Risk of HIV transmission through condomless sex in serodifferent gay couples with the HIV-positive partner taking suppressive antiretroviral therapy (PARTNER): final results of a multicentre, prospective, observational study.

Peer reviewe

Active SLAM using Connectivity Graphs as Priors

Mobile robots can be considered completely autonomous if they embed active algorithms for Simultaneous Localization And Mapping (SLAM). This means that the robot is able to autonomously, or actively, explore and create a reliable map of the environment, while simultaneously estimating its pose. In this paper, we propose a novel framework to robustly solve the active SLAM problem, in scenarios in which some prior information about the environment is available in the form of a topo-metric graph. This information is typically available or can be easily developed in industrial environments, but it is usually affected by uncertainties. In particular, the distinguishing features of our approach are: the inclusion of prior information for solving the active SLAM problem; the exploitation of this information to pursue active loop closure; the on-line correction of the inconsistencies in the provided data. We present some experiments, that are performed in different simulated environments: the results suggest that our method improves on state-of-the-art approaches, as it is able to deal with a wide variety of possibly large uncertainties

Tumor necrosis factor-alpha blocker in treatment of juvenile idiopathic arthritis-associated uveitis refractory to second-line agents: results of a multinational survey.

T Objective. Uveitis occurs in l09i»l5% of patients with juvenile idiopathic arthritis (JIA). If topical treatment fails, second—Iine agents are used to control the dismse. However, some patients need the addition of tumor necrosis factor»ot (TNF»ot) antagonist (anti-TNF). We organized a cross»sectional cohort to investigate use and efficacy of anti—TNF treatment in patients with JIA-associated uveitis. Methods. The international pediatric rheumatology community was queried about the use and efficacy of anti-TNF in treatment of HA»associated uveitis using an E-mail survey. Results. Of the 33 responding centers following 884 patients with uveitis, only 15 centers, following 404 patients, were using anti—TNF for this indication. A total of 47 patients with JIA-related uveitis treated with anti-TNF because of an insufficient response to previous therapy were reported. The mean age of the patients was 12.5 years The mean duration from onset of uveitis to start of anti-TNF t;reat~ ment was 45.1 months. Three different anti-TNF agents were used: etanercept in 34 cases, infliximab in 25 cases, and adalimumab in 3 cases. In 12 of the 34 patients etanercept was inefficacious and patients were switched to inflixirnab. The final response was rated according to a composite index as 53%/ 12%/32%, and according to physician rating as 47%/ l2%/38% representing good, moderate, and poor, respectively. in the etaneicept group; and 70%/30%/0% and 68%/24%/0% in the intliximab group. All 3 patients taking adaliniumab were responders. lntliximab was statistically significantly more efficacious for the treatment of HA-associated uveitis than etanercept (chi-square p = 0.004). Conclusion. Anti—TNF seems to be an effective treatment for refractory .llA—associated uveitis. In this cohort infliximab was more efficacious than etanercepr