Probablistic approaches for intelligent AUV localisation

This thesis studies the problem of intelligent localisation for an autonomous underwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison among different techniques. Then, it will develop active techniques, which require intelligent decisions about the steps to undertake in order for the AUV to localise itself. The undertaken methodology consisted in three stages: theoretical analysis of the problem, tests with a simulation environment, integration in the robot architecture and field trials. The conclusions highlight applications and scenarios where the developed techniques have been successfully used or can be potentially used to enhance the results given by current techniques. The main contribution of this thesis is in the proposal of an active localisation module, which is able to determine the best set of action to be executed, in order to maximise the localisation results, in terms of time and efficiency

Uniform Approximation of 2D Navier-Stokes Equations with Vorticity Creation by Stochastic Interacting Particle Systems

We consider a stochastic interacting particle system in a bounded domain with reflecting boundary, including creation of new particles on the boundary prescribed by a given source term. We show that such particle system approximates 2d Navier-Stokes equations in vorticity form and impermeable boundary, the creation of particles modeling vorticity creation at the boundary. Kernel smoothing, more specifically smoothing by means of the Neumann heat semigroup on the space domain, allows to establish uniform convergence of regularized empirical measures to (weak solutions of) Navier-Stokes equations.Comment: 37 page

Cost per responder of Adalimumab biosimilars MSB11022 and ABP 501 versus the originator and methotrexate in chronic plaque psoriasis

Background: Pharmacoeconomic studies comparing the cost of adalimumab biosimilars versus the originator and conventional drugs in psoriasis are lacking. Research design and methods: To assess the cost per responder of adalimumab biosimilars versus the originator and methotrexate for psoriasis treatment. A cost per responder analysis comparing adalimumab biosimilars MSB11022 (Idacio®) and ABP 501 (Amgevita®), and methotrexate to the originator (Humira®) was performed. The incremental cost per responder was calculated by multiplying the cost of treatment based on the perspective of the National Healthcare System and number needed to treat for each therapy. Results: Considering the PASI75 response rate at 16 weeks, the cost per responder for MSB11022 and ABP 501 compared to the originator was € 500 versus 1,831 and € 968 versus 1,949, respectively. For the same endpoint, the cost per responder for subcutaneous or oral methotrexate was € 543 or 34 compared to 2,117 for adalimumab originator. At an indirect comparison among methotrexate, MSB11022 and ABP 501, the costs per PASI75 responder at week 16 were 2%, 26%, 27% and 50% of that of the originator, respectively. Conclusions: The use of biosimilars was confirmed as a valuable pharmacoeconomic strategy to lower healthcare cost in patients with psoriasis

Real-Life Effectiveness of Adalimumab Biosimilars in Patients with Chronic Plaque Psoriasis

Introduction The real-life effectiveness of adalimumab biosimilars in patients with psoriasis has rarely been investigated. Objective To investigate drug survival of adalimumab biosimilars in patients with chronic plaque psoriasis and factors associated with its discontinuation. Methods We carried out a retrospective observational study including all consecutive patients with chronic plaque psoriasis who initiated adalimumab biosimilar MSB11022 (Idacio), ABP501 (Amgevita), or SB5 (Imraldi) between 1 January 2018 and 1 January 2021. The 1-year drug survival of adalimumab biosimilar and independent factors associated with its discontinuation were investigated. Cox regression models were fit to estimate adjusted hazard ratios (aHRs) with 95% confidence intervals (CIs) for the risk of adalimumab discontinuation. A propensity score matching (PSM) model was adopted as sensitivity analysis. Results The study involved a total of 410 patients with follow-up of 549.84 person-years, 271 (66.1%) men, a mean (SD) age of 51.8 (14.5) years, and a baseline PASI of 14.54 (5.02). Among adalimumab biosimilars, 250 (61%) patients received MSB11022, 98 (24%) received ABP501, and 62 (15%) received SB5. Drug survival of adalimumab biosimilars at 1 year was 81.5% in the overall study population. Obesity was associated with increased risk of adalimumab discontinuation (HR = 2.01; 95% CI 1.33-3.03), whereas psoriatic arthritis (aHR = 0.32; 95% CI 0.16-0.64) and receiving adalimumab as first systemic treatment (aHR = 0.44; 95% CI 0.27-0.70) were associated with lower risk. Conclusion The real-life effectiveness of adalimumab biosimilars in patients with psoriasis is consistent with that previously reported for the originator

