MPC-Based Haptic Shared Steering System: A Driver Modeling Approach for Symbiotic Driving

Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this study, an optimal torque control law is calculated online in the Model Predictive Control (MPC) framework to guarantee continuous guidance during the steering task. The research contribution is in the integration of an extensive prediction model covering cognitive behaviour, neuromuscular dynamics, and the vehicle- steering dynamics, within the MPC-based haptic controller to enhance collaboration. The driver model is composed of a preview cognitive strategy based on a Linear-Quadratic-Gaussian, sensory organs, and neuromuscular dynamics, including muscle co-activation and reflex action. Moreover, an adaptive cost-function algorithm enables dynamic allocation of the control authority. Experiments were performed in a fixed-base driving simulator at Toyota Motor Europe involving 19 participants to evaluate the proposed controller with two different cost functions against a commercial Lane Keeping Assist (LKA) system as an industry benchmark. The results demonstrate the proposed controller fosters symbiotic driving and reduces driver-vehicle conflicts with respect to a state-of-the-art commercial system, both subjectively and objectively, while still improving path-tracking performance. Summarising, this study tackles the need to blend human and ADAS control, demonstrating the validity of the proposed strategy

MPC-Based Haptic Shared Steering System: A Driver Modeling Approach for Symbiotic Driving

Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this study, an optimal torque control law is calculated online in the Model Predictive Control (MPC) framework to guarantee continuous guidance during the steering task. The research contribution is in the integration of an extensive prediction model covering cognitive behaviour, neuromuscular dynamics, and the vehicle- steering dynamics, within the MPC-based haptic controller to enhance collaboration. The driver model is composed of a preview cognitive strategy based on a Linear-Quadratic-Gaussian, sensory organs, and neuromuscular dynamics, including muscle co-activation and reflex action. Moreover, an adaptive cost-function algorithm enables dynamic allocation of the control authority. Experiments were performed in a fixed-base driving simulator at Toyota Motor Europe involving 19 participants to evaluate the proposed controller with two different cost functions against a commercial Lane Keeping Assist (LKA) system as an industry benchmark. The results demonstrate the proposed controller fosters symbiotic driving and reduces driver-vehicle conflicts with respect to a state-of-the-art commercial system, both subjectively and objectively, while still improving path-tracking performance. Summarising, this study tackles the need to blend human and ADAS control, demonstrating the validity of the proposed strategy

Complete loss of TP53 and RB1 is associated with complex genome and low immune infiltrate in pleomorphic rhabdomyosarcoma

Rhabdomyosarcoma accounts for roughly 1% of adult sarcomas, with pleomorphic rhabdomyosarcoma (PRMS) as the most common subtype. Survival outcomes remain poor for patients with PRMS, and little is known about the molecular drivers of this disease. To better characterize PRMS, we performed a broad array of genomic and immunostaining analyses on 25 patient samples. In terms of gene expression and methylation, PRMS clustered more closely with other complex karyotype sarcomas than with pediatric alveolar and embryonal rhabdomyosarcoma. Immune infiltrate levels in PRMS were among the highest observed in multiple sarcoma types and contrasted with low levels in other rhabdomyosarcoma subtypes. Lower immune infiltrate was associated with complete loss of both TP53 and RB1. This comprehensive characterization of the genetic, epigenetic, and immune landscape of PRMS provides a roadmap for improved prognostications and therapeutic exploration

Low grade squamous intra-epithelial lesions and human papillomavirus infection in Colombian women

Low grade squamous intra-epithelial lesions could be considered as a manifestation of human papillomavirus exposition, however the discrepancy between rates of infection with human papillomavirus and development of low grade squamous intra-epithelial lesions is notable. Here we report a cross-sectional three-armed case–control study in the Colombian population, to compare the risk factors of women with low grade squamous intra-epithelial lesions with that of human papillomavirus DNA-negative and positive women with normal cytology

Prevalence and determinants of HPV infection among Colombian women with normal cytology

