Control Architecture for Connected Vehicle Platoons: From Sensor Data to Controller Design Using Vehicle-to-Everything Communication.

A suitable control architecture for connected vehicle platoons may be seen as a promising solution for today's traffic problems, by improving road safety and traffic flow, reducing emissions and fuel consumption, and increasing driver comfort. This paper provides a comprehensive overview concerning the defining levels of a general control architecture for connected vehicle platoons, intending to illustrate the options available in terms of sensor technologies, in-vehicle networks, vehicular communication, and control solutions. Moreover, starting from the proposed control architecture, a solution that implements a Cooperative Adaptive Cruise Control (CACC) functionality for a vehicle platoon is designed. Also, two control algorithms based on the distributed model-based predictive control (DMPC) strategy and the feedback gain matrix method for the control level of the CACC functionality are proposed. The designed architecture was tested in a simulation scenario, and the obtained results show the control performances achieved using the proposed solutions suitable for the longitudinal dynamics of vehicle platoons.

Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications.

This work aims at developing and testing a novel Coalitional Distributed Model Predictive Control (C-DMPC) strategy suitable for vehicle platooning applications. The stability of the algorithm is ensured via the terminal constraint region formulation, with robust positively invariant sets. To ensure a greater flexibility, in the initialization part of the method, an invariant table set is created containing several invariant sets computed for different constraints values. The algorithm was tested in simulation, using both homogeneous and heterogeneous initial conditions for a platoon with four homogeneous vehicles, using a predecessor-following, uni-directionally communication topology. The simulation results show that the coalitions between vehicles are formed in the beginning of the experiment, when the local feasibility of each vehicle is lost. These findings successfully prove the usefulness of the proposed coalitional DMPC method in a vehicle platooning application, and illustrate the robustness of the algorithm, when tested in different initial conditions.

A Coalitional Distributed Model Predictive Control Perspective for a Cyber-Physical Multi-Agent Application.

Following the current technological development and informational advancement, more and more physical systems have become interconnected and linked via communication networks. The objective of this work is the development of a Coalitional Distributed Model Predictive Control (C- DMPC) strategy suitable for controlling cyber-physical, multi-agent systems. The motivation behind this endeavour is to design a novel algorithm with a flexible control architecture by combining the advantages of classical DMPC with Coalitional MPC. The simulation results were achieved using a test scenario composed of four dynamically coupled sub-systems, connected through an unidirectional communication topology. The obtained results illustrate that, when the feasibility of the local optimization problem is lost, forming a coalition between neighbouring agents solves this shortcoming and maintains the functionality of the entire system. These findings successfully prove the efficiency and performance of the proposed coalitional DMPC method.

Multivariable Optimisation for Waiting-Time Minimisation at Roundabout Intersections in a Cyber-Physical Framework.

The evolution of communication networks offers new possibilities for development in the automotive industry. Smart vehicles will benefit from the possibility of connecting with the infrastructure and from an extensive exchange of data between them. Furthermore, new control strategies can be developed that benefit the advantages of these communication networks. In this endeavour, the main purposes considered by the automotive industry and researchers from academia are defined by: (i) ensuring people's safety; (ii) reducing the overall costs, and (iii) improving the traffic by maximising the fluidity. In this paper, a cyber-physical framework (CPF) to control the access of vehicles in roundabout intersections composed of two levels is proposed. Both levels correspond to the cyber part of the CPF, while the physical part is composed of the vehicles crossing the roundabout. The first level, i.e., the edge-computing layer, is based on an analytical solution that uses multivariable optimisation to minimise the waiting times of the vehicles entering a roundabout intersection and to ensure a safe crossing. The second level, i.e., the cloud-computing layer, stores information about the waiting times and trajectories of all the vehicles that cross the roundabout and uses them for long-term analysis and prediction. The simulated results show the efficacy of the proposed method, which can be easily implemented on an embedded device for real-time operation.

