Modeling a Sensor to Improve its Efficacy

Robots rely on sensors to provide them with information about their surroundings. However, high-quality sensors can be extremely expensive and cost-prohibitive. Thus many robotic systems must make due with lower-quality sensors. Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework. As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field. The light sensor integrates the light arriving from a spatially distributed region within its field of view weighted by its Spatial Sensitivity Function (SSF). We demonstrate that by incorporating an accurate model of the light sensor SSF into the likelihood function of a Bayesian inference engine, an autonomous system can make improved inferences about its surroundings. The method presented here is data-based, fairly general, and made with plug-and play in mind so that it could be implemented in similar problems.Comment: 18 pages, 8 figures, submitted to the special issue of "Sensors for Robotics

Clinico-economic analysis of PD-1 inhibitors and combinations of BRAF and MEK inhibitors for the treatment of metastatic melanoma with a BRAF V600 gene mutation

The high prevalence of BRAF V600 gene mutation in the Russian Federation and the cost of treatment the metastatic melanoma (MM) with immuno-oncology and combined targeted drugs make it relevant to assess the clinical and economic feasibility of their use. Objective. Cost-effectiveness analysis (CEA) and budget impact analysis (BIA) of PD-1 inhibitor pembrolizumab was performed in comparison with nivolumab and combinations of BRAF and MEK inhibitors in the 1st line therapy of MM with BRAF v600 gene mutation. Methodology. CEA and BIA was performed using the results of a network meta-analysis and based on the Markov model, which estimated the number of life years saved (LYS), duration of progression-free survival and direct medical costs (DC). Results. The cost of treatment per year in the 1st line therapy on pembrolizumab was 3.32 million RUB, what is 29 % cheaper than combination of dabrafenib + trametinib (4.67 million RUB), 60 % than vemurafenib + cobimetinib (8.30 million RUB), 1.7 % than nivolumab (3.38 million RUB). Total 3 years DC for the 1st line therapy on pembrolizumab (3.80 million RUB) were 43.9%, 68.2% and 1.8 % lower than the cost of dabrafenib + trametinib (6.76 million RUB), vemurafenib + cobimetinib (11.93 million RUB) and nivolumab (3.86 million RUB). CER per 1 LYS for pembrolizumab was 2.43 million RUB, nivolumab – 2.48 million RUB, dabrafenib + trametinib – 4.24 million RUB and vemurafenib + cobimetinib – 7.49 million RUB increase in the use of pembrolizumab to 50 %, by reducing the share of the use of combinations of BRAF and MEK inhibitors, will result in budget savings up to 1 507,5 million RUB (26.4 %). Conclusion. The use of pembrolizumab in the 1st line of MM therapy with BRAF V600 gene mutation allows to save the budget and is economically feasible

Modelling of the rolling process of titanium alloy tube billets in laboratory conditions on a RSP 14-40 rolling mill

The development of screw rolling technology for the production of hot-deformed tubes over Ø250 mm on a SVP-500 rolling mill faces a number of challenges that influence the quality of tubes, such as: the screw trace formed on the external surface of tubes and bending of tubes that makes impossible subsequent manufacturing operations. The following experimental and laboratory research was performed to solve these problems: a number of experimental tube billets with and without mandrels were rolled to various strains on a RSP 14-40 laboratory rolling mill to obtain the best ratio of wall thickness to the external diamete

A randomized phase II study of lapatinib + pazopanib versus lapatinib in patients with HER2+ inflammatory breast cancer

