuscripts: Being the Letters of Kiliaen Van Rensselaer, 1630-1643, and Other Documents Relating to the Colony of Rensselaerswyck. Franklin Classics Trade Press, 2018.

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Book chapters on the topic "Bower manuscript"

1

Bensasson, R. v., E. J. Land, and T. G. Truscott. "Light and ionizing radiation: generation of excited states and radicals." In Excited States and Free Radicals in Biology and Medicine, 1–23. Oxford University PressOxford, 1993. http://dx.doi.org/10.1093/oso/9780198555605.003.0001.

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Abstract The sun and light were associated with life and medicine in the most ancient cultures. The Indian sacred book Atharva Veda and. the Buddhist Bower manuscript described, 34 centuries ago, a phototreatment of leukoderma or vitiligo, a disease characterized by depigmented patches of skin (see Chapter 9). The deleterious effects of sunlight were also known thousands of years ago. This century we have learned what light is, what are the excited states and the radicals formed by the interaction of light with molecules, and what are the other possible sources of excited states and radicals.
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Brietzke, Zander. "The Remainder in the Middle." In Magnum Opus, 67–89. Yale University Press, 2021. http://dx.doi.org/10.12987/yale/9780300248470.003.0004.

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O’Neill definitively completed A Touch of the Poet and composed a fourth and final draft for that expressed purpose in 1942. The status of More Stately Mansions is more problematic. Scholars have mostly concluded that O’Neill meant to destroy the play and only inadvertently sent the original typescript to Yale as part of his archive. Although O’Neill labeled the play “unfinished,” evidence from the typescript, supported by O’Neill’s Work Diary and Carlotta’s personal diary proves Martha Gilman Bower’s thesis that More Stately Mansions is fully revised and whole. O’Neill wrote in longhand and Carlotta typed an extremely lengthy drama during an intense and dynamic period of a little less than one year. In the 1980s, Bower collated O’Neill’s handwritten edits with Carlotta’s much-revised typescript to create a master text—one that Carlotta would have produced if she had typed the entire 279-page manuscript yet again. Yale University Press published Bower’s unexpurgated version of More Stately Mansions with A Touch of the Poet in 2004. The 568 pages of a single volume reveal the substantial remains of the Cycle.
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Leader, Zachary. "Coleridge’s Revisionary Complexity." In Revision and Romantic Authorship, 121–63. Oxford University PressOxford, 1996. http://dx.doi.org/10.1093/oso/9780198122647.003.0004.

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Abstract The older or established view of Coleridge’s revisions is that he knew what he was doing when he revised, and that his revisions serve wholeness, coherence, perfection of form-in short, unity, called by Coleridge the ‘ultimate end of human Thought and human Feeling’.’ This, of course, is precisely the aesthetic ideal Coleridge himself championed in his criticism, along with those qualities of mind (control, will, coherence of self both in time and over time) from which it is conventionally thought to derive. One well-known example of a revision which conforms to the established view is the cutting of the last six lines of ‘Frost at Midnight’ (lines ‘marvellously describing Hartley’, according to Richard Holmes), so as to end the poem with the image of ‘silent icicles, I Quietly shining to the quiet moon’/ As Coleridge puts it in a manuscript note, the original ending lacked or obscured ‘the rondo, and return upon itself of the Poem’,1 a comment which recalls not only his remark, quoted earlier in reference to Wordsworth, that the common end or shape of all narrative (‘nay of all, Poems’) 1s circular, ‘the snake with it’s Tail in it’s Mouth’,4 but the remark’s personal or poetical application: the pattern of journey or excursion and return found in so many of his poems, including The Ancient Mariner’, The Eolian Harp’, and This Lime-tree Bower My Prison’.
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"Kitty, or the Bower." In Jane Austen's Fiction Manuscripts, Vol. 3. Oxford University Press, 2018. http://dx.doi.org/10.1093/oseo/instance.00259356.

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5

Hsieh, Ellen. "The Power of Images in the Boxer Codex and Cultural Convergence in Early Spanish Manila." In Historical Archaeology of Early Modern Colonialism in Asia-Pacific. University Press of Florida, 2017. http://dx.doi.org/10.5744/florida/9780813054766.003.0006.

