Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded, methodology to enable runtime verification and prevent unexpected robot behaviors. To this end, we consider a message-passing model that accommodates both synchronous and asynchronous composition of parallel components, in which BTs and other components execute and interact according to the communication patterns commonly adopted in robotic software architectures. We introduce a formal property specification language to encode requirements and build runtime monitors. We performed a set of experiments, both on simulations and on the real robot, demonstrating the feasibility of our approach in a realistic application and its integration in a typical robot software architecture. We also provide an OS-level virtualization environment to reproduce the experiments in the simulated scenario

La génesis de don Quijote y Sancho Panza como tipos cómicos, entre España y Francia, hasta 1642

The laughter theme would create some humorous characters who played a leading role in interludes and entremeses. However, these types evolved into more complex genres as comedy and tragicomedy. A mocking and primitive laughter ushered in a more elaborated comicality, reflected on topics as love, the self-perception or inanity. Also, several kinds of madness are explored: that of love, the specular madness or just pure insanity, which could lead either into disaster, or into a luminous craziness. The chivalric tradition and literary style beyond the Pyrenees would impose a decorum that lead to a process of stylization and moralization in Don Quixote, Sancho and Dulcinea, as a result a triumphant hedonism emerged, becoming the foundation of the novel reception.La elaboración del tema de la risa condujo a la construcción de unos tipos cómicos que fueron evolucionando en el recorrido de las fiestas y entremeses a géneros más complejos, como la comedia y la tragicomedia. De una risa elemental y burlesca se pasó a una comicidad más elaborada en temas como el amor, o la percepción de sí y la vanidad. También se exploran varios tipos de locura: la de amor, o la pérdida de la razón, que puede conducir al desastre, o a una locura luminosa. Al atravesar los Pirineos, la tradición caballeresca, y la literaria, imponen un decoro que produce un proceso de estilización y moralización de don Quijote, Sancho y Dulcinea, con el que se explica un hedonismo triunfante que sentará las bases de la recepción de la novela

The acute phase management of spinal cord injury affecting polytrauma patients: the ASAP study

Background: Few data on the management of acute phase of traumatic spinal cord injury (tSCI) in patients suffering polytrauma are available. As the therapeutic choices in the first hours may have a deep impact on outcome of tSCI patients, we conducted an international survey investigating this topic. Methods: The survey was composed of 29 items. The main endpoints of the survey were to examine: (1) the hemodynamic and respiratory management, (2) the coagulation management, (3) the timing of magnetic resonance imaging (MRI) and spinal surgery, (4) the use of corticosteroid therapy, (5) the role of intraspinal pressure (ISP)/spinal cord perfusion pressure (SCPP) monitoring and (6) the utilization of therapeutic hypothermia. Results: There were 171 respondents from 139 centers worldwide. A target mean arterial pressure (MAP) target of 80–90 mmHg was chosen in almost half of the cases [n = 84 (49.1%)]. A temporary reduction in the target MAP, for the time strictly necessary to achieve bleeding control in polytrauma, was accepted by most respondents [n = 100 (58.5%)]. Sixty-one respondents (35.7%) considered acceptable a hemoglobin (Hb) level of 7 g/dl in tSCI polytraumatized patients. An arterial partial pressure of oxygen (PaO2) of 80–100 mmHg [n = 94 (55%)] and an arterial partial pressure of carbon dioxide (PaCO2) of 35–40 mmHg [n = 130 (76%)] were chosen in most cases. A little more than half of respondents considered safe a platelet (PLT) count > 100.000/mm3 [n = 99 (57.9%)] and prothrombin time (PT)/activated partial thromboplastin time (aPTT) < 1.5 times the normal control [n = 85 (49.7%)] in patients needing spinal surgery. MRI [n = 160 (93.6%)] and spinal surgery [n = 158 (92.4%)] should be performed after intracranial, hemodynamic, and respiratory stabilization by most respondents. Corticosteroids [n = 103 (60.2%)], ISP/SCPP monitoring [n = 148 (86.5%)], and therapeutic hypothermia [n = 137 (80%)] were not utilized by most respondents. Conclusions: Our survey has shown a great worldwide variability in clinical practices for acute phase management of tSCI patients with polytrauma. These findings can be helpful to define future research in order to optimize the care of patients suffering tSCI

