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TML:a language to specify aerial robotic missions for the framework Aerostack

International Journal of Intelligent Computing and Cybernetics 2017年第4期10卷 491-512页

作者： Martin Molina ramon a.suarez-fernandez Carlos Sampedro Jose Luis Sanchez-Lopez Pascual Campoy Department of Artificial Intelligence Technical University of Madrid(UPM)MadridSpain Centre for Automation and Robotics Technical University of MadridMadridSpain

Purpose–The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.Design/methodology/approach–The TML language combines a task-based hierarchical approach together with a more flexible representation,rule-based reactive planning,to facilitate adaptability.This approach includes additional notions that abstract programming details.The authors built an interpreter integrated in the software framework Aerostack.The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.Findings–The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments.The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms.The TML interpreter is able to verify the mission plan before its execution,which increases robustness and safety,avoiding the execution of certain plans that are not feasible.Originality/value–One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans,integrated in an active open-source project with periodic releases.To the best knowledge of the authors,there are not solutions similar to this in other active open-source projects.As additional contributions,TML uses an original combination of representations for adaptive mission plans(i.***.task trees with original abstract notions and rule-based reactive planning)together with the demonstration of its adequacy for aerial robotics.

关键词： Adaptive mission plans Aerial robotic systems Autonomous aerial systems Mission plan specification

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Integrating Levels of Hierarchical Organization in Porous Organic Molecular Materials

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Nano-Micro Letters 2024年第5期16卷 134-153页

作者： Jesus Ferrando‑Soria Antonio fernandez Instituto de Ciencia Molecular(ICMol) Universidad de Valencia46980 ValenciaSpain School of Science Loughborough UniversityLoughborough LE113TUUK

Porous organic molecular materials(POMMs)are an emergent class of molecular-based materials characterized by the formation of extended porous frameworks,mainly held by non-covalent interactions.POMMs represent a variety of chemical families,such as hydrogen-bonded organic frameworks,porous organic salts,porous organic cages,C-H···πmicroporous crystals,supramolecular organic frameworks,π-organic frameworks,halogen-bonded organic framework,and intrinsically porous molecular materials.In some porous materials such as zeolites and metal organic frameworks,the integration of multiscale has been adopted to build materials with multifunctionality and optimized properties.Therefore,considering the significant role of hierarchy in porous materials and the growing importance of POMMs in the realm of synthetic porous materials,we consider it appropriate to dedicate for the first time a critical review covering both topics.Herein,we will provide a summary of literature examples showcasing hierarchical POMMs,with a focus on their main synthetic approaches,applications,and the advantages brought forth by introducing hierarchy.

关键词： Porous organic molecular materials Hierarchy Hydrogen-bonded organic frameworks Porous cages Fullerene

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Conformational dynamics as an intrinsic determinant of prion protein misfolding and neurotoxicity

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Neural Regeneration Research 2024年第10期19卷 2095-2096页

作者： Alessandro Cembran Pedro fernandez-Funez Department of Chemistry and Biochemistry University of Minnesota DuluthDuluthMNUSA Department of Biomedical Sciences University of Minnesota Medical SchoolDuluth CampusDuluthMNUSA

The prion protein(PrP) is the key molecular and pathological mediator of prion diseases,a heterogeneous group of brain disorders with fatal outcomes.Prion diseases are rare but deserve special attention because of their unique familial,sporadic,and transmissible etiologies,all caused by a single agent:misfolded conformations of PrP.

关键词： folding intrinsic dynamics

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Temporal stability and directional change in a color cline of a marine snail from NW Spain

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Current Zoology 2024年第2期70卷 163-173页

作者： Juan Gefaell ramon Vigo A.Honorato Gonzalez-Vazquez Juan Galindo Emilio Rolan-Alvarez Centro de Investigacion Marina Universidade de VigoDepartamento de BioquimicaGenetica e Inmunologia36310 VigoSpain

