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Autonomous Vehicle Platoons In Urban Road Networks:A Joint distributed Reinforcement Learning and Model Predictive Control Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 141-156页

作者： Luigi d’Alfonso Francesco Giannini giuseppe Franzè giuseppe Fedele Francesco Pupo Giancarlo Fortino IEEE the department of Computer Engineering ModelingElectronics and SystemsUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy the department of Mechanical Engineering Energy Engineering and ManagementUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy

In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the a

关键词： distributed model predictive control distributed reinforcement learning routing decisions urban road networks

How to identify early complications in patients undergoing distal gastrectomy?

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World Journal of Gastrointestinal Surgery 2024年第4期16卷 974-981页

作者： giuseppe Tropeano Maria Michela Chiarello Valeria Fico giuseppe Brisinda Emergency Surgery and Trauma Center Fondazione Policlinico Universitario A Gemelli IRCCSRome 00168Italy department of Surgery Azienda Sanitaria Provinciale di CosenzaCosenza 87100Italy department of Medical and Surgical Sciences UniversitàCattolica del Sacro CuoreRome 00168Italy

In this editorial we comment on the article by Zhang et al published in a recent issue of the World Journal of Gastrointestinal *** with appropriate lymph node dissection is still standard curative treatment in locally advanced gastric *** studies point out that gastric cancer surgery is a complex procedure that leads to a high risk of morbidity and *** factors can contribute to the onset of complications with consequent effects on prognosis and increased *** complications can be divided in complications related to anastomosis,to motility and to surgical site *** study presented by Zhang B et al represent an interesting analysis on the possibility to prevent postoperative *** study was performed on 131 patients with distal gastric cancer who underwent gastrectomy with d2 lymph node *** these patients,16%developed early postoperative *** univariate analysis showed that prealbumin level,hypertension,diabetes,history of abdominal surgery,R0 resection,and blood transfusion were factors influencing early postoperative complications after distal ***,the inclusion of the above significant variables in the logistic regression analysis revealed that hypertension,diabetes,a history of abdominal surgery,and blood transfusion were independent predictors of postoperative *** conclusion,preoperative and intraoperative factors can be used to establish an early postoperative nomogram *** results of the study presented by Zhang et al suggest that the prediction model can be used to guide the detection of postoperative complications and has clinical reference value.

关键词： Gastric cancer Gastrectomy Lymph node dissection Morbidity Mortality Surgical site infections

design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing

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Journal of Bionic Engineering 2024年第1期21卷 236-255页

作者： Jhon F.Rodríguez-León Betsy d.M.Chaparro-Rico daniele Cafolla Francesco Lago Eduardo Castillo-Castañeda giuseppe Carbone Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada Unidad Querétaro MecatronicaInstituto Politécnico NacionalCerro Blanco 14176090 Colinas del CimatarioQuerétaroMexico department of Mechanical Energy and Management EngineeringUniversity of CalabriaVia P.Bucci Cubo 46 C87036 RendeItaly Faculty of Science and Engineering Department of Computer ScienceSwansea UniversitySwanseaUK CESTER University of Cluj-NapocaCluj-NapocaRomania

This paper proposes a new upper-limb exoskeleton to reduce worker physical *** proposed design is based on a novel PRRRP(P-Prismatic;R-Revolute)kinematic chain with 5 passive degrees of Freedom(doF).Utilizing a magnetic spring,the proposed mechanism includes a specially designed locking mechanism that maintains any desired task *** proposed exoskeleton incorporates a balancing mechanism to alleviate discomfort and spinal torsional effects also helping in limb weight *** paper reports specific models and simulations to demonstrate the feasibility and effectiveness of the proposed *** experimental characterization is performed to validate the performance of the mechanism in terms of forces and physical strain during a specific application consisting of ceiling-surface drilling *** obtained results preliminarily validate the engineering feasibility and effectiveness of the proposed exoskeleton in the intended operation task thereby requiring the user to exert significantly less force than when not wearing it.

关键词： Assistive mechanism Exoskeleton Locking mechanism Bionic robot

Minimally invasive surgical therapies(MISTs)for lower urinary tract symptoms(LUTS):promise or panacea?