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The Boxer Codex is one of the most important documents for the study of the history of the Philippines. Produced in the late sixteenth century, the colorful illustrations of the manuscript offer some of the earliest images of people living in the archipelago and its Asian neighbors at the time. Although the codex, especially its illustrations, has been cited in a variety of Philippine studies, the manuscript has not been examined carefully as an integrated document, combining an analysis of the images and the text. This interdisciplinary study synthesizes methods derived from history, art history, anthropology, and archaeology to focus on the illustrations of the Boxer Codex in terms of both the structure, content, composition, and artistic style and the correlation between the Spanish text and Chinese characters within their historical context. I suggest that the manuscript was designed to promote and justify the Spanish enterprise in the Pacific rather than to present an objective ethnographic record of people in the region. Nonetheless, the Boxer Codex documents cultural exchange and artistic hybridity in early colonial Manila, reflecting the complex ethnic composition of Spain's most distant colony.
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Collins, William Wilkie. "The Story concluded by Walter Hartright." In The Woman in White. Oxford University Press, 2008. http://dx.doi.org/10.1093/owc/9780199535637.003.0013.

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I When I closed the last leaf of the Count’s manuscript, the half-hour during which I had engaged to remain at Forest-road had expired. Monsieur Rubelle looked at his watch, and bowed. I rose immediately, and left the agent in possession of the empty...
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Wiecek, Sabina, and Anna Buczynska. "Lactose Intolerance and Small Intestinal Bacterial Overgrowth (SIBO) in Paediatric Patients with Inflammatory Bowel Disease." In Inflammatory Bowel Disease - Principles and Practice [Working Title]. IntechOpen, 2023. http://dx.doi.org/10.5772/intechopen.1003061.

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In recent years, an increase in the incidence of Inflammatory Bowel Disease has been observed, with particular emphasis on Crohn’s disease and ulcerative colitis in the paediatric population, also in the youngest age group. Underlying factors are genetic, environmental (including the microbiome) and immunological. Clinical manifestations are very often uncharacteristic, and the clinical picture is dominated by abdominal pain, weight/growth deficiency and/or diarrhoea. Similar symptoms occur in the course of lactose intolerance and small intestinal bacterial overgrowth (SIBO). On the other hand, Inflammatory Bowel Diseases (IBD) seem to favour the onset of SIBO and lactose intolerance. Only the diagnosis of these disease entities ensures appropriate therapeutic management. The manuscript analyses the latest literature on the co-occurrence of these disease entities in patients with IBD—especially Crohn’s disease and ulcerative colitis, clinical symptoms, and diagnostic and therapeutic procedures.
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Aptroot, Marion. "Fables in Yiddish Literature." In Fables in Jewish Culture, 45–53. Cornell University Press, 2023. http://dx.doi.org/10.7591/cornell/9781501775833.003.0004.

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This chapter considers the Fable of the Old Lion found in the Cambridge Codex dated 1832 as the oldest Yiddish manuscript that has survived through the ages. A fusion of Jewish and Western traditions can be distinguished in the Fable of the Old Lion, which is found in many works of older Yiddish literature. The chapter mentions the community leader Moses ben Eliezer Wallich, who published Seyfer mesholim or Book of Fables, which includes thirty-four fables in Yiddish. The chapter also discusses the influence of both Berechiah ha-Nakdan and Ulrich Boner on Yiddish fable literature, which is evident throughout the early modern period. It examines the influence of German literature on fables written by Ashkenazic Jews, noting Moshe Pelli's discussion of the fable in the maskilic journal Ha-Me'asef.
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Cornelia Lazăr, Daniela, Elena-Alina Moacă, Mărioara Cornianu, Sorina Tăban, Alexandra Faur, and Adrian Goldiș. "Efficiency of Treatment Targeted on Gut Microbiota in Inflammatory Bowel Diseases: Current Strategies and Perspectives." In Benign Anorectal Disorders - An Update [Working Title]. IntechOpen, 2022. http://dx.doi.org/10.5772/intechopen.108664.

