Distributed Fault-Tolerant Control for Networked Robots in the Presence of Recoverable/Unrecoverable Faults and Reactive Behaviors

The paper presents an architecture for distributed control of multi-robot systems with an integrated fault detection, isolation, and recovery strategy. The proposed solution is based on a distributed observer-controller schema where each robot, by communicating only with its direct neighbors, is able to estimate the overall state of the system; such an estimate is then used by the controllers of each robot to achieve global missions as, for example, centroid and formation tracking. The information exchanged among the observers is also used to compute residual vectors that allow each robot to detect failures on anyone of the teammates, even if not in direct communication. The proposed strategy considers both recoverable and unrecoverable actuator faults as well as it properly manages the possible activation of reactive local control behaviors of the robots (e.g., the activation of obstacle avoidance strategy), which generate control inputs different from those required by the global mission control. In particular, when the robots are subject to recoverable faults, those are managed at a local level by computing a proper compensating control action. On the other side, when the robots are subject to unrecoverable faults, the faults are isolated from anyone of the teammates by means of a distributed fault detection and isolation strategy; then, the faulty robots are removed from the team and the mission is rearranged. The proposed strategy is validated via numerical simulations where the system properly identifies and manages the different cases of recoverable and unrecoverable actuator faults, as well as it manages the activation of local reactive control in an integrated case study

Ultrasound imaging classifications of thyroid nodules for malignancy risk stratification and clinical management : state of the art

Assessing the risk of malignancy in the thyroid with ultrasound (US) is crucial in patients with nodules, as it can aid in selecting those who should have a fine-needle aspiration (FNA) biopsy performed. Many studies have examined whether the US characteristics of thyroid nodules are useful indicators of histological malignancy. Overall, these investigations have identified a few US features that are significantly more frequent in malignant thyroid nodules which can be coalesced into a defining set to be used as an indicator of a higher risk of malignancy. Despite these efforts, none of these classifications have been widely adopted worldwide, and there are still conflicting recommendations from different institutions. Understanding the role and appropriate utilization of these systems could facilitate the effective interpretation and communication of thyroid US findings among referring physicians and radiologists. In this comprehensive review, we outline the major US classification systems of thyroid nodules published in the last few years

Pulmonary embolism in COVID-19: Ventilation and perfusion computed tomography

This is an illustrated case about CT ventilation and perfusion in Covid patient

Role of the mechanical microenvironment on CD-44 expression of breast adenocarcinoma in response to radiotherapy

: The biological effects of ionizing radiation are exploited in the clinical practice of radiotherapy to destroy tumour cells while sparing the surrounding normal tissue. While most of the radiotherapy research focused on DNA damage and repair, recently a great attention is going to cells' interactions with the mechanical microenvironment of both malignant and healthy tissues after exposure. In fact, the stiffness of the extracellular matrix can modify cells' motility and spreading through the modulation of transmembrane proteins and surface receptors' expression, such as CD-44. CD-44 receptor has held much interest also in targeted-therapy due to its affinity with hyaluronic acid, which can be used to functionalize biodegradable nanoparticles loaded with chemotherapy drugs for targeted therapy. We evaluated changes in CD-44 expression in two mammary carcinoma cell lines (MCF10A and MDA-MB-231) after exposure to X-ray (2 or 10 Gy). To explore the role of the mechanical microenvironment, we mimicked tissues' stiffness with polyacrylamide's substrates producing two different elastic modulus values (0.5 and 15 kPa). We measured a dose dependent increase in CD-44 relative expression in tumour cells cultured in a stiffer microenvironment. These findings highlight a crucial connection between the mechanical properties of the cell's surroundings and the post-radiotherapy expression of surface receptors

Cooled radiofrequency ablation technology for painful bone tumors

Bone metastases are a common cause of cancer-related debilitating pain, especially when -localized in the vertebral column and not responsive to standard treatment. In such cases, various treatment options are available; among these is Radiofrequency, whose role has been rapidly growing over the past few years. In this study, we used the innovative Osteocool RF Ablation System (Medtronic) on a patient with a painful bone metastasis localized in the 5th lumbar vertebra, with encouraging results. The radiofrequency ablation of bone metastases with palliative aim represents an excellent treatment option, as it is a minimally invasive and safe procedure, and can be repeated multiple times

Ultrasound and x-ray imageable poloxamer-based hydrogel for loco-regional therapy delivery in the liver

Intratumoral injections have the potential for enhanced cancer treatment efficacy while reducing costs and systemic exposure. However, intratumoral drug injections can result in substantial off-target leakage and are invisible under standard imaging modalities like ultrasound (US) and x-ray. A thermosensitive poloxamer-based gel for drug delivery was developed that is visible using x-ray imaging (computed tomography (CT), cone beam CT, fluoroscopy), as well as using US by means of integrating perfluorobutane-filled microbubbles (MBs). MBs content was optimized using tissue mimicking phantoms and ex vivo bovine livers. Gel formulations less than 1% MBs provided gel depositions that were clearly identifiable on US and distinguishable from tissue background and with minimal acoustic artifacts. The cross-sectional areas of gel depositions obtained with US and CT imaging were similar in studies using ex vivo bovine liver and postmortem in situ swine liver. The gel formulation enhanced multimodal image-guided navigation, enabling fusion of ultrasound and x-ray/CT imaging, which may enhance targeting, definition of spatial delivery, and overlap of tumor and gel. Although speculative, such a paradigm for intratumoral drug delivery might streamline clinical workflows, reduce radiation exposure by reliance on US, and boost the precision and accuracy of drug delivery targeting during procedures. Imageable gels may also provide enhanced temporal and spatial control of intratumoral conformal drug delivery

Impact of ionizing radiation on cell-ECM mechanical crosstalk in breast cancer

The stiffness of the extracellular matrix plays a crucial role in cell motility and spreading, influencing cell morphology through cytoskeleton organization and transmembrane proteins’ expression. In this context, mechanical characterization of both cells and the extracellular matrix gains prominence for enhanced diagnostics and clinical decision-making. Here, we investigate the combined effect of mechanotransduction and ionizing radiations on altering cells’ mechanical properties, analysing mammary cell lines (MCF10A and MDA-MB-231) after X-ray radiotherapy (2 and 10 Gy). We found that ionizing radiations sensitively affect adenocarcinoma cells cultured on substrates mimicking cancerous tissue stiffness (15 kPa), inducing an increased structuration of paxillin-rich focal adhesions and cytoskeleton: this process translates in the augmentation of tension at the actin filaments level, causing cellular stiffness and consequently affecting cytoplasmatic/nuclear morphologies. Deeper exploration of the intricate interplay between mechanical factors and radiation should provide novel strategies to orient clinical outcomes

Distributed fault-tolerant strategy for networked robots with both cooperative and reactive controls

The paper presents a controller-observer architecture with decentralized fault tolerance strategy for a networked team of autonomous robots. In the proposed architecture, each robot runs a decentralized observer to estimate the overall system state and a distributed control law for centroid and formation tracking control. The decentralized observer is used to compute a set of residuals in charge of detecting and isolating actuator faults affecting the other robots, even if not directly connected. The fault detection strategy is designed so as to distinguish between actuator faults and activation of local reactive controls e.g., to manage the presence of obstacles. The strategy is validated via numerical simulations