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Asian Journal of Andrology 2024年第2期26卷 135-143页

作者： Gian Maria Busetto Andrea Checchia Marco Recchia Edoardo Tocci Ugo G Falagario Gennaro Annunziata Pasquale Annese Nicola d'Altilia Vito Mancini Matteo Ferro Felice Crocetto Octavian Sabin Tataru Luca di Gianfrancesco Angelo Porreca Francesco del Giudice Ettore de Berardinis Carlo Bettocchi Luigi Cormio giuseppe Carrieri University of Foggia Foggia 71122Italy department of Urology and Renal Transplantation Policlinico of FoggiaFoggia 71122Italy Urology Unit "G.Tatarlla"HospitalCerignola 71042Italy Urology Unit European Institute of Oncology(IE0)IRCcSMilan 20141Italy University of Naples Federico Il Naples 80126Italy G.E.Palade University of Medicine PharmacyScienceand Technology of Targu MuresTargu Mures 540142Romania department of Oncological Urology Veneto Institute of Oncology(IOv)IRccSPadua 35128Italy department of Maternal-Infant and Urological Sciences Sapienza Rome UniversityRoma 00161Italy Urology Unit "L.Bonomo"HospitalAndria 76123Italy

The increasing importance of treatment of lower urinary tract symptoms(LUTS),while avoiding side effects and maintaining sexual function,has allowed for the development of minimally invasive surgical therapies(MiSTs).Recently,the European Association of Urology guidelines reported a paradigm shift from the management of benign prostatic hyperplasia(BPH)to the management of nonneurogenic male *** aim of the present review was to evaluate the efficacy and safety of the most commonly used MisTs:ablative techniques such as aquablation,prostatic artery embolization,water vapor energy,and transperineal prostate laser ablation,and nonablative techniques such as prostatic urethral lift and temporarily implanted nitinol device(iTINd).MiSTs are becoming a new promise,even if clinical trials with longer follow-up are still *** of them are still under investigation and,to date,only a few options have been given as a recommendation for *** cannot be considered as standard of care and are not suitable for all *** and.disadvantages should be underlined,without forgetting our objective:treatment of LUTS and re-treatment avoidance.

关键词： aquablation iTINd prostatic artery embolization prostatic urethral lift transperineal prostate laser ablation water vapor energy

Highly sensitive ratiometric fluorescent fiber matrices for oxygen sensing with micrometer spatial resolution

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Bio-design and Manufacturing 2024年第3期7卷 292-306页

作者： Giuliana Grasso Valentina Onesto Stefania Forciniti Eliana d’Amone Francesco Colella Lara Pierantoni Valeria Famà giuseppe Gigli Rui L.Reis J.Miguel Oliveira Loretta L.del Mercato nstitute of Nanotechnology National Research Council(CNR-NANOTEC)c/o Campus Ecoteknevia Monteroni73100 LecceItaly department of Mathematics and Physics“Ennio de Giorgi” University of Salentoc/o Campus Ecoteknevia Monteroni73100 LecceItaly 3B’s Research Group I3Bs–Research Institute on BiomaterialsBiodegradables and BiomimeticsHeadquarters of the European Institute of Excellence on Tissue Engineering and Regenerative MedicineUniversity of MinhoAveParkZona Industrial da Gandra4805-017 BarcoGuimarãesPortugal ICVS/3B’s-PT Government Associate Laboratory 4806-909 Braga/GuimarãesPortugal department of Experimental Medicine University of Salentoc/o Campus Ecoteknevia Monteroni73100 LecceItaly

Oxygen(O_(2))-sensing matrices are promising tools for the live monitoring of extracellular O_(2) consumption levels in long-term cell *** this study,ratiometric O_(2)-sensing membranes were prepared by electrospinning,an easy,low-cost,scalable,and robust method for fabricating ***(ε-caprolactone)and poly(dimethyl)siloxane polymers were blended with tris(4,7-diphenyl-1,10-phenanthroline)ruthenium(II)dichloride,which was used as the O_(2)-sensing probe,and rhodamine B isothiocyanate,which was used as the reference *** functionalized scaffolds were morphologically characterized by scanning electron microscopy,and their physicochemical profiles were obtained by Fourier transform infrared spectroscopy,thermogravimetric analysis,and water contact angle *** sensing capabilities were investigated by confocal laser scanning microscopy,performing photobleaching,reversibility,and calibration curve studies toward.different dissolved O_(2)(dO)*** sensing nanofibers showed a high response to changes in dO concentrations in the physiological-pathological range from 0.5%to 20%and good stability under ratiometric *** addition,the sensing systems were highly biocompatible for cell growth promoting adhesiveness and growth of three cancer cell lines,namely metastatic melanoma cell line SK-MEL2,breast cancer cell line MCF-7,and pancreatic ductal adenocarcinoma cell line Panc-1,thus recreating a suitable biological environment in *** O_(2)-sensing biomaterials can potentially measure alterations in cell metabolism caused by changes in ambient O_(2)content during drug testing/validation and tissue regeneration processes.