The acute phase management of spinal cord injury affecting polytrauma patients : the ASAP study

Publisher Copyright: © 2022, The Author(s).Background: Few data on the management of acute phase of traumatic spinal cord injury (tSCI) in patients suffering polytrauma are available. As the therapeutic choices in the first hours may have a deep impact on outcome of tSCI patients, we conducted an international survey investigating this topic. Methods: The survey was composed of 29 items. The main endpoints of the survey were to examine: (1) the hemodynamic and respiratory management, (2) the coagulation management, (3) the timing of magnetic resonance imaging (MRI) and spinal surgery, (4) the use of corticosteroid therapy, (5) the role of intraspinal pressure (ISP)/spinal cord perfusion pressure (SCPP) monitoring and (6) the utilization of therapeutic hypothermia. Results: There were 171 respondents from 139 centers worldwide. A target mean arterial pressure (MAP) target of 80–90 mmHg was chosen in almost half of the cases [n = 84 (49.1%)]. A temporary reduction in the target MAP, for the time strictly necessary to achieve bleeding control in polytrauma, was accepted by most respondents [n = 100 (58.5%)]. Sixty-one respondents (35.7%) considered acceptable a hemoglobin (Hb) level of 7 g/dl in tSCI polytraumatized patients. An arterial partial pressure of oxygen (PaO2) of 80–100 mmHg [n = 94 (55%)] and an arterial partial pressure of carbon dioxide (PaCO2) of 35–40 mmHg [n = 130 (76%)] were chosen in most cases. A little more than half of respondents considered safe a platelet (PLT) count > 100.000/mm3 [n = 99 (57.9%)] and prothrombin time (PT)/activated partial thromboplastin time (aPTT) < 1.5 times the normal control [n = 85 (49.7%)] in patients needing spinal surgery. MRI [n = 160 (93.6%)] and spinal surgery [n = 158 (92.4%)] should be performed after intracranial, hemodynamic, and respiratory stabilization by most respondents. Corticosteroids [n = 103 (60.2%)], ISP/SCPP monitoring [n = 148 (86.5%)], and therapeutic hypothermia [n = 137 (80%)] were not utilized by most respondents. Conclusions: Our survey has shown a great worldwide variability in clinical practices for acute phase management of tSCI patients with polytrauma. These findings can be helpful to define future research in order to optimize the care of patients suffering tSCI.Peer reviewe

Transitional Care for Patients with Congenital Colorectal Diseases: An EUPSA Network Office, ERNICA, and eUROGEN Joint Venture

Background: Transition of care (TOC; from childhood into adulthood) of patients with anorectal malformations (ARM) and Hirschsprung disease (HD) ensures continuation of care for these patients. The aim of this international study was to assess the current status of TOC and adult care (AC) programs for patients with ARM and HD. Methods: A survey was developed by members of EUPSA, ERN eUROGEN, and ERNICA, including patient representatives (ePAGs), comprising of four domains: general information, general questions about transition to adulthood, and disease-specific questions regarding TOC and AC programs. Recruitment of centres was done by the ERNs and EUPSA, using mailing lists and social media accounts. Only descriptive statistics were reported. Results: In total, 82 centres from 21 different countries entered the survey. Approximately half of them were ERN network members. Seventy-two centres (87.8%) had a self-reported area of expertise for both ARM and HD. Specific TOC programs were installed in 44% of the centres and AC programs in 31% of these centres. When comparing centres, wide variation was observed in the content of the programs. Conclusion: Despite the awareness of the importance of TOC and AC programs, these programs were installed in less than 50% of the participating centres. Various transition and AC programs were applied, with considerable heterogeneity in implementation, content and responsible caregivers involved. Sharing best practice examples and taking into account local and National Health Care Programs might lead to a better continuation of care in the future. Level of Evidence: III

