A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping

This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image. The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.     

Fibroblast protein profile analysis highlights the role of oxidative stress and vitamin K recycling in the pathogenesis of pseudoxanthoma elasticum

Pseudoxanthoma elasticum (PXE) is a genetic disorder associated to mutations in the ABCC6 gene; however, the pathogenetic mechanisms leading to elastic fibre calcifications and to clinical manifestations are still unknown. Dermal fibroblasts, directly involved in the production of the extracellular milieu, have been isolated from healthy subjects and from patients affected by PXE, cultured in vitro and characterized for their ability to produce reactive oxygen species, for structural and functional properties of their cell membranes, for changes in their protein profile. Data demonstrate that oxidative stress has profound and endurable consequences on PXE fibroblast phenotype being responsible for: reduced levels of global DNA methylation, increased amount of carbonylated proteins and of lipid peroxidation products, altered structural properties of cell membranes, modified protein expression. Data shed new light on the pathogenetic pathways in PXE, by identifying a network of proteins affecting elastic fibre calcification through inefficient vitamin K recycling, and highlight the role of differentially expressed proteins as targets for validating the efficacy of future therapeutic strategies aiming to delay and/or revert the pathologic phenotype of PXE fibroblasts. Moreover, data open new perspectives for investigating PXE-like phenotypes in the absence of ABCC6 mutations.     

Admittance of rugate filters derived from a 2 × 2 inhomogeneous matrix

Admittance diagrams are used to analyze qualitatively and quantitatively the behavior of inhomogeneous thin films with an arbitrary refractive-index function. From this study it follows that one can treat the behavior of rugate filters by using the concept of effective refractive indices, which are associated with the phase integral in a simple way. These results are applied to the study of periodic systems, and, as expected, one can consider high and low effective refractive indices to determine the important parameters of these stop bands. With these ideas it is possible that one can deal with rugate filters more closely as homogeneous periodic systems by taking advantage of the existing theory.     

Levothyroxine suppressive therapy for solitary thyroid nodule

In order to evaluate the efficacy of a TSH suppressive dose of levothyroxine to reduce the volume of a single thyroid nodule we studied 55 euthyroid patient: 45 (group A) were suppressed with LT4 (mean 1.7 +/- 0.9 micrograms/Kg/day) for 21.3 +/- 5.3 months, and 10 patients (group B) served as controls. All the nodules were "cold" at scintiscanning, solid at ultrasonography and benign by fine-needle aspiration cytology. As responders were assumed the nodules shrinked at the end of treatment of 50% in volume. Thyroid function values (TSH, T4, FT4, T3, FT3, thyroid peroxidase and thyroglobulin antibodies), clinical and ultrasonographic findings were evaluated initially and at the end of the study. A significant nodular volume decrease occurred in 8 treated patients (17.8%) while 37 (82.2%) amongst the group suppressed and all controls showed no change (A vs B = NS). In two untreated patients new nodules were noted; no new nodules were discovered in the treated group (A vs B p < 005). No side effects occurred in any treated patient, even if at the end of treatment a significant T4 and FT4 (p < 0.01) increase was observed. No one onset parameter can predict the response to the therapy. These results suggest that only a small group of patients affected by a single thyroid nodule seems to respond to a TSH suppressive therapy.     

Sorafenib delivery nanoplatform based on superparamagnetic iron oxide nanoparticles magnetically targets hepatocellular carcinoma

Currently,sorafenib is the only systemic therapy capable of increasing overall survival of hepatocellular carcinoma patients.Unfortunately,its side effects,particularly its overall toxicity,limit the therapeutic response that can be achieved.Superparamagnetic iron oxide nanoparticles (SPIONs) are very attractive for drug delivery because they can be targeted to specific sites in the body through application of a magnetic field,thus improving intratumoral accumulation and reducing adverse effects.Here,nanoformulations based on polyethylene glycol modified phospholipid micelles,loaded with both SPIONs and sorafenib,were successfully prepared and thoroughly investigated by complementary techniques.This nanovector system provided effective drug delivery,had an average hydrodynamic diameter of about 125 nm,had good stability in aqueous medium,and allowed controlled drug loading.Magnetic analysis allowed accurate determination of the amount of SPIONs embedded in each micelle.An in vitro system was designed to test whether the SPION micelles can be efficiently held using a magnetic field under typical flow conditions found in the human liver.Human hepatocellular carcinoma (HepG2) cells were selected as an in vitro system to evaluate tumor cell targeting efficacy of the superparamagnetic micelles loaded with sorafenib.These experiments demonstrated that this delivery platform is able to enhance sorafenib's antitumor effectiveness by magnetic targeting.The magnetic nanovectors described here represent promising candidates for targeting specific hepatic tumor sites,where selective release of sorafenib can improve its efficacy and safety profile.     

