Generating realistic and controllable agent behaviors in traffic simulation is crucial for the development of autonomous vehicles. This problem is often formulated as imitation learning (IL) from real-world driving data by either directly predicting future trajectories or inferring cost functions with inverse optimal control. In this paper, we draw a conceptual connection between IL and diffusion-based generative modeling and introduce a novel framework Versatile Behavior Diffusion (VBD) to simulate interactive scenarios with multiple traffic participants. Our model not only generates scene-consistent multi-agent interactions but also enables scenario editing through multi-step guidance and refinement. Experimental evaluations show that VBD achieves state-of-the-art performance on the Waymo Sim Agents benchmark. In addition, we illustrate the versatility of our model by adapting it to various applications. VBD is capable of producing scenarios conditioning on priors, integrating with model-based optimization, sampling multi-modal scene-consistent scenarios by fusing marginal predictions, and generating safety-critical scenarios when combined with a game-theoretic solver.
Aim: Early detection of coronavirus disease 2019 (COVID-19) patients who are likely to develop worse outcomes is of great importance, which may help select patients at risk of rapid deterioration who should require high-level monitoring and more aggressive treatment. We aimed to develop and validate a nomogram for predicting 30-days poor outcome of patients with COVID-19. Methods: The prediction model was developed in a primary cohort consisting of 233 patients with laboratory-confirmed COVID-19, and data were collected from January 3 to March 20, 2020. We identified and integrated significant prognostic factors for 30-days poor outcome to construct a nomogram. The model was subjected to internal validation and to external validation with two separate cohorts of 110 and 118 cases, respectively. The performance of the nomogram was assessed with respect to its predictive accuracy, discriminative ability, and clinical usefulness. Results: In the primary cohort, the mean age of patients was 55.4 years and 129 (55.4%) were male. Prognostic factors contained in the clinical nomogram were age, lactic dehydrogenase, aspartate aminotransferase, prothrombin time, serum creatinine, serum sodium, fasting blood glucose, and D-dimer. The model was externally validated in two cohorts achieving an AUC of 0.946 and 0.878, sensitivity of 100 and 79%, and specificity of 76.5 and 83.8%, respectively. Although adding CT score to the clinical nomogram (clinical-CT nomogram) did not yield better predictive performance, decision curve analysis showed that the clinical-CT nomogram provided better clinical utility than the clinical nomogram. Conclusions: We established and validated a nomogram that can provide an individual prediction of 30-days poor outcome for COVID-19 patients. This practical prognostic model may help clinicians in decision making and reduce mortality.
Abstract LncRNA TYMSOS plays an important role in cancers; However, its impact on prostate cancer (PCa) is still unclear. Thus, we analyzed the relationship between TYMSOS expression and PCa using the data from The Cancer Genome Atlas (TCGA) TCGA and Genotype Tissue-Expression (GTEx). Wilcoxon rank serum test and logistic regression were used to compare TYMSOS expression in PCa and normal tissues, and evaluated its correlation with clinicopathological features. Receiver operating characteristic (ROC) curves was used to evaluate the prediction accuracy of TYMSOS. Correlation between TYMSOS expression and prognosis was evaluated using Kaplan-Meier analysis and Cox regression. Gene Set Enrichment Analysis (GSEA), Gene Set Variation Analysis (GSVA) and ImmuCellAI platform were performed to determine biological function, signal pathways, and immune cell infiltration for TYMSOS in PCa. By analyzing the online data, we found that TYMSOS was highly expressed in PCa and associated with T stage , Gleason score, age, and primary therapy outcome. The results of ROC curve showed that TYMSOS has a significant diagnostic ability. Furthermore, Kaplan-Meier analyses suggested that TYMSOS plays an important role in progression-free survival (PFS). Increased TYMSOS expression was an independent risk factor correlated with PFS in PCa patients. GSEA and GSVA indicated that TYMSOS was involved in cell cycles, neurodegenerative diseases, oxidative phosphorylation, spliceosomes, and adaptive immune system pathways. Additionally, TYMSOS expression was also associated with immune cell infiltrates and tumor mutational burden in PCa. The functional experiments were further conducted, and we verified that TYMSOS played an oncogenic role in regulating PCa aggressiveness. Specifically, silencing of TYMSOS suppressed cell proliferation, division and epithelial-mesenchymal transition (EMT), whereas promoted cell apoptosis in the PCa cells, and conversely, TYMSOS overexpression had opposite effects. In summary, our study revealed that TYMSOS could be a biomarker and therapeutic targets in PCa and a participant in tumor-immune cell infiltration.
