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Autonomous robotic systems are currently being addressed as a critical element in the development of present and future on-orbit operations. Modern missions are calling for systems capable of reproducing human’s decision-making process, thus enhancing their performance. Generally, space manipulators are mounted on a floating spacecraft in a microgravity environment, consequently leading to a mutual influence between the robotic arms and the platform dynamics, thus making the motion planning and control design more challenging than those of terrestrial robots. Another aspect to be considered is that space robots are designed as lightweight systems, resulting in a significant dynamic coupling between their rigid motion and structural elasticity. These effects involve critical issues in modelling their dynamics and designing a suitable controller. In this context, Deep Neural Network (DNN) architectures and the related Deep Learning (DL) techniques have widely proved to have powerful capability in solving data-driven nonlinear modelling problems and they can hence represent a viable solution for space activities. The present paper deals with the design of a DNN controller for a space manipulator system, which has to follow a specific path for a typical on-orbit servicing mission. The goal is to provide proper control inputs autonomously adapting to the given desired trajectory. Structural flexibility and joint friction features are implemented in the dynamic model as well.

Care pathway implementation is characterised by a dual complexity. A care pathway itself represents a complex intervention with multiple interacting and interdependent intervention components and outcomes. The organisations in which care pathways are being implemented represent complex systems that need to be directed at change through an in-depth understanding of their external and internal context in which they are functioning in. This study sets out a new evidence-based and pragmatic framework that unpacks how intervention mechanisms, intervention fidelity and care context are converge and represent interacting processes that determine success or failure of the care pathway. We recommend researchers looking to increase the effectiveness of care pathway implementation and accelerate improvement of desired outcomes to adopt this framework from inception to implementation of the intervention.

Defensive medicine (DM) is used when a doctor deviates from good practices to prevent complaints from patients or caregivers. This is a structured phenomenon that may not only affect the physician, but all healthcare personnel. The aim of this review was to determine whether DM is also performed by Non-Medical Health Professionals (NMHP), and the reasons, features, and effects of NMHP-DM.

Clinical Networks are complex interventions that enable healthcare professionals from various disciplines to work in a coordinated manner in the context of multiple care settings, to provide a high quality response to a specific disease. The aim of this study was to evaluate if clinical networks are able to improve effectiveness, efficiency, patients’ satisfaction and professionals’ behavior in the health care settings, namely the “quadruple aim” quality goals.

To investigate the prevalence of physicians and nurses involved in an adverse event within mental health.

When a patient safety incident (PSI) occurs, not only the patient, but also the involved health professional can suffer. This study focused on this so-called “second victim” of a patient safety incident and aimed to examine: (1) experienced symptoms in the aftermath of a patient safety incident; (2) applied coping strategies; (3) the received versus needed support and (4) the aspects that influenced whether one becomes a second victim.

The healthcare worker involved in an unanticipated adverse patient event can become second victim. These workers suffer physically and psycho-socially and try to overcome the post-event emotional stress by obtaining emotional support in a variety of ways. The goal of this research was to study second victims among health care providers in Italy.

Defensive medicine affects healthcare systems worldwide. The concerns and perception about medical liability could lead practitioners to practise defensive medicine. Second victim is a healthcare worker involved in an unanticipated adverse patient event. The role of being second victim and the other possible determinants for defensive medicine is mostly unclear.

RGB-D cameras and depth sensors have made possible the development of an uncountable number of applications in the field of human-computer interactions. Such applications, varying from gaming to medical, have made possible because of the capability of such sensors of elaborating depth maps of the placed ambient. In this context, aiming to realize a sound basis for future applications relevant to the movement and to the pose of hands, we propose a new approach to recognize fingertips and to identify their position by means of the Microsoft Kinect technology. The experimental results exhibit a really good identification rate, an execution speed faster than the frame rate with no meaningful latencies, thus allowing the use of the proposed system in real time applications. Furthermore, the scored identification accuracy confirms the excellent capability of following also little movements of the hand and it encourages the real possibility of successive implementations in more complex gesture recognition systems.

