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Abstract Most wearable robots such as exoskeletons and prostheses can operate with dexterity, while wearers do not perceive them as part of their bodies. In this perspective, we contend that integrating environmental, physiological, and physical information through multi-modal fusion, incorporating human-in-the-loop control, utilizing neuromuscular interface, employing flexible electronics, and acquiring and processing human-robot information with biomechatronic chips, should all be leveraged towards building the next generation of wearable robots. These technologies could improve the embodiment of wearable robots. With optimizations in mechanical structure and clinical training, the next generation of wearable robots should better facilitate human motor and sensory reconstruction and enhancement.

ObjectivesThe incidence of oropharyngeal cancer (OPC) is increasing. This study used bibliometric analysis and topic modeling to explore the research trends and advancements in this disease over the past 10 years, providing valuable insights to guide future investigations.Methods7,355 English articles from 2013 to 2022 were retrieved from the Web of Science Core Collection for bibliometric analysis. Topic modeling was applied to 1,681 articles from high-impact journals, followed by an assessment of topic significance ranking (TSR). Medical Subject Headings (MeSH) terms were extracted using R and Python, followed by an analysis of the terms associated with each topic and on an annual basis. Additionally, genes were extracted and the number of genes appearing each year and the newly emerged genes were counted.ResultsThe bibliometric analysis suggested that the United States and several European countries hold pivotal positions in research. Current research is focused on refining treatments, staging and stratification. Topic modeling revealed 12 topics, emphasizing human papillomavirus (HPV) and side effect reduction. MeSH analysis revealed a growing emphasis on prognosis and quality of life. No new MeSH terms emerged after 2018, suggesting that the existing terms have covered most of the core concepts within the field of oropharyngeal cancers. Gene analysis identified TP53 and EGFR as the most extensively studied genes, with no novel genes discovered after 2019. However, CD69 and CXCL9 emerged as new genes of interest in 2019, reflecting recent research trends and directions.ConclusionHPV-positive oropharyngeal cancer research, particularly treatment de-escalation, has gained significant attention. However, there are still challenges in diagnosis and treatment that need to be addressed. In the future, more research will focus on this issue, indicating that this field still holds potential as a research hotspot.

Abstract Objective To investigate the correlation between CT imaging features and pathological subtypes of pulmonary nodules and construct a prediction model using deep learning. Methods We collected information of patients with pulmonary nodules treated by surgery and the reference standard for diagnosis was post-operative pathology. After using elastic distortion for data augmentation, the CT images were divided into a training set, a validation set and a test set in a ratio of 6:2:2. We used PB-LNet to analyze the nodules in pre-operative CT and predict their pathological subtypes. Accuracy was used as the model evaluation index and Class Activation Map was applied to interpreting the results. Comparative experiments with other models were carried out to achieve the best results. Finally, images from the test set without data augmentation were analyzed to judge the clinical utility. Results Four hundred seventy-seven patients were included and the nodules were divided into six groups: benign lesions, precursor glandular lesions, minimally invasive adenocarcinoma, invasive adenocarcinoma Grade 1, Grade 2 and Grade 3. The accuracy of the test set was 0.84. Class Activation Map confirmed that PB-LNet classified the nodules mainly based on the lungs in CT images, which is in line with the actual situation in clinical practice. In comparative experiments, PB-LNet obtained the highest accuracy. Finally, 96 images from the test set without data augmentation were analyzed and the accuracy was 0.89. Conclusions In classifying CT images of lung nodules into six categories based on pathological subtypes, PB-LNet demonstrates satisfactory accuracy without the need of delineating nodules, while the results are interpretable. A high level of accuracy was also obtained when validating on real data, therefore demonstrates its usefulness in clinical practice.