Adaptive SNN for Anthropomorphic Finger Control.

Anthropomorphic hands that mimic the smoothness of human hand motions should be controlled by artificial units of high biological plausibility. Adaptability is among the characteristics of such control units, which provides the anthropomorphic hand with the ability to learn motions. This paper presents a simple structure of an adaptive spiking neural network implemented in analogue hardware that can be trained using Hebbian learning mechanisms to rotate the metacarpophalangeal joint of a robotic finger towards targeted angle intervals. Being bioinspired, the spiking neural network drives actuators made of shape memory alloy and receives feedback from neuromorphic sensors that convert the joint rotation angle and compression force into the spiking frequency. The adaptive SNN activates independent neural paths that correspond to angle intervals and learns in which of these intervals the rotation the finger rotation is stopped by an external force. Learning occurs when angle-specific neural paths are stimulated concurrently with the supraliminar stimulus that activates all the neurons that inhibit the SNN output stopping the finger. The results showed that after learning, the finger stopped in the angle interval in which the angle-specific neural path was active, without the activation of the supraliminar stimulus. The proposed concept can be used to implement control units for anthropomorphic robots that are able to learn motions unsupervised, based on principles of high biological plausibility.

Rouhier's colpocleisis with concomitant vaginal hysterectomy: an instructive video for female pelvic surgeons.

INTRODUCTION AND HYPOTHESIS: The treatment of pelvic organ prolapse (POP) in elderly women can be challenging. The vaginal operation known as colpocleisis, the total occlusion of the urogenital hiatus, with concomitant hysterectomy was described by Rouhier and represents a safe, time-saving, and reproducible procedure in the case of POP associated with uterine pathological conditions. It is suitable for elderly women who do not require preservation of coital function. The objective of this video is to provide anatomical illustrations and a precise description of the surgical steps. METHODS: We present the case of a 62-year-old woman who was referred for hysterectomy in the context of metastatic endometrial cancer. She complained about vaginal bulge and was diagnosed with a POP-Q stage 4 genital prolapse on physical examination. Due to important comorbidities such as arterial hypertension, obesity, and three-site metastatic disease, we suggested a colpocleisis with concomitant vaginal hysterectomy. This approach was intended to treat the prolapse and perform a palliative surgery to alleviate abnormal uterine bleeding. RESULTS: This video illustrates the different surgical steps of a colpohysterectomy according to Rouhier. No intraoperative complications occurred and the postoperative follow-up was uneventful. The patient was fully satisfied and POP has not recurred after a 17-month follow-up. CONCLUSIONS: Colpocleisis should remain an exceptional approach, but could be offered to sexually inactive women of advanced age after thorough discussion and patient consent. If a hysterectomy is necessary, Rouhier's operation offers a time-saving, reproducible, and efficient option for women with symptomatic POP who do not desire future vaginal intercourse.

Uterus preservation is superior to hysterectomy when performing laparoscopic lateral suspension with mesh.

INTRODUCTION AND HYPOTHESIS: We aimed to compare differences between laparoscopic lateral suspension with mesh (LLS) performed with supracervical hysterectomy (LLSHE) and without hysterectomy (LLSUP). METHODS: We retrospectively collected data from women operated by a single surgeon between 2003 and 2011. From a total of 339 women with symptomatic anterior and/or apical pelvic organ prolapse (POP) and an intact uterus, 224 had LLSUP (70.4%) and 94 had LLSHE (29.6%). Three hundred and sixteen patients were examined at 1 year. Primary outcomes were objective and subjective success at 1 year during clinical evaluation. Secondary outcomes were complications (Clavien-Dindo scale) and mesh exposure. Patient satisfaction was evaluated by telephone interview using a 10-point scale and the Patient Global Impression of Improvement Scale (PGI-I). RESULTS: LLSUP and LLSHE did not differ for age (mean 57 and 55 years, respectively), preoperative status, complications, and participation at the interview (52 vs 53%). LLSHE is associated with higher mesh exposure (6.5 vs 1.3%, p = 0.014) and more frequent use of Mersilene. Titanium-coated and noncoated polypropylene was more frequently used in LLSUP. At 1 year, both anatomic success rate for the anterior compartment (98.7 vs 94.6%, p = 0.021) and subjective success rate (83.5 vs 72.8%, p = 0.035) were higher for LLSUP. Without hysterectomy, patients more often improved (90.5 vs 76.5%, p = 0.013) and would more frequently recommend the procedure (94.5 vs 80.4%, p = 0.004). CONCLUSIONS: LLS with or without hysterectomy is a safe technique with high patient satisfaction. The uterus-preserving approach appears to result in better anatomic outcome for the anterior compartment, better subjective outcome, and higher patient satisfaction.

