Controle de Formações Flexíveis de Robôs Móveis com Desvio de Obstáculos

Este trabalho apresenta um esquema de controle multicamadas para controlar formações de n>3 robôs móveis, incluindo uma estratégia de desvio de obstáculos. O controlador proposto é capaz de conduzir os robôs para compor formações desejadas (controle de posição) e/ou seguir uma trajetória desejada (controle de seguimento de trajetória). A estratégia de evasão de obstáculos é baseada em forças virtuais, que são geradas em função das distâncias robô-obstáculo, sendo consideradas para alterar as velocidades (linear e angular) individuais dos robôs componentes da formação. Tal estratégia é implementada em cada robô da formação, enquanto que o controlador proposto é aplicável a agrupamentos de três robôs, ou seja, a formações triangulares. Além disso, é apresentada uma prova de estabilidade para o sistema de controle em malha fechada, com base na teoria de Lyapunov, incluindo limitação da magnitude dos sinais de controle, para evitar saturação dos atuadores. Finalmente, resultados de simulação e experimentais são apresentados para distintas formações de robôs móveis tipo uniciclo, demonstrando que o esquema de controle proposto é efetivo não somente em termos de assegurar que os robôs alcancem e/ou mantenham uma formação desejada, mas também em termos de evitarem obstáculos enquanto navegam no espaço de trabalho

Subsumption architecture for enabling strategic coordination of robot swarms in a gaming scenario

The field of swarm robotics breaks away from traditional research by maximizing the performance of a group - swarm - of limited robots instead of optimizing the intelligence of a single robot. Similar to current-generation strategy video games, the player controls groups of units - squads - instead of the individual participants. These individuals are rather unintelligent robots, capable of little more than navigating and using their weapons. However, clever control of the squads of autonomous robots by the game players can make for intense, strategic matches. The gaming framework presented in this article provides players with strategic coordination of robot squads. The developed swarm intelligence techniques break up complex squad commands into several commands for each robot using robot formations and path finding while avoiding obstacles. These algorithms are validated through a 'Capture the Flag' gaming scenario where a complex squad command is split up into several robot commands in a matter of milliseconds

Characteristics of Convective Sources of Gravity Waves and Sprites Present in Satellite IR Images During the SpreadFEx 2005 Campaign

We developed a technique to identify and estimate the size, intensity, and Tropopause overshoot of thunderstorm convective cores expected to be significant sources of gravity waves. The work was based on GOES IR images of South America on the night of 30 September to 1 October and 25–26 October 2005, as part of the Spread F Experiment (SpreadFEx) in Brazil in 2005. We also characterized, for the first time, the convective activity of three small TLE producing thunderstorms that yielded 11 TLEs on 25–26 October 2005. The campaign occurred during the dry to wet season transition in central Brazil, marked by the presence of extra-tropical cyclogenesis over the Atlantic Ocean, and cold fronts penetrating inland. The Tropopause temperature was typically −76°C with a corresponding altitude of ~15 200 m. Vigorous convective cores capable of generating strong gravity waves were located in convective regions having areas with cloud top temperatures ≤−76°C. They had typical cloud-top temperature deficits of ΔT−2.0°C to −8.0°C from the average surroundings, implying overshoot heights of 200 to 3100 m, which are within the typical range. Fast vertical development and high horizontal growth rates were associated with a large number of simultaneously active vigorous convective cores, indicating that their dynamics may have determined the spatial-temporal development of the thunderstorms analyzed. Moderate convective cores were also present in areas with cloud top −76°C≤T≤−70°C. They had ΔT of −1.9°C to −5.3°C producing overshoots between 80–300 m. All convective cores had typical diameters of 5–20 km and their size tended to increase with ΔT, there was a 57% correlation between the two parameters. Analysis of the relationship of cloud top T with positive and negative cloud-to-ground lightning (+/−CG) occurrence rate and with peak current showed that lighting activity may provide an independent way to identify convective cores and measure their intensity, since they were characterized by a high incidence of low peak current −CGs that forms the bulk of the −CG population