This multi-center Phase II study evaluated lapatinib, pazopanib, and the combination in patients with relapsed HER2+ inflammatory breast cancer. In Cohort 1, 76 patients were randomized 1:1 to receive lapatinib 1,500 mg + placebo or lapatinib 1,500 mg + pazopanib 800 mg (double-blind) once daily until disease progression, unacceptable toxicity, or death. Due to high-grade diarrhea observed with this dose combination in another study (VEG20007), Cohort 1 was closed. The protocol was amended such that an additional 88 patients (Cohort 2) were randomized in a 5:5:2 ratio to receive daily monotherapy lapatinib 1,500 mg, lapatinib 1,000 mg + pazopanib 400 mg, or monotherapy pazopanib 800 mg, respectively. The primary endpoint was overall response rate (ORR). Secondary endpoints included duration of response, progression-free survival (PFS), overall survival, and safety. In Cohort 1, ORR for the lapatinib (n = 38) and combination (n = 38) arms was 29 and 45 %, respectively; median PFS was 16.1 and 14.3 weeks, respectively. Grade ≥3 adverse events (AEs) were more frequent in the combination arm (71 %) than in the lapatinib arm (24 %). Dose reductions and interruptions due to AEs were also more frequent in the combination arm (45 and 53 %, respectively) than in the lapatinib monotherapy arm (0 and 11 %, respectively). In Cohort 2, ORR for patients treated with lapatinib (n = 36), lapatinib + pazopanib (n = 38), and pazopanib (n = 13) was 47, 58, and 31 %, respectively; median PFS was 16.0, 16.0, and 11.4 weeks, respectively. In the lapatinib, combination, and pazopanib therapy arms, grade ≥3 AEs were reported for 17, 50, and 46 % of patients, respectively, and the incidence of discontinuations due to AEs was 0, 24, and 23 %, respectively. The lapatinib–pazopanib combination was associated with a numerically higher ORR but no increase in PFS compared to lapatinib alone. The combination also had increased toxicity resulting in more dose reductions, modifications, and treatment delays. Activity with single-agent lapatinib was confirmed in this population

Трехмерные структурно‐вещественные модели формирования кимберлитовых трубок Нюрбинской и Ботуобинской (Якутская алмазоносная провинция)

The Nyurbinskaya and Botuobinskaya kimberlitic pipes were in the focus of a comprehensive study aimed to investigate their structural and material positions as the main deposits in the Nakyn field (Yakutian Diamondife‐ rous Province, Russia). This paper present the study results and 3D structural‐material models showing the formation of these deposits. In application to geological studies, the 3D modeling technologies allow taking into account the ani‐ sotropy of material complexes comprising kimberlite pipes, as well as inconsistencies in the structural and morpho‐ logical properties of ore‐bearing structures. In order to discover the structural positions and features of the fault‐ block structures of the deposits, tectonophysical methods were used in combination with tacheometric surveys. Based on this more comprehensive and integrated approach, the existing fault patterns were clarified in detail; elements of the internal fault structure were mapped; fault azimuths and dip angles were estimated; and thickness values were obtained. Computer processed data were used to construct 3D models showing the fault‐block structures of the Nyurbinskaya and Botuobinskaya pipes. The mineralogical, petrographic and diamond‐bearing features of various kimberlite generations comprising these pipes were investigated in order to reconstruct the morphology and spatial positions of each of the selected complexes in the current cross‐section and in accordance with intrusion phases. The 3D frame models of geological bodies were constructed for all the magmatic phases, including porphyry kimberlite and eruptive and autolithic kimberlite breccia. The structural‐material models for the Nyurbinskaya and Botuobin‐ skaya pipes were based on a synthesis of their material and structural features discovered in the previous stages of the study. The models presented in this paper are used to discuss temporal relationships between faults in the kim‐ berlitic structure and material complexes comprising the pipes. The models show that the pipes occurred in the near‐ surface structures of shear tension, which developed in the areas where the NNE‐striking fault was conjugated with the ENE‐ and NE‐striking faults in the fault zone resulting from several stage of the tectono‐magmatic activity. In this case, the kimberlite melt material was transported in discrete portions from the source through deep‐seated faults, and the faults acted as channels characterized by an increased permeability. Disjunctive elements identified in this study facilitated magma movements and localization of kimberlite bodies.В работе представлены результаты комплексного подхода к изучению структурной и вещественной позиции коренных месторождений Накынского поля – кимберлитовых трубок Нюрбинской и Ботуобинской, что нашло отражение в трехмерных структурно‐вещественных моделях их формирования. Использование объемного моделирования как одного из наиболее прогрессивных методов геологического познания позволило учесть высокую степень изменчивости (анизотропии) вещественных комплексов, слагающих кимберлитовые трубки, а также невыдержанность структурно‐морфологических свойств рудовмещающей структуры. Решение задач, связанных с определением структурной позиции и особенностей разломно‐блокового строения рассматриваемых месторождений, осуществлялось путем применения тектонофизических методов в сочетании с методами тахеометрической съемки. С их помощью значительно детализированы существующие схемы разломного строения участков, откартированы элементы внутренней структуры разломов, определены азимуты и углы падения нарушений, установлена их мощность. По результатам компьютерной обработки материалов построены трехмерные модели разломно‐блокового строения участков локализации трубок Нюрбинской и Ботуобинской. Исследования минералого‐петрографических особенностей и специфики алмазоносности различных генераций кимберлита, слагающих трубки Нюрбинскую и Ботуобинскую, позволили восстановить морфологию и пространственное положение каждого из выделенных комплексов как в современном срезе, так и на этапе внедрения. Для всех магматических фаз (порфировый кимберлит, эруптивная кимберлитовая брекчия и автолитовая кимберлитовая брекчия) созданы объемные каркасные модели их геологических тел. Разработка структурно‐вещественных моделей для трубок Нюрбинской и Ботуобинской осуществлялась путем синтезирования данных о вещественных и структурных особенностях месторождений, полученных в ходе предыдущих этапов исследования. В рамках представляемых моделей во временной последовательности рассмотрены процессы взаимодействия разрывных нарушений, формирующих кимберлитовмещающую структуру, и вещественных комплексов, слагающих трубки. Согласно полученным моделям, формирование трубок происходило в приповерхностных структурах присдвигового растяжения, образованных на участках сопряжения разлома север‐северо‐восточной ориентировки с частными дислокациями зоны разрывных нарушений восток‐северо‐восточного и северо‐западного направления в результате нескольких этапов тектономагматической активизации. При этом доставка дискретных порций кимберлитового расплава от источника происходила по глубинным разломам, выступающим в качестве каналов повышенной проницаемости. В совокупности выделенные дизъюнктивные элементы представляют собой структуры, благоприятные для перемещения магмы и локализации кимберлитовых тел