The evolution and maintenance of color clines is a classic topic of research in evolutionary ecology.However,studies analyzing the temporal dynamics of such clines are much less frequent,due to the difficulty of obtaining reliable data about past color distributions along environmen-tal gradients.In this article,we describe a case of decades-long temporal stability and directional change in a color cline of the marine snail Littorina saxatilis along the coastal inlet of the Ria de Vigo(NW Spain).L.saxatilis from this area shows a clear color cline with 3 distinct areas from the innermost to the more wave-exposed localities of the Ria:the inner,protected localities show an abundance of fawn-like individuals;the intermediate localities show a high diversity of colors;and the outer,wave-exposed localities show populations with a high frequency of a black and lineated morph.We compare data from the 1970s and 2022 in the same localities,showing that the cline has kept relatively stable for at least over half a century,except for some directional change and local variability in the frequency of certain morphs.Multiple regression analyses and biodiversity measures are presented to provide clues into the selective pressures that might be involved in the maintenance of this color cline.Future research avenues to properly test the explanatory power of these selective agents as well as the possible origins of the cline are discussed.

关键词： clinal variation color polymorphism ecological gradient Littorina saxatilis natural selection wave exposure.

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Psychiatric outcomes in outpatients affected by long COVID:A link between mental health and persistence of olfactory complaint

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World Journal of Psychiatry 2024年第4期14卷 507-512页

作者： Victoria Metelkina-fernandez Louise-Emilie Dumas Clair Vandersteen David Chirio Auriane Gros Arnaud fernandez Florence Askenazy Valeria Manera Department of Psychiatry Nice University HospitalNice 06000France Department of Child and Adolescent Psychiatry UniversitéCôte d’AzurNice 06200France ENT Head and Neck InstituteNice 06100France Department of Infectiology Nice University HospitalNice 06200France Department of Orthophony UniversitéCôte d’AzurNice 06100France Cobtek UniversitéCôte d’AzurNice 06100France

BACKGROUND Anosmia was one of the main symptoms of coronavirus disease 2019(COVID-19).A psychiatric history(i.e.,depression)may be an independent contributor to the risk of COVID-19 diagnosis,and COVID-19 survivors appear to have an increased risk of neuropsychiatric sequelae(bidirectional association).AIM To compare the rate of psychiatric disorder among post-COVID patients without anosmia vs patients with persistent olfactory complaints.METHODS We conducted a prospective case control study from March 2020 to May 2021.Patients recruited at the ENT department of Nice University Hospital had a subjective olfactory complaint(visual analogue scale)for over 6 wk and a molecular or CT-proven severe acute respiratory syndrome coronavirus 2 diagnosis confirmed by serology.Post-COVID patients without persistent olfactory disorders were recruited at the university hospital infectiology department.Psychiatric medical histories were collected by a psychiatrist during the assessments.RESULTS Thirty-four patients with post-COVID-19 olfactory complaints were included in the first group of the study.Fifty percent of the patients were female(n=17).The group’s mean age was 40.5±12.9 years.The control group included 32 participants,of which 34.4%were female(n=11),and had a mean age of 61.2±12.2 years.The rate of psychiatric disorder among post-COVID patients with olfactory complaints was significatively higher(41.7%)than among patients without(18.8%)(χ2=5.9,P=0.015).CONCLUSION The presence of a psychiatric history may constitute a potential risk factor for the development of long COVID due to persistent anosmia.It therefore seems important to establish reinforced health monitoring after a COVID 19 infection in at-risk patients.Further prospective,translational,and collaborative studies are needed to extrapolate these results to the general population.

关键词： COVID-19 Anosmia Psychiatry Stress Neuroplasticity Psychiatric history

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Non-pharmacological interventions for diabetic peripheral neuropathy:Are we winning the battle?

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World Journal of Diabetes 2024年第4期15卷 579-585页

作者： Dania Blaibel Cornelius James fernandez Joseph M Pappachan Department of Endocrinology and Metabolism Lancashire Teaching Hospitals NHS TrustPreston PR29HTUnited Kingdom Department of Endocrinology&Metabolism Pilgrim HospitalUnited Lincolnshire Hospitals NHS TrustBoston PE219QSUnited Kingdom Faculty of Science Manchester Metropolitan UniversityManchester M156BHUnited Kingdom Faculty of Biology Medicine&HealthThe University of ManchesterManchester M139PLUnited Kingdom

