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We consider the design and control problem of concentric tubes used in stereotactic neurosurgery. The goal is to optimally reach a configuration of the cannula linking an entry point on the skullcap to a pre-specified region inside the brain. Key issues related to this task are the mechanical behaviour of the cannula and the topography of the brain. We formulate an optimal control problem in order to determine a feasible path while minimizing brain damage caused by missing follow-the-leader behaviour. Numerical results show the potential of the proposed approach. [ABSTRACT FROM AUTHOR]

Different studies over the last decade have linked the B cell-attracting chemokine CXC ligand 13 ( CXCL13) to the autoimmune disease systemic lupus erythematosus ( SLE). A pathogenetic role of this chemokine for disease manifestation in SLE was described initially in mouse models for SLE. Mechanisms of CXCL13 actions were also identified in SLE patients. Moreover, various clinical studies have identified CXCL13 serum levels as a useful biomarker in patients with SLE of different ethnicities for disease activity. In addition, CXCL13 seems to be a promising marker for the diagnosis of lupus nephritis, one of the most severe complications of SLE. However, its exact place within the mechanisms that lead to SLE remains to be defined. Further research is needed to resolve more details of the pathomechanism and the signalling pathway of CXCL13 in SLE. Blocking CXCL13 or the signal pathways of CXCL13 is seen as a promising therapeutic approach for SLE and will be addressed in the near future. This review summarizes all papers that linked CXCL13 to SLE and highlights its importance in the pathogenesis and diagnosis of SLE [ABSTRACT FROM AUTHOR]

Podocytes maintain the structure and function of the glomerular filtration barrier. However, podocytes have recently been implicated in the innate immune response, and their function as non-haematopoietic antigen-presenting cells was highlighted. We have shown previously that excessive expression of the chemokine CXCL13 is a distinctive early event for nephritis in a murine model of systemic lupus erythematosus ( SLE). Furthermore, we found that CXCL13 is elevated significantly in the serum of patients with SLE-nephritis. In this study, we were able to show for the first time that (i) CXCL13 is expressed locally in glomeruli in a model for SLE-nephritis in mice and that (ii) incubation of human podocytes with CXCL13 induces receptor stimulation of CXCR5 with activation of signalling pathways, resulting in (iii) secretion of proinflammatory cytokines and chemokines in culture supernatant. This cytokine/chemokine cocktail can lead to (iv) a neutrophil respiratory burst in isolated human granulocytes. Taken together, our results provide further evidence that CXCL13 is involved in the pathogenesis of glomerulonephritis and that podocytes can play an active role in local proinflammatory immune responses. Thus, CXCL13 could be a direct target for the therapy of glomerulonephritis in general and for SLE-nephritis in particular. [ABSTRACT FROM AUTHOR]

With the increasing deployment of battery storage devices in residential electricity networks, it is essential that the charging and discharging of these devices be scheduled so as to avoid adverse impacts on the electricity distribution network. In this paper, we propose a non-cooperative, price-based hierarchical distributed optimisation approach that provably recovers the centralised, or cooperative, optimal performance from the point of view of the network operator. The distributed optimisation algorithm provides important insights into the appropriate design of contracts between an energy provider and their associated residential customers, who can themselves act as energy providers as well as consumers (e.g. due to rooftop solar photovoltaics and batteries) depending on the time of the day and on real-time prices. To make the presentation self-contained, and to highlight key properties of the price-based optimisation algorithm, the dual ascent method and its convergence properties are reviewed. The performance of the proposed price-based optimisation algorithm is validated on recent measurement taken from an Australian electricity distribution company, Ausgrid. In addition to analysing the results of the open loop solution, we investigate the effect of real-time prices in the closed loop using a model predictive control framework. [ABSTRACT FROM AUTHOR]