Human papillomavirus is the principal risk factor associated with cervical cancer, the most common malignancy among women in Colombia. We conducted a survey, aiming to report type specific prevalence and determinants of human papillomavirus infection in women with normal cytology. A total of 1859 women from Bogota, Colombia were interviewed and tested for human papillomavirus using a general primer GP5+/GP6+ mediated PCR–EIA. The overall HPV DNA prevalence was 14.8%; 9% of the women were infected by high risk types, 3.1% by low risk types, 2.3% by both high risk/low risk types and 0.4% by uncharacterized types (human papillomavirus X). Thirty-two different human papillomavirus types were detected, being human papillomavirus 16, 58, 56, 81(CP8304) and 18 the most common types. The human papillomavirus prevalence was 26.1% among women younger than 20 years, 2.3% in women aged 45–54 years, and 13.2% in women aged 55 years or more. For low risk types the highest peak of prevalence was observed in women aged 55 years or more. Compared to women aged 35–44 years, women aged less than 20 years had a 10-fold increased risk of having multiple infections. Besides age, there was a positive association between the risk of human papillomavirus infection and number of regular sexual partners and oral contraceptive use. In women aged below 25 years, high educational level and having had casual sexual partners predicted infection risk. In conclusion, there was a broad diversity of human papillomavirus infections with high risk types being the most common types detected. In this population multiplicity of sexual partners and, among young women, high educational level and casual sexual partners seem to determine risk

Lifestyle and socio-demographic factors associated with high-risk HPV infection in UK women

The world age-standardised prevalence of high-risk HPV (hrHPV) infection among 5038 UK women aged 20–59 years, with a low-grade smear during 1999–2002, assessed for eligibility for TOMBOLA (Trial Of Management of Borderline and Other Low-grade Abnormal smears) was 34.2%. High-risk HPV prevalence decreased with increasing age, from 61% at ages 20–24 years to 14–15% in those over 50 years. The age-standardised prevalence was 15.1, 30.7 and 52.7%, respectively, in women with a current normal, borderline nuclear abnormalities (BNA) and mild smear. In overall multivariate analyses, tertiary education, previous pregnancy and childbirth were associated with reduced hrHPV infection risk. Risk of infection was increased in non-white women, women not married/cohabiting, hormonal contraceptives users and current smokers. In stratified analyses, current smear status and age remained associated with hrHPV infection. Data of this type are relevant to the debate on human papillomavirus (HPV) testing in screening and development of HPV vaccination programmes

Augmented serum level of major histocompatibility complex class I-related chain A (MICA) protein and reduced NKG2D expression on NK and T cells in patients with cervical cancer and precursor lesions

<p>Abstract</p> <p>Background</p> <p>Cervical cancer is the second most common cancer in women worldwide. NK and cytotoxic T cells play an important role in the elimination of virus-infected and tumor cells through NKG2D activating receptors, which can promote the lysis of target cells by binding to the major histocompatibility complex class I-related chain A (MICA) proteins. Increased serum levels of MICA have been found in patients with epithelial tumors. The aim of this study was to compare the levels of soluble MICA (sMICA) and NKG2D-expressing NK and T cells in blood samples from patients with cervical cancer or precursor lesions with those from healthy donors.</p> <p>Methods</p> <p>Peripheral blood with or without heparin was collected to obtain mononuclear cells or sera, respectively. Serum sMICA levels were measured by ELISA and NKG2D-expressing immune cells were analyzed by flow cytometry. Also, a correlation analysis was performed to associate sMICA levels with either NKG2D expression or with the stage of the lesion.</p> <p>Results</p> <p>Significant amounts of sMICA were detected in sera from nearly all patients. We found a decrease in the number of NKG2D-expressing NK and T cells in both cervical cancer and lesion groups when compared to healthy donors. Pearson analysis showed a negative correlation between sMICA and NKG2D-expressing T cells; however, we did not find a significant correlation when the analysis was applied to sMICA and NKG2D expression on NK cells.</p> <p>Conclusion</p> <p>Our results show for the first time that high sMICA levels are found in sera from patients with both cervical cancer and precursor lesions when compared with healthy donors. We also observed a diminution in the number of NKG2D-expressing NK and T cells in the patient samples; however, a significant negative correlation between sMICA and NKG2D expression was only seen in T cells.</p