A Primer on Vehicle-to-Barrier Communications: Effects of Roadside Barriers, Encroachment, and Vehicle Braking

Today, more than half of the traffic fatalities are a result of run-off-road (RoR) crashes, which usually involve a single vehicle. Roadside barriers are often the last means to mitigate the severity of a RoR crash into hazardous objects or features. While the recent research on vehicular communications primarily focus on safety related wireless communications for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) scenarios, the interactions between vehicles and barriers in next generation vehicular systems have not been well-studied. In this paper, vehicle-to-barrier (V2B) wireless communication paradigm is introduced as a potential missing link in preventing single-vehicle RoR fatalities1. V2B communications, which take place between vehicles and radios embedded in roadside barriers can contribute to keeping cars on the road and help mitigate RoR crashes. The realization of V2B communication services necessitates an in-depth understanding of the underlying physical characteristics of the environment and channel. To this end, in this paper, some of the first real world field test measurement results of V2B communications are presented. More specifically, the effects of two types of commonly-utilized barriers (rigid concrete barrier and corrugated-beam guardrail) on the V2B channel communications are illustrated. The results show that guardrail barriers exhibit a waveguiding effect on signal transmission, while higher signal attenuation is observed with rigid barriers. Moreover, experiments illustrate the characteristics of V2B orthogonal frequency-division multiplexing (OFDM) communication during vehicle encroachment and braking in terms of received signal strength, error vector magnitude, and phase error statistics. The results highlight that barrier-height antenna deployments result in high channel quality for long distances and are not influenced by mobility and vehicle brake during encroachment scenarios, making them a strong candidate for V2B communications

DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education

This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies allow DeltaZ to be 3D-printed from soft and rigid materials so that it is easy to assemble and maintain, and lowers the barriers to utilize. Functionality of the robot stems from its three translational degrees of freedom and a closed form kinematic solution which makes manipulation problems more intuitive compared to other manipulators. Moreover, the low cost of the robot presents an opportunity to democratize manipulators for a research setting. We also describe how the robot can be used as a reinforcement learning benchmark. Open-source 3D-printable designs and code are available to the public.Comment: IROS 2022, first two authors contributed equall

Chemotherapy-related complications in the kidneys and collecting system: an imaging perspective

Nephrotoxicity is a common adverse effect of many chemotherapeutic agents. The agents most commonly associated with chemotherapy-associated nephrotoxicity are methotrexate, semustine, streptozocin, mithramycin, and cisplatin. Certain chemotherapeutic agents have adverse effects on the kidneys and urothelium that can be visualized radiographically, including cystic change, interstitial nephritis, papillary necrosis, urothelial changes, haemorrhagic cystitis, acute tubular necrosis, and infarction. This review focuses on imaging features identifying complications of chemotherapy in the kidneys and collecting system and provides didactic cases to alert referring clinicians

The Connectivity Fingerprint of the Human Frontal Cortex, Subthalamic Nucleus, and Striatum

Within the cortico basal ganglia (BG)–thalamic network, the direct and indirect pathways comprise of projections from the cortex to the striatum (STR), whereas the hyperdirect pathway(s) consist of cortical projections toward the subthalamic nucleus (STN). Each pathway possesses a functionally distinct role for action selection. The current study quantified and compared the structural connectivity between 17 distinct cortical areas with the STN and STR using 7 Tesla diffusion weighted magnetic resonance imaging (dMRI) and resting-state functional MRI (rs-fMRI) in healthy young subjects. The selection of these cortical areas was based on a literature search focusing on animal tracer studies. The results indicate that, relative to other cortical areas, both the STN and STR showed markedly weaker structural connections to areas assumed to be essential for action inhibition such as the inferior frontal cortex pars opercularis. Additionally, the cortical connectivity fingerprint of the STN and STR indicated relatively strong connections to areas related to voluntary motor initiation such as the cingulate motor area and supplementary motor area. Overall the results indicated that the cortical–STN connections were sparser compared to the STR. There were two notable exceptions, namely for the orbitofrontal cortex and ventral medial prefrontal cortex, where a higher tract strength was found for the STN. These two areas are thought to be involved in reward processing and action bias

