In the current investigation, a two-stage hybridization model has been used for the motion planning of humanoids in complex environmental conditions using regression analysis and the firefly algorithm. In the first step, sensory outputs are fed to the regression model, and an initial turning angle (ITA) is obtained. In the second step, the ITA is again fed as input to the firefly model along with other required inputs, and the final turning angle (FTA) is obtained. The FTA serves as the guiding parameter for the humanoids to reach their desired destinations. The developed motion planning scheme has been implemented on NAO humanoid robots in simulation and experimental platforms. A Petri-Net control strategy has been integrated along with the hybrid scheme while negotiating multiple humanoids in a common platform. The results obtained from the motion planning analysis in simulation and experimental arenas are compared against each other in terms of selected navigational parameters and observed satisfactory agreements. Finally, the proposed hybrid controller is also tested against another standard navigational model and substantial enhancement in the performance has been noticed.

If groundwater enters a damaged canister and comes in contact with the spent fuel, radionuclides are released into the water in the void inside the canister when fuel dissolves. Solubility limits restrict the amount of radioelements that may migrate with the water flowing from the canister. In this study the impact of variability in groundwater chemistry compositions and the impact of uncertainties in thermodynamic data on solubility limits for Np, Pb, Pu, Ra, Se, Th, U and Zr were looked into. The solubility limits for all the studied radioelements seemed to be more sensitive to uncertainties in thermodynamic data than to differences in groundwater chemistry. The sole exception was radium, where variability in water composition has a somewhat larger impact. Radium is also the most safety critical element in the safety assessment SR-Site and groundwater compositions are expected to vary during the assessment period of one million years.

Objectives: The objective of this study was to estimate the cost-effectiveness of infliximab use in patients with rheumatoid arthritis (RA) in Swedish clinical practice, based on patient-level data from the Stockholm TNF-alpha follow-up registry (STURE).

Methods: Real-world patient-level data on infliximab use from the STURE registry were implemented in a Markov cohort model, in which health states of functional status were classified according to the Health Assessment Questionnaire Disability Index (HAQ—five categories) and twenty-eight joint count Disease Activity Score (DAS28). The transition probabilities between HAQ and DAS28 states during treatment, as well as discontinuation rates were modeled based on data from the registry for patients using infliximab as their first-line biological treatment. The transition probabilities in the comparator arm, that is, disease progression without biologic treatment, as well as mortality rates, costs, and utilities were based on published literature. The analysis had a societal cost perspective.

Results: Infliximab was associated with an incremental gain in quality-adjusted life-years of 1.02 and an incremental cost of €23,264 per patient compared with progression without biologic treatment, producing an incremental cost-effectiveness ratio (ICER) of €22,830 (SEK211,136 or US$31,230). Sensitivity analyses of input parameters and model assumptions produced ICERs in the range from €18,000 to €47,000.

Conclusions: Results from base-case and sensitivity analyses fell well below established benchmarks for cost-effectiveness in Sweden. The results, therefore, indicated that infliximab treatment for RA has provided good societal value for money in Swedish clinical practice, compared with a scenario of no biological treatment.

Concentrations of Ra in groundwater was thought to be affected by substitution reactions with alkaline earth elements contained in a mineral, because the concentration of Ra is less than the solubility of known Ra containing phases. The substitution reaction was simulated using a partition coefficient. Calcite is a dominant mineral to react with Ra in a geological disposal system. However, previous identification of reactive layers of calcite or reversibility of the substitution reaction has not been confirmed. A re-distribution experiment was therefore undertaken and it was found that an estimated 21±13 layers near the surface were reactive and within them substitution equilibrium was achieved. Using these results, a model to estimate Ra concentration was established and adopted to analyze Ra migration. The effects of substitution of Ra and Ca were reasonably simulated.

Inflammatory responses occur within tissue microenvironments, with functional contributions from both haematopoietic (lymphocytic) cells and stromal cells (including macrophages and fibroblasts). These environments are complex – a compound of many different cell types at different stages of activation and differentiation. Traditional models of inflammatory disease highlight the role of antigen-specific lymphocyte responses and attempt to identify causative agents. However, recent studies have indicated the importance of tissue microenvironments and the innate immune response in perpetuating the inflammatory process. The prominent role of stromal cells in the generation and maintenance of these environments has begun to challenge the primacy of the lymphocyte in regulating chronic inflammatory processes. Sensible enquiries into factors regulating the persistence of inflammatory disease necessitate an understanding of the mechanisms regulating tissue homeostasis and remodelling during inflammation. This article highlights recent insights into the factors regulating dynamic aspects of inflammation, focusing particularly on mononuclear cell infiltrates, their interactions with stromal cells in tissues and the relevance of these interactions to existing and possible future therapies. A key feature of current research has been a growing appreciation that disordered spatial and temporal interactions between infiltrating immune cells and resident stromal cells lie at the heart of disease persistence.