Muscle necrosis and angiogenesis are two major challenges in the treatment of lower-limb ischemic diseases. In this study, a triple-functional Sr/Si-containing bioceramic/alginate composite hydrogel with simultaneous bioactivity in enhancing angiogenesis, regulating inflammation, and inhibiting muscle necrosis was designed to treat lower-limb ischemic diseases. In particular, sodium alginate, calcium silicate and strontium carbonate were used to prepare injectable hydrogels, which was gelled within 10 min. More importantly, this composite hydrogel sustainedly releases bioactive Sr2+ and SiO32− ions within 28 days. The biological activity of the bioactive ions released from the hydrogels was verified on HUVECs, SMCs, C2C12 and Raw 264.7 cells in vitro, and the therapeutic effect of the hydrogel was confirmed using C57BL/6 mouse model of femoral artery ligation in vivo. The results showed that the composite hydrogel stimulated angiogenesis, developed new collateral capillaries, and re-established the blood supply. In addition, the bioactive hydrogel directly promoted the expression of muscle-regulating factors (MyoG and MyoD) to protect skeletal muscle from necrosis, inhibited M1 polarization, and promoted M2 polarization of macrophages to reduce inflammation, thereby protecting skeletal muscle cells and indirectly promoting vascularization. Our results indicate that these bioceramic/alginate composite bioactive hydrogels are effective biomaterials for treating hindlimb ischemia and suggest that biomaterial-based approaches may have remarkable potential in treating ischemic diseases.

BackgroundThe gut microbiota has been found to be associated with the risk of lung cancer. However, its causal relationship with various types of lung cancer remains unclear.MethodsWe conducted a Mendelian randomization (MR) study using the largest genome-wide association analysis of gut microbiota data to date from the MiBioGen consortium, with pooled statistics for various types of lung cancer from the Transdisciplinary Research in Cancer of the Lung, the International Lung Cancer Consortium, and FinnGen Consortium R7 release data. Inverse variance weighted, weighted model, MR-Egger regression, and weighted median were adapted to assess the causal relationship between gut microbiota and various types of lung cancer. Sensitivity analysis was used to test for the presence of pleiotropy and heterogeneity in instrumental variables. A reverse MR analysis was performed on these bacteria to determine their potential role in causing lung cancer. A reverse MR analysis was performed on these bacteria to determine their potential role in causing lung cancer. Multivariable Mendelian randomization (MVMR) was conducted to assess the direct causal impact of gut microbiota on the risk of various types of lung cancer.ResultsUsing IVW as the primary analytical method, we identified a total of 40 groups of gut microbiota with potential causal associations with various subtypes of lung cancer, of which 10 were associated with lung cancer, 10 with lung adenocarcinoma, 9 with squamous cell lung cancer, and 11 groups of bacteria associated with small cell lung cancer. After performing FDR correction, we further found that there was still a significant causal relationship between Peptococcaceae and lung adenocarcinoma. Sensitivity analyses demonstrated the robustness of these results, with no heterogeneity or pleiotropy found.ConclusionsOur results confirm a causal relationship between specific gut microbiota and lung cancer, providing new insights into the role of gut microbiota in mediating the development of lung cancer.

Abstract This paper investigates the exponential synchronization for T‐S fuzzy complex networks (TSFCNs) with discontinuous activations and mixed time‐varying delays. Based on the IF‐THEN rules, the T‐S fuzzy model of complex networks has been obtained to approximate non‐linear dynamic systems via interpolating certain local linear system. A fuzzy sampled‐data control strategy is designed to achieve exponential stability for the TSFCN by constructing the bilateral time‐dependent Lyapunov–Krasovskii functional. Furthermore, according to the Filippov discontinuity theory, the exponential synchronization criteria of TSFCN with discontinuous activations and mixed time‐varying delays under the linear matrix inequality constraints are obtained. Finally, two numerical simulations are provided to illustrate the effectiveness and feasibility of the proposed method.

This paper focuses on the formation control of multi-robot systems with leader–follower network structure in directed topology to guide a system composed of multiple mobile robot agents to achieve global path navigation with a desired formation. A distributed linear formation control strategy based on the complex Laplacian matrix is employed, which enables the robot agents to converge into a similar formation of the desired formation, and the size and orientation of the formation are determined by the positions of two leaders. Additionally, in order to ensure that all robot agents in the formation move at a common velocity, the distributed control approach also includes a velocity consensus component. Based on the realization of similar formation control of a multi-robot system, the path navigation algorithm is combined with it to realize the global navigation of the system as a whole. Furthermore, a controller enabling the scalability of the formation size is introduced to enhance the overall maneuverability of the system in specific scenarios like narrow corridors. The simulation results demonstrate the feasibility of the proposed approach.

