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The Kalman filter variants extended Kalman filter (EKF) and error-state Kalman filter (ESKF) are widely used in underwater multi-sensor fusion applications for localization and navigation. Since these filters are designed by employing first-order Taylor series approximation in the error covariance matrix, they result in a decrease in estimation accuracy under high nonlinearity. In order to address this problem, we proposed a novel multi-sensor fusion algorithm for underwater vehicle localization that improves state estimation by augmentation of the radial basis function (RBF) neural network with ESKF. In the proposed algorithm, the RBF neural network is utilized to compensate the lack of ESKF performance by improving the innovation error term. The weights and centers of the RBF neural network are designed by minimizing the estimation mean square error (MSE) using the steepest descent optimization approach. To test the performance, the proposed RBF-augmented ESKF multi-sensor fusion was compared with the conventional ESKF under three different realistic scenarios using Monte Carlo simulations. We found that our proposed method provides better navigation and localization results despite high nonlinearity, modeling uncertainty, and external disturbances.

Transversus abdominis plane (TAP) block is a regional anesthetic technique used to desensitize the abdominal wall in several species. This study aimed to describe the anatomical characteristics of the abdominal wall and to identify a feasible approach for an US-guided TAP injection that would result in adequate staining of the relevant nerves in the abdominal wall in pig cadavers. Fresh cadavers from five Landrace pigs (age, 12 weeks; body weight, 35.5 ± 1.6 kg) were used. One pig (n = 1) was anatomically dissected, and four pigs (n = 4; i.e., 8 hemiabdomens) were used for TAP injections and evaluation of dye spread. The volume of 0.3 mL/kg/injection point of methylene blue was injected bilaterally. In the caudal retrocostal approach, the injection was performed ventral to the most caudal part of the costal arch. In the lateral approach, the injection was performed between the last rib and iliac crest. A needle was inserted in plane for the caudal retrocostal and the lateral approach caudocranially and craniocaudally, respectively. Successful staining was defined as presence of dye on the nerve for a length of >1 cm in its entire circumference. The TAP was found between different muscle layers in the described anatomical regions. In the caudal retrocostal approach the TAP was found between the external abdominal oblique and transversus abdominis muscle bellies. In the lateral approach the TAP was found between the internal abdominal oblique and transversus abdominis muscles. The approach combining lateral and caudal retrocostal injections at the studied volume stained a median of 5 (3–6) target nerves from the fourth-last thoracic nerve to L2 (six nerves). Combined caudal retrocostal and lateral TAP injections of 0.3 mL/kg/injection point, resulted in staining of target nerve branches which supply the periumbilical and caudal abdominal wall in pig cadavers.

This study aimed to describe the anatomical distribution of dye injected in the erector spinae plane (ESP) in a porcine living model, which could aid to reveal factors potentially relevant to the unexplained clinical effects of the ESP block. Six pigs received 0.6 mL/kg of 0.25% new methylene blue at the level of the sixth thoracic vertebra through either a cranial-to-caudal or a caudal-to-cranial in-plane ultrasound-guided bilateral ESP injection 20 min before euthanasia.Spread of dye evaluated through transverse cryosections (four injections) extended from T5 to T10 and from T5 to T8 when a cranial-to-caudal direction of injection was used, and from T5 to T9 and from T5 to T8 when the opposite direction of injection was used. A median of 4.5 medial and lateral branches of the dorsal rami was observed stained through anatomical dissection (eight injections), regardless of the direction of injection. No evidence of dye was found in the thoracic paravertebral or epidural spaces, where the dorsal root ganglia, ventral rami and rami communicantes are located. In all the cases, dye solution was found in the prevertebral thoracic lymph nodes.In this study, ESP injection resulted in a median spread over five spinal segments (12 injections), staining the lateral and medial branches of the dorsal rami of the spinal nerves, regardless of the direction of the needle used.