Methods to monitor monocytes-mediated amyloid-beta uptake and phagocytosis in the context of adjuvanted immunotherapies.

Antibody-mediated capture of amyloid-beta (Aß) in peripheral blood was identified as an attractive strategy to eliminate cerebral toxic amyloid in Alzheimer's disease (AD) patients and murine models. Alternatively, defective capacity of peripheral monocytes to engulf Aß was reported in individuals with AD. In this report, we developed different approaches to investigate cellular uptake and phagocytosis of Aß, and to examine how two immunological devices--an immunostimulatory Adjuvant System and different amyloid specific antibodies--may affect these biological events. Between one and thirteen months of age, APPswe X PS1.M146V (TASTPM) AD model mice had decreasing concentrations of Aß in their plasma. In contrast, the proportion of blood monocytes containing Aß tended to increase with age. Importantly, the TLR-agonist containing Adjuvant System AS01B primed monocytes to promote de novo Aß uptake capacity, particularly in the presence of anti-Aß antibodies. Biochemical experiments demonstrated that cells achieved Aß uptake and internalization followed by Aß degradation via mechanisms that required effective actin polymerization and proteolytic enzymes such as insulin-degrading enzyme. We further demonstrated that both Aß-specific monoclonal antibodies and plasma from Aß-immunized mice enhanced the phagocytosis of 1 µm Aß-coated particles. Together, our data highlight a new biomarker testing to follow amyloid clearance within the blood and a mechanism of Aß uptake by peripheral monocytes in the context of active or passive immunization, and emphasize on novel approaches to investigate this phenomenon.

Psychotic depression due to giant condyloma Buschke-Löwenstein tumors.

UNLABELLED: A 63-year-old patient, with no psychiatric history, was admitted in the psychiatric department with depressed mood, loss of interest in activities, apathy, insomnia, attention deficit, irritability, social withdrawal, prejudice and abandon delusions. Cerebral computed tomography (CT) scan was normal but the general physical examination revealed a voluminous tumor in the inguino-pubic-ano-genital area measuring 350/80/40 mm, which appeared 15 years ago and grew gradually leading to local rickety hygiene and also to depression, especially in the last time period when the tumor grew faster. The DSM-IV-TR diagnostic was affective disorder due to general medical condition. Surgical exams concluded it was a giant exophytic tumor and was recommended a pre-operative abdominal CT scan, which did not revealed metastatic spread. The treatment consisted in wide radical excision into the tumor-free resection margins. Anatomopathological exam concluded condyloma acuminatum - Buschke-Löwenstein tumor (BLT), a very rare borderline tumor. In post-operative period, progress of depression was spectacular, with the full mental recovery by decreasing the antidepressant and antipsychotic medication, fact that strengthen the initial diagnostic of depression due to a general medical condition. CONCLUSIONS: Patients diagnosed with BLT may develop mental disorders especially with devaluation and low self-esteem, social withdrawal and secondary functional impairment. Due to the malignancy risk in such tumors and also the psychiatric unfavorable recovery prognostic in case of continuous general medical condition, the only effective treatment is tumor resection with surgical, oncological, psychiatric postoperative revaluation.