Adaptive motion planning for a mobile robot

Historically, trapezoidal velocity profiles have been widely used to control engines. Nevertheless, the evolution of robots and their uses has led to the need of using smoother profiles, due to the demand of high precision and delicate movements. It has been shown that this can be achieved by minimizing the change of acceleration and using s-curve profiles. Moreover, to provide a good control of the movement of a robot, it is necessary to ensure that it will meet the desired velocity profile. Therefore, a way to prevent how the wheels will react on the soil becomes highly useful, in order to adapt the supplied torque. This thesis suggests a model to define an appropriate s-curve velocity profile given the desired starting and ending kinematic states for a mobile robot. The study is then focused on a one-wheel system to define the interaction between the soil and a wheel. This interaction is modelled and extended in order to calculate the required torque, drawbar pull and power needed to fulfil the desired s-curve velocity profile. Finally, an introduction to unicycle robots is given as an example of how the proposed models could be applied in the motion planning of a mobile robot. Key words: terramechanics, s-curve, jerk, velocity profileOutgoin

Remodeling of Kv7.1 and Kv7.5 Expression in Vascular Tumors

Voltage-dependent potassium (Kv) channels contribute to the excitability of nerves and muscles. In addition, Kv participates in several cell functions, including cell cycle progression and proliferation. Kv channel remodeling has been associated with neoplastic cell growth and cancer. Kv7 channels are expressed in blood vessels, and they participate in the maintenance of vascular tone and are implicated in myocyte proliferation. Although evidence links Kv7 remodeling to different types of cancer, its expression in vascular tumors has never been studied. Endothelium-derived vascular neoplasms range from indolent lesions to highly aggressive and metastasizing cancers. Here, we show that Kv7.1 and Kv7.5 are evenly distributed in tunicas as well as the endothelium of healthy veins and arteries. The layered structure of vessels is lost in vascular tumors. By studying eight vascular tumors with different origins and characteristics, we found that Kv7.1 and Kv7.5 expression was changed in vascular cancers. While both channels were generally downregulated, Kv7.5 expression was clearly correlated with neoplastic malignancy. The vascular tumors did not contract; therefore, the role of Kv7 channels is probably related to proliferation rather than controlling vascular tone. Our results identify vascular Kv7 channels as targets for cancer detection and anticancer therapies

Quality of life role in risky alcohol use research: should it be a more relevant outcome in any study?

Alcohol; Calidad de vida; AUDITAlcohol; Qualitat de vida; AUDITAlcohol; Quality of life; AUDITA partir de los datos basales del estudio EFAR-Spain para la validación de una intervención breve en línea en consumidores de riesgo de alcohol facilitado desde atención primaria nos hemos propuesto explorar la relación entre la calidad de vida (medida a través de la escala EQ-5D-5L ) y el patrón de consumo de alcohol (a partir del AUDIT). Utilizamos como variable principal dependiente la calidad de vida y las seis diferentes dimensiones de la misma (ansiedad/depresión, escala analógica-visual, dolor/incomodidad, movilidad, autocuidado, actividades diarias), y como variables independientes la puntuación en el AUDIT y los datos sociodemográficos. El análisis multivariante confirmó la asociación estadística de la calidad de vida (regresión linear B-0.25 IC95%-0.01 a -0.04), la subescala de depresión/ansiedad (regresión logística: OR 1.10 IC95% 1.08-1.22), y la subescala analógica-visual (regresión lineal B-0.27 IC95% -1.25 a -0.500) con puntuación total del AUDIT de forma independiente de los factores sociodemográficos. Teniendo en cuenta que en la asistencia del paciente con problemas de alcohol la reducción de consumo de alcohol puede ser un objetivo terapéutico alcanzable y respetuoso con la ética profesional en los casos leves y moderados y que la auto-evaluación del patrón de consumo de alcohol por parte del paciente no está exenta de minimizaciones en las cantidades y frecuencias, tal vez podría ser adecuado evaluar la evolución de nuestros pacientes en función de los cambios en la calidad de vida como respuesta al tratamiento.Using basal data from EFAR-Spain (A randomised controlled non-inferiority trial of primary care-based facilitated access to an alcohol reduction website) we explored the relationship between quality of life (QoL, as evaluated by EQ-5D-5L) and pattern of alcohol use (as evaluated by AUDIT) . Multivariate regression analyses were conducted using total QoL index and QoL six dimensions (anxiety/depression, Visual Analogue Scale (VAS), pain, mobility, self-care, daily activities) as dependent variables and AUDIT score and sociodemographic data as independent variables. Adjusting for sociodemographic data, AUDIT score was a statiscally significant predictor of overall QoL (lineal regression B-0.25 95% CI -0.04 to -0.01), anxiety/depression (logistic regression OR 1.10 95% CI 1.08-1.22) and health VAS (lineal regression B-0.27 95% CI -1.25 to -0.500). Since reducing alcohol intake can be a reasonable and ethically correct therapeutic objective in mild and moderate alcohol use disorders and since alcohol use pattern self-assessment has several limitations, perhaps assessing changes in QoL over time could be useful to monitor our patients recovery.Este trabajo ha sido financiado por el proyecto PI042924 del Instituto de Salud Carlos III (Ministerio de Economía, Industria y Competitividad) I+D+R y cofinanciado por el Fondo Europeo de Desarrollo Regional (FEDER). Unión Europea. Una manera de hacer Europa (http://www.isciii.es)