Cancer and systemic inflammation: treat the tumour and treat the host

Determinants of cancer progression and survival are multifactorial and host responses are increasingly appreciated to have a major role. Indeed, the development and maintenance of a systemic inflammatory response has been consistently observed to confer poorer outcome, in both early and advanced stage disease. For patients, cancer-associated symptoms are of particular importance resulting in a marked impact on day-to-day quality of life and are also associated with poorer outcome. These symptoms are now recognised to cluster with one another with anorexia, weight loss and physical function forming a recognised cluster whereas fatigue, pain and depression forming another. Importantly, it has become apparent that these symptom clusters are associated with presence of a systemic inflammatory response in the patient with cancer. Given the understanding of the above, there is now a need to intervene to moderate systemic inflammatory responses, where present. In this context the rationale for therapeutic intervention using nonselective anti-inflammatory agents is clear and compelling and likely to become a part of routine clinical practice in the near future. The published literature on therapeutic intervention using anti-inflammatory agents for cancer-associated symptoms was reviewed. There are important parallels with the development of useful treatments for the systemic inflammatory response in patients with rheumatological disease and cardiovascular disease

Vehicle-to-barrier communication during real-world vehicle crash tests

Vehicle-to-barrier (V2B) communication is expected to facilitate wireless interactions between vehicles and roadside barriers in next-generation intelligent transportation systems. V2B systems will help mitigate single-vehicle, run-off-road crashes, which account for more than 50% of roadside crash fatalities. In this work, the characteristics of the wireless channel prior to and during a crash are analyzed using orthogonal frequency division multiplexing (OFDM) techniques, which has been used in existing vehicular communication systems. More specifically, the performance of OFDM-based V2B links are measured in real-world crash tests for the first time. Three crash tests conducted at the Midwest Roadside Safety Facility, Lincoln, Nebraska, are reported: a bogie vehicle crashing into a soil-embedded post at 27 mph, a sedan crashing to a concrete curb at 15 mph, and a pickup crashing to a steel barrier at 62 mph. Metrics including signal to interference plus noise ratio received signal strength, error vector magnitude, phase error, channel coherence, and bit error rate, are used to illustrate the impacts of antenna type, antenna deployment, speed, and mobility during the crash tests. The empirical evidence shows that barrier-height (0.7–0.9 m) antennas at the barrier can improve V2B signal quality compared to higher deployments (≥1.5 m) due to the stronger reflection of electromagnetic waves at a larger angle of incidence. Moreover, compared to omni-directional barrier antennas, directional barrier antennas can increase signal quality, connectivity, and coherence time of V2B channel because of reduced multi-path effects, however, the antenna orientation needs to be carefully determined to maintain connectivity

Phytochemical profile and some biological activities of three Centaurea species from Turkey

Purpose: To characterise the phytochemical profile of whole plants of Centaurea balsamita, C. depressa and C. lycopifolia with LC-ESI-MS/MS, and as well as their antioxidant, anticholinesterase and antimicrobial activities.Methods: Organic and aqueous extracts of the three Centaurea species were evaluated for DPPH free radical, ABTS cation radical scavenging and cupric reducing antioxidant capacity (CUPRAC). Acetyland butyryl-cholinesterase enzyme inhibition abilities of the extracts using petroleum ether, acetone, methanol and water were studied to determine anticholinesterase activity, while antimicrobial activity was determined by disc diffusion method using appropriate antimicrobial standards and organisms. The phytochemical components of the methanol extracts were assessed by LC-MS/MS.Results: The methanol extract of C. balsamita exhibited much higher DPPH free and ABTS cation radicals scavenging activities (with IC50 of 62.65 ± 0.97 and 24.21 ± 0.70 mg/ml, respectively) than the other extracts. The petroleum ether extracts of the plant species exhibited moderate inhibitory activity against butyrylcholinesterase enzymes while the acetone extract of C. balsamita showed good antifungal activity against Candida albicans. Quinic acid (17513 ± 813 μg/g, 63874 ± 3066 μg/g and 108234 ± 5195 μg/g) was the major compound found in the methanol extracts of C. balsamita, C. depressa and C. Lycopifolia, respectively.Conclusion: These results indicate quinic acid is the major compound in the three plant species and that Centaurea balsamita has significant antioxidant, anticholinesterase and antimicrobial properties. Further studies to identify the compounds in the extracts responsible for the activities are required.Keywords: Centaurea, LC-ESI-MS/MS, Anticholinesterase, Antioxidant, Antimicrobia

