Path Tracking Control for Autonomous Driving Applications

Autonomous or self-driving vehicles are becoming a consolidate reality that involves both industrial and academic elds also for its impact in social and governmental communities, well far from automotive engineering. The intent of the present paper is to design an automatic steering control for an autonomous vehicle equipped with steer-by-wire and drive-by-wire technologies. The steering action is calculated to let the vehicle follow a reference path which is stored in a Digital Map properly built to be available in real-time. A Proportional + Derivative (PD) control strategy is deigned based on the Parameter State Approach (PSA) and it is coupled with a Feedforward (FF) term for improving the path tracking control in cornering maneuvers. Some experimental results are shown to demonstrates the ecacy of the controller presented

Early changes in plasma DNA levels of mutant KRAS as a sensitive marker of response to chemotherapy in pancreatic cancer

Pancreatic cancer (PDAC) is still lacking of reliable markers to monitor tumor response. CA 19-9 is the only biomarker approved, despite it has several limitations in sensitivity and specificity. Since mutations of KRAS occur in more than 90% of tumors, its detection in circulating free tumor DNA (cftDNA) could represent a biomarker to monitor chemotherapy response. Twenty-seven advanced PDAC patients given first-line 5-fluorouracil, irinotecan and oxaliplatin or gemcitabine and nab-paclitaxel were enrolled. Three ml of plasma were collected: 1) before starting chemotherapy (baseline); 2) at day 15 of treatment; and 3) at each clinical follow-up. cftDNA was extracted and analysed for KRAS mutations (mutKRAS) by digital droplet PCR. Nineteen patients displayed a mutKRAS in baseline plasma samples. There was a statistically significant difference in progression-free survival (PFS) and overall survival (OS) in patients with increase vs. stability/reduction of cftDNA in the sample collected at day 15 (median PFS 2.5 vs 7.5 months, p = 0.03; median OS 6.5 vs 11.5 months, p = 0.009). The results of this study demonstrate that cftDNA mutKRAS changes are associated with tumor response to chemotherapy and support the evidence that mutKRAS in plasma may be used as a new marker for monitoring treatment outcome and disease progression in PDAC

169pselective induction of pd l1 expression in plasma derived exosomes by gemcitabine nab paclitaxel vs folfirinox in pancreas cancer

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expression of tk1 and cdk9 in plasma derived exosomes is associated with clinical response to cdk4 6 inhibitors in breast cancer

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NuRV: A nuXmv Extension for Runtime Verification

We present NuRV, an extension of the nuXmv model checker for assumption-based LTL runtime verification with partial observability and resets. The tool provides some new commands for online/offline monitoring and code generations into standalone monitor code. Using the online/offline monitor, LTL properties can be verified incrementally on finite traces from the system under scrutiny. The code generation currently supports C, C++, Common Lisp and Java, and is extensible. Furthermore, from the same internal monitor automaton, the monitor can be generated into SMV modules, whose characteristics can be verified by Model Checking using nuXmv. We show the architecture, functionalities and some use scenarios of NuRV, and we compare the performance of generated monitor code (in Java) with those generated by a similar tool, RV-Monitor. We show that, using a benchmark from Dwyer's LTL patterns, besides the capacity of generating monitors for long LTL formulae, our Java-based monitors are about 200x faster than RV-Monitor at generation-time and 2–5x faster at runtime

Lipoxin A4 and interleukin-8 levels in cystic fibrosis sputum after antibiotherapy

AbstractAntibiotics are largely prescribed for cystic fibrosis (CF) respiratory exacerbations. Effects of antibiotics on the inflammatory profile of the patients have been shown but remain controversial. Lipoxin A4 (LXA4) is a lipid mediator, reported to play a central role in resolving airway inflammation. The aim of the study was to investigate the consequences of antibiotherapy on LXA4 and IL-8 levels in CF patients' airways.MethodsEighteen CF patients (7 females, median age 20, range 8 to 47 years) consecutively admitted at the CF center of Montpellier for antibiotics during pulmonary exacerbation, were enrolled. Before and after antibiotics, all patients underwent spirometry (FEV1 and FVC), bacterial cultures and cell counts in sputa. IL-8 and LXA4 concentrations were determined in sputum samples by the median of immunometric assays.ResultsAs previously reported, after antibiotics therapy, FEV1 and FVC significantly improved. While neutrophil cell counts and IL-8 levels decreased, the LXA4 levels significantly increased after antibiotics therapy and were inversely correlated with IL-8 levels.In conclusion, we reported a correlation between antibiotics treatments and inflammatory markers in CF sputum. Our data provide evidences for a novel effect of antibiotics increasing the concentration of the anti-inflammatory lipid mediator LXA4

o 007liquid biopsy allows predicting benefit from rechallenge with cetuximab cet irinotecan iri in ras braf wild type mcrc patients pts with resistance to 1st line cet iri final results and translational analyses of the cricket study by gono

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Contribution of KRAS mutations and c.2369C > T (p.T790M) EGFR to acquired resistance to EGFR-TKIs in EGFR mutant NSCLC: a study on circulating tumor DNA

INTRODUCTION: KRAS oncogene mutations (MUTKRAS) drive resistance to EGFR inhibition by providing alternative signaling as demonstrated in colo-rectal cancer. In non-small cell lung cancer (NSCLC), the efficacy of treatment with EGFR tyrosine kinase inhibitors (EGFR-TKIs) depends on activating EGFR mutations (MUTEGFR). However, inhibition of EGFR may select resistant cells displaying alternative signaling, i.e., KRAS, or restoration of EGFR activity due to additional MUTEGFR, i.e., the c.2369C > T (p.T790MEGFR). AIM: The aim of this study was to investigate the appearance of MUTKRAS during EGFR-TKI treatment and their contribution to drug resistance. METHODS: This study used cell-free circulating tumor DNA (cftDNA) to evaluate the appearance of codon 12 MUTKRAS and p.T790MEGFR mutations in 33 advanced NSCLC patients progressing after an EGFR-TKI. RESULTS: p.T790MEGFR was detected in 11 (33.3%) patients, MUTKRAS at codon 12 in 3 (9.1%) while both p.T790MEGFR and MUTKRAS codon 12 were found in 13 (39.4%) patients. Six patients (18.2%) were KRAS wild-type (WTKRAS) and negative for p.T790MEGFR. In 8 subjects paired tumor re-biopsy/plasma samples were available; the percent concordance of tissue/plasma was 62.5% for p.T790MEGFR and 37.5% for MUTKRAS. The analysis of time to progression (TTP) and overall survival (OS) in WTKRAS vs. MUTKRAS were not statistically different, even if there was a better survival with WTKRAS vs. MUTKRAS, i.e., TTP 14.4 vs. 11.4 months (p = 0.97) and OS 40.2 vs. 35.0 months (p = 0.56), respectively. CONCLUSIONS: MUTKRAS could be an additional mechanism of escape from EGFR-TKI inhibition and cftDNA is a feasible approach to monitor the molecular development of drug resistance