Background: Malignant mesothelioma (MM) is an aggressive disease that is diagnosed mostly in locally advanced or metastatic stage. In this condition chemotherapy with the combination cisplatin and pemetrexed or ralitrexed represents the standard treatment as supported by a phase III study. However, chemotherapy has very limited effect on the improvement of survival of patients and very few of the MM patients survive more than 2 years. A better understanding of molecular mechanisms and pathways involved in angiogenesis in MM is the basis for the development of new drugs targeted against these pathways responsible for the proliferation and survival of tumor cells. Objective: This review discusses the role of angiogenic factors in tumourigenesis with a particular focus on MM and it summarizes the results of clinical trials on the drugs targeting angiogenic pathways in MM. Methods: We have used original research articles, abstracts and oral presentations from ASCO (American Society of Clinical Oncology) and the website of clinical trials http://www.ClinicalTrials.gov Results/Conclusions: This review summarizes the results of antiangiogenic agents under evaluation in clinical trials. A better understanding of the angiogenic pathways activated in MM will hopefully provide new therapeutic options for these patients in the future.

AbstractThe Feedback control system running at FTU has been recently improved by the adoption of an Object-Oriented model, obtaining many advantages regarding the software extensibility, re-usability and testing capabilities. This new structure has been ported into a virtual environment using the QEMU processor emulator, in order to simulate, as close as possible to the hardware level, the control system behavior during the real experiment. This new approach introduces the advantage of decreasing dramatically the risks related to coding errors and operating system bugs arising at runtime, whereas it still supports the real-time control features. Moreover, the Real Time Workshop fast controller prototyping interface eliminates the model-translation related problems thanks to its automatic C code generation tools. The entire project flow is now completed: using Simulink, it is possible to design the diagram implementing a new control law, then synthesize the controller library. At this point, we can transfer the new library to the virtual machine, simulate the plasma control experiment in an open-loop configuration, and finally compare the simulation results to those from the past experiments, for a consistency check. The proposed framework is remotely managed by a new Matlab interface. After a satisfying simulation/validation of the new control model, the module can be easily transferred to the control system andhooked up to the real experiment, where it can operate in closed-loop. In this paper, we illustrate the advantages of this new approach and report on some experimental tests where the actual experimental data is compared to the simulations provided by the above-mentioned virtual environment.

A tokamak plasma with internal transport barriers (ITBs) is the best candidate for a steady ITER operation, since the high energy confinement allows working at plasma currents (Ip) lower than the reference scenario. To build and sustain an ITB at the ITER high density (1020 m−3) and largely dominant electron (e−) heating is not trivial in most existing tokamaks. FTU can instead meet both requests, thanks to its radiofrequency heating systems, lower hybrid (LH, up to 1.9 MW) and electron cyclotron (EC up to 1.2 MW). By the combined use of them, ITBs are obtained up to peak densities ne0 > 1.3 × 1020 m−3, with central e− temperatures Te0 ≈ 5.5 keV, and are sustained for as long as the heating pulse is applied (>35 confinement times, τE). At ne0 ≈ 0.8 × 1020 m−3Te0 can be larger than 11 keV. Almost full current drive (CD) and an overall good steadiness is attained within about one τE, 20 times faster than the ohmic current relaxation time. The ITB extends over a central region with an almost flat or slightly reversed q profile and qmin ≈ 1.3 that is fully sustained by off-axis lower hybrid current drive. Consequent to this is the beneficial good alignment of the bootstrap current, generated by the ITB large pressure gradients, with the LH driven current. Reflectometry shows a clear change in the turbulence close to the ITB radius, consistent with the reduced e− transport. Ions (i+) are significantly heated via collisions, but thermal equilibrium with electrons cannot be attained since the e−–i+ equipartition time is always 4–5 times longer than τE. No degradation of the overall ion transport, rather a reduction of the i+ heat diffusivity, is observed inside the ITB. The global confinement has been improved up to 1.6 times over the scaling predictions. The ITB radius can be controlled by adjusting the LH power deposition profile that is affected mostly by the q value of the discharge, while the ITB strength can be varied through central EC heating. FTU experiments have shown that ITER-like e-ITBs are achievable.