Despite the advent of relatively reliable modalities of diagnosing diabetic peripheral neuropathy(DPN),such as nerve conduction studies,there is still a knowledge gap about the pathophysiology,and thus limited available in-terventions for symptom control and curtailing disease progression.The pharma-cologic aspect of management is mainly centred on pain control,however,there are several important aspects of DPN such as loss of vibration sense,pressure sense,and proprioception which are associated with risks to lower limb health,which pharmacotherapy does not address.Furthermore,published evidence suggests non-pharmacologic interventions such as glycaemic control through dietary modification and exercise need to be combined with other measures such as psychotherapy,to reach a desired,however modest effect.Acupuncture is emerging as an important treatment modality for several chronic medical conditions including neuropathic and other pain syndromes.In their study published in the World Journal of Diabetes on the potential of acupuncture to reduce DPN symptoms and enhance nerve conduction parameters,Hoerder et al have been able to demonstrate that acupuncture improves sensory function and that this effect is likely sustained two months after treatment cessation.Although previous studies also support these findings,larger multi-center randomized control trials including a sham-controlled arm accounting for a placebo effect are required.Overall,given the satisfactory safety profile and the positive results found in these studies,it is likely that acupuncture may become an important aspect of the repertoire of effective DPN management.

关键词： Diabetic peripheral neuropathy Diabetes mellitus Pharmacotherapy Acupuncture Neuropathic pain Nonpharmacological intervention

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Acute worsening of microvascular complications of diabetes mellitus during rapid glycemic control:The pathobiology and therapeutic implications

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World Journal of Diabetes 2024年第3期15卷 311-317页

作者： Dania Blaibel Cornelius James fernandez Joseph M Pappachan Department of Endocrinology and Metabolism Lancashire Teaching Hospitals NHS TrustPreston PR29HTUnited Kingdom Department of Endocrinology and Metabolism Pilgrim HospitalUnited Lincolnshire Hospitals NHS TrustBoston PE219QSUnited Kingdom Faculty of Science Manchester Metropolitan UniversityManchester M156BHUnited Kingdom Faculty of Biology Medicine and HealthThe University of ManchesterManchester M139PLUnited Kingdom

While chronic hyperglycaemia resulting from poorly controlled diabetes mellitus(DM)is a well-known precursor to complications such as diabetic retinopathy,neuropathy(including autonomic neuropathy),and nephropathy,a paradoxical intensification of these complications can rarely occur with aggressive glycemic management resulting in a rapid reduction of glycated haemoglobin.Although,acute onset or worsening of retinopathy and treatment induced neuropathy of diabetes are more common among these complications,rarely other problems such as albuminuria,diabetic kidney disease,Charcot’s neuroarthropathy,gastroparesis,and urinary bladder dysfunction are also encountered.The World Journal of Diabetes recently published a rare case of all these complications,occurring in a young type 1 diabetic female intensely managed during pregnancy,as a case report by Huret et al.It is essential to have a comprehensive understanding of the pathobiology,prevalence,predisposing factors,and management strategies for acute onset,or worsening of microvascular complications when rapid glycemic control is achieved,which serves to alleviate patient morbidity,enhance disease management compliance,and possibly to avoid medico-legal issues around this rare clinical problem.This editorial delves into the dynamics surrounding the acute exacerbation of microvascular complications in poorly controlled DM during rapid glycaemic control.

关键词： Diabetes mellitus Microvascular complications Diabetic retinopathy Treatment induced neuropathy of diabetes Diabetic nephropathy Charcot’s neuropathy

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Rising tide: The global surge of type 2 diabetes in children and adolescents demands action now

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World Journal of Diabetes 2024年第5期15卷 797-809页

作者： Joseph M Pappachan Cornelius James fernandez Ambika P Ashraf Department of Endocrinology and Metabolism Lancashire Teaching Hospitals NHS TrustPreston PR29HTUnited Kingdom Faculty of Science Manchester Metropolitan UniversityManchester M156BHUnited Kingdom Faculty of Biology Medicine&HealthThe University of ManchesterManchester M139PLUnited Kingdom Department of Endocrinology&Metabolism Pilgrim HospitalUnited Lincolnshire Hospitals NHS TrustBoston PE219QSUnited Kingdom Division of Pediatric Endocrinology and Diabetes Department of PediatricsUniversity of Alabama at BirminghamBirminghamAL 35233United States