关键词： Electrospinning Ruthenium(II)dichloride Oxygen sensors Ratiometric imaging Fluorescence

A novel 2d-GO@WS2 electrochemical platform for the determination of thiram fungicide

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Journal of Environmental Sciences 2024年第2期136卷 226-236页

作者： Khouloud Abid daniela Iannazzo Consuelo Celesti Amani Khaskhoussi Antonino Foti Ramzi Maalej Pietro giuseppe Gucciardi Giovanni Neri department of Engineering University of MessinaC.da Di DioI-98166 MessinaItaly INSTM Research Unity of MessinaItaly Laboratory of dielectric and Photonic Materials Faculty of Sciences of SfaxSfaxUniversitySfax 3018Tunisia CNR IPCF Istituto per i Processi Chimico-Fisici viale F.Stagno D’Alcontres 37I-98156 MessinaItaly

In this paper,the determination of Thiram fungicide by a novel modified screen-printed carbon electrode(SPCE)fabricated modifying the working electrode(WE)with 2d-GO/WS2nanohybrid composites,is *** electron microscopy(SEM),Raman spectroscopy,and fluorescence analysis(PL)were used to reveal the morphological and microstructural characteristics of the 2d-GO/WS2 nanohybrids with different graphene oxide:tungsten disulphide(GO:WS_(2))*** characterization demonstrated that the 2d-WS2/GO nanohybrids having a GO:WS_(2)ratio=2:1 shows the highest electrocatalytic activity towards oxidation of *** developed sensor permits the quantification of Thiram in the linear range 0.083-0.33μM with a limit of detection(LOd)of 0.02μM,which is below the legal limits for this fungicide in drinking water or foods.

关键词： WS_(2)nanosheets Graphene Oxide(GO) Electrochemical sensor Fungicides Thiram

Compact and effective photon-resolved image scanning microscope

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Advanced Photonics 2024年第1期6卷 84-95页

作者： Giorgio Tortarolo Alessandro Zunino Simonluca Piazza Mattia donato Sabrina Zappone Agnieszka Pierzyńska-Mach Marco Castello giuseppe Vicidomini Istituto Italiano di Tecnologia Molecular Microscopy and SpectroscopyGenoaItaly Genoa Instruments GenoaItaly University of Genoa Dipartimento di InformaticaBioingegneriaRobotica e Ingegneria dei SistemiGenoaItaly Istituto Italiano di Tecnologia Nanoscopy and NIC@IITGenoaItaly École Polytechnique Fédérale de Lausanne Laboratory of Experimental BiophysicsLausanneSwitzerland

Fluorescence confocal laser-scanning microscopy(LSM)is one of the most popular tools for life science *** popularity is expected to grow thanks to single-photon array detectors tailored for *** detectors offer unique single-photon spatiotemporal information,opening new perspectives for gentle and quantitative superresolution ***,a flawless recording of this information poses significant challenges for the microscope data acquisition(dAQ)*** present a dAQ module based on the digital frequency domain principle,able to record essential spatial and temporal features of *** use this module to extend the capabilities of established imaging techniques based on single-photon avalanche diode(SPAd)array detectors,such as fluorescence lifetime image scanning ***,we use the module to introduce a robust multispecies approach encoding the fluorophore excitation spectra in the time ***,we combine time-resolved stimulated emission depletion microscopy with image scanning microscopy,boosting spatial *** results demonstrate how a conventional fluorescence laser scanning microscope can transform into a simple,information-rich,superresolved imaging system with the simple addition of a SPAd array detector with a tailored data acquisition *** expected a blooming of advanced single-photon imaging techniques,which effectively harness all the sample information encoded in each photon.

关键词： fluorescence lifetime image scanning microscopy digital frequency domain single photon

Antioxidant treatment for oligoasthenoteratozoospermia and varicocele:a dBPC trial to evaluate the impact of age and body mass index

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Asian Journal of Andrology 2024年第3期26卷 239-244页

作者： Gian Maria Busetto Bernarde F Rodrigues Ashraf Virmani Andrea Checchia Antonella Ninivaggi Anna Ricapito Giovanni Barbieri Piero Fischetti Ugo G Falagario Pasquale Annese Nicola d’Altilia Vito Mancini Matteo Ferro Felice Crocetto Angelo Porreca Carlo Bettocchi Luigi Cormio Ashok Agarwal giuseppe Carrieri University of Foggia Foggia 71122Italy department of Urology and Renal Transplantation Policlinico of FoggiaFoggia 71122Italy department of Urology Human Reproduction SectionFederal University of Sao PauloSao Paulo 05403-000Brazil Alfasigma Healthscience Utrecht 3528 BGThe Netherlands Urology Unit “G.Tatarella”HospitalCerignola 71042Italy Urology Unit European Institute of Oncology(IEO)IRCCSMilan 20142Italy University of Naples Federico II Naples80126Italy department of Oncological Urology Veneto Institute of Oncology(IOV)IRCCSPadua 35039Italy Urology Unit “L.Bonomo”HospitalAndria 70031Italy Global Andrology Forum Moreland HillsOH 44022USA