A tokamak plasma with internal transport barriers (ITBs) is the best candidate for a steady ITER operation, since the high energy confinement allows working at plasma currents (Ip) lower than the reference scenario. To build and sustain an ITB at the ITER high density (?1020?m?3) and largely dominant electron (e?) heating is not trivial in most existing tokamaks. FTU can instead meet both requests, thanks to its radiofrequency heating systems, lower hybrid (LH, up to 1.9?MW) and electron cyclotron (EC up to 1.2?MW). By the combined use of them, ITBs are obtained up to peak densities ne0> 1.3 × 1020?m?3, with central e?temperatures Te0? 5.5?keV, and are sustained for as long as the heating pulse is applied (>35 confinement times, ?E). At ne0? 0.8 × 1020?m?3Te0can be larger than 11?keV. Almost full current drive (CD) and an overall good steadiness is attained within about one ?E, 20 times faster than the ohmic current relaxation time. The ITB extends over a central region with an almost flat or slightly reversed qprofile and qmin? 1.3 that is fully sustained by off-axis lower hybrid current drive. Consequent to this is the beneficial good alignment of the bootstrap current, generated by the ITB large pressure gradients, with the LH driven current. Reflectometry shows a clear change in the turbulence close to the ITB radius, consistent with the reduced e?transport. Ions (i+) are significantly heated via collisions, but thermal equilibrium with electrons cannot be attained since the e?-i+equipartition time is always 4-5 times longer than ?E. No degradation of the overall ion transport, rather a reduction of the i+heat diffusivity, is observed inside the ITB. The global confinement has been improved up to 1.6 times over the scaling predictions. The ITB radius can be controlled by adjusting the LH power deposition profile that is affected mostly by the qvalue of the discharge, while the ITB strength can be varied through central EC heating. FTU experiments have shown that ITER-like e-ITBs are achievable.

An overview of the FTU results during the period 2003–4 is presented. A prototype ITER-relevant lower hybrid current drive (LHCD) launcher, the passive active multijunction, has been successfully tested (f = 8 GHz) showing high power handling and good coupling properties and current drive comparable to those of a conventional launcher. Effective electron and ion heating (via collisions) have been achieved with the 140 GHz ECRH systems up to 1.5 MW, as well as current drive (25 kA at ne0 = 8 × 1019 m−3). The mitigation of disruptions has been studied with on-axis ECRH. Ion Bernstein wave studies have shown the importance of recycling in achieving improved confinement plasmas. Advanced tokamak scenarios are presented including repetitive pellet enhanced plasmas and electron internal transport barriers (e-ITBs). Very peaked density profiles have been achieved with a low speed vertical pellet injector located at about mid-radius on the high field side. The performance is comparable to that achieved with a high-speed horizontal pellet injector. Possible reasons for this behaviour are discussed, among them the presence of an ‘MHD’ drift once particles reach the q = 1 surface. The effect of peaked density profiles on confinement is discussed. Electron ITBs can be produced at high density in FTU with LHCD only and with the combined use of LHCD and ECRH: Te0 = 6 keV with ne0 = 1.4 × 1020 m−3 and H97 = 1.6. Turbulence is strongly reduced. Ions are heated by collisions with ΔTi/Ti up to 35% showing that e-ITBs are not degraded by the electron–ion collisions. Particle pinch studies have been made at high densities in full current drive conditions where the Ware pinch plays no role. An anomalous inward pinch exists even at these high densities (ne0 = 1.5 × 1020 m−3). Despite the absence of energetic particles in FTU, MHD spectroscopy has revealed high frequency modes (30–80 kHz) that might have consequences for burning plasmas.