Usefulness and Effectiveness of Related Party Transactions (RPTs) Disclosure: Empirical Evidence From Italy

Related party transactions (RPTs) can be used by corporate insiders (e.g., managers, controlling shareholders) to expropriate corporate outsiders (e.g., minority shareholders). We argue that effective disclosure of RPTs can eliminate or at least reduce expropriation phenomena by letting corporate outsiders assess the fairness of the transactions and identify the underlying conflicts of interest. We consider a sample of large RPTs carried out by listed corporations in Italy, a country that has been affected by significant corporate scandals in recent years. In particular, we analyse the content of several compulsory informative documents, required by CONSOB (the Italian Securities and Exchange Commission), concerning large RPTs. The focus of our content analysis is on the “warnings” sections of these documents that should convey clear and comprehensive information on potential risks and conflicts of interest. Our empirical results show that, while the “warnings” sections of the studied documents generally contain all the information required by existing rules, the depth of the information provided is often unlikely to be sufficient to communicate the implications of the RPTs. Thus, readers may not find the disclosed information adequate to evaluate the fairness of the transactions. Moreover, visual representations are rarely used in the informative documents. The use of such representations could allow companies to convey the structures and features of complex RPTs in a simpler and more direct way

Does the Evolutionarily Stable Strategy apply to captive Humboldt penguins? Study on S.humboldti lateralized behavior

So far, little has been done on the motor and perceptual asymmetry in the genus Spheniscus, which on the contrary, has been the target of much research in the wild due to its vulnerable ecological condition. The present study aimed to investigate the presence of lateralization on different asymmetry dimensions in Humboldt penguins by studying fourteen subjects housed in a captive colony in Italy. For each individual, the preferred foot to start walking and climbing on a weighing scale, the preferred side to reach the uropygium, and the preferred eye to scrutinize visitors outside the exhibit were recorded. Asymmetry was found at the individual level for the preferred foot to climb onto the scale (three left and five right out of 14) and the preferred side to reach the preen gland (two left and five right out of 14). Only thirteen penguins were seen interacting with people outside the exhibit using their left (four) or right (three) eye while swimming in the pool. No lateralization could be documented at the population level. The lack of lateralization at the population level could be attributable to the small size of the colony studied, hampering speculations on the social life of S. humboldti. Since the requirement for coordinated behaviors at the population level occurs when social interactions become common and recurrent in the natural behavior of a species, and because only one among the items studied was devoted to the study of social behavior, it will be necessary to broaden the research to other captive S. humboldti populations to expand our results. Data obtained from a larger number of animals could unveil a little piece of the puzzle that will allow evaluating lateralization at the population level in this species and ascertain if the Evolutionarily Stable Strategy could also be applied to S. humboldti

Negative regulation of erythropoiesis by caspase-mediated cleavage of GATA-1

The production of red blood cells follows the sequential formation of proerythroblasts and basophilic, polychromatophilic and orthochromatic erythroblasts, and is promoted by the hormone erythropoietin (Epo) in response to tissue hypoxia. However, little is known about the negative regulation of this process. Death receptors are a family of surface molecules that trigger caspase activation and apoptosis in a variety of cell types. Here we show that immature erythroid cells express several death receptors whose ligands are produced by mature erythroblasts. Exposure of erythroid progenitors to mature erythroblasts or death-receptor ligands resulted in caspase-mediated degradation of the transcription factor GATA-1, which is associated with impaired erythroblast development. Expression of a caspase- resistant GATA-1 mutant, but not of the wild-type gene, completely restored erythroid expansion and differentiation following the triggering of death receptors, indicating that there is regulatory feedback between mature and immature erythroblasts through caspase-mediated cleavage of GATA-1. Similarly, erythropoiesis blockade following Epo deprivation was largely prevented by the expression of caspase-inhibitory proteins or caspase- resistant GATA-1 in erythroid progenitors. Caspase-mediated cleavage of GATA- 1 may therefore represent an important negative control mechanism in erythropoiesis