BackgroundCurrently, the optimal technique to revascularize the left subclavian artery (LSA) during thoracic endovascular aortic repair (TEVAR) remains controversial. Our study seeks to characterize early and late clinical results and to assess the advantages and disadvantages of endovascular vs. surgical strategies for the preservation of LSA.MethodsPubMed, Embase and Cochrane Library searches were conducted under the PRISMA (Preferred Reporting Items for Systematic review and Meta-Analyses) standards. Only literature published after January 1994 was included. Studies reporting on endovascular revascularization (ER), surgical revascularization (SR) for LSA preservation were included. 30-day mortality and morbidity rates, restenosis rates, and rates of early and late reintervention are measured as outcomes.ResultsA total of 28 studies involving 2,759 patients were reviewed. All articles were retrospective in design. Single-arm analysis found no significant statistical differences in ER vs. SR in terms of 30-day mortality and perioperative complication rates. The mean follow-up time for the ER cohort was 12.9 months and for the SR cohort was 26.6 months, respectively. Subgroup analysis revealed a higher risk of perioperative stroke (4.2%) and endoleaks (14.2%) with the chimney technique compared to the fenestrated and single-branched stent approaches. Analysis of the double-arm studies did not yield statistically significant results.ConclusionBoth ER and SR are safe and feasible in the preservation of LSA while achieving an adequate proximal landing zone. Among ER strategies, the chimney technique may presents a greater risk of neurological complications and endoleaks, while the single-branched stent grafts demonstrate the lowest complication rate, and the fenestration method for revascularization lies in an intermediate position. Given that the data quality of the included studies were relatively not satisfactory, more randomized controlled trials (RCTs) are needed to provide convincing evidence for optimal approaches to LSA revascularization in the future.

Long-distance pipeline is buried in the ordinary section, and for the pipeline passing through the seasonal frost area with slope, additional stress is applied due to the slope creep caused by freezing and thawing. The axial stress change of pipeline resulted from the slope creep can be monitored by the axial strain sensors installed along the pipeline. However, for the strength evaluation of pipeline, the initial stress of pipeline strain monitoring should be clear. For the stress detection technology mostly used in laboratory environment is not mature in engineering, the initial stress of pipeline strain monitoring can only be obtained by the calculation method of finite element modeling. Taking the buried section of Sebei-Xining-Lanzhou Pipeline I crossing the seasonal slope frost area as an example, the current major risks of pipeline in the seasonal frost area, distribution and determination of soil displacement, and the stress and deformation of the pipeline in seasonal frost area due to slope creep were introduced. By using the Vector Form Intrinsic Finite Element (VFIFE) method, the numerical simulation of pipeline at hazard point was conducted with space beam element and nonlinear soil spring model, and the stress distribution of the pipeline was obtained, which provides basis for determination of the cross-sectional location of strain monitoring, estimate of current stress distribution and safety assessment of pipeline.

Background: Drug resistance and recurrence often develop during the treatment of muscle-invasive bladder cancer (MIBC). The existence of cancer stem cells (CSCs) in MIBC makes the formulation of effective treatment strategies extremely challenging. We aimed to use single-cell RNA sequencing approaches to identify CSCs and evaluate their molecular characteristics and to discover possible therapeutic measures.Methods: GEO data sets GSE130001 and GSE146137 were used to construct an expression matrix. After cells were identified by type, malignant epithelial cells inferred by InferCNV were extracted for stemness evaluation. The subset of cells with the highest stemness was subjected to weighted gene coexpression network analysis (WGCNA) and pseudotime analysis to identify key genes. In addition, we predicted drug sensitivity relationships for key genes in CTD and predicted the correlation between drugs and survival through siGDC.Results: We found that there were some CSCs in MIBC samples. The CSC population was heterogeneous during tumor development and was divided into quiescent and proliferating CSCs. We identified DBI as the key gene in quiescent CSCs. Analysis of a TCGA data set showed that higher DBI expression indicated higher histological grade. In addition, we predicted that acetaminophen can reduce DBI expression, thereby reducing the stemness of CSCs. Thus, we identified a potential new use of acetaminophen.Conclusion: We systematically explored CSCs in tumors and determined that DBI may be a key gene and potential therapeutic target in quiescent CSCs. In addition, we confirmed that acetaminophen may be a candidate drug targeting CSCs, improving our understanding of CSC-targeting therapeutic strategies.