Purpose The purpose of this research was to evaluate pain and anxiety levels in patients undergoing chemotherapy via central venous catheter (CVC) and peripheral venous access (PVA).Method The sample consisted of 56 cancer patients undergoing at least one chemotherapy treatment cycle. They were divided into two groups based on the administration method of the chemotherapeutic drug: the experimental group (patients with CVC) and the control group (patients with PVA). The instruments used were the following: for multidimensional pain evaluation the Italian Pain Questionnaire (QUID, devised by De Benedettis et al), and the Visual Analogue Scale (VAS) Chart of Pain. To evaluate the state and anxiety traits, the State-Trait Anxiety Inventory (STAI questionnaire, by D. Spielberg) was used, and we used structured interviews for the statistical survey.Results Analyzing the data from the STAI questionnaire, it appeared that the state-trait anxiety levels of the experimental group and the control group were not significantly different (analysis of the mean difference made using the Student's t-test). The average scores of the STAI questionnaire for both groups fell within the normal range. This indicated that the anxiety level was unaffected by the introduction of the device (the CVC). The data collected with the QUID questionnaire and subsequent statistical analysis demonstrated that the difference between the means (Student's t-test) of the experimental group and the control group was significantly lower, as regards perception of the sensorial and evaluative quality of pain (p=0.05) in the experimental group. From the evaluation of the VAS method, it appeared that the difference between the means was not significant in either group, although the distribution of frequency tended towards lower values in the experimental group with respect to the control group. This confirms previous QUID research where a lower pain level is recorded.Conclusions Analysis of the data collected via the structured interview revealed that most of the CVC sample did not respond to catheter insertion as a sign of a worsening of their illness.

AbstractSome specific points of the Frascati Tokamak Upgrade (FTU) operation are presented for plasma performance as well as for the machine availability and the development of new tools needed to operate in a complex scenario needed for tokamak research. The different techniques adopted for wall conditioning of the FTU are reviewed. Plasmas with low Zeffhave been achieved including those at low density and high additional heating power. The obtained experimental results are discussed in terms of better operation and plasma performance achieved. As with any other large - and thus long-lasting - experiments, a mixture of old and new technological solutions inserted in an open source framework characterizes the FTU data control and acquisition systems. We give some information on the original architecture and try to detail its current state. The high level of reliability presently achieved is discussed.

New experiments with the ion Bernstein waves (IBWs) have been performed in the Frascati Tokamak Upgrade (FTU) both in hydrogen and deuterium plasmas at higher power level, operation at higher density, higher plasma current and lower effective ion charge values than in the previous campaign. Improved confinement in a region with larger radius is obtained when operating in deuterium. Transport analysis shows a uniform decrease of the electron thermal conductivity by 40% over the radial region bounded by the absorption layer.

Leak point pressure (LPP) measurement has become standard in the diagnosis of stress urinary incontinence. Leak point pressure is determined by increasing abdominal pressure, which can be done with a Valsalva maneuver or coughing, that is Valsalva LPP and cough LPP (CLPP). It may be influenced by catheter size, bladder volume and interobserver variability. A new, computerized LPP measuring technique for routine use in daily urodynamic practice was tested at a female unit urodynamic practice to evaluate female urinary incontinence.

To test clinical pathways in a variety of Italian health care organizations in 2000-2002 to measure performance in decreasing process and outcome variations.

Wideband chaotic carrier is a promising solution for wideband communication, since it overcomes the disadvantages of both narrowband and spread-spectrum communication. It is particularly suited to realize information encryption for secure communication. Chaotic signals can be generated by using discrete-time non-linear dynamical circuits, since they can exhibit a quasi-chaotic (QC) behavior. A particular implementation of QC digital filters can be based on finite precision arithmetic and, in particular, on residue number system (RNS) circuits, which possess very attractive features with regard to their VLSI implementation. In the present paper, we propose an RNS architecture that can be used in connection with secure communication. Each RNS channel consists of a QC oscillator, having its coefficients belonging to a Galois field defined by a prime modulus. In particular, the QC behavior is ensured by well-known properties of primitive polynomials in this field, which generate the characteristic feedback of the oscillator. We demonstrate in the paper that the proposed RNS architecture yields a cost-effective VLSI implementation, which favorably compares with respect to other secure communication approaches proposed in the technical literature. We obtain encouraging results both in terms of confidentiality of the encrypted information and of throughput rate for real-time applications. Moreover, we propose an extended architecture suited to the protection of the secure communication system against transmission errors, by using the self-correcting ability of Redundant RNS (RRNS).