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Inflammatory bowel diseases (IBDs) represent a category of diseases characterized by intestinal inflammation and include two main entities, ulcerative colitis and Crohn’s disease, one of the representative clinical characteristics of which being chronic diarrhea. The etiology of these diseases is multifactorial, combining genetic, immunological, and also environmental factors, along with gut dysbiosis. In recent years, we encountered a higher incidence of IBD cases and of severe forms of disease. Therefore, there is an urgent need to develop new and efficient treatments, including strategies to improve the microbiome. In this chapter, we will discuss the current knowledge about the impact of different therapies influencing gut microbiota, such as prebiotics, probiotics, synbiotics, and other agents in IBD prevention, and also in the induction/maintenance of IBD remission. The manuscript will focus also on potential areas for research in the future using agents that modify intestinal microbiota and combined strategies.
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"Chapter I: The people of Sikka and the Boer and Kondi manuscripts." In The Stranger-Kings of Sikka, 1–54. BRILL, 2010. http://dx.doi.org/10.1163/9789004253773_002.

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Conference papers on the topic "Bower manuscript"

1

Slawinski, Piotr R., Collin T. Garcia, Addisu Z. Taddese, Keith L. Obstein, and Pietro Valdastri. "Towards Recovering a Lost Degree of Freedom in Magnet-Driven Robotic Capsule Endoscopy." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3391.

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Flexible endoscopy, a procedure during which an operator pushes a semi-rigid endoscope through a patient’s gastrointestinal tract, has been the gold-standard screening method for colon cancer screening (colonoscopy) for over 50 years. Owing to the large amounts of tissue stress that result from the need for transmitting a force to the tip of the endoscope while the device wraps through the bowel, implementing a front-actuated endoscopy system has been a popular area of research [1]. The pursuit of such a concept was accelerated by the advent of ingestible capsule endoscopes, which, since then, have been augmented by researchers to include therapeutic capabilities, modalities for maneuverability, amongst other diagnostic functions [2]. One of the more common approaches investigated has been the use of magnetic fields to apply forces and torques to steer the tip of an endoscope [3]. Recent efforts in magnetic actuation have resulted in the use of robot manipulators with permanent magnets at their end effectors that are used to manipulate endoscopes with embedded permanent magnets. Recently, we implemented closed loop control of a tethered magnetic capsule by using real-time magnetic localization and the linearization of a magnetic wrench applied to the capsule by the actuating magnet [4]. This control was implemented in 2 degrees-of-freedom (DoF) in position (in the horizontal plane) and 2 DoF in orientation (panning and tilting). One DoF in position is lost owing to the tethered capsule being actuated in air and thus lacking a restoring force to counter the high field gradient. The 3rd orientation DoF is lost owing to the axial symmetry of the permanent magnet in the capsule; this prevents the application of torque in the axial direction and thus controlled roll and introduces a singularity in the capsule’s actuation. Although another dipole could be used to eliminate this singularity, this would complicate both the actuation and localization methods. In this manuscript, we consider the consequences of the embedded magnet (EM) being radially offset from the center of the capsule while being manipulated by an external actuating magnet (AM). We have developed a tethered capsule endoscope that contains a cylindrical EM (11.11 mm in length and diameter) with a residual flux density of 1.48 T that is offset by 1.85 mm from the center of the capsule; a distance that is less than 10% of the capsule diameter. Our investigation into the topic results from repeated observation of the capsule’s preference to align such that the internal magnet is closest to the actuating magnet (AM). The AM is a cylindrical magnet (101.6 mm in length and diameter) with a residual flux density of 1.48 T that is mounted at the end effector of a 6 DoF manipulator, as seen in Figure 1. In this manuscript, we evaluate the torqueing effects of the presence of this magnet offset with the goal of determining whether the torque effect is negligible, or impacts capsule motion and thus can potentially be used for the benefit of endoscope manipulation. A concept schematic of this effect is shown in Figure 2. A discussion of how to use this torque is beyond the scope of this manuscript. To the authors’ knowledge, the use of such concept in permanent-magnet based control has not been investigated.
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