Optimal manoeuver trajectory synthesis for autonomous space and aerial vehicles and robots

© Springer Nature Switzerland AG 2019. In this paper the problem of the synthesis of optimal manoeuver trajectories for autonomous space vehicles and robots is revisited. It is shown that it is entirely feasible to construct optimal manoeuver trajectories from considerations of only the rigid body kinematics rather than the complete dynamics of the space vehicle or robot under consideration. Such an approach lends itself to several simplifications which allow the optimal angular velocity and translational velocity profiles to be constructed, purely from considerations of the body kinematic relations. In this paper the body kinematics is formulated, in general, in terms of the quaternion representation attitude and the angular velocities are considered to be the steering inputs. The optimal inputs for a typical attitude manoeuver is synthesized by solving for the states and co-states defined by a two point boundary value problem. A typical example of a space vehicle pointing problem is considered and the optimal torque inputs for the synthesis of a reference attitude trajectory and the reference trajectories are obtained

Time-dependent efficiency measurements of polymer solar cells with dye additives: unexpected initial increase of efficiency

We report the effects of the addition of two azo-dye additives on the time-dependent efficiency of polymer solar cells. Although the maximum efficiencies of devices containing different amounts of dye do not vary greatly over the selected concentration range, the time dependence results reveal a surprising initial increase in efficiency in some samples. We observe this effect to be correlated with a leakage current, although a specific mechanism is not yet identified. We also present the measured lifetimes of these solar cells, and find that variations in dye concentrations produce a small effect at most. Characterization of the bulk heterojunction layer (active layer) morphology using atomic-force microscope (AFM) imaging reveals reordering patterns which suggest that the primary effects of the dyes arise via structural, not absorptive, characteristics

Structure–function relationships of fullerene esters in polymer solar cells: unexpected structural effects on lifetime and efficiency

We report both transport measurements and spectroscopic data of polymer/fullerene blend photovoltaics using a small library of fullerene esters to correlate device properties with a range of functionality and structural diversity of the ester substituent. We observe that minor structural changes can lead to significant and surprising differences in device efficiency and lifetime. For example we have found that isomeric R-groups in the fullerene ester-based devices we have studied have dramatically different efficiencies. The characteristic lifetimes derived from both transport and spectroscopic measurements are generally comparable; however, some more rapid effects in specific fullerene esters are not observed spectroscopically. It is apparent from our results that each fullerene derivative requires re-optimization to reveal the best device performance. Furthermore we conclude that a library approach is essential for evaluating the effects of structural differences in the constituent molecules and serves as important device optimization method that is not being currently employed in photovoltaic investigations

Effectiveness of intensive group and individual interventions for smoking cessation in primary health care settings: a randomized trial

<p>Abstract</p> <p>Objectives</p> <p>Primary: To compare the effectiveness of intensive group and individual interventions for smoking cessation in a primary health care setting; secondary: to identify the variables associated with smoking cessation.</p> <p>Methods</p> <p>Three-pronged clinical trial with randomisation at the individual level. We performed the following: an intensive individual intervention (III), an intensive group intervention (IGI) and a minimal intervention (MI). Included in the study were smokers who were prepared to quit smoking. Excluded from the study were individuals aged less than 18 years or with severe mental conditions or terminal illnesses. The outcome measure was continued abstinence at 12 months confirmed through CO-oximetry (CO). The analysis was based on intention to treat.</p> <p>Results</p> <p>In total, 287 smokers were recruited: 81 in the III, 111 in the IGI, and 95 in the MI. Continued abstinence at 12 months confirmed through CO was 7.4% in the III, 5.4% in the IGI, and 1% in the MI. No significant differences were noted between III and MI on the one hand, and between IGI and MI on the other [RR 7.04 (0.9-7.2) and RR 5.1 (0.6-41.9), respectively]. No differences were noted between IGI and III [RR 0.7 (0.2-2.2)]. In multivariate analysis, only overall visit length showed a statistically significant association with smoking cessation.</p> <p>Conclusions</p> <p>The effectiveness of intensive smoking interventions in this study was lower than expected. No statistically significant differences were found between the results of individual and group interventions.</p> <p>Trial registration number</p> <p>ISRCTN32323770</p