Plasma behaviour in the high density regime has been investigated on the Frascati Tokamak Upgrade (FTU). The items particularly addressed are density limit, MARFE characteristics and fuelling efficiency. With gas puffing, a maximum line average density of 3.2*10²⁰ m^-3 has been obtained in the ohmic regime at q=5.1, corresponding to 1.7 times the Greenwald limit; while with pellet injection, a value of 3.7*10²⁰ m^-3 has been reached at q=3.5. The density limit appears to be connected with the impurity content and edge parameters, so the best results are obtained with very clean plasmas and peaked electron density profiles. The MARFE phenomenon always appears beyond a critical density that depends on the total input power and the effective charge: emissivities in the range of 2 to 12 MW/m³ have been measured in this highly radiating region. The fuelling efficiency, starting from a value of about 50% at low density, progressively deteriorates, falling to 10% near the density limit: this behaviour is interpreted as being due to a decrease of the scrape-off layer transparency to incoming neutrals

Three methods of density modulation have been used in FTU discharges (gas puffing, pellet injection and current rampup). The analysis of particle balance confirms that the neoclassical theory is not adequate and the experimental results obtained by the three methods are used to verify the validity of an empirical expression for the radial particle flux. Such an expression is relevant for the design of future experiments and constitutes a constraint for any satisfactory theory

The observation that v-src-induced tumors contain tumor cells of differing morphology, notably fibroblastoid or polygonal, raised the question as to whether the tumor cells are also heterogeneous with respect to expression of markers of cellular differentiation. Of the markers tested here, consistent reactivity for tumor tissue was noted only for antibody probes reactive to muscle actin (HHF35, asm-1) or to procollagen type I (SP1. D8); for any given tumor, whether induced by v-src DNA or by Rous sarcoma virus, each of these markers was found only in a subpopulation of tumor cells. The observation of marker heterogeneity in the one v-src DNA-induced tumor examined here that typed as monoclonal suggests that v-src-induced transformation is consonant with a degree of plasticity in the phenotypes of the clonal progeny of a single transformant.

A novel quasi-chaotic generator is proposed. Its architecture is tailored to a particular secure communication system, which is structured for self-correcting transmission errors. It is composed of a suitable set of RNS digital filters having primitive poles.

RNS digital filters are particularly suited to the realisation of quasi-chaotic generators. A very large number of architectures can be devised by relying on different moduli and poles. The proposed scheme is constituted by a cascade of first-order filters having poles coincident with first-order primitives.

The frequency and type of sexual dysfunctions in healthy and sexually active Roman Catholic churchgoers was compared with non-church-goers. All the women had had a steady psychosexual relationship with only one partner for at least one year. The sexual dysfunctions investigated were related only to vaginal intercourse. Although there is no significant difference in the frequency and type of sexual dysfunctions, the Roman Catholic church-goers more frequently complained of unsatisfying sexual relationships (P<0.05) or were requested by their partner on a change in their own sexual behaviour (P<0.05). The possible correlations between religiosity and sexual health are discussed.

In the spirit of collaborative science, Prof. Sunghee Lee (Chemistry Professor at Iona University in New York, USA) embarked on her academic career with a vision to bring an interdisciplinary approach to undergraduate education. At a Predominantly Undergraduate Institution (PUI) such as Iona, she saw a unique opportunity to weave together teaching and research, creating a rich tapestry of learning experiences for students. Her goal was simple yet ambitious: to use research as a bridge connecting classroom theory to real-world interdisciplinary scientific practice. In this Backstory, Sunghee and her students and recent graduates reflect on the development and experiences that shaped their journey through Project Symphony and the resulting skills they've learned. The symphony they've created together is a testament to the transformative power of collaborative undergraduate research - a melody of discovery that continues to evolve and inspire., (© 2025 The Author(s).)