Planning-Aware Communication for Decentralised Multi-Robot Coordination

© 2018 IEEE. We present an algorithm for selecting when to communicate during online planning phases of coordinated multi-robot missions. The key idea is that a robot decides to request communication from another robot by reasoning over the predicted information value of communication messages over a sliding time-horizon, where communication messages are probability distributions over action sequences. We formulate this problem in the context of the recently proposed decentralised Monte Carlo tree search (Dec-MCTS) algorithm for online, decentralised multi-robot coordination. We propose a particle filter for predicting the information value, and a polynomial-time belief-space planning algorithm for finding the optimal communication schedules in an online and decentralised manner. We evaluate the benefit of informative communication planning for a multi-robot information gathering scenario with 8 simulated robots. Our results show reductions in channel utilisation of up to four-fifths with surprisingly little impact on coordination performance

FDG-PET-CT in the early response evaluation for primary systemic therapy of breast cancer

Primary systemic therapy (PST) is a standard treatment for patients with locally advanced breast cancer. We report one of our patients to demonstrate the optimal use of FDG-PET-CT in the routine clinical workup during PST, especially when clinicians face contradictory clinical and pathological findings, and to show the advantages of this imaging modality in the decision-making process about the initial treatment choice. By reviewing the literature we would also like to confirm that FDG-PET-CT is highly sensitive in the measurement of the early therapeutic response and the prediction of the complete pathological remission, as early as after the first cycle of chemotherapy is administered. © 2014 Versita and Springer-Verlag

Acoustical Excitation for Damping Estimation in Rotating Machinery

In experimental modal analysis a structure is excited with a force in order to estimate the frequency response function. Typically, this force is generated by a shaker or a hammer impact. Both methods have proven their usefulness, but have some well-known disadvantages. A main disadvantage of the shaker is that it has to be fixed to the structure whereas with a hammer it is not possible to excite a specific frequency. To overcome these disadvantages, alternative non-contact methods can be used. There are several non-contact techniques, i.e. pressurized air, laser, acoustics, etc. By using acoustics as an excitation technique it is easy to select an excitation signal going from random noise to a simple sine. Also the equipment to produce the acoustic excitation is rather cheap. However, the state of the art does not offer a straightforward technique to estimate the excitation force, making it difficult for applications such as experimental modal analysis. In this research, acoustic excitation is compared with hammer excitation to estimate the frequency response function of two shafts. Especially a method to validate the force induced by the acoustics is derived. The final purpose of this research is to estimate the damping properties of rotating machinery

Survival and longevity of European rulers: geographical influences and exploring potential factors, including the Mediterranean diet — a historical analysis from 1354 to the twentieth century

Significant regional variability in lifespan in Europe is influenced by environmental factors and lifestyle behaviors, including diet. This study investigates the impact of geographical region on the lifespan of European rulers spanning from the fourteenth century to the present day. By analyzing historical records and literature, we aim to identify region-specific dietary patterns and lifestyle factors that may have contributed to longer lifespans among rulers. The hypothesis to be tested is that rulers from Southern European countries, where the traditional Mediterranean diet is consumed by the local people, may exhibit longer lifespans compared to rulers from other regions, due to the well-documented health benefits associated with this dietary pattern. We extracted comprehensive information for each ruler, encompassing their sex, birth and death dates, age, age of enthronement, duration of rulership, country, and cause of death (natural vs. non-natural). To determine their nationality, we coded rulers based on their hypothetical present-day residence (2023). Utilizing the EuroVoc Geographical classification, we categorized the countries into four regions: Northern, Western, Southern, Central and Eastern Europe. While Cox regression models did not find significant differences in survival rates among regions, further analysis stratified by time periods revealed intriguing trends. Contrary to our initial predictions, the Northern region displayed better survival rates compared to the Southern region between 1354 and 1499, whereas survival rates were similar across regions from 1500 to 1749. However, after 1750, all regions, except the Southern region, exhibited significantly improved survival rates, suggesting advancements in healthcare and lifestyle factors. These findings underscore the dynamic influence of both region and time period on health and longevity. Interestingly, despite the prevalence of the Mediterranean diet in the Southern region of Europe, rulers from this region did not demonstrate longer lifespans compared to their counterparts in other regions. This suggests that additional lifestyle factors may have played a more prominent role in their longevity. In conclusion, our study sheds light on the intricate relationship between region, time period, and lifespan among European rulers. Although the Mediterranean diet is often associated with health benefits, our findings indicate that it alone may not account for differences in ruler longevity across regions. Further research is warranted to explore the impact of other lifestyle factors on the health and lifespan of European rulers throughout history