The relationship between motivations for cannabis consumption and problematic use

Atención centrada en la persona; Cannabis; Motivación para el consumo; Consumo problemático de cánnabisPatient-centered care; Cannabis; Motivations for cannabis use; Problematic cannabis useAtenció centrada a la persona; Cannabis; Motivació per al consum; Consum problemàtic de cànnabisIntroducción. El cribado sistemático del consumo problemático de cannabis no incluye las motivaciones que llevan al consumo, aunque desde una perspectiva de atención centrada en la persona, este dato sea fundamental. El presente estudio explora las motivaciones de consumo de cannabis en adultos y su relación con el patrón de consumo y consumo problemático. Método. Consumidores adultos de cannabis (en los últimos 60 días) fueron reclutados en la provincia de Barcelona (n=468). Se pasó un cuestionario para explorar datos sociodemográficos, patrón de uso, la Cannabis Abuse Screening Test (CAST) y la motivación principal para el consumo. Los motivos de consumo se categorizaron a posteriori según la Marijuana Motives Measures (MMM). Se realizó un análisis descriptivo e inferencial para explorar la relación entre la motivación categorizada y variables sociodemográficas, patrón de consumo y puntuaciones de la CAST. Resultados. Consumir cannabis para mejorar las emociones positivas (35%), por costumbre (29%) y para afrontar emociones negativas (25%) fueron las motivaciones más frecuentes. Respecto a otras motivaciones, el “afrontamiento” se relaciona con mayor cantidad consumida (4 vs 3 porros/día, p = 0,005), mayor probabilidad de tener un consumo problemático (77% vs 64%, p = 0,05), y mayor vulnerabilidad social (desempleo 56% vs 37%, p = 0,001; y bajo nivel de estudios (14% vs 8%, p = 0,042)). Conclusiones. El afrontamiento está presente en uno de cada cuatro usuarios de cannabis, es un marcador de vulnerabilidad social y de mayor cantidad de consumo de cannabis y probabilidad de consumo problemático. Una atención centrada en la persona junto con estrategias preventivas (educación emocional y social) y clínicas (psicoterapia) pueden ser de utilidad en esta población de mayor riesgo.Introduction. Systematic screening of problematic cannabis use does not include the motivations that lead to consumption, although from a person-centered perspective this is fundamental. The present study explores the motivations for cannabis use in adults and its relationship with cannabis use patterns and problematic use. Method. Adult cannabis users (previous 60 days) were recruited in the province of Barcelona (n = 468). Information on their sociodemographic data, cannabis use pattern, Cannabis Abuse Screening Test (CAST) and the main motivation for use were collected. Motivations were categorized a posteriori according to the Marijuana Motives Measures (MMM). A descriptive and inferential analysis was carried out to link the motivations to sociodemographic variables, consumption pattern and probability of suffering problematic cannabis use (CAST). Results. Using cannabis to heighten positive feelings (35%), out of habit (29%) and to cope with negative feelings (25%) were the most frequent motivations. In comparison to other motivations, coping is related to a greater quantity of cannabis used (4 vs 3 joints per day, p = 0.005), higher probability of problematic cannabis use (77% vs 64%, p = 0.05), and greater social vulnerability (unemployment 56% vs 37%, p = 0.001; and low educational level 14% vs 8%, p = 0.042). Conclusions. Coping as a motivation for cannabis use is present in one out of four users and is a marker of social vulnerability, greater quantity of cannabis used and higher risk of problematic use. Patient-centered care together with preventive (emotional and social education) and clinical strategies (psychotherapy) can be useful for this population at higher risk

Effectiveness of a Specialized Brief Intervention for At-risk Drinkers in an Emergency Department: Short-term Results of a Randomized Controlled Trial

