Processor-in-the-loop architecture design and experimental validation for an autonomous racing vehicle

Self-driving vehicles have experienced an increase in research interest in the last decades. Nevertheless, fully autonomous vehicles are still far from being a common means of transport. This paper presents the design and experimental validation of a processor-in-the-loop (PIL) architecture for an autonomous sports car. The considered vehicle is an all-wheel drive full-electric single-seater prototype. The retained PIL architecture includes all the modules required for autonomous driving at system level: environment perception, trajectory planning, and control. Specifically, the perception pipeline exploits obstacle detection algorithms based on Artificial Intelligence (AI), and the trajectory planning is based on a modified Rapidly-exploring Random Tree (RRT) algorithm based on Dubins curves, while the vehicle is controlled via a Model Predictive Control (MPC) strategy. The considered PIL layout is implemented firstly using a low-cost card-sized computer for fast code verification purposes. Furthermore, the proposed PIL architecture is compared in terms of performance to an alternative PIL using high-performance real-time target computing machine. Both PIL architectures exploit User Datagram Protocol (UDP) protocol to properly communicate with a personal computer. The latter PIL architecture is validated in real-time using experimental data. Moreover, they are also validated with respect to the general autonomous pipeline that runs in parallel on the personal computer during numerical simulation

A Method for Battery Sizing in Parallel P4 Mild Hybrid Electric Vehicles

This article deals with a sensitivity analysis concerning the influence that the capacity of the battery in a parallel hybrid powertrain has on the vehicle's energy regeneration. The architecture under analysis is constituted by an internal combustion engine (ICE), which provides traction to the front axle's wheels, and an electric motor powering the rear wheels. The energy management system (EMS) is based on a simple torque split strategy that distributes the driver's required torque between the front and rear machines as a function of battery and electric motor functional limitations (state of charge, temperatures, and maximum admissible currents). Together with the selected driving cycles, the central role played by the battery size in the overall vehicle recoverable energy is evaluated, while the influence of the powertrain limitations is highlighted, accounting both for uncertain parameters (e.g., initial state of charge [SoC 0]) and for tunable parameters (e.g., maximum electric traction vehicle speed). Therefore, a method of sizing the battery of a P4 mild hybrid electric vehicle (HEV), which allows the maximization of the braking energy recovery, is developed

Serum thyroglobulin and 131I whole body scan after recombinant human TSH stimulation in the follow-up of low-risk patients with differentiated thyroid cancer

OBJECTIVE: The 'standard' postoperative follow-up of patients with differentiated thyroid cancer (DTC) has been based upon serum thyroglobulin (Tg) measurement and (131)I whole body scan ((131)I-WBS) after thyroid hormone (T(4)) treatment withdrawal. However, (131)I-WBS sensitivity has been reported to be low. Thyroid hormone withdrawal, often associated with hypothyroidism-related side effects, may now be replaced by recombinant human thyroid stimulating hormone (rhTSH). The aim of our study was to evaluate the diagnostic accuracy of (131)I-WBS and serum Tg measurement obtained after rhTSH stimulation and of neck ultrasonography in the first follow-up of DTC patients. DESIGN: Ninety-nine consecutive patients previously treated with total thyroidectomy and (131)I ablation, with no uptake outside the thyroid bed on the post-ablative (131)I-WBS (low-risk patients) were enrolled. METHODS: Measurement of serum Tg and (131)I-WBS after rhTSH stimulation, and ultrasound examination (US) of the neck. RESULTS: rhTSH-stimulated Tg was 1 ng/ml (Tg+) in 21 patients, including 6 patients with Tg levels >5 ng/ml. (131)I-WBS was negative for persistent or recurrent disease in all patients (i.e. sensitivity = 0%). US identified lymph-node metastases (confirmed at surgery) in 4/6 (67%) patients with stimulated Tg levels >5 ng/ml, in 2/15 (13%) with Tg>1<5 ng/ml, and in 2/78 (3%) who were Tg-negative. CONCLUSIONS: (i) diagnostic (131)I-WBS performed after rhTSH stimulation is useless in the first follow-up of DTC patients; (ii) US may identify lymph node metastases even in patients with low or undetectable serum Tg levels

Cervical lymph node metastasis in high-grade transformation of head and neck adenoid cystic carcinoma: a collective international review

Adenoid cystic carcinoma (AdCC) is among the most common malignant tumors of the salivary glands. It is characterized by a prolonged clinical course, with frequent local recurrences, late onset of metastases and fatal outcome. High-grade transformation (HGT) is an uncommon phenomenon among salivary carcinomas and is associated with increased tumor aggressiveness. In AdCC with high-grade transformation (AdCC-HGT), the clinical course deviates from the natural history of AdCC. It tends to be accelerated, with a high propensity for lymph node metastasis. In order to shed light on this rare event and, in particular, on treatment implications, we undertook this review: searching for all published cases of AdCC-HGT. We conclude that it is mandatory to perform elective neck dissection in patients with AdCC-HGT, due to the high risk of lymph node metastases associated with transformation