The purpose of this study was to compare cardiovascular and respiratory effects of two volumes of bupivacaine 0.25% (0.2 mL kg-1-treatment BUP02-and 0.4 mL kg-1 -treatment BUP04) administered epidurally at the lumbosacral intervertebral space in dogs anesthetized with isoflurane. This experimental prospective randomized crossover design trial used six mixed breed adult dogs, four neutered males and two spayed females. Each dog was anesthetized on three different occasions: the first for isoflurane minimum alveolar concentration (MAC) measurement, and the following two assigned treatments (BUP02 or BUP04). On the two treatment days, anesthesia was induced and maintained with isoflurane at 1.3 MAC during the experiments. Cardiovascular and respiratory measurements were recorded before (T0) and 5, 15, 30, 60 and 90 minutes after the epidural administration of bupivacaine. Comparisons between and within groups were performed by a mixed-model ANOVA and Friedman's test when appropriate followed by Bonferroni post-hoc test or Dunnet's test to compare time points within each treatment with T0 (p < 0.05). Mean arterial pressure decreased significantly from 15 to 90 minutes after the administration of BUP02 and from 5 to 60 minutes in BUP04, with lower values in BUP04 than in BUP02 lasting up to 30 minutes after bupivacaine administration. No significant changes in cardiac output and systemic vascular resistance were observed in either treatment. Hypoventilation was only detected in BUP04. Hemoglobin concentration and arterial oxygen content decreased after both treatment of bupivacaine with no significant decrease in oxygen delivery. Two dogs in BUP04 developed Horner's syndrome. The epidural administration of 0.4 mL.kg-1 of bupivacaine to dogs in sternal recumbency anesthetized with isoflurane 1.3 MAC caused more cardiovascular and respiratory depression than 0.2 mL.kg-1.

Electronic manufacturing and design companies maintain test sites for a range of products. These products are designed according to the end-user requirements. The end user requirement, then, determines which of the proof of design and manufacturing tests are needed. Test sites are designed to carry out two things, i.e., proof of design and manufacturing tests. The team responsible for designing test sites considers several parameters like deployment cost, test time, test coverage, etc. In this study, an automated test site using a supervised machine learning algorithm for testing an ultra-high frequency (UHF) transceiver is presented. The test site is designed in three steps. Firstly, an initial manual test site is designed. Secondly, the manual design is upgraded into a fully automated test site. And finally supervised machine learning is applied to the automated design to further enhance the capability. The manual test site setup is required to streamline the test sequence and validate the control and measurements taken from the test equipment and unit under test (UUT) performance. The manual test results showed a high test time, and some inconsistencies were observed when the test operator was required to change component values to tune the UUT. There was also a sudden increase in the UUT quantities and so, to cater for this, the test site is upgraded to an automated test site while the issue of inconsistencies is resolved through the application of machine learning. The automated test site significantly reduced test time per UUT. To support the test operator in selecting the correct component value the first time, a supervised machine learning algorithm is applied. The results show an overall improvement in terms of reduced test time, increased consistency, and improved quality through automation and machine learning.

The current COVID-19 pandemic has led the world to an unprecedented global shortage of ventilators, and its sharing has been proposed as an alternative to meet the surge. This study outlines the performance of a preformed novel interface called ’ACRA’, designed to split ventilator outflow into two breathing systems. The ’ACRA’ interface was built using medical use approved components. It consists of four unidirectional valves, two adjustable flow-restrictor valves placed on the inspiratory limbs of each unit, and one adjustable PEEP valve placed on the expiratory limb of the unit that would require a greater PEEP. The interface was interposed between a ventilator and two lung units (phase I), two breathing simulators (phase II) and two live pigs with heterogeneous lung conditions (phase III). The interface and ventilator adjustments tested the ability to regulate individual pressures and the resulting tidal volumes. Data were analyzed using Friedman and Wilcoxon tests test (p < 0.05). Ventilator outflow splitting, independent pressure adjustments and individual tidal volume monitoring were feasible in all phases. In all experimental measurements, dual ventilation allowed for individual and tight adjustments of the pressure, and thus volume delivered to each paired lung unit without affecting the other unit’s ventilation—all the modifications performed on the ventilator equally affected both paired lung units. Although only suggested during a dire crisis, this experiment supports dual ventilation as an alternative worth to be considered.

