Towards the design of robotic drivers for full-scale self-driving racing cars

Autonomous vehicles are undergoing a rapid development thanks to advances in perception, planning and control methods and technologies achieved in the last two decades. Moreover, the lowering costs of sensors and computing platforms are attracting industrial entities, empowering the integration and development of innovative solutions for civilian use. Still, the development of autonomous racing cars has been confined mainly to laboratory studies and small to middle scale vehicles. This paper tackles the development of a planning and control framework for an electric full scale autonomous racing car, which is an absolute novelty in the literature, upon which we report our preliminary experiments and perspectives on future work. Our system leverages real time Nonlinear Model Predictive Control to track a pre-planned racing line. We describe the whole control system architecture including the mapping and localization methods employed

Mentoring for the Health Professions

Mentoring can provide a new model for working with students seeking careers in the health professions. Given the growing array of health professions, mentoring programs need to recognize that the single-track premedicine route may not be the “best fit” for many students.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/34809/1/3_ftp.pd

Yarp Based Plugins for Gazebo Simulator

This paper presents a set of plugins for the Gazebo simulator that enables the interoperability between a robot, controlled using the YARP framework, and Gazebo itself. Gazebo is an open-source simulator that can handle different Dynamic Engines (ODE, DART, Bullet, SimBody), backed up by the Open Source Robotics Foundation (OSRF) and supported by a very large community. Since our plugins conform with the YARP layer used on the real robot, applications written for our robots, COMAN and iCub, can be run on the simulator with no changes. Our plugins have two main components: a YARP interface with the same API as the real robot interface, and a Gazebo plugin which handles simulated joints, encoders, IMUs, force/torque sensors and synchronization. The robot model is provided to the simulator by means of an SDF file, which describes all the geometric, dynamic and visual characteristics of a robot. Once the SDF is read from Gazebo, our plugins are loaded and associated with the simulated robot model and the simulated world. Different modules for COMAN and iCub have been developed using Gazebo and our plugins as a testbed: joint impedance control plus gravity compensation, dual arm Cartesian control for manipulation tasks, dynamic walking, etc. This work has been developed as part of a joint effort between three different European Projects “WALKMAN”, “CoDyCo” and “SoftHands” aiming at implementing a common simulation platform to develop and test algorithms for our robotic platforms. This work is available as open-source to all the researchers in the YARP community (https://github.com/robotology/gazebo_yarp_plugins)

Risk of Childhood Cancers Associated with Residence in Agriculturally Intense Areas in the United States

Background: The potential for widespread exposure to agricultural pesticides through drift during application raises concerns about possible health effects to exposed children living in areas of high agricultural activity. Objectives: We evaluated whether residence in a county with greater agricultural activity was associated with risk of developing cancer in children \u3c 15 years of age. Methods: Incidence data for U.S. children 0–14 years of age diagnosed with cancer between 1995 and 2001 were provided by member registries of the North American Association of Central Cancer Registries. We determined percent cropland for each county using agricultural census data, and used the overall study distribution to classify agriculturally intense counties. We estimated odds ratios and 95% confidence intervals for all ages and 5-year age groups for total cancers and selected cancer sites using logistic regression. Results: Our study results showed statistically significant increased risk estimates for many types of childhood cancers associated with residence at diagnosis in counties having a moderate to high level of agricultural activity, with a remarkably consistent dose–response effect seen for counties having ≥ 60% of the total county acreage devoted to farming. Risk for different cancers varied by type of crop. Conclusions: Although interpretation is limited by the ecologic design, in this study we were able to evaluate rarer childhood cancers across a diverse agricultural topography. The findings of this exploratory study support a continued interest in the possible impact of long-term, low-level pesticide exposure in communities located in agriculturally intense areas

Immunohistochemical detection of “ex novo” HLA-DR in tumor cells determines clinical outcome in laryngeal cancer patients

