Multitrajectory Model Predictive Control for Safe UAV Navigation in an Unknown Environment

The problem of navigating an unmanned aerial vehicle (UAV) in an unknown environment is addressed with a novel model predictive control (MPC) formulation, named multitrajectory MPC (mt-MPC). The objective is to safely drive the vehicle to the desired target location by relying only on the partial description of the surroundings provided by an exteroceptive sensor. This information results in time-varying constraints during the navigation among obstacles. The proposed mt-MPC generates a sequence of position set points that are fed to control loops at lower hierarchical levels. To do so, the mt-MPC predicts two different state trajectories, a safe one and an exploiting one, in the same finite horizon optimal control problem (FHOCP). This formulation, particularly suitable for problems with uncertain time-varying constraints, allows one to partially decouple constraint satisfaction (safety) from cost function minimization (exploitation). Uncertainty due to modeling errors and sensors noise is taken into account as well, in a set membership (SM) framework. Theoretical guarantees of persistent obstacle avoidance are derived under suitable assumptions, and the approach is demonstrated experimentally out-of-the-laboratory on a prototype built with off-the-shelf components

Sex disparities in efficacy in covid-19 vaccines: A systematic review and meta-analysis

Sex differences in adaptive and innate immune responses have been shown to occur and anecdotal reports suggest that vaccine efficacy and safety may be sex-dependent. We investigated the influence of sex on the efficacy of COVID-19 vaccines through a systematic review and meta-analysis of clinical trials on COVID-19 vaccines. The safety profile of COVID-19 vaccines was also investigated. A systematic review included eligible articles published in three databases and three websites. A meta-analysis of available data, stratified by sex, was conducted. Statistical analysis was performed using the Hartung\u2013Knapp\u2013Sidik\u2013Jonkman method, as well as influence and heterogeneity analysis. Pooled analysis showed significantly higher efficacy, measured as the rate of new COVID-19 cases, in men compared to women in the vaccine group (OR = 0.67, 95% CI 0.48\u20130.94). No sex differences were found in the rate of new cases in the control group (OR = 0.92, 95% CI 0.78\u20131.09). Safety profiles derived from pharmacovigilance reports appear to indicate increased toxicity in women. In conclusion, evidence of a potential role of sex in COVID-19 vaccine efficacy was described. It strengthens the need to include sex as a core variable in the clinical trial design of COVID-19 vaccines

PET/MRI in prostate cancer: a systematic review and meta-analysis

Aim: In recent years, the clinical availability of scanners for integrated positron emission tomography (PET) and magnetic resonance imaging (MRI) has enabled the practical potential of multimodal, combined metabolic-receptor, anatomical, and functional imaging to be explored. The present systematic review and meta-analysis summarize the diagnostic information provided by PET/MRI in patients with prostate cancer (PCa). Materials and methods: A literature search was conducted in three different databases. The terms used were \u201ccholine\u201d or \u201cprostate-specific membrane antigen - PSMA\u201d AND \u201cprostate cancer\u201d or \u201cprostate\u201d AND \u201cPET/MRI\u201d or \u201cPET MRI\u201d or \u201cPET-MRI\u201d or \u201cpositron emission tomography/magnetic resonance imaging.\u201d All relevant records identified were combined, and the full texts were retrieved. Reports were excluded if (1) they did not consider hybrid PET/MRI; or (2) the sample size was < 10 patients; or (3) the raw data were not enough to enable the completion of a 2 7 2 contingency table. Results: Fifty articles were eligible for systematic review, and 23 for meta-analysis. The pooled data concerned 2104 patients. Initial disease staging was the main indication for PET/MRI in 24 studies. Radiolabeled PSMA was the tracer most frequently used. In primary tumors, the pooled sensitivity for the patient-based analysis was 94.9%. At restaging, the pooled detection rate was 80.9% and was higher for radiolabeled PSMA than for choline (81.8% and 77.3%, respectively). Conclusions: PET/MRI proved highly sensitive in detecting primary PCa, with a high detection rate for recurrent disease, particularly when radiolabeled PSMA was used

18F-choline PET/CT and PET/MRI in primary and recurrent hyperparathyroidism: a systematic review of the literature