Low-dose CT for quantitative analysis in acute respiratory distress syndrome

Introduction: The clinical use of serial quantitative computed tomography (CT) to characterize lung disease and guide the optimization of mechanical ventilation in patients with acute respiratory distress syndrome (ARDS) is limited by the risk of cumulative radiation exposure and by the difficulties and risks related to transferring patients to the CT room. We evaluated the effects of tube current-time product (mAs) variations on quantitative results in healthy lungs and in experimental ARDS in order to support the use of low-dose CT for quantitative analysis. Methods: In 14 sheep chest CT was performed at baseline and after the induction of ARDS via intravenous oleic acid injection. For each CT session, two consecutive scans were obtained applying two different mAs: 60 mAs was paired with 140, 15 or 7.5 mAs. All other CT parameters were kept unaltered (tube voltage 120 kVp, collimation 32x0.5 mm, pitch 0.85, matrix 512x512, pixel size 0.625x0.625 mm ). Quantitative results obtained at different mAs were compared via Bland-Altman analysis. Results: Good agreement was observed between 60 mAs and 140 mAs and between 60 mAs and 15 mAs (all biases less than 1%). A further reduction of mAs to 7.5 mAs caused an increase in the bias of poorly and non aerated tissue (-2.9 and 2.4%, respectively) and determined a significant widening of the limits of agreement for the same compartments (-10.5 - 4.8 % for poorly aerated and -5.9 - 10.8% for non aerated tissue). Estimated mean effective dose at 140, 60, 15 and 7.5 mAs corresponded to 17.8, 7.4, 2.0 and 0.9 millisievert, respectively. Image noise of scans performed at 140, 60, 15 and 7.5 mAs corresponded to 10, 16, 38 and 74 Hounsfield Units, respectively. Conclusions: A reduction of effective dose up to 70% has been achieved with minimal effects on lung quantitative results. Low-dose computed tomography provides accurate quantitative results and could be used to characterize lung compartment distribution and possibly monitor time-course of ARDS with a lower risk of exposure to ionizing radiation. A further radiation dose reduction is associated with lower accuracy in quantitative results

Convection: the likely source of the medium-scale gravity waves observed in the OH airglow layer near Brasilia, Brazil, during the SpreadFEx campaign

Six medium-scale gravity waves (GWs) with horizontal wavelengths of λH=60–160 km were detected on four nights by Taylor et al. (2009) in the OH airglow layer near Brasilia, at 15° S, 47° W, during the Spread F Experiment (SpreadFEx) in Brazil in 2005. We reverse and forward ray trace these GWs to the tropopause and into the thermosphere using a ray trace model which includes thermospheric dissipation. We identify the convective plumes, convective clusters, and convective regions which may have generated these GWs. We find that deep convection is the highly likely source of four of these GWs. We pinpoint the specific deep convective plumes which likely excited two of these GWs on the nights of 30 September and 1 October. On these nights, the source location/time uncertainties were small and deep convection was sporadic near the modeled source locations. We locate the regions containing deep convective plumes and clusters which likely excited the other two GWs. The last 2 GWs were probably also excited from deep convection; however, they must have been ducted ~500–700 km if so. Two of the GWs were likely downwards-propagating initially (after which they reflected upwards from the Earth\u27s surface), while one of the GWs was likely upwards-propagating initially from the convective plume/cluster. We also estimate the amplitudes and vertical scales of these waves at the tropopause, and compare their scales with those from a simple, linear convection model. Finally, we calculate each GW\u27s dissipation altitude, location, and amplitude. We find that the dissipation altitude depends sensitively on the winds at and above the OH layer. We also find that several of these GWs may have penetrated to high enough altitudes to potentially seed equatorial spread F (ESF) if located somewhat farther from the magnetic equator

Treatment of loco-regional recurrence of nasopharyngeal carcinoma in a non-endemic area: oncologic outcomes, morbidity, and proposal of a prognostic nomogram

Introduction: The study assessed outcomes and toxicities of different treatment modalities for local and/or regional recurrent nasopharyngeal carcinoma (NPC) in a non-endemic area. Methods: Patients treated with curative intent for recurrent NPC with salvage surgery, photon-based radiotherapy, proton therapy (PT), with or without chemotherapy, at different Italian referral centers between 1998 and 2020 were included. Adverse events and complications were classified according to the Common Terminology Criteria for Adverse Events. Characteristics of the patients, tumors, treatments, and complications are presented along with uni- and multivariate analysis of prognostic factors. A survival predictive nomogram is also provided. Results: A total of 140 patients treated from 1998 to 2020 were retrospectively assessed. Cases with lower age, comorbidity rate, stage, and shorter disease-free interval (DFI) preferentially underwent endoscopic surgery. More advanced cases underwent re-irradiation, fairly distributed between photon-based radiotherapy and PT. Age and DFI were independent factors influencing overall survival. No independent prognostic effect of treatment modality was observed. No significant difference in the morbidity profile of treatments was observed, with 40% of patients experiencing at least one adverse event classified as G3 or higher. Conclusion: Recurrent NPC in a non-endemic area has dissimilar aspects compared to its endemic counterpart, suggesting the need for further studies that can guide the choice of the best treatment modality

