Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC

It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backwards motion, in which jackknifing can also occur at low speeds, we present a control method that drives the vehicle along a reference Cartesian trajectory while avoiding the divergence of the hitch angle. In particular, a feedback control law is obtained by combining two actions: a tracking term, computed using input-output linearization, and a corrective term, generated via IS-MPC, an intrinsically stable MPC scheme which is effective for stable inversion of nonminimum-phase systems. The proposed method has been verified in simulation and experimentally validated on a purposely built prototype

The role of circumstances in explaining health and income related inequalities in European countries

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Bayesian neural network modeling and hierarchical MPC for a tendon-driven surgical robot with uncertainty minimization

In order to guarantee precision and safety in robotic surgery, accurate models of the robot and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of learning complex models and provide information about the uncertainties of the learned system. Model Predictive Control (MPC) is a reliable control strategy to ensure optimality and satisfaction of safety constraints. In this work we propose the use of BNN to build the highly nonlinear kinematic and dynamic models of a tendon-driven surgical robot, and exploit the information about the epistemic uncertainties by means of a Hierarchical MPC (Hi-MPC) control strategy. Simulation and real world experiments show that the method is capable of ensuring accurate tip positioning, while satisfying imposed safety bounds on the kinematics and dynamics of the robot

Activity of a Pediatric Emergency Department of a Tertiary Center in Bologna, Italy, during SARS-CoV-2 Pandemic

During the SARS-CoV-2 pandemic, the pediatric emergency department (ED) of Bologna, Emilia-Romagna, Italy faced a reorganization to better deal with the new clinical needs. We herein describe the main changes in the organization and in the attendances to our pediatric ED. From the 1 March 2020 to the 31 January 2022, 796 children positive for SARS-CoV-2 presented to our pediatric ED, but only 26 required hospitalizations, of which only 9 for COVID-19 related reasons. During this period, we also registered a temporal correlation between multisystem inflammatory syndrome in children (MIS-C) admissions and the peaks of SARS-CoV-2 infection in the Italian population. Respiratory syncytial virus (RSV) remained during last year the viral infection with the highest hospitalization rate. The analysis and description of the changes in the activity of the pediatric ED during the SARS-CoV-2 pandemic may help to better understand the routinary activity and be prepared for any possible new challenge

ZMP Constraint Restriction for Robust Gait Generation in Humanoids

We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, but whose current value is assumed to be available. The method consists in modifying the stability constraint that is at the core of IS-MPC by incorporating the current mid-range disturbance, and performing an appropriate restriction of the ZMP constraint in the control horizon on the basis of the range amplitude of the disturbance. We derive explicit conditions for recursive feasibility and internal stability of the IS-MPC method with constraint modification. Finally, we illustrate its superior performance with respect to the nominal version by performing dynamic simulations on the NAO robot

A behavior-based framework for safe deployment of humanoid robots

We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation of these behaviors is triggered by information coming from the robot sensors and is handled by a state machine. The implementation of our safety framework is discussed with respect to a reference control architecture. In particular, it is shown that an MPC-based gait generator is ideal for realizing all behaviors related to locomotion. Simulation and experimental results on the HRP-4 and NAO humanoids, respectively, are presented to confirm the effectiveness of the proposed method

Innovative strategies to predict and prevent the risk for malnutrition in child, adolescent, and young adult cancer survivors

Children, adolescents, and young adult cancer survivors (CAYAs) constitute a growing population requiring a customized approach to mitigate the incidence of severe complications throughout their lifetimes. During cancer treatment, CAYAs cancer survivors undergo significant disruptions in their nutritional status, elevating the risks of mortality, morbidity, and cardiovascular events. The assessment of nutritional status during cancer treatment involves anthropometric and dietary evaluations, emphasizing the necessity for regular assessments and the timely identification of risk factors. Proactive nutritional interventions, addressing both undernutrition and overnutrition, should be tailored to specific age groups and incorporate a family-centered approach. Despite encouraging interventions, a notable evidence gap persists. The goal of this review is to comprehensively examine the existing evidence on potential nutritional interventions for CAYAs cancer survivors. We explore the evidence so far collected on the nutritional intervention strategies elaborated for CAYAs cancer survivors that should target both undernutrition and overnutrition, being age-specific and involving a family-based approach. Furthermore, we suggest harnessing artificial intelligence (AI) to anticipate and prevent malnutrition in CAYAs cancer survivors, contributing to the identification of novel risk factors and promoting proactive, personalized healthcare

Efectos del consumo de esteviosido en glucemia e insulinemia posprandial en pacientes obesos

La obesidad es una enfermedad metabólica que produce complicaciones como hipertensión arterial, diabetes mellitus y enfermedades coronarias. Existe un producto de origen natural con acción edulcorante no nutritivo obtenido de la Stevia Rebaudiana Bertoni (Srb) o comúnmente llamada yerba dulce que tiene como principal componente un esteviósido usado como edulcorante natural, aprobado por el Código Alimentario Argentino y FDA para el consumo humano. Estudios realizados a partir de la ingesta del esteviósido en animales con diabetes, quedo demostrado que presentaba propiedades antihipertensivas y antihiperglucemiantes. Es un estudio autocontrolado, para el cual se considero un grupo de 27 pacientes obesos del Hospital Vera Barros, y tuvo como objetivo analizar el efecto del consumo de esteviósido en obesos con diferentes valores de glucemias según la Asociación Americana de Diabetes 2007

Gut Microbiota Dysbiosis in Childhood Vasculitis: A Perspective Comparative Pilot Study

Kawasaki disease (KD) and Henoch–Schönlein purpura (HSP) are the most frequent vasculitis in childhood. For both, a multifactorial mechanism has been hypothesised, with an abnormal immune response in genetically predisposed children. Gut microbiota (GM) alterations might trigger the hyperimmune reaction. Our aim was to explore the GM in KD and compare it with the GM of HSP and febrile children. Children diagnosed with KD, HSP and non-KD febrile illness (F) were enrolled. GM was profiled by 16S rRNA gene sequencing and compared with the profiles of healthy children from previous studies. We enrolled 13 KD, 10 HSP and 12 F children. Their GM significantly differed from controls, with an overall reduction in the relative abundance of beneficial taxa belonging to the Ruminococcaceae and Lachnospiraceae families. Potential KD and HSP signatures were identified, including smaller amounts of Dialister in the former, and Clostridium and Akkermansia in the latter. Notably, the GM structures of KD, HSP and F patients stratified by abdominal involvement, with more severe dysbiosis in those suffering from intestinal symptoms. This is the first study analysing GM in a mostly Caucasian cohort of KD and HSP children. Our data could open up new opportunities for childhood vasculitis treatment

The Relationship between Gut Microbiota and Respiratory Tract Infections in Childhood: A Narrative Review

Respiratory tract infections (RTIs) are common in childhood and represent one of the main causes of hospitalization in this population. In recent years, many studies have described the association between gut microbiota (GM) composition and RTIs in animal models. In particular, the “inter-talk” between GM and the immune system has recently been unveiled. However, the role of GM in human, and especially infantile, RTIs has not yet been fully established. In this narrative review we provide an up-to-date overview of the physiological pathways that explain how the GM shapes the immune system, potentially influencing the response to common childhood respiratory viral infections and compare studies analysing the relationship between GM composition and RTIs in children. Most studies provide evidence of GM dysbiosis, but it is not yet possible to identify a distinct bacterial signature associated with RTI predisposition. A better understanding of GM involvement in RTIs could lead to innovative integrated GM-based strategies for the prevention and treatment of RTIs in the paediatric population