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

Criteria for the Evaluation of Italian Scientific Institutes for Research, Hospitalization and Healthcare (IRCCS): Comparison with European Standards and Certification Models

The definition of the title 'Istituto di Ricovero e Cura a Carattere Scientifico' (IRCCS) and how this title is given by the Italian Ministry of Health is presented. Specifically, the first assessment of a commission concerning the essential information for the accreditation process is introduced. Moreover, the two years review process that aims to collect last updated information of the IRCCS, to identify level of excellence and critical aspects, is also explained. The present Italian forms and international manuals like Joint Commission, OECI and HCERES were schematized using UML diagrams. The current IRCCS accreditation forms are presented with the suggested updates organized in some levels of structuring. We compared the Italian forms with the manuals required to obtain international certifications (Joint Commission and OECI) and we analyzed the criteria for the evaluation of research units in France (the HCERES standards). Although it is a preliminary study, the use of UML diagrams allows to schematize a new accreditation model, in line with European guidelines and the most important international certifications

Coupled trace element and Sr-Nd-(Pb) isotopes in olivine-hosted melt inclusions from the Mariana arc

The Mariana arc forms part of the 2500 km Izu–Bonin–Mariana arc system caused by westward subduction of the Pacific Plate beneath the Philippine Sea Plate over the last ~45 Myr. The magmatism produced in this comparatively simple arc setting records a moderate flux of fluids and sediments from the downgoing plate, however, the low MgO (<6 wt.%) of the lavas imply that magma mixing, crystal fractionation and crustal assimilation mask the primitive melt compositions. Olivine-hosted melt inclusions (MIs), in contrast, provide access to melt trapped deep in the magmatic plumbing system allowing more precise determination of the nature and quantity of recycled components. Here we analyse coupled trace element and Sr-Nd(-Pb) isotope compositions of olivine-hosted MIs in five samples from four islands within the Central Island province: Agrigan (AGR2, AGR6), Pagan (PAG3), Guguan (GUG6) and Sarigan (SAG1). Bulk rock MgO contents range from 4 to 5.7 wt.% [1]. We specifically target melt inclusions in olivine phenocrysts with the highest fortsterite content (Fo = Mg/(Mg+Fe)*100): AGR: 80-86; PAG: 76-81; GUG: 76-88; SAG: 84-88 mol%. Trace element contents and ratios of the selected MIs record marked differences between islands and show larger variability compared to published bulk rock and MI compositions [2]. Ba/La and Th/Nb or La/Sm ratios – indicators of slab fluids versus sediment melts, respectively – confirm that Guguan inclusions are dominated by a fluid component whereas Agrigan and Sarigan reflect a larger sediment contribution. Pagan inclusions show intermediate compositions and a restricted range indicating the influence of both fluids and sediments. Sr-Nd-(Pb) isotope compositions of individual and pooled melt inclusions will be determined by wet chemistry and TIMS techniques using 10^13 Ω amplifier technology [3] to further identify and quantify the recycled components. [1] Elliott et al. (1997). Journal of Geophysical Research, 102: 14991-15019. [2] Kent & Elliott (2002). Chemical Geology, 183: 263-286. [3] Koornneef et al. (2019). Nature Communications 10, 323

Can be gravitational waves markers for an extra-dimension?

The main issue of the present letter is to fix specific features (which turn out being independent of extradimension size) of gravitational waves generated before a dimensional compactification process. Valuable is the possibility to detect our prediction from gravitational wave experiment without high energy laboratory investigation. In particular we show how gravitational waves can bring information on the number of Universe dimensions. Within the framework of Kaluza-Klein hypotheses, a different morphology arises between waves generated before than the compactification process settled down and ordinary 4-dimensional waves. In the former case the scalar and tensor degrees of freedom can not be resolved. As a consequence if were detected gravitational waves having the feature here predicted (anomalous polarization amplitudes), then they would be reliable markers for the existence of an extra dimension.Comment: 5 pages, two figure, to appear on Int. Journ. Mod. Phys.

Indexed left atrial volume, C-reactive protein and erythrocyte sedimentation rate as predictors of recurrence of non-valvular atrial fibrillation after successful cardioversion

Indexed left atrial volume, C-reactive protein and erythrocyte sedimentation rate as predictors of recurrence of non-valvular atrial fibrillation after successful cardioversio