Abstract The air rudder electromechanical servo system plays a crucial role in ensuring the safe and efficient operation of the aircraft. However, the immeasurable command output and the mismatched channel between input and unknown disturbance bring great challenges to its controller design. To tackle this issue, this study proposes a disturbance compensation‐based feedback linearization servo control strategy. This approach uses a radial basis function neural network‐based nonlinear observer to estimate the immeasurable command output and disturbance. Subsequently, a feedback linearization control algorithm is employed using these estimations to achieve disturbance compensation for the air rudder electromechanical system. Following the Lyapunov stability theorem, it is proved that the stability of the electromechanical servo system under the designed control algorithm can be guaranteed. At last, extensive simulation results are provided to demonstrate the effectiveness of the proposed control approach.
ABSTRACT: In this study, a state of sexual abstinence was imitated in Kunming male mice. Further assessment on the body and prostate weight and histomorphometric changes of the prostate showed that nonbacterial prostatitis in Kunming mice could be induced by long‐term stimuli of passive sexual abstinence, and the normal physiological state of the mice could be kept in the process of induction. The analysis of the result suggests that copulation might be a protective factor in the process of nonbacterial prostatitis. The underlying mechanisms of this model may include immune response on prostate antigen, chronic pelvic congestion, disturbance of hormone regulation, and other mechanisms; this requires confirmation by further research.
Local anesthetic of ropivacaine was demonstrated to reduce the postoperative pain in elderly patients. This study investigated the pharmacokinetics of ropivacaine at different concentrations in elderly patients subjected to fascia iliaca compartment block. Forty patients with femoral neck fracture at American Society of Anesthesiologists (ASA) I-II status, undergoing fascia iliaca compartment block (FICB) were randomized to two groups receiving 0.7 ml/kg of solution containing 0.375% ropivacaine (group L) or 0.5% ropivacaine (group H). Samples of venous blood were obtained immediately at different time points after FICB, and the total and free plasma concentrations of ropivacaine were measured by liquid chromatography-electrospray ionization-tandem mass spectrometry (LC-ESI-MS/MS). Statistical analysis was carried out using a pharmacokinetic calculation program (DAS 3.0). Visual Analogue Scale (VAS) scores were significantly decreased after FICB in both groups, and VAS score in group H was lower compared with group L. The total maximum plasma concentration (Cmax) and the free Cmax of ropivacaine in group H was higher than that in group L (P<0.05). The decrease of the total and free plasma concentration was operation time-dependent. Neither group showed signs of central nervous system and circulatory system toxicity. On the basis of these results, the concentrations of 0.375 and 0.5% ropivacaine held an efficiently analgesic effect for FICB, suggesting that ropivacaine can be employed in analgesic therapy. However, both concentrations have a potentially theoretical risk of local anesthetics poisoning, suggesting that a lower concentration may be a safer option for a single large volume of FICB.
Objective:Compare the effect and safety of bzalkonium bromide(BB) and pirarubicin(THP) by bladder instillation after transurethral resection or partial cyslectomy of superficial bladder transient cell carcinoma(SBTCC).Methods:120 patients of SBTCC who underwent transurethral resection of bladder tumor(TURBt) or partial cyslectomy were divided into 2 groups.BB group(60 cases) received intravesical instillation of 0.1% bzalkonium bromide 300 ml and retained for 15 min for one time.THP group(60 cases) received intravesical instillation of 30 mg THP plus 50 ml NS once a week,8 weeks later once a month for 1 year.Cystoscopy was performed every 3 months,1 year later once 6 months and side effects were monitored.Results:All patients were followed up 24 months.The tumor recurrent rate in BB group and THP group were 6.6% and 20.0%,respectively.The tumor recurrent rate of the bzalkonium bromide differed significantly from the pirarubicin group(P0.05).There was a significant difference in the recurence rate between well and poorly differentiated tumor,single and multiple tumors,primary and recurring tumor,tumor intravesical instillation of BB and THP(P0.05),but no difference of recurence rate was found between different tumor size and operative method.The side effects rate of the two groups,BB group was lower than THP group in the lower urinary tract symptoms,haematuria and abnormal blood WBC(P0.05),but there was no significant difference between 2 groups in liver function and kidney function.Conclusions:Intravesical administration of bzalkonium bromide after operation was more effective than THP,which had the merit of low cost and was well-tolerated for preventing tumor recurrence with not obvious side effects.The clinical ramifications of these findings need to be addressed as the follow-up time was short.
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