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This paper aims to propose a solution to the feasible-trajectory planning problem for a tracked mobile robot subject to non-negligible skidding and slipping effects and whose control system, sensors and actuators are connected through a communication network. A trajectory is defined in terms of succession of linear segments with a prescribed crossing velocity and the trajectory feasibility is guaranteed in terms of sufficient conditions by recurring to set-based arguments formulated in terms of solution of semi-definite programming minimization problems (SDP) involving linear matrix inequalities (LMI) constraints. In order to show the effectiveness of proposed solution a campaign of numerical and experimental simulations involving the mobile robot V4 Jaguar by Dr.Robot is carried out.

Background Hypoxia plays a relevant role in tumor-related inflammation toward the metastatic spread and cancer aggressiveness. The pro-inflammatory cytokine interleukin-1β (IL-β) and its cognate receptor IL1R1 contribute to the initiation and progression of breast cancer determining pro-tumorigenic inflammatory responses. The transcriptional target of the hypoxia inducible factor-1α (HIF-1α) namely the G protein estrogen receptor (GPER) mediates a feedforward loop coupling IL-1β induction by breast cancer-associated fibroblasts (CAFs) to IL1R1 expression by breast cancer cells toward the regulation of target genes and relevant biological responses. Methods In order to ascertain the correlation of IL-β with HIF-1α and further hypoxia-related genes in triple-negative breast cancer (TNBC) patients, a bioinformatics analysis was performed using the information provided by The Invasive Breast Cancer Cohort of The Cancer Genome Atlas (TCGA) project and Molecular Taxonomy of Breast Cancer International Consortium (METABRIC) datasets. Gene expression correlation, statistical analysis and gene set enrichment analysis (GSEA) were carried out with R studio packages. Pathway enrichment analysis was evaluated with Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway. TNBC cells and primary CAFs were used as model system. The molecular mechanisms implicated in the regulation of IL-1β by hypoxia toward a metastatic gene expression profile and invasive properties were assessed performing gene and protein expression studies, PCR arrays, gene silencing and immunofluorescence analysis, co-immunoprecipitation and ChiP assays, ELISA, cell spreading, invasion and spheroid formation. Results We first determined that IL-1β expression correlates with the levels of HIF-1α as well as with a hypoxia-related gene signature in TNBC patients. Next, we demonstrated that hypoxia triggers a functional liaison among HIF-1α, GPER and the IL-1β/IL1R1 signaling toward a metastatic gene signature and a feed-forward loop of IL-1β that leads to proliferative and invasive responses in TNBC cells. Furthermore, we found that the IL-1β released in the conditioned medium of TNBC cells exposed to hypoxic conditions promotes an invasive phenotype of CAFs. Conclusions Our data shed new light on the role of hypoxia in the activation of the IL-1β/IL1R1 signaling, which in turn triggers aggressive features in both TNBC cells and CAFs. Hence, our findings provide novel evidence regarding the mechanisms through which the hypoxic tumor microenvironment may contribute to breast cancer progression and suggest further targets useful in more comprehensive therapeutic strategies.

This study assessed a technology-aided program for supporting leisure occupation in persons with mild or moderate Alzheimer’s disease. Eleven participants were included in the study. At the start of the sessions with the program, a computer presented visually and verbally the leisure options available (i.e., music, comedy, films, and television shows). As soon as the participant selected an option (e.g., music) by activating a simple microswitch, the computer presented three or four related alternatives (e.g., singers). Selection of a singer led the computer to present three or four songs of that singer. Selection of a song led the computer to play it and then to reset for a new choice sequence provided that the session time was not ended. All participants succeeded in using the program, activating leisure events (e.g., songs and comedy sketches), and being positively engaged for most of the sessions’ time. Twenty-two staff who were interviewed about the program provided highly positive scores for it and expressed personal interest in applying it. The technology-aided program seems to be a practical resource to support independent leisure occupation in persons with mild or moderate Alzheimer’s disease.

Background Urachal carcinoma is an uncommon neoplasm associated with poor prognosis. Case presentation A 45-year-old man was admitted with complaints of abdominal pain and pollakisuria. A soft mass was palpable under his navel. TC-scan revealed a 11 × 6 cm tumor, which was composed of a cystic lesion arising from the urachus and a solid mass component at the urinary bladder dome. The tumor was removed surgically. Histological examination detected poor-differentiated adenocarcinoma, which had invaded the urinary bladder. The patient has been followed up without recurrence for 6 months. Conclusion The urachus is the embryological remnant of urogenital sinus and allantois. Involution usually happens before birth and urachus is present as a median umbilical ligament. The pathogenesis of urachal tumours is not fully understood. Surgery is the treatment of choice and role of adjuvant treatment is not clearly understood.

The Riedel’s thyroiditis is an uncommon form of chronic thyroiditis characterized by an invasive fibrosclerosis of the gland, often involving the surrounding tissues. Usually, the only possible treatment is the surgical decompression of the tissues. We describe a case of aggressive Riedel’s thyroiditis with severe compression and dislocation of thrachea and esophagus. The surgical approach was uneffective, while an “ex juvantibus” steroid treatment, resulted in a dramatic regression of fibrosclerosis and a complete clinical remission. This report points out the possible effectiveness of corticosteroids in the treatment of selective disorders involving increased fibrogenesis.

A crystalline modification of the title compound (C17H19NO4) was determined by three-dimensional X-ray analysis from diffractometer data. Crystal data: monoclinic,Cc,a=15.997(12) A,b=7.929(7) A,c=14.664(11) A,β=118.70(5)°,Z=4;Dx=1.227 Mg m−3,μ(MoKα)=0.094 mm−1. FinalR=0.068 for 852 observed reflections. The dimethylphenyl ring is strongly twisted (94.9°) with respect to the amidic plane of the molecule, which almost coincides with the furan ring (6.9°).

The crystal structure of the title compound (C15H19NO4, MW 277.3 amu) was determined by three-dimensional X-ray analysis from diffractometer data. Crystal data are: monoclinic,P21/n,a=9.600(3) A,b=11.964(6) A,c=12.802(4) A,β=101.25(3)°,V=1442.1(16) A3,Z=4;Dx=1.277 Mg m−3;μ(MoKα)=0.10 mm−1. FinalR=0.055 for 1686 observed reflections having 2θ (MoKα) 2.5 σ(I). The compound is isostructural withN-(2-methoxyacetyl)-N-(2,6-xylyl)-3-amino-1,3-oxazolidin-2-one. The dimethylphenyl ring is almost perpendicular to the amidic plane of the molecule (dihedral angle 81.9°); the butyrolactone ring is in the typical envelope conformation.

E stato condotto uno studio su un gruppo di 296 pazienti affetti da atopia respiratoria residenti nella provincia di La Spezia. I soggetti erano sottoposti a prick test e/o RAST. Veniva considerata l'incidenza dei singoli allergeni. Dai dati emerge l'importanza delle Graminacee quali maggior responsabili di sensibilizzazioni al contrario di altre zone della Liguria ove e predominante la Parietaria.

The crystal structure of the title compound (C14H18N2O4) was determined by three-dimensional X-ray analysis from diffractometer data. Crystal data are: monoclinic,P21/n,a=9.363(1) A,b=12.715(1) A,c=12.360(1) A,β=102.64(10)°,Z=4,D x =1.288 Mg m−3,μ(MoKα)=0.10 mm−1. FinalR=0.062 for 1175 observed reflections. The dimethylphenyl group and the planar portion of the oxazolidinone ring are steeply inclined to the amidic plane of the molecule (76.0° and 66.5°, respectively); the oxazolidinone ring is in a half-chain form.