Simulation-based analysis of micro-robots swimming at the center and near the wall of circular mini-channels

Swimming micro robots have great potential in biomedical applications such as targeted drug delivery, medical diagnosis, and destroying blood clots in arteries. Inspired by swimming micro organisms, micro robots can move in biofluids with helical tails attached to their bodies. In order to design and navigate micro robots, hydrodynamic characteristics of the flow field must be understood well. This work presents computational fluid dynamics (CFD) modeling and analysis of the flow due to the motion of micro robots that consist of magnetic heads and helical tails inside fluid-filled channels akin to bodily conduits; special emphasis is on the effects of the radial position of the robot. Time-averaged velocities, forces, torques, and efficiency of the micro robots placed in the channels are analyzed as functions of rotation frequency, helical pitch (wavelength) and helical radius (amplitude) of the tail. Results indicate that robots move faster and more efficiently near the wall than at the center of the channel. Forces acting on micro robots are asymmetrical due to the chirality of the robot’s tail and its motion. Moreover, robots placed near the wall have a different flow pattern around the head when compared to in-center and unbounded swimmers. According to simulation results, time-averaged for-ward velocity of the robot agrees well with the experimental values measured previously for a robot with almost the same dimensions

Pancreatic cystic neoplasms and post-inflammatory cysts: interobserver agreement and diagnostic performance of MRI with MRCP

Purpose: We aimed to answer several clinically relevant questions; (1) the interobserver agreement, (2) diagnostic performance of MRI with MRCP for (a) branch duct intraductal papillary mucinous neoplasms (BD-IPMN), mucinous cystic neoplasms (MCN) and serous cystic neoplasms (SCN), (b) distinguishing mucinous (BD-IPMN and MCN) from non-mucinous cysts, and (c) distinguishing three pancreatic cystic neoplasms (PCN) from post-inflammatory cysts (PIC). Methods: A retrospective analysis was performed at a tertiary referral center for pancreatic diseases on 71 patients including 44 PCNs and 27 PICs. All PCNs were confirmed by surgical pathology to be 17 BD-IPMNs, 13 MCNs, and 14 SCNs. Main duct and mixed type IPMNs were excluded. Two experienced abdominal radiologists blindly reviewed all the images. Results: Sensitivity of two radiologists for BD-IPMN, MCN and SCN was 88-94%, 62-69% and 57-64%, specificity of 67-78%, 67-78% and 67-78%, and accuracy of 77-82%, 65-75% and 63-73%, respectively. There was 80% sensitivity, 63-73% specificity, 70-76% accuracy for distinguishing mucinous from non-mucinous neoplasms, and 73-75% sensitivity, 67-78% specificity, 70-76% accuracy for distinguishing all PCNs from PICs. There was moderate-to-substantial interobserver agreement (Cohen's kappa: 0.65). Conclusion: Two experienced abdominal radiologists had moderate-to-high sensitivity, specificity, and accuracy for BD-IPMN, MCN, and SCN. The interobserver agreement was moderate-to-substantial. MRI with MRCP can help workup of incidental pancreatic cysts by distinguishing PCNs from PICs, and premalignant mucinous neoplasms from cysts with no malignant potential