Chitons (Mollusca, Polyplacophora) from the Maldive islands

This paper is the first comprehensive and illustrated account of living Polyplacophora from the Maldive Islands. The only important previous contribution is that of E.A. Smith (1903), describing eight species. We determined 15 species sourced from 24 sampling sites, mainly at a depth of 20–40 meters, represented by 19 living specimens and 1112 valves. Only nine species (Parachiton hylkiae mauricejayi, Ischnochiton albinus, Ischnochiton sp., Rhyssoplax maldivensis, Tegulaplax hululensis, Lucilina sp., Acanthochitona penicillata, Craspedochiton cf. laqueatus, Cryptoplax burrowi) are represented by living specimens, the others by separate valves (Callochiton clausadeae, Lucilina perligera, L. carnosa, Acanthochitona sp., Craspedochiton sp., Cryptoplax sykesi), three of them (Lucilina perligera, Acanthochitona sp., Craspedochiton sp.) by only one or two valves. We did not find four of the species previously reported for the Maldives, i.e. Ischnochiton feliduensis, Callochiton platessa, Squamopleura miles and Schizochiton incisus. The specimen collected by J.S. Gardiner, and reported in Smith (1903) as Callochiton platessa Gould, has been studied, and it is not possible to attribute to any of the other Callochiton species from the Indian Ocean. It thus remains undetermined as Callochiton sp., and Callochiton platessa Gould must be deleted from the list of chiton species living in the Maldive Islands. The holotype of Ischnochiton feliduensis (the only specimen known) is illustrated to provide a complete and exhaustive survey of all the 19 chiton species now known from the Maldive Islands. Two species from other localities, Squamopleura miles and Schizochiton incisus, also are illustrated. The type material of Craspedochiton laqueatus and Cryptoplax burrowi has been examined. Eleven species are reported for the first time for the Maldives: Parachiton hylkiae mauricejayi, Ischnochiton albinus, Ischnochiton sp., Callochiton clausadeae, Lucilina perligera, L. carnosa, Lucilina sp., Acanthochitona penicillata, Acanthochitona sp., Craspedochiton sp. and Cryptoplax sykesi

Nuovi record di Mareleptopoma minor (Almera & Bofill, 1898) (Gastropoda: Pickworthiidae) per il Pliocene italiano

Il lavoro documenta, per la prima volta, la presenza di Mareleptopoma minor, finora nota solo per il Paleocene italiano, anche nei sedimenti neocenici del bacino mediterraneo

Chitons (Mollusca, Polyplacophora) from São Tomé and Príncipe Islands

The chiton fauna of São Tomé and Príncipe Islands is poorly known and here we present the first comprehensive and illustrated account of living Polyplacophora from these islands. Four species have been reported to date: Lepidochitona rolani Kaas & Strack, 1986, Chiton lyratus Sowerby, 1840, Chiton canariensis d’Orbigny, 1839 and Notoplax productus (Carpenter in Pilsbry, 1892). Two of these species are actually valid, while C. lyratus is considered a synonym of Rhyssoplax canariensis. N. productus was incorrectly considered to be the valid name for Craspedochiton foresti (Leloup, 1965). The present paper increases the list of living chiton species to 12, of which two are described as new, namely Stenoplax hernandezi sp. n. and Callochiton saotomensis sp. n. Three species are assigned only at generic level but reflect new records for these islands. Type specimens of Chiton lyratus and Chiton canariensis are figured

Harnessing ChatGPT dialogues to address claustrophobia in MRI - A radiographers' education perspective

Introduction: The healthcare sector invests significantly in communication skills training, but not always with satisfactory results. Recently, generative Large Language Models, have shown promising results in medical education. This study aims to use ChatGPT to simulate radiographer-patient conversations about the critical moment of claustrophobia management during MRI, exploring how Artificial Intelligence can improve radiographers' communication skills. Methods: This study exploits specifically designed prompts on ChatGPT-3.5 and ChatGPT-4 to generate simulated conversations between virtual claustrophobic patients and six radiographers with varying levels of work experience focusing on their differences in model size and language generation capabilities. Success rates and responses were analysed. The methods of radiographers in convincing virtual patients to undergo MRI despite claustrophobia were also evaluated. Results: A total of 60 simulations were conducted, achieving a success rate of 96.7% (58/60). ChatGPT-3.5 exhibited errors in 40% (12/30) of the simulations, while ChatGPT-4 showed no errors. In terms of radiographers' communication during the simulations, out of 164 responses, 70.2% (115/164) were categorized as "Supportive Instructions," followed by "Music Therapy" at 18.3% (30/164). Experts mainly used "Supportive Instructions" (82.2%, 51/62) and "Breathing Techniques" (9.7%, 6/62). Intermediate participants favoured "Music Therapy" (26%, 13/50), while Beginner participants frequently utilized "Mild Sedation" (15.4%, 8/52). Conclusion: The simulation of clinical scenarios via ChatGPT proves valuable in assessing and testing radiographers' communication skills, especially in managing claustrophobic patients during MRI. This pilot study highlights the potential of ChatGPT in preclinical training, recognizing different training needs at different levels of professional experience. Implications for practice: This study is relevant in radiography practice, where AI is increasingly widespread, as it explores a new way to improve the training of radiographers