Therapeutic Consequences and Prognostic Impact of Multimorbidity in Heart Failure: Time to Act

Background/Objectives: In heart failure (HF) with reduced ejection fraction (HFrEF), the early diagnosis and proper treatment of comorbidities (CMs) are of fundamental relevance. Our aim was to assess the prevalence of CMs among real-world patients requiring hospitalisation for HFrEF and to investigate the effect of CMs on the implementation of guideline-directed medical therapy (GDMT) and on all-cause mortality (ACM). Methods: The data of a consecutive HFrEF patient cohort hospitalised for HF between 2021 and 2024 were analysed retrospectively. Sixteen CMs (6 CV and 10 non-CV) were considered. Patients were divided into three categories: 0–3 vs. 4–6 vs. ≥7 CMs. GDMT at discharge and ACM were compared among CM categories. The predictors of 1-year ACM were also evaluated. Results: From the 388 patients (male: 76%, age: 61 [50–70] years; NT-proBNP: 5286 [2570–9923] pg/mL; ≥2 cardiovascular–kidney–metabolic disease overlap: 46%), a large proportion received GDMT (RASi: 91%; βB: 85%; MRA: 95%; SGLT2i: 59%; triple therapy [TT: RASi+βB+MRA]: 82%; quadruple therapy [QT: TT + SGLT2i]: 54%) at discharge. Multimorbidity was accompanied with a (p 0.05). Patients with multimorbidity were less likely to be treated with TT (93% vs. 82% vs. 73%, p = 0.001), while no difference was detected in the implementation of QT (56% vs. 54% vs. 50%, p = 0.685). The 1-year ACM of patients with an increased burden of CMs was higher (9% vs. 13% vs. 25%, p = 0.003). The risk of 1-year ACM was favourably affected by the use of TT/QT and less severe left ventricular systolic dysfunction, while having ≥5 CMs had an unfavourable impact on prognosis. Conclusions: According to our real-world analysis, HFrEF patients with an increased burden of CMs can expect a less favourable outcome. However, modern GDMT can even be applied in this patient population, resulting in a significantly improved prognosis. Thus, clinicians should insist on the early, conscious implementation of a prognosis-modifying drug regime in multimorbid HF patients as well

Eligibility for rapid up-titration of guideline-directed medical therapy of real-world patients hospitalised for heart failure

Introduction and aims: The 2023 Focused Update of the 2021 ESC Heart Failure (HF) Guidelines recommends the rapid up-titration (RT) of guideline-directed medical therapy (GDMT) for all patients hospitalised for HF to improve prognosis in light of STRONG-HF trial. However, the real-world feasibility of RT and the optimal selection of suitable patients may cause difficulties, as the STRONG-HF trial applied strict randomisation criteria. We aimed to assess the proportion of hospitalised HF patients suitable for RT after discharge.Methods: The proportion of patients eligible for RT based on the basic in- and exclusion criteria of the STRONG-HF trial (systolic blood pressure [SBP]≥100mmHg, heart rate [HR]≥60min-1, serum potassium≤5mmol/L, eGFR≥30mL/min/1.73m2, discharge NT-proBNP>1500pg/mL) was assessed in a consecutive patient cohort at a tertiary referral center between 01/04/2021 and 31/12/2023. Results: Data from 408 consecutive patients were analysed (male: 71%; age: 62[51-72]years; left ventricular ejection fraction: 27[20-35]%; HFrEF: 82%; hypertension: 67%; diabetes: 36%; atrial fibrillation: 47%). 78% of the patients were suitable for RT based on the SBP criterion, 93% on HR, 89% on serum potassium, and 91% on eGFR values. Thus, 60% were eligible for RT using the combined assessment of these parameters. When including the NT-proBNP value as well (60%), 34% of the cohort were eligible for RT.Conclusions: Based on our study, the proportion of patients suitable for RT of GDMT ranged from 34% to 60% based on the basic eligibility indicators of the STRONG-HF trial. Our results highlight the strategic importance of careful selection of patients eligible for RT

Breast cancer screening in women with extremely dense breasts recommendations of the European Society of Breast Imaging (EUSOBI)