Price variability of TNF-α inhibitor biosimilars among European countries

Dear Editor, The treatment of psoriasis has been revolutionized by biological drugs. Despite their excellent efficacy and safety, their high cost represents a hindrance to a wider and early us

Dynamically extending planning models using an ontology

In this paper we couple a deterministic planner with an ontology, in order to adapt to new discoveries during plan execution and to reason about the affordances that are available to the planner as the set of known objects is updated. This allows us to extend the planning agent’s functionality during execution. We use as an example planning for persistent autonomous behaviour in underwater vehicles. Planning in this scenario takes place in a symbolic model of the environment, simulating sequences of possible decisions. Ensuring that the simulation remains robust requires careful matching of the model to the real world, including dynamically updating the model from continuous sensing actions. We describe how our system constructs an initial state for planning, using the ontology; how the ontology is also used to determine the results of each action performed by the planner; and finally demonstrate the performance of the system in a simulation, in which two AUVs are required to cooperate in an unknown environment, demonstrating that with additional reasoning the planning system is able to make new efficient choices, taking advantage of the environment in new ways

Dynamically extending planning models using an ontology

In this paper we couple a deterministic planner with an ontology, in order to adapt to new discoveries during plan execution and to reason about the affordances that are available to the planner as the set of known objects is updated. This allows us to extend the planning agent’s functionality during execution. We use as an example planning for persistent autonomous behaviour in underwater vehicles. Planning in this scenario takes place in a symbolic model of the environment, simulating sequences of possible decisions. Ensuring that the simulation remains robust requires careful matching of the model to the real world, including dynamically updating the model from continuous sensing actions. We describe how our system constructs an initial state for planning, using the ontology; how the ontology is also used to determine the results of each action performed by the planner; and finally demonstrate the performance of the system in a simulation, in which two AUVs are required to cooperate in an unknown environment, demonstrating that with additional reasoning the planning system is able to make new efficient choices, taking advantage of the environment in new ways

Explorative surgery for acute scrotal pain: The importance of patient age, side affected, time to surgery and surgeon

Introduction and objective: Testicular torsion must be diagnosed quickly and accurately. The delay of the diagnosis and the subsequent delay of surgery may lead to loss testicular viability and orchidectomy. Aim of our retrospective evaluation was to define which element should be considered as major support to the clinician in distinguishing spermatic cord torsion from the other diseases mimicking this clinical emergency requiring surgical exploration. Material and methods: We retrospectively reviewed all clinical and instrumental data of emergency scrotal exploration performed for acute scrotal pain at two different Urological Department in a 10 year period. Results of surgical exploration represented the four diagnostic categories in which patients were divided for statistical evaluation. We evaluated the relationship between diagnosis performed by testicular surgical exploration and the all clinical data available including surgeon involved in the procedures. Results: A total of 220 explorative scrotal surgery were considered. We divided the cases in 4 categories according to the diagnostic results of each surgical procedure. Of all, spermatic cord torsion was diagnosed in 45% (99/220). The total testis salvage rate was of 78.8%. The patients with a diagnosis of spermatic cord torsion were older than patients with appendix torsion (15 vs 11 years in mean). When the affected side was the left, the probability to have a diagnosis of spermatic cord torsion was higher than the right side [χ2 (2, N = 218) = 11.77, p < 0.01]. Time elapsing between onset of symptoms and testicular salvagewas significantly lower even than in case of appendix torsion/necrosis (p < .0001), and of others pathologies diagnosed (p = .0383). Conclusion: In case of spermatic cord torsion, in addition to the clinical data, patient age and left side affected may represent an independent diagnostic predicting factor. The time elapsing between onset of symptoms and explorative surgery remain the only still prognostic factor for testicular viability