Diagnosis of focal liver lesions from ultrasound using deep learning

PURPOSE: The purpose of this study was to create an algorithm that simultaneously detects and characterizes (benign vs. malignant) focal liver lesion (FLL) using deep learning. MATERIALS AND METHODS: We trained our algorithm on a dataset proposed during a data challenge organized at the 2018 Journées Francophones de Radiologie. The dataset was composed of 367 two-dimensional ultrasound images from 367 individual livers, captured at various institutions. The algorithm was guided using an attention mechanism with annotations made by a radiologist. The algorithm was then tested on a new data set from 177 patients. RESULTS: The models reached mean ROC-AUC scores of 0.935 for FLL detection and 0.916 for FLL characterization over three shuffled three-fold cross-validations performed with the training data. On the new dataset of 177 patients, our models reached a weighted mean ROC-AUC scores of 0.891 for seven different tasks. CONCLUSION: This study that uses a supervised-attention mechanism focused on FLL detection and characterization from liver ultrasound images. This method could prove to be highly relevant for medical imaging once validated on a larger independent cohort

Indexed left atrial volume is superior to left atrial diameter in predicting nonvalvular atrial fibrillation recurrence after successful cardioversion: a prospective study.

BACKGROUND: Although indexed left atrial volume (iLAV) is the most accurate measure of left atrial size, it has not been evaluated prospectively as predictor of recurrence of atrial fibrillation (AFib) after successful cardioversion (CV). METHODS: We prospectively selected 76 patients (mean age 66.1 ± 13.6 years, 65.8% men) with AFib who underwent successful CV. Baseline clinical and echocardiographic characteristics were obtained before CV. LAV was measured using Simpson's method and indexed to body surface area. All patients were scheduled for follow-up visit at 1, 6, 12 months, and then annually. A 24-hour Holter ECG was performed within 6 months and each time the patients reported symptoms suggestive of arrhythmia. RESULTS: The 52 patients (68.4%) with AFib recurrence had larger iLAV (35.5 ± 8.9 mL/m(2) vs 27.0 ± 6.7 mL/m(2) , P < 0.001). Anteroposterior LA diameter was not associated with AFib relapse (OR 1.08, 95% CI: 0.96-1.21, P = 0.09). Each unit increase in iLAV was associated with a 1.15-fold increased risk of recurrence (OR 1.15, 95% CI: 1.06-1.25, P < 0.001). In a multivariable model, iLAV remained the only independent predictor of relapse (adjusted OR 1.14, 95% CI: 1.02-1.28, P = 0.02). The area under ROC curves, generated to compare LA diameter, and iLAV as predictors of AFib recurrence were 0.56 (SE 0.07) versus 0.78 (SE 0.05), respectively (P = 0.003). CONCLUSION: This is the first prospective study to show that larger iLAV, as a more accurate measure of LA remodeling than anteroposterior diameter, is strongly and independently associated with a higher risk of AFib recurrence after CV

Predictors of mortality following emergency open colectomy for ischemic colitis: A single-center experience

Background: Ischemic colitis (IC) is a severe emergency in gastrointestinal surgery. The aim of the present study was to identify the predictors of postoperative mortality after emergent open colectomy for IC treatment. Additionally, we compared postoperative outcomes of patients undergoing emergent colectomy due to aortic surgery-related IC (AS-IC group) vs. other IC etiologies (Other-IC group). Methods: We analyzed records of consecutive patients who underwent emergency open colectomy for IC between 2008 and 2019. Logistic regression analysis was performed to identify clinical and operative parameters associated with postoperative mortality. The AS-IC and Other-IC groups were compared for mortality, morbidity, ICU stay, hospital stay, and survival. Results: During the study period, 94 patients (mean age, 67.4 ± 13.7 years) underwent emergent open colectomy for IC. In the majority of cases, IC involved the entire colon (53.2%) and vasopressor agents were required preoperatively (63.8%) and/or intraoperatively (78.8%). Thirty-four patients underwent surgery due to AS-IC, whereas 60 due to Other-IC causes. In the AS-IC group, 9 patients had undergone endovascular aortic repair and 25 open aortic surgery; 61.8% of patients needed aortic surgery for ruptured abdominal aortic aneurism (AAA). Overall, 66 patients (70.2%) died within 90 days from surgery. The AS-IC and Other-IC groups showed similar operative outcomes and postoperative complication rates. However, the duration of the ICU stay (19 days vs. 11 days; p = 0.003) and of the total hospital stay (22 days vs. 16 days; p = 0.016) was significantly longer for the AS-IC group than for the Other-IC group. The rate of intestinal continuity restoration at 1 year after surgery was higher for the Other-IC group than for the AS-IC group (58.8% vs. 22.2%; p = 0.05). In the multivariate model, preoperative increased lactate levels, a delay between signs/symptoms' onset and surgery &gt; 12 h, and the occurrence of postoperative acute kidney injury were statistically associated with postoperative mortality. Neither IC etiology (aortic surgery vs. other etiology) nor ruptured AAA was associated with postoperative mortality. Conclusion: Emergency open colectomy for IC is associated with high postoperative mortality, which appears to be unrelated to the IC etiology. Preoperative lactate levels, &gt; 12-h delay to surgery, and postoperative acute kidney injury are independent predictors of postoperative mortality