The performance of the coded generalized frequency division multiplexing (GFDM) transceiver has been evaluated in a shallow underwater acoustic channel (UAC). Acoustic transmission is the scheme of choice for communication in UAC since radio waves suffer from absorption and light waves scatter. Although orthogonal frequency division multiplexing (OFDM) has found its ground for multicarrier acoustic underwater communication, it suffers from high peak to average power ratio (PAPR) and out of band (OOB) emissions. We propose a coded-GFDM based multicarrier system since GFDM has a higher spectral efficiency compared to a traditional OFDM system. In doing so, we assess two block codes, namely Bose, Chaudari, and Hocquenghem (BCH) codes, Reed-Solomon (RS) codes, and several convolutional codes. We present the error performances of these codes when used with GFDM. Furthermore, we evaluate the performance of the proposed system using two equalizers: Matched Filter (MF) and Zero-Forcing (ZF). Simulation results show that among the various block coding schemes that we tested, BCH (31,6) and RS (15,3) give the best error performance. Among the convolutional codes that we tested, rate 1/4 convolutional codes give the best performance. However, the performance of BCH and RS codes is much better than the convolutional codes. Moreover, the performance of the ZF equalizer is marginally better than the MF equalizer. In conclusion, using the channel coding schemes with GFDM improves error performance manifolds thereby increasing the reliability of the GFDM system despite slightly higher complexity.

Cadherin 17 (CDH17) plays a crucial role in the metastatic progression of colorectal cancer (CRC) through its interaction with α2β1 integrin and desmocollin 1. To further elucidate the molecular mechanisms involving CDH17 functions in CRC, we examined global expression alterations following CDH17 silencing in various metastatic cell lines. Loss of CDH17 resulted in a marked down-regulation of the intestinal cancer stem cell (CSC) marker LGR5, leading to the inhibition of Wnt/β-catenin signaling, suppression of pluripotency genes such as MYC, and a subsequent reduction in stemness properties. Treatment with CDH17/integrin blocking antibodies produced similar effects, decreasing both, LGR5 expression and Wnt signaling. CDH17 silencing also down-regulated various transporters associated with drug-resistance, including the glutamine-transporter SLC38A5. Consequently, the loss of CDH17 increased sensitivity to 5-FU, irinotecan, oxidative stress and anoikis in CRC cells. Notably, SLC38A5 silencing was necessary for CDH17-driven effects on drug resistance and survival. Pharmacological inhibition of SLC38A5 with amiloride, significantly increased cell sensitivity to 5-FU and irinotecan, and improved mouse survival in metastasis models. In conclusion, CDH17 plays a crucial role in maintaining colorectal cancer cell stemness and chemoresistance via LGR5/Wnt/MYC signaling and SLC38A5 expression. These findings underscore the therapeutic potential of CDH17 targeting in metastatic CRC, and support the use of amiloride for inhibiting liver metastasis.

In underwater wireless sensor networks (UWSNs), localization and time synchronization are vital services that have been tackled independently. By combining localization and time synchronization, could save nodes energy and improve accuracy jointly. Therefore, it is of great significance to study joint synchronization and localization of underwater sensors with low energy consumption. In this paper, we propose the energy-efficient joint framework of localization and time synchronization, in which the stratification effect is considered by using a ray-tracing approach. Based on Snell’s law, ray tracing is applied to compensate for the variation of sound speed, this is one of the contributions of this article. Another contribution of this article is the iteration process which is used to improve the accuracy of localization and time synchronization. Simulation results show that the proposed joint approach outperforms the existing approaches in both energy efficiency and accuracy. This study also calculates Cramer-Rao lower bound to prove the convergence of the proposed technique along with the calculation of complexity of the proposed algorithm to show that the provided study takes less running time compared to the existing techniques.