Robotic trajectory generation is reformulated as a controller design problem. For minimum-jerk trajectories, an optimal controller using the Hamilton-Jacobi-Bellman equation is derived. The controller instantaneously updates the trajectory in a closed-loop system as a result of the changes in the reference signal. The resulting trajectories coincide with piece-wise fifth-order polynomial trajector

In the world we live in today, the presence and claims of crisis abound – from climate change, financial and political crisis to depression, livelihoods and personal security crisis. There is a challenge to studying crisis due to the ways in which crisis as a notion, condition and experience refers to and operates at various societal levels. Further, different kinds of crisis can overlap and inter

Introduction Including the patient perspective is important to achieve optimal outcomes in the treatment of rheumatoid arthritis (RA). Ample qualitative studies exist on patient outcomes in RA. A Belgian study recently unravelled what matters most to patients throughout the overwhelming and rapidly evolving early stage of RA. The present study, European Qualitative research project on Patient-pref

Background The objective of the present study was to evaluate effectiveness, complications and cost-effectiveness of any surgical or non-surgical treatment for radius or ulna fractures in elderly patients. Secondary objectives were to analyze present treatment traditions of distal radius fractures (DRF) in Sweden and to calculate resource usage for its treatment. Methods and findings The assessmen

The transverse structure of jets was studied via jet fragmentation transverse momentum (j T ) distributions, obtained using two-particle correlations in proton-proton and proton-lead collisions, measured with the ALICE experiment at the LHC. The highest transverse momentum particle in each event is used as the trigger particle and the region 3 < p Tt < 15GeV/c is explored in this study. The measur

The realizable k - ε turbulence model was used to calculate flow and heat transfer characteristics in a rotating rectangular duct with detached pin fins in staggered arrangement. Transverse and longitudinal spacings of the pin fins were S 1 = 2.5 D and S 2 = 2.5 D, respectively. Reynolds number was 7,000 and Rotation number (Ro) varied from 0 to 1 while the clearance ranged from 0 to 0.5. Strea

Vitamin B supplementation can have side effects for human health, including cancer risk. We aimed to elucidate the role of vitamin B12 in lung cancer etiology via direct measurements of pre-diagnostic circulating vitamin B12 concentrations in a nested case–control study, complemented with a Mendelian randomization (MR) approach in an independent case–control sample. We used pre-diagnostic biomarke

Background: Statins are widely used to prevent cardiovascular disease (CVD). With advancing age, the risks of statins might outweigh the potential benefits. It is unclear which factors influence general practitioners’ (GPs) advice to stop statins in oldest-old patients. Objective: To investigate the influence of a history of CVD, statin-related side effects, frailty and short life expectancy, on G

A search for heavy right-handed Majorana or Dirac neutrinos N R and heavy right-handed gauge bosons W R is performed in events with a pair of energetic electrons or muons, with the same or opposite electric charge, and two energetic jets. The events are selected from pp collision data with an integrated luminosity of 36.1 fb −1 collected by the ATLAS detector at s=13 TeV. No significant deviations

Inflammatory bowel disease (IBD) is a chronic intestinal disorder, with two main types: Crohn's disease (CD) and ulcerative colitis (UC), whose molecular pathology is not well understood. The majority of IBD-associated SNPs are located in non-coding regions and are hard to characterize since regulatory regions in IBD are not known. Here we profile transcription start sites (TSSs) and enhancers in

Background: Isobornyl acrylate (IBOA) has recently been identified as one sensitizer in the FreeStyle Libre glucose sensor. Analyses with gas chromatography-mass spectrometry (GC-MS) have indicated the presence of N,N-dimethylacrylamide (DMAA) in the sensor. Material and methods: Seven patients were referred for patch testing after developing skin reactions when using FreeStyle Libre. All patients

Paired centers in the forebrain of insects, called the mushroom bodies, have become the most investigated brain region of any invertebrate due to novel genetic strategies that relate unique morphological attributes of these centers to their functional roles in learning and memory. Mushroom bodies possessing all the morphological attributes of those in dicondylic insects have been identified in man

Previous studies reported conflicting results regarding association of insulin receptor substrate 1 (IRS1) gene variation with type 2 diabetes (T2D) and insulin resistance (IR) in different ethnic groups. We examined the association of rs7578326, rs2943641, and rs4675095 in the IRS1 gene with T2D and related traits in a population from Bosnia and Herzegovina, which is one of the European countrie