The aims of the present systematic review were to: (1) assess the role of 18F-fluorocholine (FCH) positron emission tomography (PET) with computed tomography (CT) and PET with magnetic resonance imaging (MRI) in patients with biochemically known hyperparathyroidism; (2) compare the diagnostic performance of FCH PET/CT or PET/MRI with conventional morphological and functional imaging. A literature search until December 2019 was performed in the PubMed, Scopus and Web of Science databases, using the terms “choline” AND “PET” AND “hyperparathyroidism”. The search was conducted with and without the addition of filters (e.g., language: English only; type of article: original article; subjects: humans only) and selecting only articles published in the last 5 years. Twenty-three articles and 1112 patients were considered. Different FCH PET/CT acquisition protocols were adopted across the studies, using dynamic, early or delayed scans. FCH PET/CT proved more accurate than ultrasonography (US) or 99mTc-sestamibi single-photon emission tomography (SPET). PET/MRI also seemed to be more accurate than MRI alone in detecting benign parathyroid lesions. FCH PET/CT is more accurate than conventional morphological and functional imaging modalities (US or SPET) for the detection of benign parathyroid lesions. It could, therefore, be a reliable tool in both primary and recurrent hyperparathyroidism

[18F]FDG PET/MRI in rectal cancer

We conducted a systematic literature review on the use of [18F]FDG PET/MRI for staging/restaging rectal cancer patients with PubMed, Scopus, and Web of Science, based on the PRISMA criteria. Three authors screened all titles and abstracts and examined the full texts of all the identified\ua0relevant articles. Studies containing aggregated or duplicated data, review articles, case reports, editorials, and letters were excluded. Ten reports met the inclusion criteria. Four studies examined T staging and one focused on local recurrences after surgery; the reported sensitivity (94\u2013100%), specificity (73\u201394%), and accuracy (92\u2013100%) varied only slightly from one study to another. The sensitivity, specificity, and accuracy of [18F]FDG PET/MRI for N staging were 90\u201393%, 92\u201394%, and 42\u201392%. [18F]FDG PET/MRI detected malignant nodes better than MRI, resulting in treatment change. For M staging, [18F]FDG PET/MRI outperformed [18F]FDG PET/CT and CT in detecting liver metastases, whereas it performed worse for lung metastases. The results of this review suggest that [18F]FDG PET/MRI should be used for rectal cancer restaging after chemoradiotherapy and to select patients for rectum-sparing approaches thanks to its accuracy in T and N staging. For M staging, it should be associated at least with a chest CT scan to rule out lung metastases

Influence of different methods of treating natural açai fibre for mortar in rural construction

Received: January 20th, 2021 ; Accepted: April 15th, 2021 ; Published: May 4th, 2021 ; Correspondence: [email protected]çai is a typical Amazonian fruit that has enormous potential for use in medicines and foods, whose consumption has been growing year after year. One of the major environmental impacts related to Açai is the generation of agro-industrial wastes, which are disposed of in landfills. One of the major problems related to the reuse of natural fibres in cementitious materials is related to their durability due to the alkalinity of the matrix. Thus, the objective of this work was to evaluate three different methodologies for surface treatment of Açai fibre, by immersion in NaOH, KOH and Ca(OH)2 solution to mortar application in rural construction. After the treatments, the fibres were added in a proportion of 2.5 and 5.0% in relation to the cement mass, in addition to the reference mortar (without fibre) in the making of the prismatic specimens (40×40×160 mm) and cured for 28 days in room temperature. Right after the curing period, the specimens were evaluated according to the mechanical strength of flexion and compression, workability, water absorption by capillarity and mass density in the hardened state of each methodology. The results showed that the best treatment methodology is with NaOH solution, with the addition of 5% Açai fibre in relation to the cement mass, producing a suitable mortar for use in rural buildings