Secondary bioreceptivity of granite: effect of salt weathering on subaerial biofilm growth

Salt crystallisation is a very common and powerful weathering agent that can modify the petrophysical properties of building stone such as granite. In addition, the weathering can affect the susceptibility of the stone to biological colonisation. The aims of the present study were to examine the properties of a granite weathered by sodium chloride crystallisation and to evaluate the effects of the weathering on the secondary bioreceptivity of the stone to subaerial phototrophic biofilms. For this purpose, granite samples were subjected to a laboratory-based accelerated salt weathering test, and changes in weight, open porosity, bulk density, capillary water content, abrasion pH and surface roughness of the samples were determined. Samples of both weathered and non-weathered granite were then inoculated with a multi-species phototrophic culture derived from a natural subaerial biofilm and incubated under standardised laboratory conditions for 3 months. The weight loss produced by the weathering process was consistent with significant changes in abrasion pH and surface roughness. The bioreceptivity of the stone was also altered. According to the bioreceptivity index, the granite under study was characterised by ‘mild primary bioreceptivity’, but ‘high secondary bioreceptivity’ after the salt weathering process. Study of the secondary bioreceptivity of stone materials can provide very useful information about response to weathering effects, and the findings can be used to improve the selection of materials for building purposes.     

A model checking-based approach for security policy verification of mobile systems

This article describes an approach for the automated verification of mobile systems. Mobile systems are characterized by the explicit notion of location (e.g., sites where they run) and the ability to execute at different locations, yielding a number of security issues. To this aim, we formalize mobile systems as Labeled Kripke Structures, encapsulating the notion of location net that describes the hierarchical nesting of the threads constituting the system. Then, we formalize a generic security-policy specification language that includes rules for expressing and manipulating the code location. In contrast to many other approaches, our technique supports both access control and information flow specification. We developed a prototype framework for model checking of mobile systems. It works directly on the program code (in contrast to most traditional process-algebraic approaches that can model only limited details of mobile systems) and uses abstraction-refinement techniques, based also on location abstractions, to manage the program state space. We experimented with a number of mobile code benchmarks by verifying various security policies. The experimental results demonstrate the validity of the proposed mobile system modeling and policy specification formalisms and highlight the advantages of the model checking-based approach, which combines the validation of security properties with other checks, such as the validation of buffer overflows.     

Semantics-driven annotation of patient-specific 3D data: a step to assist diagnosis and treatment of rheumatoid arthritis

In the digital era, patient-specific 3D models (3D-PSMs) are becoming increasingly relevant in computer-assisted diagnosis, surgery training on digital models, or implant design. While advanced imaging and reconstruction techniques can create accurate and detailed 3D models of patients’ anatomy, software tools that are able to fully exploit the potential of 3D-PSMs are still far from being satisfactory. In particular, there is still a lack of integrated approaches for extracting, coding, sharing and retrieving medically relevant information from 3D-PSMs and use it concretely as a support to diagnosis and treatment. In this article, we propose the SemAnatomy3D framework, which demonstrates how the ontology-driven annotation of 3D-PSMs and of their anatomically relevant features (parts of relevance) can assist clinicians to document more effectively pathologies and their evolution. We exemplify the idea in the context of the diagnosis of rheumatoid arthritis of the hand district, and show how feature extraction tools and semantic 3D annotation can provide a rich characterization of anatomical landmarks (e.g., articular facets, prominent features, ligament attachments) and pathological markers (erosions, bone loss). The core contributions are an ontology-driven part-based annotation method for the 3D-PSMs and a novel automatic localization of erosion and quantification of the OMERACT RAMRIS erosion score. Finally, our results have been compared against a medical ground truth.     

Physical and thermal strain of firefighters according to the firefighting tactics used to suppress wildfires

The aim of this study was to analyse the physiological strain of firefighters, using heart rate (HR) and core temperature, during real wildfire suppression according to the type of attack performed (direct, indirect or mixed). Three intensity zones were established according to the HR corresponding to the ventilatory threshold (VT) and respiratory compensation threshold (RCT): zone 1, RCT. The exercise workload (training impulse (TRIMP)), the physiological strain index (PSI) and the cumulative heat strain index(CHSI) were calculated using the time spent in each zone, and the HR and core temperature, respectively. Significantly higher mean HR, time spent in Z2 and Z3 and TRIMP h(-1) were found in direct and mixed versus indirect attacks. The highest PSI and CHSI were observed in the direct attack. In conclusion, exercise strain and combined thermal strain, but not core temperature during wildfire suppression, are related to the type of attack performed. STATEMENT OF RELEVANCE: Our findings demonstrated that wildfire firefighting is associated with high physiological demands, which vary significantly depending on the tactics chosen for performing the task. These results should be kept in mind when planning programmes to improve wildland firefighters' physical fitness, which will allow improvement in their performance.