A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models

In this work, a comparative study is carried out with two different predictive controllers that consider the longitudinal jerk and steering rate change as additional parameters, as additional parameters, so that comfort constraints can be included. Furthermore, the approaches are designed so that the effect of longitudinal and lateral motion control coupling can be analyzed. This way, the first controller is a longitudinal and lateral coupled MPC approach based on a kinematic model of the vehicle, while the second is a decoupled strategy based on a triple integrator model based on MPC for the longitudinal control and a double proportional curvature control for the lateral motion control. The control architecture and motion planning are exhaustively explained. The comparative study is carried out using a test vehicle, whose dynamics and low-level controllers have been simulated using the realistic simulation environment Dynacar. The performed tests demonstrate the effectiveness of both approaches in speeds higher than 30 km/h, and demonstrate that the coupled strategy provides better performance than the decoupled one. The relevance of this work relies in the contribution of vehicle motion controllers considering the comfort and its advantage over decoupled alternatives for future implementation in real vehicles.This work has been conducted within the ENABLE-S3 project that has received funding from the ECSEL Joint Undertaking under Grant Agreement No 692455. This work was developed at Tecnalia Research & Innovation facilities supporting this research

Towards conformant models of automated electric vehicles

Automated driving is one of the major tendencies in last decades, and it is presented as a reliable option to improve comfort during driving, including disable and elder in society and increasing persons safety in roads. This last topic produces the question how is it possible to verify planning and control algorithms for a reliable commercial use of this technology. The question can be answered from two perspective: experimental or formal methods, where the formal one is selected as the most robust between both. Hence, the current work presents a case study verification in automated driving for lane change and double lane change maneuvers, using as basis a trace conformance method presented in [1]. The verification method is performed in Dynacar as a precise multibody simulator tuned for a commercial Renault Twizy vehicle.H2020 UnCoVerCPS Project with grant number 643921

Longitudinal Model Predictive Control with comfortable speed planner

Guaranteeing simplicity and safety is a real challenge of Advanced Driver Assistance Systems (ADAS), being these aspects necessary for the development of decision and control stages in highly automated vehicles. Considering that a human-centered design is generally pursued, exploring comfort boundaries in passenger vehicles has a significant importance. This work aims to implement a simple Model Predictive Control (MPC) for longitudinal maneuvers, considering a bare speed planner based on the curvature of a predefined geometrical path. The speed profiles are constrained with a maximum value at any time, in such way that total accelerations are lower than specified constraint limits. A double proportional with curvature bias control was employed as a simple algorithm for lateral maneuvers. The tests were performed within a realistic simulation environment with a virtual vehicle model based on a multi-body formulation. The results of this investigation permits to determine the capabilities of simplified control algorithms in real scenarios, and comprehend how to improve them to be more efficient.Authors want to acknowledge their organization. This project has received funding from the Electronic Component Systems for European Leadership Joint Undertaking under grant agreement No 737469 (AutoDrive Project). This Joint Undertaking receives support from the European Unions Horizon 2020 research and innovation programme and Germany, Austria, Spain, Italy, Latvia, Belgium, Netherlands, Sweden, Finland, Lithuania, Czech Republic, Romania, Norway. This work was developed at Tecnalia Research & Innovation facilities supporting this research

Lateral-Acceleration-Based Vehicle-Models-Blending for Automated Driving Controllers

Model-based trajectory tracking has become a widely used technique for automated driving system applications. A critical design decision is the proper selection of a vehicle model that achieves the best trade-off between real-time capability and robustness. Blending different types of vehicle models is a recent practice to increase the operating range of model-based trajectory tracking control applications. However, current approaches focus on the use of longitudinal speed as the blending parameter, with a formal procedure to tune and select its parameters still lacking. This work presents a novel approach based on lateral accelerations, along with a formal procedure and criteria to tune and select blending parameters, for its use on model-based predictive controllers for autonomous driving. An electric passenger bus traveling at different speeds over urban routes is proposed as a case study. Results demonstrate that the lateral acceleration, which is proportional to the lateral forces that differentiate kinematic and dynamic models, is a more appropriate model-switching enabler than the currently used longitudinal velocity. Moreover, the advanced procedure to define blending parameters is shown to be effective. Finally, a smooth blending method offers better tracking results versus sudden model switching ones and non-blending techniquesThis research was funded by AUTODRIVE within the Electronic Components and Systems for European Leadership Joint Undertaking (ECSEL JU) in collaboration with the European Union’s H2020 Framework Program (H2020/2014-2020) and National Authorities, under Grant No. 73746

Swimming and bone: Is low bone mass due to hypogravity alone or does other physical activity influence it?