Application of pineapple fiber in the development of sustainable mortars

Received: January 27th, 2021 ; Accepted: May 12th, 2021 ; Published: October 5th, 2021 ; Correspondence: [email protected] to the great worldwide increase in pineapple production, countries like Brazil and India have problems regarding the correct disposal of residues from the production of this fruit. One of the possibilities is the reuse of these residues in the form of fibers in cementitious materials, as is the case with mortars. As a result, the objective of this work is to evaluate the application of pineapple fibers in mortars in the proportion of 1: 4 (cement: sand) with addition of fiber treated in NaOH in the proportion of 3 and 6%. The properties of mechanical resistance, water absorption, mass density and adhesion were evaluated, aiming to apply the mortar in coatings of rural environments. The results indicate that the fibers reduced the mortar density and increased the mechanical strength. However, there was a reduction in adherence, especially with the use of 6% fiber, in addition to an increase in water absorption. Based on the results, it is concluded that it is feasible to use 3% of pineapple fiber for the production of coating mortars in rural environments because the results obtained in the investigation are compatible with this application and with the established normative limits

FARMAPRICE: A Pharmacogenetic Clinical decision support system for precise and Cost-Effective Therapy

Pharmacogenetic (PGx) guidelines for the precise dosing and selection of drugs remain poorly implemented in current clinical practice. Among the barriers to the implementation process is the lack of clinical decision support system (CDSS) tools to aid health providers in managing PGx information in the clinical context. The present study aimed to describe the first Italian endeavor to develop a PGx CDSS, called FARMAPRICE. FARMAPRICE prototype was conceived for integration of patient molecular data into the clinical prescription process in the Italian Centro di Riferimento Oncologico (CRO)-Aviano Hospital. It was developed through a coordinated partnership between two high-tech companies active in the computerization of the Italian healthcare system. Introducing FARMAPRICE into the clinical setting can aid physicians in prescribing the most efficacious and cost-effective pharmacological therapy available

Vascular endothelial growth factor and basic fibroblast growth factor in children with cyanotic congenital heart disease

AbstractObjective: Vascular endothelial growth factor and basic fibroblast growth factor are potent stimulators of angiogenesis. Children with cyanotic congenital heart disease often experience the development of widespread formation of collateral blood vessels, which may represent a form of abnormal angiogenesis. We undertook the present study to determine whether children with cyanotic congenital heart disease have elevated serum levels of vascular endothelial growth factor and basic fibroblast growth factor. Methods: Serum was obtained from 22 children with cyanotic congenital heart disease and 19 children with acyanotic heart disease during cardiac catheterization. Samples were taken from the superior vena cava, inferior vena cava, and a systemic artery. Vascular endothelial growth factor and basic fibroblast growth factor levels were measured in the serum from each of these sites by enzyme–linked immunosorbent assay. Results: Vascular endothelial growth factor was significantly elevated in the superior vena cava (P = .04) and systemic artery (P = .02) but not in the inferior vena cava (P = .2) of children with cyanotic congenital heart disease compared to children with acyanotic heart disease. The mean vascular endothelial growth factor level, determined by averaging the means of all 3 sites, was also significantly elevated (P = .03). Basic fibroblast growth factor was only significantly elevated in the systemic artery (P = .02). Conclusion: Children with cyanotic congenital heart disease have elevated systemic levels of vascular endothelial growth factor. These findings suggest that the widespread formation of collateral vessels in these children may be mediated by vascular endothelial growth factor. (J Thorac Cardiovasc Surg 2000;119:534-9

Chemotactic synthetic vesicles: Design and applications in blood-brain barrier crossing

In recent years, scientists have created artificial microscopic and nanoscopic self-propelling particles, often referred to as nano- or microswimmers, capable of mimicking biological locomotion and taxis. This active diffusion enables the engineering of complex operations that so far have not been possible at the micro- and nanoscale. One of the most promising tasks is the ability to engineer nanocarriers that can autonomously navigate within tissues and organs, accessing nearly every site of the human body guided by endogenous chemical gradients. We report a fully synthetic, organic, nanoscopic system that exhibits attractive chemotaxis driven by enzymatic conversion of glucose. We achieve this by encapsulating glucose oxidase alone or in combination with catalase into nanoscopic and biocompatible asymmetric polymer vesicles (known as polymersomes). We show that these vesicles self-propel in response to an external gradient of glucose by inducing a slip velocity on their surface, which makes them move in an extremely sensitive way toward higher-concentration regions. We finally demonstrate that the chemotactic behavior of these nanoswimmers, in combination with LRP-1 (low-density lipoprotein receptor–related protein 1) targeting, enables a fourfold increase in penetration to the brain compared to nonchemotactic systems