Alterations of the retinoblastoma gene in metastatic breast cancer

Germline mutations affecting the retinoblastoma gene (RB1) predispose to inherited retinoblastomas but also other malignancies, including breast cancer. While somatic RB1 mutations have been detected in different malignancies, information about the potential role of RB1 mutations in breast cancer is limited. Recently, we discovered RB1 mutations to be associated with resistance to anthracyclines/mitomycin in primary breast cancer. The present work is the first report evaluating RB1 mutation and epigenetic status in metastatic breast cancer. Among 148 breast cancer samples analyzed by MLPA, four samples harbored intragenic deletions/duplications: Thus, exons 1–2 were deleted in two tumors and exons 21–23 in one tumor, while one sample harbored duplication of exons 18–23. The entire RB1 gene was duplicated in two tumors and multiple amplifications were revealed in one sample. Reduced copy number was observed in 17 samples (11.5%). No point mutation or promoter hypermethylation was discovered (n = 38 and 114 tumors analyzed, respectively). Interestingly, among seven tumors expressing lack of response to epirubicin, two samples harbored alterations in RB1, contrasting none out of 16 tumors with stable disease or an objective response (P = 0.08). In summary, the frequency of RB1 alterations in metastatic lesions was not increased when compared to primary breast cancer, indicating that RB1 alterations do not play a major role in metastatic development. While a non-significant association suggesting RB1 alterations to be linked to therapy resistance was observed, our data do not suggest a major role for RB1 alterations explaining acquired drug resistance

Low penetrance of retinoblastoma for p.V654L mutation of the RB1 gene

<p>Abstract</p> <p>Background</p> <p>Retinoblastoma is caused by compound heterozygosity or homozygosity of retinoblastoma gene (<it>RB1</it>) mutations. In germline retinoblastoma, mutations in the <it>RB1 </it>gene predispose individuals to increased cancer risks during development. These mutations segregate as autosomal dominant traits with high penetrance (90%).</p> <p>Methods</p> <p>We screened 30 family members from one family using high resolution melting assay and DNA direct sequencing for mutations in the <it>RB1 </it>gene. We evaluate the phenotype and penetrance of germline mutations of the <it>RB1 </it>gene in a large Taiwanese family.</p> <p>Results</p> <p>The molecular analysis and clinical details of this family showed phenotypic variability associated with the p.V654L mutation in exon 19 of the <it>RB1 </it>gene in 11 family members. The phenotype varied from asymptomatic to presence of a unilateral tumor. Only four individuals (2 males and 2 females) developed unilateral retinoblastoma, which resulted in calculated low penetrance of 36% (4/11). The four individuals with retinoblastoma were diagnosed before the age of three years. None of their relatives exhibited variable severity or bilateral retinoblastoma.</p> <p>Conclusions</p> <p>The diseased-eye ratio for this family was 0.36, which is lower than current estimates. This suggests that the <it>RB1 </it>p.V654L mutation is a typical mutation associated with low penetrance.</p

Occipital peripheral nerve stimulation in the management of chronic intractable occipital neuralgia in a patient with neurofibromatosis type 1: a case report

<p>Abstract</p> <p>Introduction</p> <p>Occipital peripheral nerve stimulation is an interventional pain management therapy that provides beneficial results in the treatment of refractory chronic occipital neuralgia. Herein we present a first-of-its-kind case study of a patient with neurofibromatosis type 1 and bilateral occipital neuralgia treated with occipital peripheral nerve stimulation.</p> <p>Case presentation</p> <p>A 42-year-old Caucasian woman presented with bilateral occipital neuralgia refractory to various conventional treatments, and she was referred for possible treatment with occipital peripheral nerve stimulation. She was found to be a suitable candidate for the procedure, and she underwent implantation of two octapolar stimulating leads and a rechargeable, programmable, implantable generator. The intensity, severity, and frequency of her symptoms resolved by more than 80%, but an infection developed at the implantation site two months after the procedure that required explantation and reimplantation of new stimulating leads three months later. To date she continues to experience symptom resolution of more than 60%.</p> <p>Conclusion</p> <p>These results demonstrate the significance of peripheral nerve stimulation in the management of refractory occipital neuralgias in patients with neurofibromatosis type 1 and the possible role of neurofibromata in the development of occipital neuralgia in these patients.</p

Restricted by borders: trade-offs in transboundary conservation planning for large river systems

Effective conservation of freshwater biodiversity requires accounting for connectivity and the propagation of threats along river networks. With this in mind, the selection of areas to conserve freshwater biodiversity is challenging when rivers cross multiple jurisdictional boundaries. We used systematic conservation planning to identify priority conservation areas for freshwater fish conservation in Hungary (Central Europe). We evaluated the importance of transboundary rivers to achieve conservation goals by systematically deleting some rivers from the prioritization procedure in Marxan and assessing the trade-offs between complexity of conservation recommendations (e.g., conservation areas located exclusively within Hungary vs. transboundary) and cost (area required). We found that including the segments of the largest transboundary rivers (i.e. Danube, Tisza) in the area selection procedure yielded smaller total area compared with the scenarios which considered only smaller national and transboundary rivers. However, analyses which did not consider these large river segments still showed that fish diversity in Hungary can be effectively protected within the country’s borders in a relatively small total area (less than 20 % of the country’s size). Since the protection of large river segments is an unfeasible task, we suggest that transboundary cooperation should focus on the protection of highland riverine habitats (especially Dráva and Ipoly Rivers) and their valuable fish fauna, in addition to the protection of smaller national rivers and streams. Our approach highlights the necessity of examining different options for selecting priority areas for conservation in countries where transboundary river systems form the major part of water resources.Full Tex