Swimming during adolescence has shown neutral or even negative effects on bone mass. Nevertheless, it is still unknown if these effects are due to swimming or to other factors, such as sedentary behaviors. INTRODUCTION: Three objectives were described (1) to measure objective physical activity (PA) additional to swimming performed by adolescent swimmers (SWI) and compare it to that performed by normo-active controls (CG), (2) to describe the relationship between objectively measured PA and bone mass, and (3) to compare bone mass of swimmers that meet the World Health Organization PA guidelines (active) WHO and those that do not (inactive). METHODS: A total of 71 SWI (33 females) and 41 CG (17 females) wore an accelerometer for at least 4 days. PA was expressed as the amount of time (minutes/day) in each intensity [sedentary/light/moderate or vigorous (VPA), and the sum of moderate and vigorous (MVPA)]. Using the cutoff points proposed by Vanhelst et al. SWI were classified as active or inactive according to whether they reached 60 min of weight-bearing MVPA per day or not. Bone mineral density (BMD) was measured by dual energy X-ray absorptiometry, and bone strength values were calculated with peripheral quantitative computed tomography. Differences in PA intensities were calculated between SWI and CG. The relation of VPA to bone mass was studied in the SWI. RESULTS: Male-SWI spend less time in VPA and MVPA than male-GC, which partly explains the lower BMD values in SWI than CG. CONCLUSION: Swimming may displace weight-bearing VPA with serious implications on bone health

Short- and Long-Term Prognosis of Patients With Takotsubo Syndrome Based on Different Triggers: Importance of the Physical Nature

Background Takotsubo syndrome (TTS) is an acute reversible heart condition initially believed to represent a benign pathology attributable to its self-limiting clinical course; however, little is known about its prognosis based on different triggers. This study compared short- and long-term outcomes between TTS based on different triggers, focusing on various physical triggering events. Methods and Results We analyzed patients with a definitive TTS diagnosis recruited for the Spanish National Registry on TTS (RETAKO [Registry on Takotsubo Syndrome]). Short- and long-term outcomes were compared between different groups according to triggering factors. A total of 939 patients were included. An emotional trigger was detected in 340 patients (36.2%), a physical trigger in 293 patients (31.2%), and none could be identified in 306 patients (32.6%). The main physical triggers observed were infections (30.7%), followed by surgical procedures (22.5%), physical activities (18.4%), episodes of severe hypoxia (18.4%), and neurological events (9.9%). TTS triggered by physical factors showed higher mortality in the short and long term, and within this group, patients whose physical trigger was hypoxia were those who had a worse prognosis, in addition to being triggered by physical factors, including age >70 years, diabetes mellitus, left ventricular eyection fraction <30% and shock on admission, and increased long-term mortality risk. Conclusions TTS triggered by physical factors could present a worse prognosis in terms of mortality. Under the TTS label, there could be as yet undiscovered very different clinical profiles, whose differentiation could lead to individual better management, and therefore the perception of TTS as having a benign prognosis should be generally ruled out

Inhibition of PbGP43 expression may suggest that gp43 is a virulence factor in Paracoccidioides brasiliensis

ABSTARCT: Glycoprotein gp43 is an immunodominant diagnostic antigen for paracoccidioidomycosis caused by Paracoccidioides brasiliensis. It is abundantly secreted in isolates such as Pb339. It is structurally related to beta-1,3-exoglucanases, however inactive. Its function in fungal biology is unknown, but it elicits humoral, innate and protective cellular immune responses; it binds to extracellular matrix-associated proteins. In this study we applied an antisense RNA (aRNA) technology and Agrobacterium tumefaciens-mediated transformation to generate mitotically stable PbGP43 mutants (PbGP43 aRNA) derived from wild type Pb339 to study its role in P. brasiliensis biology and during infection. Control PbEV was transformed with empty vector. Growth curve, cell vitality and morphology of PbGP43 aRNA mutants were indistinguishable from those of controls. PbGP43 expression was reduced 80-85% in mutants 1 and 2, as determined by real time PCR, correlating with a massive decrease in gp43 expression. This was shown by immunoblotting of culture supernatants revealed with anti-gp43 mouse monoclonal and rabbit polyclonal antibodies, and also by affinity-ligand assays of extracellular molecules with laminin and fibronectin. In vitro, there was significantly increased TNF-α production and reduced yeast recovery when PbGP43 aRNA1 was exposed to IFN-γ-stimulated macrophages, suggesting reduced binding/uptake and/or increased killing. In vivo, fungal burden in lungs of BALB/c mice infected with silenced mutant was negligible and associated with decreased lung ΙΛ-10 and IL-6. Therefore, our results correlated low gp43 expression with lower pathogenicity in mice, but that will be definitely proven when PbGP43 knockouts become available.