Breast density is an independent risk factor for the development of breast cancer and also decreases the sensitivity of mammography for screening. Consequently, women with extremely dense breasts face an increased risk of late diagnosis of breast cancer. These women are, therefore, underserved with current mammographic screening programs. The results of recent studies reporting on contrast-enhanced breast MRI as a screening method in women with extremely dense breasts provide compelling evidence that this approach can enable an important reduction in breast cancer mortality for these women and is cost-effective. Because there is now a valid option to improve breast cancer screening, the European Society of Breast Imaging (EUSOBI) recommends that women should be informed about their breast density. EUSOBI thus calls on all providers of mammography screening to share density information with the women being screened. In light of the available evidence, in women aged 50 to 70 years with extremely dense breasts, the EUSOBI now recommends offering screening breast MRI every 2 to 4 years. The EUSOBI acknowledges that it may currently not be possible to offer breast MRI immediately and everywhere and underscores that quality assurance procedures need to be established, but urges radiological societies and policymakers to act on this now. Since the wishes and values of individual women differ, in screening the principles of shared decision-making should be embraced. In particular, women should be counselled on the benefits and risks of mammography and MRI-based screening, so that they are capable of making an informed choice about their preferred screening method

A survey by the European Society of Breast Imaging on the utilisation of breast MRI in clinical practice

Objectives: While magnetic resonance imaging (MRI) is considered a helpful diagnostic tool in breast imaging, discussions are ongoing about appropriate protocols and indications. The European Society of Breast Imaging (EUSOBI) launched a survey to evaluate the utilisation of breast MRI in clinical practice. Methods: An online survey reviewed by the EUSOBI board and committees was distributed amongst members. The questions encompassed: training and experience; annual breast MRI and MRI-guided-intervention workload; examination protocols; indications; reporting habits and preferences. Data were summarised and subgroups compared using \u3c72test. Results: Of 647 EUSOBI members, 177 (27.4%) answered the survey. The majority were radiologists (90.5%), half of them based in academic centres (51.9%). Common indications for MRI included cancer staging, treatment monitoring, high-risk screening and problem-solving, and differed significantly between countries (p 640.03). Structured reporting and BI-RADS were mostly used. Breast radiologists with 6410 years of experience preferred inclusion of additional techniques, such as T2/STIR (p=0.03) and DWI (p=0.08) in the scan protocol. MRI-guided interventions were performed by a minority of participants (35.4%). Conclusions: The utilisation of breast MRI in clinical practice is generally in line with international recommendations. There are substantial differences between countries. MRI-guided interventions and functional MRI parameters are not widely available. Key points: \u2022 MRI is commonly used for the detection and characterisation of breast lesions. \u2022 Clinical practice standards are generally in line with current recommendations. \u2022 Standardised criteria and diagnostic categories (mainly BI-RADS) are widely adopted. \u2022 Younger radiologists value additional techniques, such as T2/STIR and DWI. \u2022 MRI-guided breast biopsy is not widely available

EKG-eltérések gyakorisága hypertrophiás cardiomyopathiában: aki keres, az talál [Prevalence of ECG abnormalities in hypertrophic cardiomyopathy: who seeks will find]

