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In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures the uncertainty of surrounding vehicles by online estimation of their acceleration bounds, enabling a reactive but rapid understanding of the uncertainty chara
Planning and navigation in real-time traffic is challenging, since the driving environment (e.g., road network and infrastructure) is complex and the accurate prediction of surrounding vehicles is hard. To address this, this paper proposes an environment and uncertainty-aware robust motion-planning strategy. The method achieves environment awareness by considering road-geometry constraints in the
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this article, an efficie
The critique of the legal form of capitalism by E. B. Pashukanis has risen to prominence once again. However, the negative origin of the concept of the legal form, the critique of formalism and instrumentalism, has received too little attention. This essay substantiates the significance of Pashukanis’s critique, avoiding both overly general and narrow conceptions. Moreover, it proposes that his negThe critique of the legal form of capitalism by E. B. Pashukanis has risen to prominence once again. However, the negative origin of the concept of the legal form, the critique of formalism and instrumentalism, has received too little attention. This essay substantiates the significance of Pashukanis’s critique, avoiding both overly general and narrow conceptions. Moreover, it proposes that his ne
High-pressure homogenizers are prone to cavitation, which causes wear and influences breakup efficiency. However, the inception point, as well as the extent and intensity, depends on geometry, operation, and fluid properties. While several methods have been previously suggested to characterize cavitation in homogenizer valves (including ultrasonic methods), they have required highly specialized, s
Background: The Cardiovascular Outcomes for People Using Anticoagulation Strategies (COMPASS) trial enrolled patients with vascular disease but excluded patients requiring oral anticoagulation. Objective: We aimed to explore the clinical significance of a new diagnosis of atrial fibrillation (AF) during follow-up. Methods: New AF was identified from hospitalization, study drug discontinuation, and
This paper examines the linguistic relativity principle (Whorf, 1956) by investigating the impact of grammatical gender on cognition in simultaneous bilinguals of three-gendered Ukrainian and Russian. It examines whether speakers of three-gendered languages show grammatical gender effects on categorisation, empirically addressing claims that such effects are insignificant due to the presence of th
INTRODUCTION: The Alzheimer's Association Global Biomarker Standardization Consortium conducted a blinded case–control study to learn which phosphorylated tau (p-tau) assays provide the largest fold-changes in Alzheimer's disease (AD) versus non-AD and show commutability in measuring patient samples and candidate certified reference materials (CRMs). METHODS: Thirty-three different p-tau assays me
In recent years, Sweden has seen substantial changes to its building designs, especially regarding the envelope and ventilation systems, across both renovations and new constructions. Although enhancements like better insulation and new building materials have boosted energy efficiency, they have also led to moisture-related problems such as stains, mold, and decay. To address these issues, heat a
Aim: Accumulated data suggest that routine use of defunctioning stoma in low anterior resection for rectal cancer may cause kidney injury, bowel dysfunction and a higher risk of permanent stomas. We aim to study whether avoidance of a diverting stoma in selected patients is safe and reduces adverse consequences. Methods: SELSA is a multicentre international prospective observational study nesting
Aims/hypothesis: Low birthweight (LBW) is associated with younger age, less obesity and more hypertension among people recently diagnosed with type 2 diabetes, as well as increased cardiovascular morbidity and mortality risk. It is not known whether LBW is associated with an increased risk of incident chronic kidney disease (CKD) among people with a type 2 diabetes diagnosis. Methods: Original mid
Background and objective: Guideline recommendations regarding early management of grade group (GG) 2 prostate cancer with confirmatory biopsy (cBx) are not well established. Our aim was to determine which patients with GG 2 cancer should undergo cBx before treatment decision-making by evaluating the probability of downgrading to GG 1 or no cancer on cBx. Methods: This was a single-institution retr
Introduction: The infarcted heart is energetically compromised exhibiting a deficient production of adenosine triphosphate (ATP) and the ensuing impaired contractile function. Short-term blockade of the protein S100A9 improves cardiac performance in mice after myocardial infarction (MI). The implications upon ATP production during this process are not known. Objectives: This study evaluates whethe
Objectives: IgA vasculitis (IgAV) in adults has been relatively under-investigated. Since outcomes are worse in other forms of vasculitis with increasing age, we investigated the outcomes of IgAV comparing younger adults (18-34), middle-aged adults (35-64) and elderly patients (≥64 years) focusing on kidney outcomes. Methods: We identified patients with renal biopsy-confirmed IgAV nephritis and co