PSYCHOLOGICAL FACTORS OF SURVIVAL AND DISEASE COURSE IN WOMEN WITH BREAST CANCER: RESULTS AND PROSPECTS OF THE STUDY

The article presents the results of a study of psychological factors of survival and the course of the disease in women with breast cancer. As a result of a longitudinal study, data were obtained on the relationship of psychological indicators with various variants of the course of the disease, as well as on the dynamics of personal and subjective characteristics with different outcomes of the disease. The authors have outlined further prospects for a longitudinal study on a sample of women with breast cancer with a fiveyear survival rate.В статье приводятся результаты исследования психологических факторов выживаемости и течения болезни у женщин с раком молочной железы. В результате лонгитюдного исследования получены данные о связи психологических показателей с различными вариантами течения болезни, а также о динамике личностных и субъектных характеристик при различных исходах болезни. Авторами обозначены дальнейшие перспективы лонгитюдного исследования на выборке женщин с раком молочной железы при пятилетней выживаемости.Исследование выполнено за счет гранта Российского научного фонда (проект № 19-18-00426)

СТРУКТУРНО-ВЕЩЕСТВЕННАЯ МОДЕЛЬ СТАНОВЛЕНИЯ КИМБЕРЛИТОВОЙ ТРУБКИ НЮРБИНСКАЯ (СРЕДНЕ-МАРХИНСКИЙ РАЙОН ЯКУТСКОЙ АЛМАЗОНОСНОЙ ПРОВИНЦИИ)