BackgroundAccording to their symptoms, abdominal aortic aneurysms (AAAs) can be divided into symptomatic and asymptomatic types. This study aimed to explore the differences and correlations between postoperative lumen thrombosis in these two groups after endovascular aortic repair (EVAR).MethodsA retrospective study using clinical data of 169 patients with AAA treated with EVAR collected in our hospital between January 2018 and January 2021 was conducted based on the inclusion and exclusion criteria for patient selection. Based on whether the patient had clinical symptoms at admission and the presence of a complete lumen thrombus during follow-up, the patients were divided into two sets of groups: a complete-thrombus group (n = 44) and a partial-thrombus group (n = 125), and a group with clinical symptoms (n = 32) and a group without clinical symptoms (n = 137). The clinical data of these groups were compared, and a further stratified analysis was performed.ResultsA total of 169 patients were included in the analysis. An abdominal aorta stent graft was successfully implanted in all patients. The complete-thrombus rate of the patients in this study was 73.96%. Univariate analysis showed that the maximal aortic diameter and preoperative peripheral blood neutrophil levels affected the clinical symptoms of patients with AAA (p < 0.05). The complete thrombus rate of the lumen of the AAA was lower in patients with clinical symptoms than in those without symptoms during the follow-up period (p < 0.05). Female sex, preoperative hyperuricemia, and symptoms at admission were independent risk factors for a partial thrombus in the lumen during follow-up. Based on these independent risk factors, we constructed a scoring system to differentiate patients into low- (0 points), middle- (1 point), and high-risk (2 points) groups. The scoring system could distinguish the complete lumen thrombosis rate after EVAR to a certain extent.ConclusionsPatients with symptomatic AAAs were more likely to develop incomplete lumen thrombosis than asymptomatic patients during follow-up after EVAR.

Objective: This study aims to assess the suitability of four types of commercial iliac branch device systems to treat Eastern Asian abdominal aortic aneurysm (AAA) patients with bilateral or unilateral common iliac artery aneurysms (CIAAs).Methods: Patients with a coexisting AAA and a unilateral or bilateral CIAAs who underwent endovascular aneurysm repair (EVAR) at two tertiary centers in China from 2015 to 2017 were reviewed. Morphology of lesions was measured and the anatomic suitability for Cook iliac branch device (IBD), Gore iliac branch endoprosthesis (IBE), Lifetech iliac branch stent graft (IBSG), and Jotec IBD was evaluated according to the latest instructions for use.Results: Seventy-six patients with AAA were enrolled, including 35 bilateral CIAAs, 41 unilateral CIAAs. A hundred and eleven lesions were investigated aggregately: 16.2, 28.8, 21.6, and 19.8% met the criteria for Cook IBD, Gore IBE, Lifetech IBSG, and Jotec IBD, respectively. A total of 34 (44.7%) patients could be treated for at least one lateral lesion. The diameter of the internal iliac artery (IIA) was the most common restriction for IBD application. Additionally, the IIA diameter of lesions in the bilateral group was significantly larger compared with the unilateral group (P < 0.001). Based on the anatomical characteristics alone, it is likely that IBDs will be more suitable for unilateral lesions than bilateral ones (P < 0.05). However, there was no difference between the suitability for patients with unilateral or bilateral CIAAs (P > 0.05).Conclusions: Less than half of Eastern Asian patients with aortoiliac aneurysms were eligible for IBD application. This was primarily due to the IIA diameter failing to meet the criteria. And thus, the suitability of lesions in bilateral group was significantly lower than that in the unilateral group. Aiming to expand the indications and optimize the design of the iliac branch devices, IIA diameter and the anatomical characteristics of the bilateral lesions should be considered deliberately.

Epithelial-mesenchymal transition (EMT) and ferroptosis are two important processes in biology. In tumor cells, they are intimately linked. We used single-cell RNA sequencing to investigate the regulatory connection between EMT and ferroptosis tendency in LUAD epithelial cells. We used Seurat to construct the expression matrix using the GEO dataset GSE131907 and extract epithelial cells. We found a positive correlation between the trends of EMT and ferroptosis tendency. Then we used SCENIC to analyze differentially activated transcription factors and constructed a molecular regulatory directed network by causal inference. Some ferroptosis markers (GPX4, SCP2, CAV1) were found to have strong regulatory effects on EMT. Cell communication networks were constructed by iTALK and implied that Ferro_High_EMT_High cells have a higher expression of SDC1, SDC4, and activation of LGALS9-HARVCR2 pathways. By deconvolution of bulk sequencing, the results of CIBERSORTx showed that the co-occurrence of ferroptosis tendency and EMT may lead to tumor metastasis and non-response to immunotherapy. Our findings showed there is a strong correlation between ferroptosis tendency and EMT. Ferroptosis may have a promotive effect on EMT. High propensities of ferroptosis and EMT may lead to poor prognosis and non-response to immunotherapy.