Bevedors de risc; Intervencions breus; Serveis d'urgències; ImplementacióBebedores de riesgo; Intervenciones breves; Servicios de urgencias; ImplementaciónRisk drinkers; Brief interventions; Emergency services; ImplementationBackground: Screening, Brief Intervention, and Referral to Treatment (SBIRT) programs have been developed, evaluated, and shown to be effective, particularly in primary care and general practice. Nevertheless, effectiveness of SBIRT in emergency departments (EDs) has not been clearly established. Objective: We aimed to evaluate the feasibility and efficacy of an SBIRT program conducted by highly specialized professionals in the ED of a tertiary hospital. Methods: We conducted a randomized controlled trial to study the feasibility and efficacy of an SBIRT program conducted by alcohol specialists for at-risk drinkers presenting to the ED, measured with the three-item version of the Alcohol Use Disorder Identification Test (AUDIT-C). Patients were randomized to two groups, with the control group receiving two leaflets-one regarding alcohol use and the other giving information about the study protocol. The intervention group received the same leaflets as well as a brief motivational intervention on alcohol use and, where appropriate, a referral to specialized treatment. The primary outcomes were the proportion of at-risk alcohol use measured by AUDIT-C scale and the proportion of patients attending specialized treatment at 1.5 months. Results: Of 3,027 patients presenting to the ED, 2,044 (67%) were potentially eligible to participate, 247 (12%) screened positive for at-risk drinking, and 200 agreed to participate. Seventy-two percent of the participating sample were men, and the mean (±SD) age was 43 (±16.7) years. Follow-up rates were 76.5%. At 1.5 months, the intervention group showed greater reductions in alcohol consumption and fewer patients continuing with at-risk alcohol use (27.8% vs. 48.1%; p = 0.01). The SBIRT program also increased the probability of attending specialized treatment, compared to the control condition (23% vs. 9.8%, p = 0.0119) CONCLUSION: The SBIRT program in the ED was found to be feasible and effective in identifying at-risk drinkers, reducing at-risk alcohol use, and increasing treatment for alcohol problems.This work was supported by the Hospital Cl ınic (Grant“Premifide resid encia Emili Letang) and the CERCA Programme/Generalitat de Catalunya

Early, Chronic, and Acute Cannabis Exposure and Their Relationship With Cognitive and Behavioral Harms

Background: Cannabis is the third most consumed drug worldwide. Thus, healthcare providers should be able to identify users who are in need for an intervention. This study aims to explore the relationship of acute, chronic, and early exposure (AE, CE, and EE) to cannabis with cognitive and behavioral harms (CBH), as a first step toward defining risky cannabis use criteria. Methods: Adults living in Spain who used cannabis at least once during the last year answered an online survey about cannabis use and health-related harms. Cannabis use was assessed in five dimensions: quantity on use days during the last 30 days (AE), frequency of use in the last month (AE), years of regular use (YRCU) (CE), age of first use (AOf) (EE), and age of onset of regular use (AOr) (EE). CBH indicators included validated instruments and custom-made items. Pearson correlations were calculated for continuous variables, and Student’s t-tests for independent samples were calculated for categorical variables. Effect sizes were calculated for each of the five dimensions of use (Cohen’s d or r Pearson correlation) and harm outcome. Classification and Regression Trees (CART) analyses were performed for those dependent variables (harms) significantly associated with at least two dimensions of cannabis use patterns. Lastly, logistic binary analyses were conducted for each harm outcome. Results: The mean age of participants was 26.2 years old [standard deviation (SD) 8.5]. Out of 2,124 respondents, 1,606 (75.6%) reported at least one harm outcome (mean 1.8 and SD 1.5). In our sample, using cannabis on 3 out of 4 days was associated with an 8-fold probability of scoring 4+ on the Severity Dependence Scale (OR 8.33, 95% CI 4.91–14.16, p < 0.001), which is indicative of a cannabis use disorder. Also, a start of regular cannabis use before the age of 25 combined with using cannabis at least once per month was associated with a higher probability of risky alcohol use (OR 1.33, 95% CI 1.12–1.57, p = 0.001). Besides, a start of regular cannabis use before the age of 18 combined with a period of regular use of at least 7.5 years was associated with a higher probability of reporting a motor vehicle accident (OR 1.81, 95% CI 1.41–2.32, p < 0.0001). Results were ambiguous regarding the role that age of first use and milligrams of THC per day of use might play regarding cannabis-related harms. Conclusions: The relationship among AE, CE, and EE with CBH indicators is a complex phenomenon that deserves further studies. The pattern of cannabis use should be carefully and widely evaluated—(not just including frequency but also other dimensions of pattern of use)—in research (preferably in longitudinal studies) to assess cannabis-related harms