Epidemiology of Invasive Fungal Infections in Latin America

The pathogenic role of invasive fungal infections (IFIs) has increased during the past two decades in Latin America and worldwide, and the number of patients at risk has risen dramatically. Working habits and leisure activities have also been a focus of attention by public health officials, as endemic mycoses have provoked a number of outbreaks. An extensive search of medical literature from Latin America suggests that the incidence of IFIs from both endemic and opportunistic fungi has increased. The increase in endemic mycoses is probably related to population changes (migration, tourism, and increased population growth), whereas the increase in opportunistic mycoses may be associated with the greater number of people at risk. In both cases, the early and appropriate use of diagnostic procedures has improved diagnosis and outcome

Association Between Preexisting Versus Newly Identified Atrial Fibrillation and Outcomes of Patients With Acute Pulmonary Embolism

Background Atrial fibrillation (AF) may exist before or occur early in the course of pulmonary embolism (PE). We determined the PE outcomes based on the presence and timing of AF. Methods and Results Using the data from a multicenter PE registry, we identified 3 groups: (1) those with preexisting AF, (2) patients with new AF within 2 days from acute PE (incident AF), and (3) patients without AF. We assessed the 90-day and 1-year risk of mortality and stroke in patients with AF, compared with those without AF (reference group). Among 16 497 patients with PE, 792 had preexisting AF. These patients had increased odds of 90-day all-cause (odds ratio [OR], 2.81; 95% CI, 2.33-3.38) and PE-related mortality (OR, 2.38; 95% CI, 1.37-4.14) and increased 1-year hazard for ischemic stroke (hazard ratio, 5.48; 95% CI, 3.10-9.69) compared with those without AF. After multivariable adjustment, preexisting AF was associated with significantly increased odds of all-cause mortality (OR, 1.91; 95% CI, 1.57-2.32) but not PE-related mortality (OR, 1.50; 95% CI, 0.85-2.66). Among 16 497 patients with PE, 445 developed new incident AF within 2 days of acute PE. Incident AF was associated with increased odds of 90-day all-cause (OR, 2.28; 95% CI, 1.75-2.97) and PE-related (OR, 3.64; 95% CI, 2.01-6.59) mortality but not stroke. Findings were similar in multivariable analyses. Conclusions In patients with acute symptomatic PE, both preexisting AF and incident AF predict adverse clinical outcomes. The type of adverse outcomes may differ depending on the timing of AF onset.info:eu-repo/semantics/publishedVersio

Guidelines for the use and interpretation of assays for monitoring autophagy (3rd edition)

In 2008 we published the first set of guidelines for standardizing research in autophagy. Since then, research on this topic has continued to accelerate, and many new scientists have entered the field. Our knowledge base and relevant new technologies have also been expanding. Accordingly, it is important to update these guidelines for monitoring autophagy in different organisms. Various reviews have described the range of assays that have been used for this purpose. Nevertheless, there continues to be confusion regarding acceptable methods to measure autophagy, especially in multicellular eukaryotes. For example, a key point that needs to be emphasized is that there is a difference between measurements that monitor the numbers or volume of autophagic elements (e.g., autophagosomes or autolysosomes) at any stage of the autophagic process versus those that measure fl ux through the autophagy pathway (i.e., the complete process including the amount and rate of cargo sequestered and degraded). In particular, a block in macroautophagy that results in autophagosome accumulation must be differentiated from stimuli that increase autophagic activity, defi ned as increased autophagy induction coupled with increased delivery to, and degradation within, lysosomes (inmost higher eukaryotes and some protists such as Dictyostelium ) or the vacuole (in plants and fungi). In other words, it is especially important that investigators new to the fi eld understand that the appearance of more autophagosomes does not necessarily equate with more autophagy. In fact, in many cases, autophagosomes accumulate because of a block in trafficking to lysosomes without a concomitant change in autophagosome biogenesis, whereas an increase in autolysosomes may reflect a reduction in degradative activity. It is worth emphasizing here that lysosomal digestion is a stage of autophagy and evaluating its competence is a crucial part of the evaluation of autophagic flux, or complete autophagy. Here, we present a set of guidelines for the selection and interpretation of methods for use by investigators who aim to examine macroautophagy and related processes, as well as for reviewers who need to provide realistic and reasonable critiques of papers that are focused on these processes. These guidelines are not meant to be a formulaic set of rules, because the appropriate assays depend in part on the question being asked and the system being used. In addition, we emphasize that no individual assay is guaranteed to be the most appropriate one in every situation, and we strongly recommend the use of multiple assays to monitor autophagy. Along these lines, because of the potential for pleiotropic effects due to blocking autophagy through genetic manipulation it is imperative to delete or knock down more than one autophagy-related gene. In addition, some individual Atg proteins, or groups of proteins, are involved in other cellular pathways so not all Atg proteins can be used as a specific marker for an autophagic process. In these guidelines, we consider these various methods of assessing autophagy and what information can, or cannot, be obtained from them. Finally, by discussing the merits and limits of particular autophagy assays, we hope to encourage technical innovation in the field