Background: Dietary factors are regarded as an essential influence in changing colorectal cancer (CRC) risk. However, there is no clear conclusion of the relationship between solanaceous vegetables and colorectal cancer at present. The study aimed to evaluate the intake of solanaceous vegetables in relation to colorectal cancer risk among the Northeast Chinese population.Methods: We carried out a hospital-based case-control study in three hospitals in Northeast China from 2009 to 2011. The study finally included 833 patients with CRC and 833 controls matched separately according to age, gender, and city of residence. We applied a structural questionnaire to collect demographic characteristics and dietary information by face-to-face interview and adopted conditional logistic regression to calculate odds ratios (ORs) and 95% confidence intervals (CIs). Stratified analyses were conducted by sex and subsites.Results: There was no obvious correlation between total intake of solanaceous plants and CRC risk. The adjusted OR for the highest quartile and the lowest quartile was 1 (95% CI: 0.68–1.5). Certain types of solanaceous vegetables were negatively associated with the risk of CRC, such as eggplant (OR = 0.42; 95% CI:0.29–0.62) and sweet pepper (OR = 0.48; 95%CI: 0.33–0.7). Potato was found to have a positive correlation with CRC (OR = 1.76; 95% CI: 1.26–2.47). In the stratified analyses by gender, total solanaceous vegetables intake was inversely associated with CRC risk only in men. In the stratified analyses of cancer subsites, no significant association between total solanaceous vegetables intake and CRC risk was found.Conclusion: No findings showed that the intake of total solanaceous vegetables was related to the reduction of CRC risk. However, specific types of solanaceous vegetables indicated an inverse association with CRC risk.

In the current research work, electrical resistance tomography (ERT) was employed for monitoring and visualization of crystallization processes. A first-of-its-kind MATLAB-based interactive GUI application “ERT-Vis” is presented. Two case studies involving varied crystallization methods were undertaken. The experiments were designed and performed involving calcium carbonate reactive (precipitative) crystallization for the high conductivity solution-solute media, and the cooling crystallization of sucrose representing the lower conductivity solution–solute combination. The software successfully provided key insights regarding the process in both crystallization systems. It could detect and separate the solid concentration distributions in the low as well as high conductivity solutions using the visual analytics tools provided. The performance and utility of the software were studied using a software evaluation case study involving domain experts. Participant feedback indicated that ERT-Vis software helps by reconstructing images instantaneously, interactively visualizing, and evaluating the output of the crystallization process monitoring data.

This paper is concerned with the adaptive event-triggered finite-time pinning synchronization control problem for T-S fuzzy discrete complex networks (TSFDCNs) with time-varying delays. In order to accurately describe discrete dynamical behaviors, we build a general model of discrete complex networks via T-S fuzzy rules, which extends a continuous-time model in existing results. Based on an adaptive threshold and measurement errors, a discrete adaptive event-triggered approach (AETA) is introduced to govern signal transmission. With the hope of improving the resource utilization and reducing the update frequency, an event-based fuzzy pinning feedback control strategy is designed to control a small fraction of network nodes. Furthermore, by new Lyapunov–Krasovskii functionals and the finite-time analysis method, sufficient criteria are provided to guarantee the finite-time bounded stability of the closed-loop error system. Under an optimization condition and linear matrix inequality (LMI) constraints, the desired controller parameters with respect to minimum finite time are derived. Finally, several numerical examples are conducted to show the effectiveness of obtained theoretical results. For the same system, the average triggering rate of AETA is significantly lower than existing event-triggered mechanisms and the convergence rate of synchronization errors is also superior to other control strategies.