Weak surveillance and policy attention to cancer in global health: the example of Mozambique

Cancer is an emerging public health problem in sub-Saharan Africa due to population growth, ageing and westernisation of lifestyles. The increasing burden of cancer calls for urgent policy attention to develop cancer prevention and control programmes. Cancer surveillance is an essential prerequisite. Only one in five low-income and middle-income countries have the necessary data to drive policy and reduce the cancer burden. In this piece, we use data from Mozambique over a 50-year period to illustrate cancer epidemiological trends in low-income and middle-income countries to hypothesise potential circumstances and factors that could explain changes in cancer burden and to discuss surveillance weaknesses and potential improvements. Like many low-income and middle-income countries, Mozambique faces the dual challenge of a still high morbidity and mortality due to infectious diseases in rural areas and increased incidence of cancers associated with westernisation of lifestyles in urban areas, as well as a rise of cancers related to the HIV epidemic. An increase in cancer burden and changes in the cancer profile should be expected in coming years. The Mozambican healthcare and health-information systems, like in many other low-income and middle-income countries, are not prepared to face this epidemiological transition, which deserves increasing policy attention

Detección y registro del consumo de alcohol en urgencias

Fundamentos: El consumo excesivo de alcohol es uno de los factores de riesgo de morbimortalidad más im-portantes en nuestro entorno, por lo que en los últimos años se han desarrollado múltiples programas para la de-tección e intervención sobre los consumidores de riesgo en los centros de atención primaria y de Urgencias. El ob-jetivo de este estudio fue analizar la tasa de detección y registro del consumo excesivo de los pacientes atendidos en un servicio de Urgencias.Métodos: Se incluyeron todos los pacientes con un consumo de riesgo de alcohol, mayores de 18 años, aten-didos en un servicio de Urgencias del Hospital Clínic de Barcelona. Se realizó un análisis descriptivo de los datos, tras evaluar los informes de alta de los pacientes.Resultados: Se evaluaron 2.047 pacientes median-te la escala AUDIT, detectándose 247 consumidores de riesgo, de lo que 200 aceptaron participar. De estos, sola-mente se realizó una adecuada detección y registro en el 32,5%. En 122 historias clínicas no había ninguna refe-rencia sobre el consumo de alcohol, y en 13 la referencia era inexacta y no informaba sobre si la cantidad de alcohol consumida era excesiva.Conclusiones: El consumo de riesgo de alcohol se registra de manera adecuada en menos del 35% de los pa-cientes. Es necesario evaluar las barreras que están obsta-culizando la detección y registro para una mejor identifi-cación de estos pacientes

Adaptive motion planning for a mobile robot

Historically, trapezoidal velocity profiles have been widely used to control engines. Nevertheless, the evolution of robots and their uses has led to the need of using smoother profiles, due to the demand of high precision and delicate movements. It has been shown that this can be achieved by minimizing the change of acceleration and using s-curve profiles. Moreover, to provide a good control of the movement of a robot, it is necessary to ensure that it will meet the desired velocity profile. Therefore, a way to prevent how the wheels will react on the soil becomes highly useful, in order to adapt the supplied torque. This thesis suggests a model to define an appropriate s-curve velocity profile given the desired starting and ending kinematic states for a mobile robot. The study is then focused on a one-wheel system to define the interaction between the soil and a wheel. This interaction is modelled and extended in order to calculate the required torque, drawbar pull and power needed to fulfil the desired s-curve velocity profile. Finally, an introduction to unicycle robots is given as an example of how the proposed models could be applied in the motion planning of a mobile robot. Key words: terramechanics, s-curve, jerk, velocity profileOutgoin

Adaptive motion planning for a mobile robot

Historically, trapezoidal velocity profiles have been widely used to control engines. Nevertheless, the evolution of robots and their uses has led to the need of using smoother profiles, due to the demand of high precision and delicate movements. It has been shown that this can be achieved by minimizing the change of acceleration and using s-curve profiles. Moreover, to provide a good control of the movement of a robot, it is necessary to ensure that it will meet the desired velocity profile. Therefore, a way to prevent how the wheels will react on the soil becomes highly useful, in order to adapt the supplied torque. This thesis suggests a model to define an appropriate s-curve velocity profile given the desired starting and ending kinematic states for a mobile robot. The study is then focused on a one-wheel system to define the interaction between the soil and a wheel. This interaction is modelled and extended in order to calculate the required torque, drawbar pull and power needed to fulfil the desired s-curve velocity profile. Finally, an introduction to unicycle robots is given as an example of how the proposed models could be applied in the motion planning of a mobile robot. Key words: terramechanics, s-curve, jerk, velocity profileOutgoin