There are controversial results about the role of “ex novo” HLA-DR expression by tumor cells and its correlation with the oncological outcomes. Unfortunately, little is known about HLA-DR expression in laryngeal cancer tumor cells. The main purpose of this retrospective study is to strengthen the usefulness of studying “ex novo” HLA-DR expression on tumor cells from primary laryngeal squamous cell carcinoma (LSCC) patients and investigate its correlation with clinical outcome. We analyzed HLA-DR expression by immunohistochemical analysis in 56 patients with LSCC. The “ex novo” HLA-DR expression on laryngeal cancer tumor cells, assessing non-neoplastic LSCC – adjacent tissue, and the association of HLA-DR expression (HLA-DR+) with clinical outcomes were investigated. HLA-DR+ tumor cells were detected in 18/56 LSCC patients (32.1%). All specimens of non-neoplastic laryngeal carcinoma-adjacent tissue resulted HLA-DR negative (HLA-DR-). A statistically significant association was observed between HLA-DR + and well differentiated tumors (G1) (p<0.001). The Kaplan-Meier method showed how HLA-DR+ is significantly associated with both a better disease specific survival (HLA-DR+=100% vs. HLA-DR-=77.4%; p=0.047) and a better relapse free survival (HLA-DR+=100% vs. HLA-DR-=72.3%; p=0.021). Cox regression univariate analysis for death of disease confirmed a higher HR for HLA-DR absence on the surface of epithelial tumor cell [HR:37.489; 95% CI:0.750-18730.776; p=0.253] and for high-grade (G3) tumors [HR:18.601; 95% CI:3.613-95.764; p<0.0001]. Our results confirm that MHC class II HLA-DR expression is activated in a sub-set of LSCC patients. Evaluation of HLA-DR expression in LSCC could be useful for prognosis and future approaches towards personalized therapy

Risk of urinary bladder cancer: a case-control analysis of industry and occupation

<p>Abstract</p> <p>Background</p> <p>Uncertainty remains about urinary bladder cancer (UBC) risk for many occupations. Here, we investigate the association between occupation, industry and UBC.</p> <p>Methods</p> <p>Lifetime occupational history was collected by in-person interview for 604 newly diagnosed UBC patients and 604 cancer-free controls. Each job title was assigned a two-digit industry code and a three-digit occupation code. Odds ratios (ORs) for UBC associated with ever being employed in an industry or occupation were calculated by unconditional logistic regression adjusting for age, gender and smoking status. We also examined UBC risk by duration of employment (>0 to <10, ≥10 years) in industry or occupation.</p> <p>Results</p> <p>Significantly increased risk of UBC was observed among waiters and bartenders (OR 2.87; 95% CI 1.05 to 7.72) and occupations related to medicine and health (OR 2.17; 95% CI 1.21 to 3.92), agricultural production, livestock and animal specialties (OR 1.90; 95% CI 1.03 to 3.49), electrical assembly, installation and repair (OR 1.69; 95% CI 1.07 to 2.65), communications (OR 1.74; 95% CI 1.00 to 3.01), and health services (OR 1.58; 95% CI 1.02 to 2.44). For these occupations we also observed a significant excess risk of UBC for long-term work (i.e. ≥10 years), with the exception of waiters and bartenders. Employment for 10 years or more was associated with increased risk of UBC in general farmers (OR 9.58; 95% CI 2.18 to 42.05), agricultural production of crops (OR 3.36; 95% CI 1.10 to 10.27), occupations related to bench working (OR 4.76; 95% CI 1.74 to 13.01), agricultural, fishery, forestry & related (OR 4.58; 95% CI 1.97 to 10.65), transportation equipment (OR 2.68; 95% CI 1.03 to 6.97), and structural work (OR 1.85; 95% CI 1.16 to 2.95).</p> <p>Conclusions</p> <p>This study provides evidence of increased risk of UBC for occupations that were previously reported as at-risk. Workers in several occupation and industry groups have a significantly higher risk of UBC, particularly when duration of employment is 10 years or more.</p