Spontaneous Breathing in Early Acute Respiratory Distress Syndrome: Insights From the Large Observational Study to UNderstand the Global Impact of Severe Acute Respiratory FailurE Study

OBJECTIVES: To describe the characteristics and outcomes of patients with acute respiratory distress syndrome with or without spontaneous breathing and to investigate whether the effects of spontaneous breathing on outcome depend on acute respiratory distress syndrome severity. DESIGN: Planned secondary analysis of a prospective, observational, multicentre cohort study. SETTING: International sample of 459 ICUs from 50 countries. PATIENTS: Patients with acute respiratory distress syndrome and at least 2 days of invasive mechanical ventilation and available data for the mode of mechanical ventilation and respiratory rate for the 2 first days. INTERVENTIONS: Analysis of patients with and without spontaneous breathing, defined by the mode of mechanical ventilation and by actual respiratory rate compared with set respiratory rate during the first 48 hours of mechanical ventilation. MEASUREMENTS AND MAIN RESULTS: Spontaneous breathing was present in 67% of patients with mild acute respiratory distress syndrome, 58% of patients with moderate acute respiratory distress syndrome, and 46% of patients with severe acute respiratory distress syndrome. Patients with spontaneous breathing were older and had lower acute respiratory distress syndrome severity, Sequential Organ Failure Assessment scores, ICU and hospital mortality, and were less likely to be diagnosed with acute respiratory distress syndrome by clinicians. In adjusted analysis, spontaneous breathing during the first 2 days was not associated with an effect on ICU or hospital mortality (33% vs 37%; odds ratio, 1.18 [0.92-1.51]; p = 0.19 and 37% vs 41%; odds ratio, 1.18 [0.93-1.50]; p = 0.196, respectively ). Spontaneous breathing was associated with increased ventilator-free days (13 [0-22] vs 8 [0-20]; p = 0.014) and shorter duration of ICU stay (11 [6-20] vs 12 [7-22]; p = 0.04). CONCLUSIONS: Spontaneous breathing is common in patients with acute respiratory distress syndrome during the first 48 hours of mechanical ventilation. Spontaneous breathing is not associated with worse outcomes and may hasten liberation from the ventilator and from ICU. Although these results support the use of spontaneous breathing in patients with acute respiratory distress syndrome independent of acute respiratory distress syndrome severity, the use of controlled ventilation indicates a bias toward use in patients with higher disease severity. In addition, because the lack of reliable data on inspiratory effort in our study, prospective studies incorporating the magnitude of inspiratory effort and adjusting for all potential severity confounders are required

Identifying associations between diabetes and acute respiratory distress syndrome in patients with acute hypoxemic respiratory failure: an analysis of the LUNG SAFE database

Background: Diabetes mellitus is a common co-existing disease in the critically ill. Diabetes mellitus may reduce the risk of acute respiratory distress syndrome (ARDS), but data from previous studies are conflicting. The objective of this study was to evaluate associations between pre-existing diabetes mellitus and ARDS in critically ill patients with acute hypoxemic respiratory failure (AHRF). Methods: An ancillary analysis of a global, multi-centre prospective observational study (LUNG SAFE) was undertaken. LUNG SAFE evaluated all patients admitted to an intensive care unit (ICU) over a 4-week period, that required mechanical ventilation and met AHRF criteria. Patients who had their AHRF fully explained by cardiac failure were excluded. Important clinical characteristics were included in a stepwise selection approach (forward and backward selection combined with a significance level of 0.05) to identify a set of independent variables associated with having ARDS at any time, developing ARDS (defined as ARDS occurring after day 2 from meeting AHRF criteria) and with hospital mortality. Furthermore, propensity score analysis was undertaken to account for the differences in baseline characteristics between patients with and without diabetes mellitus, and the association between diabetes mellitus and outcomes of interest was assessed on matched samples. Results: Of the 4107 patients with AHRF included in this study, 3022 (73.6%) patients fulfilled ARDS criteria at admission or developed ARDS during their ICU stay. Diabetes mellitus was a pre-existing co-morbidity in 913 patients (22.2% of patients with AHRF). In multivariable analysis, there was no association between diabetes mellitus and having ARDS (OR 0.93 (0.78-1.11); p = 0.39), developing ARDS late (OR 0.79 (0.54-1.15); p = 0.22), or hospital mortality in patients with ARDS (1.15 (0.93-1.42); p = 0.19). In a matched sample of patients, there was no association between diabetes mellitus and outcomes of interest. Conclusions: In a large, global observational study of patients with AHRF, no association was found between diabetes mellitus and having ARDS, developing ARDS, or outcomes from ARDS. Trial registration: NCT02010073. Registered on 12 December 2013