Motion safety and constraints compatibility for multibody robots

International audienceIn this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. Case studies involving obstacles, joint position, velocity and acceleration limits illustrates the approach. A particular method is developed to take full advantage of a smooth state of the art avoidance techniques (Faverjon and Tournassoud in Proceedings of the 1987 IEEE international conference on robotics and automation, pp. 1152-1159, 1987) while maintaining safety. Experiments involving a 6-DOF manipulator operating in a cluttered environment illustrate the reliability of the approach and validate the expected performances

The impact of surgical delay on resectability of colorectal cancer: An international prospective cohort study

AIM: The SARS-CoV-2 pandemic has provided a unique opportunity to explore the impact of surgical delays on cancer resectability. This study aimed to compare resectability for colorectal cancer patients undergoing delayed versus non-delayed surgery. METHODS: This was an international prospective cohort study of consecutive colorectal cancer patients with a decision for curative surgery (January-April 2020). Surgical delay was defined as an operation taking place more than 4 weeks after treatment decision, in a patient who did not receive neoadjuvant therapy. A subgroup analysis explored the effects of delay in elective patients only. The impact of longer delays was explored in a sensitivity analysis. The primary outcome was complete resection, defined as curative resection with an R0 margin. RESULTS: Overall, 5453 patients from 304 hospitals in 47 countries were included, of whom 6.6% (358/5453) did not receive their planned operation. Of the 4304 operated patients without neoadjuvant therapy, 40.5% (1744/4304) were delayed beyond 4 weeks. Delayed patients were more likely to be older, men, more comorbid, have higher body mass index and have rectal cancer and early stage disease. Delayed patients had higher unadjusted rates of complete resection (93.7% vs. 91.9%, P = 0.032) and lower rates of emergency surgery (4.5% vs. 22.5%, P < 0.001). After adjustment, delay was not associated with a lower rate of complete resection (OR 1.18, 95% CI 0.90-1.55, P = 0.224), which was consistent in elective patients only (OR 0.94, 95% CI 0.69-1.27, P = 0.672). Longer delays were not associated with poorer outcomes. CONCLUSION: One in 15 colorectal cancer patients did not receive their planned operation during the first wave of COVID-19. Surgical delay did not appear to compromise resectability, raising the hypothesis that any reduction in long-term survival attributable to delays is likely to be due to micro-metastatic disease

31st Annual Meeting and Associated Programs of the Society for Immunotherapy of Cancer (SITC 2016) : part two

Background The immunological escape of tumors represents one of the main ob- stacles to the treatment of malignancies. The blockade of PD-1 or CTLA-4 receptors represented a milestone in the history of immunotherapy. However, immune checkpoint inhibitors seem to be effective in specific cohorts of patients. It has been proposed that their efficacy relies on the presence of an immunological response. Thus, we hypothesized that disruption of the PD-L1/PD-1 axis would synergize with our oncolytic vaccine platform PeptiCRAd. Methods We used murine B16OVA in vivo tumor models and flow cytometry analysis to investigate the immunological background. Results First, we found that high-burden B16OVA tumors were refractory to combination immunotherapy. However, with a more aggressive schedule, tumors with a lower burden were more susceptible to the combination of PeptiCRAd and PD-L1 blockade. The therapy signifi- cantly increased the median survival of mice (Fig. 7). Interestingly, the reduced growth of contralaterally injected B16F10 cells sug- gested the presence of a long lasting immunological memory also against non-targeted antigens. Concerning the functional state of tumor infiltrating lymphocytes (TILs), we found that all the immune therapies would enhance the percentage of activated (PD-1pos TIM- 3neg) T lymphocytes and reduce the amount of exhausted (PD-1pos TIM-3pos) cells compared to placebo. As expected, we found that PeptiCRAd monotherapy could increase the number of antigen spe- cific CD8+ T cells compared to other treatments. However, only the combination with PD-L1 blockade could significantly increase the ra- tio between activated and exhausted pentamer positive cells (p= 0.0058), suggesting that by disrupting the PD-1/PD-L1 axis we could decrease the amount of dysfunctional antigen specific T cells. We ob- served that the anatomical location deeply influenced the state of CD4+ and CD8+ T lymphocytes. In fact, TIM-3 expression was in- creased by 2 fold on TILs compared to splenic and lymphoid T cells. In the CD8+ compartment, the expression of PD-1 on the surface seemed to be restricted to the tumor micro-environment, while CD4 + T cells had a high expression of PD-1 also in lymphoid organs. Interestingly, we found that the levels of PD-1 were significantly higher on CD8+ T cells than on CD4+ T cells into the tumor micro- environment (p < 0.0001). Conclusions In conclusion, we demonstrated that the efficacy of immune check- point inhibitors might be strongly enhanced by their combination with cancer vaccines. PeptiCRAd was able to increase the number of antigen-specific T cells and PD-L1 blockade prevented their exhaus- tion, resulting in long-lasting immunological memory and increased median survival

Collision avoidance, virtual guides and advanced supervisory control teleoperation techniques for high-tech construction: framework design

International audienceOne of the biggest challenges to drill deeper tunnels in the future is to design new maintenance tools. Advanced teleoperation and supervisory control techniques were identified in the Telemach project as potential solutions to carry out this work. Due to limitations of the existing systems, a complete framework merging virtual reality tools and real equipment was designed. A wide range of assistances were developed to reduce the impact of secondary tasks during the maintenance process, offer helpful guiding capability and secure the task execution according to the context. The feasibility of the principle was demonstrated on key operations on a scale one mock-up of a Tunnel Boring Machine section. Attention was paid to develop generic tools, meaning that the whole high-tech construction industry could benefit from these new technologies. (C) 2014 Elsevier B.V. All rights reserved

I Diretriz Brasileira de Cardio-Oncologia da Sociedade Brasileira de Cardiologia

Inst Canc Estado Sao Paulo, BR-01246 Sao Paulo, BrazilUniv Sao Paulo, Hosp Clin, Fac Med, Inst Coracao, BR-05508 Sao Paulo, BrazilUniv Fed Sao Paulo, Escola Paulista Med, Inst Cardiol, Sao Paulo, BrazilUniv Fed Rio Grande do Sul, Hosp Clin Porto Alegre, Serv Cardiol, BR-90046900 Porto Alegre, RS, BrazilUniv Hosp, Brasilia, DF, BrazilHosp Procardiaco, Ctr Insuficiencia Cardiaca, Rio De Janeiro, BrazilUniv Pernambuco, Recife, PE, BrazilUniv Fed Amazonas, Fdn Ctr Oncol Amazonas, Manaus, Amazonas, BrazilMonte Tabor Hosp Sao Rafael, Salvador, BA, BrazilFdn Beneficencia Hosp & Cirurgia, Clin Coracao, Aracaju, SE, BrazilHosp Socor, Ecoctr, Belo Horizonte, MG, BrazilUniv Fed Sao Paulo, Escola Paulista Med, Inst Cardiol, Sao Paulo, BrazilWeb of Scienc

Precision measurement of the structure of the CMS inner tracking system using nuclear interactions

The structure of the CMS inner tracking system has been studied using nuclear interactions of hadrons striking its material. Data from proton-proton collisions at a center-of-mass energy of 13 TeV recorded in 2015 at the LHC are used to reconstruct millions of secondary vertices from these nuclear interactions. Precise positions of the beam pipe and the inner tracking system elements, such as the pixel detector support tube, and barrel pixel detector inner shield and support rails, are determined using these vertices. These measurements are important for detector simulations, detector upgrades, and to identify any changes in the positions of inactive elements