Childhood-onset obesity has emerged as a major public healthcare challenge across the globe,fueled by an obesogenic environment and influenced by both genetic and epigenetic predispositions.This has led to an exponential rise in the incidence of type 2 diabetes mellitus in children and adolescents.The looming wave of diabetes-related complications in early adulthood is anticipated to strain the healthcare budgets in most countries.Unless there is a collective global effort to curb the devastation caused by the situation,the impact is poised to be pro-found.A multifaceted research effort,governmental legislation,and effective social action are crucial in attaining this goal.This article delves into the current epidemiological landscape,explores evidence concerning potential risks and consequences,delves into the pathobiology of childhood obesity,and discusses the latest evidence-based management strategies for diabesity.

关键词： Childhood obesity Diabesity Type 2 diabetes mellitus Adolescence Cardiovascular disease Pharmacotherapy

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Has Coca-Cola treatment become the first-line therapy for gastric bezoars,both in general and specifically for western countries?

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World Journal of Gastrointestinal Endoscopy 2024年第5期16卷 237-243页

作者： Maria Delgado Galan Luis ramon Rabago Department of Gastroenterology Hospital Severo OchoaLeganes 28914Spain Department of Gastroenterology Hospital San RafaelMadrid 28016Spain

Phytobezoars is a rare disease and less common in Western countries.The stomach is the primary site for these formations,and endoscopic treatment involving fragmentation and extraction has traditionally been the most effective approach.However,medical treatments using enzymatic and chemical agents,such as cellulase and Coca-Cola,aimed at dissolving the bezoars,have also been utilized,showing varying degrees of resolution success.Notably,the oral dissolution treatment with Coca-Cola has emerged as a promising,simpler,and more costeffective method.The study by Liu et al represents an important step in clinical research on this topic,despite some limitations that need addressing for a more comprehensive understanding of its findings.Key considerations for future research include sample size calculation,endoscopic procedure details,outpatient vs.inpatient treatment,and detailed cost calculations.The study's exclusions,such as patients with upper gastric surgery,phytobezoars older than 14 d,and cases of gastroparesis,limit its applicability to broader populations,especially in Western countries.Given the promising outcomes of the Coca-Cola treatment,it's advocated as a first-line therapy for phytobezoars.Nonetheless,further research is essential to overcome these limitations.However special situations such as perforation or small bowel obstruction will require surgical treatment.

关键词： Phytobezoars Endoscopic treatment Oral dissolution treatment with Coca-Cola Randomized study Editorial

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Precision in detecting colon lesions:A key to effective screening policy but will it improve overall outcomes?

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World Journal of Gastrointestinal Endoscopy 2024年第3期16卷 102-107页

作者： Luis ramon Rabago Maria Delgado Galan Department of Gastroenterology Hospital San RafaelMadrid 28016Spain Gastroenterology Department Hospital Severo OchoaLeganes 28914Spain

Colonoscopy is the gold standard for the screening and diagnosis of colorectal cancer,resulting in a decrease in the incidence and mortality of colon cancer.However,it has a 21%rate of missed polyps.Several strategies have been devised to increase polyp detection rates and improve their characterization and delimi-tation.These include chromoendoscopy(CE),the use of other devices such as Endo cuffs,and major advances in endoscopic equipment[high definition,magnification,narrow band imaging,i-scan,flexible spectral imaging color enhancement,texture and color enhancement imaging(TXI),etc.].In the retrospective study by Hiramatsu et al,they compared white-light imaging with CE,TXI,and CE+TXI to determine which of these strategies allows for better definition and delimitation of polyps.They concluded that employing CE associated with TXI stands out as the most effective method to utilize.It remains to be demonstrated whether these results are extrapolatable to other types of virtual CE.Additionally,further investigation is needed in order to ascertain whether this strategy could lead to a reduction in the recurrence of excised lesions and potentially lower the occurrence of interval cancer.

关键词： Colonoscopy screening Interval colorectal cancer Post colonoscopy colorectal cancer chromoendoscopy Virtual chromoendoscopy high-definition whitelight endoscopy Texture and color enhancement imaging Indigo carmine Adenoma Sessile serrated lesion

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