Interactive Construction and Animation of Layered Elastically Deformable Characters

An interactive system is described for creating and animating deformable 3D characters. By using a hybrid layered model of kinematic and physics-based components together with an immersive 3D direct manipulation interface, it is possible to quickly construct characters that deform naturally when animated and whose behavior can be controlled interactively using intuitive parameters. In this layered construction technique, called the elastic surface layer model, a simulated elastically deformable skin surface is wrapped around a kinematic articulated figure. Unlike previous layered models, the skin is free to slide along the underlying surface layers constrained by geometric constraints which push the surface out and spring forces which pull the surface in to the underlying layers. By tuning the parameters of the physics-based model, a variety of surface shapes and behaviors can be obtained such as more realistic-looking skin deformation at the joints, skin sliding over muscles, and dynamic effects such as squash-and-stretch and follow-through. Since the elastic model derives all of its input forces from the underlying articulated figure, the animator may specify all of the physical properties of the character once, during the initial character design process, after which a complete animation sequence can be created using a traditional skeleton animation technique. Character construction and animation are done using a 3D user interface based on two-handed manipulation registered with head-tracked stereo viewing. In our configuration, a six degree-of-freedom head-tracker and CrystalEyes shutter glasses are used to display stereo images on a workstation monitor that dynamically follow the user head motion. 3D virtual objects can be made to appear at a fixed location in physical space which the user may view from different angles by moving his head. To construct 3D animated characters, the user interacts with the simulated environment using both hands simultaneously: the left hand, controlling a Spaceball, is used for 3D navigation and object movement, while the right hand, holding a 3D mouse, is used to manipulate through a virtual tool metaphor the objects appearing in front of the screen. Hand-eye coordination is made possible by registering virtual space to physical space, allowing a variety of complex 3D tasks necessary for constructing 3D animated characters to be performed more easily and more rapidly than is possible using traditional interactive techniques.     

Multirobot motion coordination in space and time

This paper describes a solution to the multirobot motion planning problem based on a decoupled analysis in the space domain and in the time domain. It investigates the practical use of the notion of motion plan quality and of the motion plan robustness measures for computing safe motions. The use of anytime algorithms allows one to evaluate the opportunity of looking for alternative solution paths by generating small variations of robot motions affecting both its geometrical path and its scheduled velocity. By using the concept of plan robustness, several alternative paths are generated and evaluated through various performance indices and impact factors, using heuristic rules. These indices allow one to know how much a variation affects a given plan. Finally, some recent experiments are outlined.     

Analysis of Test Specimens for Cohesive Near-Bond Failure of Fiber-Reinforced Polymer-Plated Concrete

The failure mechanisms of reinforced concrete (RC) members change due to the application of externally bonded fiber-reinforced polymer reinforcement. Although an extensive literature is available describing the failure mechanisms of poststrengthened flexural systems, brittle failure modes caused by bond failure, such as midspan debonding and end peeling, need to be further investigated in order to identify and quantify the fracture processes that result in bond failure. Simplified experimental tests have been designed to idealize the bond between the laminate and the RC member. However, it is unclear how the simplified test results can be related to the actual flexural debonding failures. This paper investigates and compares two bond failure tests: a simplified test (or simple shear test) and a recently proposed shear/normal test. After discussing the characteristics of both tests and how they relate to the midspan debonding and end peeling failures, the shear/normal test is studied in more detail using a nonlinear finite-element fracture mechanics program. The program accounts for cohesive localized and distributed concrete crack damage and is capable of describing the geometrical discontinuities that induce different brittle failure mechanisms. The numerical results compare well with available experimental data and help explain the crack formation and propagation pattern up to specimen failure. Parametric studies are presented to elucidate the influence of different material parameters on the failure mechanisms.     

Proteomics and Extracellular Vesicles as Novel Biomarker Sources in Peritoneal Dialysis in Children

Peritoneal dialysis (PD) represents the dialysis modality of choice for pediatric patients with end-stage kidney disease. Indeed, compared with hemodialysis (HD), it offers many advantages, including more flexibility, reduction of the risk of hospital-acquired infections, preservation of residual kidney function, and a better quality of life. However, despite these positive aspects, PD may be associated with several long-term complications that may impair both patient’s general health and PD adequacy. In this view, chronic inflammation, caused by different factors, has a detrimental impact on the structure and function of the peritoneal membrane, leading to sclerosis and consequent PD failure both in adults and children. Although several studies investigated the complex pathogenic pathways underlying peritoneal membrane alterations, these processes remain still to explore. Understanding these mechanisms may provide novel approaches to improve the clinical outcome of pediatric PD patients through the identification of subjects at high risk of complications and the implementation of personalized interventions. In this review, we discuss the main experimental and clinical experiences exploring the potentiality of the proteomic analysis of peritoneal fluids and extracellular vesicles as a source of novel biomarkers in pediatric peritoneal dialysis.     

