Decentralized shape formation and force-based interactive formation control in robot swarms

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed approach to shape formation is proposed. Flocking into strategic formations is observed in migratory birds and fish to avoid predators and also for energy conservation. The formation is maintained throughout long periods without collapsing and is advantageous for communicating within the flock. Similar behaviour can be deployed in multi-agent systems to enhance coordination within the swarm. Existing methods for formation control are either dependent on the size and geometry of the formation or rely on maintaining the formation with a single reference in the swarm (the leader). These methods are not resilient to failure and involve a high degree of deformation upon obstacle encounter before the shape is recovered again. To improve the performance, artificial force-based interaction amongst the entities of the swarm to maintain shape integrity while encountering obstacles is elucidated.Comment: 6 pages, 10 figure

Collective Transport viaSequential Caging

We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be transported starting from a seed robot that makes first contact with the object. Our approach does not require previous knowledge of the shape of the object to ensure caging. To push the object to a goal location, we estimate the robots required to apply force on the object based on the angular difference between the target and the object. During transport, the robots follow a sequence of intermediate goal locations specifying the required pose of the object at that location. We evaluate our approach in a physics-based simulator with up to 100 robots, using three generic paths. Experiments using a group of KheperaIV robots demonstrate the effectiveness of our approach in a real setting. Keywords: Collaborative transport, Task Allocation, Caging, Robot SwarmsComment: Number of Pages - 14 Number of figures - 9 Accepted by Distributed Autonomous Robotic Systems ' 202

Final Report on Clinical Outcomes and Tumor Recurrence Patterns of a Pilot Study Assessing Efficacy of Belinostat (PXD-101) with Chemoradiation for Newly Diagnosed Glioblastoma

Glioblastoma (GBM) is highly aggressive and has a poor prognosis. Belinostat is a histone deacetylase inhibitor with blood–brain barrier permeability, anti-GBM activity, and the potential to enhance chemoradiation. The purpose of this clinical trial was to assess the efficacy of combining belinostat with standard-of-care therapy. Thirteen patients were enrolled in each of control and belinostat cohorts. The belinostat cohort was given a belinostat regimen (500–750 mg/m2 1×/day × 5 days) every three weeks (weeks 0, 3, and 6 of RT). All patients received temozolomide and radiation therapy (RT). RT margins of 5–10 mm were added to generate clinical tumor volumes and 3 mm added to create planning target volumes. Median overall survival (OS) was 15.8 months for the control cohort and 18.5 months for the belinostat cohort (p = 0.53). The recurrence volumes (rGTVs) for the control cohort occurred in areas that received higher radiation doses than that in the belinostat cohort. For those belinostat patients who experienced out-of-field recurrence, tumors were detectable by spectroscopic MRI before RT. Recurrence analysis suggests better in-field control with belinostat. This study highlights the potential of belinostat as a synergistic therapeutic agent for GBM. It may be particularly beneficial to combine this radio-sensitizing effect with spectroscopic MRI-guided RT

International Pediatric Otolaryngology Group (IPOG) survey : efforts to avoid complications in home tracheostomy care

International audienceObjectiveTo provide guidance for home care tracheostomy management in the pediatric population. The mission of the IPOG is to develop expertise-based recommendations for the management of pediatric otolaryngologic disorders with the goal of improving patient care.MethodsSurvey of expert opinion by the members of the International Pediatric Otolaryngology Group (IPOG).ResultsSurvey results provide guidance for caregiver teaching, the reuse of tracheostomies and suction catheters while inpatient and following discharge, acceptable sterilization practices for tracheostomies, tracheitis workup and management, and outpatient follow-up practices.ConclusionThis presentation of common home tracheostomy care practices are aimed at improving patient-centered care in the pediatric population

International Pediatric Otolaryngology Group : consensus guidelines on the diagnosis and management of non-tuberculous mycobacterial cervicofacial lymphadenitis

INTRODUCTION: Non-tuberculous mycobacterial (NTM) infection commonly manifests as subacute or chronic cervicofacial lymphadenitis in immunocompetent children. The optimal management of this pathology remains controversial. OBJECTIVES: This international consensus guideline aims to understand the practice patterns for NTM cervicofacial lymphadenitis and to address the primary diagnostic and management challenges. METHODS: A modified three-iterative Delphi method was used to establish expert recommendations on the diagnostic considerations, expectant or medical management, and operative considerations. The recommendations herein are derived from current expert consensus and critical review of the literature. SETTING: Multinational, multi-institutional, tertiary pediatric hospitals. RESULTS: Consensus recommendations include diagnostic work-up, goals of treatment and management options including surgery, prolonged antibiotic therapy and observation. CONCLUSION: The recommendations formulated in this International Pediatric Otolaryngology Group (IPOG) consensus statement on the diagnosis and management of patients with NTM lymphadenitis are aimed at improving patient care and promoting future hypothesis generation