Oxidative stress is one of the main mechanisms responsible for male *** conditions such as varicocele,obesity,advanced age,and lifestyle can lead to an increase in reactive oxygen species,causing an oxidative imbalance in the *** are sensitive to reactive oxygen species and require energy to carry out their main function of fertilizingthe *** reactive oxygen species can affect sperm metabolism,leading to immobility,impaired acrosome reaction,and celldeath,thereby impairing reproductive *** double-blind randomized study evaluated the effect of supplementation withL-carnitine,acetyl-L-carnitine,vitamins,and other nutrients on semen quality in 104 infertile patients with or without varicocele,while also investigating the impact of factors such as obesity and advanced age on *** concentration significantlyincreased in the supplemented group compared to the placebo group(P=0.0186).Total sperm count also significantly increasedin the supplemented group(P=0.0117),as did sperm motility(P=0.0120).The treatment had a positive effect on patients upto 35 years of age in terms of sperm concentration(P=0.0352),while a body mass index(BMI)above 25 kg m^(−2) had a negativeeffect on sperm concentration(P=0.0110).Results were not showing a net benefit in stratifying patients in accordance withtheir BMI since sperm quality increase was not affected by this *** conclusion,antioxidant supplementation may bebeneficial for infertile patients and has a more positive effect on younger patients with a normal weight.

关键词： aging antioxidants body mass index oligoasthenoteratozoospermia varicocele

Evaluation of ruminal methane and ammonia formation and microbiota composition as affected by supplements based on mixtures of tannins and essential oils using Rusitec

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Journal of Animal Science and Biotechnology 2024年第4期15卷 1607-1622页

作者： Giulia Foggi Melissa Terranova Matteo daghio Sergej L.Amelchanka giuseppe Conte Simon Ineichen Monica Agnolucci Carlo Viti Alberto Mantino Arianna Buccioni Michael Kreuzer Marcello Mele department of Agriculture Food and Environment(DAFE)University of Pisa56124 PisaItaly AgroVet‑Strickhof ETH ZurichLindauSwitzerland department of Agriculture FoodEnvironment and ForestryUniversity of FlorenceFlorence 50144Italy Centro di Ricerche Agro‑Ambientali“E.Avanzi” University of PisaPisa 56122Italy School of Agricultural Forest and Food Sciences HAFLBern University of Applied SciencesZollikofenSwitzerland Institute of Agricultural Sciences ETH ZurichLindauSwitzerland

Background.dietary supplements based on tannin extracts or essential oil compounds(EOC)have been repeatedly reported as a promising feeding strategy to reduce the environmental impact of ruminant husbandry.A previous batch culture screening of various supplements identified selected mixtures with an enhanced potential to mitigate ruminal methane and ammonia *** these,Q-2(named after quebracho extract and EOC blend 2,composed of carvacrol,thymol,and eugenol)and C-10(chestnut extract and EOC blend 10,consisting of oregano and thyme essential oils and limonene)have been investigated in detail in the present study with the semi-continuous rumen simulation technique(Rusitec)in three independent *** this purpose,Q-2 and C-10,dosed according to the previous study,were compared with a non-supplemented.diet(negative control,NC)and with one supplemented with the commercial EOC-based Agolin^(R) Ruminant(positive control,PC).Results From d 5 to 10 of fermentation incubation liquid was collected and analysed for pH,ammonia,protozoa count,and gas *** residues were collected for the determination of ruminal *** d 10,samples of incubation liquid were also characterised for bacterial,archaeal and fungal communities by high-throughput sequencing of 16S rRNA and 26S ribosomal large subunit gene *** of the duration of the fermentation period,Q-2 and C-10 were similarly efficient as PC in mitigating either ammonia(-37%by Q-2,-34%by PC)or methane formation(-12%by C-10,-12%by PC).The PC was also responsible for lower feed degradability and bacterial and fungal richness,whereas Q-2 and C-10 effects,particularly on microbiome diversities,were limited compared to *** All additives showed the potential to mitigate methane or ammonia formation,or both,in vitro over a period of 10 ***,several differences occurred between PC and Q-2/C-10,indicating different mechanisms of *** pronounced defaunation caused by PC a

关键词： Additive Bacteria Continuous culture degradability Fermentation Fungi Greenhouse gas In vitro Microbiome Rumen