The paper presents the results of comprehensive study of the primary diamond deposit of the Nyurbinskaya pipe in the Yakutian diamondiferous province. It is established, that the pipe is confined to the fault junction of four directions and is composed of the kimberlite of four phases. Analysis of different faults and tectonic fracturing allowed to reconstruct the tectonic stress fields acting at the stage of the kimberlite body formation and to determine their occurrence sequence in time. The data obtained about regularities of the Nyurbinskaya pipe compositional structure and results of geologo-structural studies are combined in a single structural-compositional model of the deposit formation. Peculiarities of the fault network operation during the deposit formation stage are confirmed by experimental results using polarization-optical method. The model allowed to formulate the basic structural characteristics of the prospecting works object within which the formation of kimberlite body type of the Nyurbinskaya pipe is possible and to determine the elements of the fault network which are promising for the kimberlite pipes discovery.В статье представлены результаты комплексного изучения коренного месторождения алмазов трубка Нюрбинская. Установлено, что трубка приурочена к узлу разломов четырех направлений и сложена кимберлитами четырех фаз. Анализ разноранговых разрывных нарушений и тектонической трещиноватости позволил восстановить поля тектонических напряжений, действовавшие на этапе формирования кимберлитового тела и определить последовательность их проявления во времени. Полученные данные о закономерностях вещественного строения трубки Нюрбинской и результаты геолого-структурных исследований объединены в рамках единой структурно-вещественной модели формирования месторождения. Особенности функционирования разрывной сети на этапе формирования месторождения подтверждены результатами экспериментов с использованием поляризационно-оптического метода. Полученная модель позволила сформулировать признаки, определяющие основные структурные характеристики объекта поисковых работ, в пределах которого возможно формирование кимберлитовых тел типа трубки Нюрбинской, и на их основании выделить те элементы разломной сети (разломные узлы), которые являются перспективными для обнаружения кимберлитовых трубок

Multijet production in neutral current deep inelastic scattering at HERA and determination of α_{s}

Multijet production rates in neutral current deep inelastic scattering have been measured in the range of exchanged boson virtualities 10 5 GeV and –1 < η_{LAB}^{jet} < 2.5. Next-to-leading-order QCD calculations describe the data well. The value of the strong coupling constant α_{s} (M_{z}), determined from the ratio of the trijet to dijet cross sections, is α_{s} (M_{z}) = 0.1179 ± 0.0013 (stat.)_{-0.0046}^{+0.0028}(exp.)_{-0.0046}^{+0.0028}(th.)

An NLO QCD analysis of inclusive cross-section and jet-production data from the ZEUS experiment

The ZEUS inclusive differential cross-section data from HERA, for charged and neutral current processes taken with e+ and e- beams, together with differential cross-section data on inclusive jet production in e+ p scattering and dijet production in \gamma p scattering, have been used in a new NLO QCD analysis to extract the parton distribution functions of the proton. The input of jet data constrains the gluon and allows an accurate extraction of \alpha_s(M_Z) at NLO; \alpha_s(M_Z) = 0.1183 \pm 0.0028(exp.) \pm 0.0008(model) An additional uncertainty from the choice of scales is estimated as \pm 0.005. This is the first extraction of \alpha_s(M_Z) from HERA data alone.Comment: 37 pages, 14 figures, to be submitted to EPJC. PDFs available at http://durpdg.dur.ac.uk/hepdata in LHAPDFv

High-E_T dijet photoproduction at HERA

The cross section for high-E_T dijet production in photoproduction has been measured with the ZEUS detector at HERA using an integrated luminosity of 81.8 pb-1. The events were required to have a virtuality of the incoming photon, Q^2, of less than 1 GeV^2 and a photon-proton centre-of-mass energy in the range 142 < W < 293 GeV. Events were selected if at least two jets satisfied the transverse-energy requirements of E_T(jet1) > 20 GeV and E_T(jet2) > 15 GeV and pseudorapidity requirements of -1 < eta(jet1,2) < 3, with at least one of the jets satisfying -1 < eta(jet) < 2.5. The measurements show sensitivity to the parton distributions in the photon and proton and effects beyond next-to-leading order in QCD. Hence these data can be used to constrain further the parton densities in the proton and photon.Comment: 36 pages, 13 figures, 20 tables, including minor revisions from referees. Accepted by Phys. Rev.