Protein hydrolysate injection (PH) is a sterile solution of hydrolyzed protein and sorbitol that contains 17 amino acids and has a molecular mass of 185.0–622.0 g/mol. This study investigated the effect of PH on hematopoietic function in K562 cells and mice with cyclophosphamide (CTX)-induced hematopoietic dysfunction. In these myelosuppressed mice, PH increased the number of hematopoietic cells in the bone marrow (BM) and regulated the concentration of several factors related to hematopoietic function. PH restored peripheral blood cell concentrations and increased the numbers of hematopoietic stem cells and progenitor cells (HSPCs), B lymphocytes, macrophages, and granulocytes in the BM of CTX-treated mice. Moreover, PH regulated the concentrations of macrophage colony stimulating factor (M-CSF), interleukin (IL)-2, and other hematopoiesis-related cytokines in the serum, spleen, femoral condyle, and sternum. In K562 cells, the PH-induced upregulation of hematopoiesis-related proteins was inhibited by transfection with M-CSF siRNA. Therefore, PH might benefit the BM hematopoietic system via the regulation of M-CSF expression, suggesting a potential role for PH in the treatment of hematopoietic dysfunction caused by cancer therapy.

Industrial process tomography (IPT) based process control is an advisable approach in industrial heating processes for improving system efficiency and quality. When using it, appropriate dataflow pipelines and visualizations are key for domain users to implement precise data acquisition and analysis. In this article, we propose a complete data processing and visualizing workflow regarding a specific case—microwave tomography (MWT) controlled industrial microwave drying system. Furthermore, we present the up-to-date augmented reality (AR) technique to support the corresponding data visualization and on-site analysis. As a pioneering study of using AR to benefit IPT systems, the proposed AR module provides straightforward and comprehensible visualizations pertaining to the process data to the related users. Inside the dataflow of the case, a time reversal imaging algorithm, a post-imaging segmentation, and a volumetric visualization module are included. For the time reversal algorithm, we exhaustively introduce each step for MWT image reconstruction and then present the simulated results. For the post-imaging segmentation, an automatic tomographic segmentation algorithm is utilized to reveal the significant information contained in the reconstructed images. For volumetric visualization, the 3D generated information is displayed. Finally, the proposed AR system is integrated with the on-going process data, including reconstructed, segmented, and volumetric images, which are used for facilitating interactive on-site data analysis for domain users. The central part of the AR system is implemented by a mobile app that is currently supported on iOS/Android platforms.

The design of colormaps can help tomography operators obtain accurate visual comprehension, thereby assisting safety-critical decisions. The research presented here is about deploying colormaps that promote the best affective responses for industrial microwave tomography (MWT). To answer the two research questions related to our study, we firstly conducted a quantitative analysis of 11 frequently-used colormaps on a segmentation task. Secondly, we presented the same colormaps within a crowdsourced study comprising two parts to verify the quantitative outcomes. The first part encoded affective responses from participants into a prevailing four-quadrant valence–arousal grid; the second part recorded participant ratings towards the accuracy of each colormap on MWT segmentation. We concluded that three colormaps are the best suited in the context of MWT tasks. We also found that the colormaps triggering emotions in the positive–exciting quadrant can facilitate more accurate visual comprehension than other affect-related quadrants. A synthetic colormap design guideline was consequently proposed.

Inspired by the freezing tolerance performances found in living creatures, an effect approach is presented to develop novel antifreezing polymeric organohydrogel actuators. Through construction of a bilayer hydrogel including a nonresponsive polyacrylamide (PAAm) layer and a pH-responsive polyacrylic acid (PAA) layer in the presence of a mixed solvent of water and glycerol, organohydrogel actuators that could produce various shape deformations at subzero temperatures have been achieved, and the actuating speed could be tuned by adjusting the temperature and the ratio between glycerol and water. Moreover, a series of application demonstrations including a weightlifting robot, artificial valve, and robotic arm have been displayed. In addition, by introducing the ionic compound KI into the glycerol-based organogel, flexible conductors that could perform stable sensing performance over a wide range of temperatures from -30°C to 60°C have been developed.

We show that the recent results on the Fundamental Theorem of Asset Pricing and the super-hedging theorem in the context of model uncertainty can be extended to the case in which the options available for static hedging (hedging options) are quoted with bid-ask spreads. In this set-up, we need to work with the notion of robust no-arbitrage which turns out to be equivalent to no-arbitrage under the additional assumption that hedging options with non-zero spread are non-redundant. A key result is the closedness of the set of attainable claims, which requires a new proof in our setting.