Molecular Subtyping of Invasive Breast Cancer Using a PAM50-Based Multigene Expression Test-Comparison with Molecular-Like Subtyping by Tumor Grade/Immunohistochemistry and Influence on Oncologist’s Decision on Systemic Therapy in a Real-World Setting

In intermediate risk hormone receptor (HR) positive, HER2 negative breast cancer (BC), the decision regarding adjuvant chemotherapy might be facilitated by multigene expression tests. In all, 142 intermediate risk BCs were investigated using the PAM50-based multigene expression test Prosigna® in a prospective multicentric study. In 119/142 cases, Prosigna® molecular subtyping was compared with local and two central (C1 and C6) molecular-like subtypes relying on both immunohistochemistry (IHC; HRs, HER2, Ki-67) and IHC + tumor grade (IHC+G) subtyping. According to local IHC, 35.4% were Luminal A-like and 64.6% Luminal B-like subtypes (local IHC+G subtype: 31.9% Luminal A-like; 68.1% Luminal B-like). In contrast to local and C1 subtyping, C6 classified >2/3 of cases as Luminal A-like. Pairwise agreement between Prosigna® subtyping and molecular-like subtypes was fair to moderate depending on molecular-like subtyping method and center. The best agreement was observed between Prosigna® (53.8% Luminal A; 44.5% Luminal B) and C1 surrogate subtyping (Cohen’s kappa = 0.455). Adjuvant chemotherapy was suggested to 44.2% and 88.6% of Prosigna® Luminal A and Luminal B cases, respectively. Out of all Luminal A-like cases (locally IHC/IHC+G subtyping), adjuvant chemotherapy was recommended if Prosigna® testing classified as Prosigna® Luminal A at high / intermediate risk or upgraded to Prosigna® Luminal B.     

Efficient breadth first search on multi-GPU systems

Simple algorithms for the execution of a Breadth First Search on large graphs lead, running on clusters of GPUs, to a situation of load unbalance among threads and un-coalesced memory accesses, resulting in pretty low performances. To obtain a significant improvement on a single GPU and to scale by using multiple GPUs, we resort to a suitable combination of operations to rearrange data before processing them. We propose a novel technique for mapping threads to data that achieves a perfect load balance by leveraging prefix-sum and binary search operations. To reduce the communication overhead, we perform a pruning operation on the set of edges that needs to be exchanged at each BFS level. The result is an algorithm that exploits at its best the parallelism available on a single GPU and minimizes communication among GPUs. We show that a cluster of GPUs can efficiently perform a distributed BFS on graphs with billions of nodes.     

Direct Cell-Cell Communication via Membrane Pores,Gap Junction Channels,and Tunneling Nanotubes: Medical Relevance of Mitochondrial Exchange

The history of direct cell-cell communication has evolved in several small steps. First discovered in the 1930s in invertebrate nervous systems, it was thought at first to be an exception to the “cell theory”, restricted to invertebrates. Surprisingly, however, in the 1950s, electrical cell-cell communication was also reported in vertebrates. Once more, it was thought to be an exception restricted to excitable cells. In contrast, in the mid-1960s, two startling publications proved that virtually all cells freely exchange small neutral and charged molecules. Soon after, cell-cell communication by gap junction channels was reported. While gap junctions are the major means of cell-cell communication, in the early 1980s, evidence surfaced that some cells might also communicate via membrane pores. Questions were raised about the possible artifactual nature of the pores. However, early in this century, we learned that communication via membrane pores exists and plays a major role in medicine, as the structures involved, “tunneling nanotubes”, can rescue diseased cells by directly transferring healthy mitochondria into compromised cells and tissues. On the other hand, pathogens/cancer could also use these communication systems to amplify pathogenesis. Here, we describe the evolution of the discovery of these new communication systems and the potential therapeutic impact on several uncurable diseases.     

Superior Cerebellar Atrophy: An Imaging Clue to Diagnose ITPR1-Related Disorders

The inositol 1,4,5-triphosphate receptor type 1 (ITPR1) gene encodes an InsP₃-gated calcium channel that modulates intracellular Ca²⁺ release and is particularly expressed in cerebellar Purkinje cells. Pathogenic variants in the ITPR1 gene are associated with different types of autosomal dominant spinocerebellar ataxia: SCA15 (adult onset), SCA29 (early-onset), and Gillespie syndrome. Cerebellar atrophy/hypoplasia is invariably detected, but a recognizable neuroradiological pattern has not been identified yet. With the aim of describing ITPR1-related neuroimaging findings, the brain MRI of 14 patients with ITPR1 variants (11 SCA29, 1 SCA15, and 2 Gillespie) were reviewed by expert neuroradiologists. To further evaluate the role of superior vermian and hemispheric cerebellar atrophy as a clue for the diagnosis of ITPR1-related conditions, the ITPR1 gene was sequenced in 5 patients with similar MRI pattern, detecting pathogenic variants in 4 of them. Considering the whole cohort, a distinctive neuroradiological pattern consisting in superior vermian and hemispheric cerebellar atrophy was identified in 83% patients with causative ITPR1 variants, suggesting this MRI finding could represent a hallmark for ITPR1-related disorders.