Bevezetés: Az Európai Kardiológus Társaság 2023-ban publikált, Cardiomyopathia Irányelve a cardiomyopathiák diagnosztikájában a multiparametrikus megközelítés fontosságát hangsúlyozza. A hypertrophiás cardiomyopathia kivizsgálásában az echokardiográfia, a szív mágnesesrezonancia-vizsgálata mellett az EKG is fontos szerepet játszik. Szakirodalmi adatok alapján a hypertrophiás cardiomyopathiában szenvedő betegek mindössze 4–18%-a rendelkezik eltérés nélküli EKG-val, ám a megfigyelt EKG-eltérések gyakorta aspecifikusak. Célkitűzés: Tercier kardiológiai centrumunk, a Gottsegen György Országos Kardiovaszkuláris Intézet Szívelégtelenség Ambulanciáján gondozott, hypertrophiás cardiomyopathiában szenvedő betegpopuláció EKG-jellemzőinek értékelése. Módszer: Intézetünk Szívelégtelenség Ambulanciáján 2023. 11. 01. és 2024. 09. 30. között gondozásba vett, a szív mágnesesrezonancia-vizsgálatával és/vagy genetikai vizsgálattal igazolt hypertrophiás cardiomyopathiában szenvedő betegek adatait, első ambuláns EKG-paramétereit elemeztük retrospektív módon. Eredmények: A vizsgált betegek (n = 72 fő) 58%-a volt férfi, mediánéletkoruk 49 (34–62) év, bal kamrai ejekciós frakciójuk 63 (47–72)%, NYHA funkcionális osztályuk 2 (1–2) volt, ICD-t/CRT-D-t 47%-uk viselt. A balkamrakiáramlási-pályaobstrukciójának ≥30 Hgmm értéke alapján a betegek 31%-a tartozott a hypertrophiás obstruktív cardiomyopathia csoportba. Az elemzett EKG-kon a betegek 6%-a pitvarfibrillált, az interatrialis vezetési zavarok a 29%-ukat érintették. Atrioventricularis és intraventricularis vezetési zavarok a betegek 50%-ában jelentkeztek (AV blokk: 20% [PQ-szakasz-megnyúlás: 18%, II. fokú AV blokk: 2%, III. fokú AV blokk: 0%], jobb-Tawara-szárblokk: 14%, bal-Tawara-szár-blokk: 16%, bal anterior hemiblokk: 13%, bal posterior hemiblokk: 3%, aspecifikus intraventricularis vezetési zavar: 8%). A Cornell, a Sokolow–Lyon-, illetve a Peguero–Lo Presti „high voltage” kritériumok szenzitivitása alacsonynak bizonyult (23–14–25%). Patológiás Q-hullám 42%-ban, QRS-fragmentáció 43%-ban, korrigált QT-idő-megnyúlás 44%-ban fordult elő. Repolarizációs eltérések, mint a T-hullám-inverzió, a csoport 94%-ában, szignifikáns ST-eleváció a 21%-ában és ST-depresszió a 48%-ában volt megfigyelhető, mindössze a páciensek 3%-a rendelkezett negatív EKG-val. A hypertrophiás obstruktív cardiomyopathia és a nonobstruktív hypertrophiás cardiomyopathia alcsoportok között egyedül a Cornell-kritérium gyakoriságában adódott különbség (45% vs. 15%, p = 0,044). Következtetés: A hypertrophiás cardiomyopathia diagnosztikájában elengedhetetlen a multimodális szemlélet. Eredményeink alapján hypertrophiás cardiomyopathiában gyakorta azonosíthatók heterogén EKG-eltérések, ám a gyanújelek időbeli felismerése a további diagnosztikus lépéseket segítheti, hozzájárulva a célzott kezelés megkezdéséhez, a prognózis javításához. | ntroduction: The 2023 European Society of Cardiology Cardiomyopathy Guidelines emphasize the crucial role of a multiparametric approach in diagnosing. During the diagnostic workup of hypertrophic cardiomyopathy, besides echocardiography and cardiac magnetic resonance, ECG plays an important role. Based on literature data, only 4–18% of patients with hypertrophic cardiomyopathy have normal ECG, however, ECG deviations are often non- specific. Objective: To evaluate the ECG characteristics in a hypertrophic cardiomyopathy patient cohort followed-up at the Heart Failure Outpatient Clinic of Gottsegen National Cardiovascular Center. Method: We retrospectively analyzed the data and the first ECGs registered of patients with hypertrophic cardiomyo- pathy, diagnosed by cardiac magnetic resonance and/or genetic testing, followed-up between 01. 11. 2023 and 30. 09. 2024 at our Heart Failure Outpatient Clinic. Results: Data from 72 patients were evaluated, male: 58%, age: 49 (34–62) years, left ventricular ejection fraction: 63 (47–72)%, NYHA functional class: 2 (1–2), ICD/CRT-D: 47%. Based on the left ventricular outflow tract obstruc- tion of ≥30 mmHg, 31% of the patients belonged to hypertrophic obstructive cardiomyopathy subgroup. Based on the ECGs analyzed, atrial fibrillation occurred in 6%. Interatrial conduction disturbances affected 29% of the patients. Atrioventricular and intraventricular conduction disturbances occurred in 50% (AV block: 20% [grade I: 18%, grade II: 2%, grade III: 0%], right bundle branch block: 14%, left bundle branch block: 16%, left anterior hemiblock: 13%, left posterior hemiblock: 3%, non-specific intraventricular conduction disturbance: 8%). The sensitivity of the Cor- nell, Sokolow–Lyon, and Peguero–Lo Presti “high voltage” criteria were low (23–14–25%). Pathological Q wave occurred in 42% of the patients, QRS fragmentation in 43% and corrected QT interval prolongation in 44%. T wave inversion was present in 94%, significant ST elevation in 21%, ST depression in 48%, while only 3% of patients had negative ECG. The only difference between hypertrophic obstructive cardiomyopathy and non-obstructive hyper- trophic cardiomyopathy patients was the fulfillment of the Cornell criterion (45% vs. 15%, p = 0.044). Conclusions: A multimodal approach is essential in the diagnosis of hypertrophic cardiomyopathy. Based on our re- sults, hypertrophic cardiomyopathy is often associated with heterogeneous ECG abnormalities. However, the early recognition of the ECG variations may help in the further diagnostic steps, contributing to the initiation of disease- modifying treatment