Abstract-We present a navigation function through which a group of mobile agents can be coordinated to achieve a particular formation, both in terms of shape and orientation, while avoiding collisions between themselves and with obstacles in the environment. Convergence is global and complete, subject to the constraints of the navigation function methodology. Algebraic graph theoretic properties associated with the interconnection graph are shown to affect the shape of the navigation function. The approach is centralized but the potential function is constructed in a way that facilitates complete decentralization. The strategy presented will also serve as a point of reference and comparison in quantifying the cost of decentralization in terms of performance.

Background and aims. Early Childhood Caries (ECC) is a public health problem with biological, social and behavioural determinants and the notion that the principal etiology is inappropriate feeding modalities is no longer tenable. Hence this study was undertaken to assess the relationship between ECC and socio-demographic factors, dietary habits, oral hygiene habits and parental characteristics.Materials and methods. The study involved a dental examination of 1400 children aged 0-71 months, recording caries using Gruebbel’s deft index and a structured questionnaire to interview parents or caretakers. The tabulated data was statistically analyzed using t-test and ANOVA at 5% level of significance.Results. The variables significantly associated with ECC were age (P<0.001), geographical location (P<0.05), duration of breast/bottle feeding (P<0.001), use of sweetened pacifiers (P<0.001), frequency of snacking (P<0.05), frequency of tooth brushing (P<0.001), the person responsible for child’s oral health care (P<0.05) and education level of parents (P<0.05). However, other variables like child’s gender, number of siblings, types of snack the child preferred and age at which tooth brushing was instituted did not have statistically significant relationship with ECC (P>0.05).Conclusion. ECC is preventable and manageable with proper information and skills. It is important for healthcare professionals, family physicians and parents to be cognizant of the involved risk factors as their preventive efforts represent the first line of defense.

Abstract-We develop decentralized cooperative controllers, which are based on local navigation functions and yield (almost) global asymptotic stability of a group of mobile agents to a desired formation and simultaneous collision avoidance. The formation could be achieved anywhere in the free space; there are no pre-specified final positions for the agents and is rendered stable both in terms of shape and in terms of orientation. Shape and orientation stabilization is possible because the agents regulate relative positions rather than distances with respect to their network neighbors. Asymptotic stability is provable and guaranteed, once the parameters in the local navigation functions are tuned based on the geometry of the environment and the degree of the interconnection network. Feedback controllers steer the agents away from stationary point-obstacles and into the desired formation using information that can be obtained within their sensing neighborhood and through communication with their network neighbors. The methodology is tested in simulation where groups of three and four mobile agents come into formations of triangles and diamonds, navigating amongst obstacles.

ObjectiveIvermectin has been suggested as a treatment for COVID-19.This randomised control trial was conducted to test the efficacy of Ivermectin in the treatment of mild and moderate COVID-19.DesignParallel, double blind, randomised, placebo controlled trial Setting: A tertiary care dedicated COVID-19 hospital in Bihar, IndiaParticipantsAdult patients (> 18 years) admitted with mild to moderate COVID 19 disease (saturation > 90% on room air, respiratory rate < 30 and no features of shock) with no contraindications to ivermectin and willing to participate in the studyInterventionPatients in the intervention arm were given ivermectin 12 mg on day 1 and day 2 of admission. Patients in the placebo arm were given identical looking placebo tablets. Rest of the treatment was continued as per the existing protocol and the clinical judgment of the treating teams.Outcome MeasuresThe primary outcome measure was a negative RT-PCR test for SARS-CoV-2 on day 6 of admission. The secondary outcome measures were symptom status on day 6, discharge status on day 10, admission to ICU, need for invasive mechanical ventilation and in-hospital mortality.ResultsA total of 115 patients were enrolled for the study of which 112 were included in the final analysis. Of them, 55 were randomised to the intervention arm while 57 were randomised to the placebo arm. There was no significant difference in the baseline characteristics of the two arms. There was no significant difference in the primary outcome, i.e. negative RT-PCR status on day 6 between the two groups. Similarly, there was no significant difference between the two groups in most of the secondary outcome measures, viz. symptom status on day 6, discharge status on day 10, admission to ICU, and need for invasive mechanical ventilation. However, while there was no in-hospital mortality in the intervention arm, there were 4 deaths in the placebo arm. As a result, all patients in the intervention arm (n=56) were successfully discharged as compared to 93.1% (n=54/58) in the placebo arm (RR 1.1, 95% CI 1.0 to 1.2, p=0.019).ConclusionThere was no difference in the primary outcome i.e. negative RT-PCR status on day 6 of admission with the use of ivermectin. However, a significantly higher proportion of patients were discharged alive from the hospital when they received ivermectin.Strengths and Limitations of the StudyThis study was randomised and double blind, thereby minimizing the chance of bias.All outcome measures except symptom status on day 6 were objective and placebo control was used for comparison.Only single repeat RT-PCR was done. So median time to viral clearance in the two groups could not be calculated.Severe cases were not included in the study.

Objective To determine the relative benefit of mirror therapy and mental imagery in phantom limb pain. Design Prospective randomized controlled trial. Setting Physical Medicine and Rehabilitation Department, All India Institute of Medical Sciences, Patna. Participants Amputees (N=92) with no significant difference in baseline characteristics. There was a male predominance in both groups (mirror therapy: 36 men, 10 women; mental imagery: 37 men, 9 women). Intervention Patients of both groups underwent a conventional amputee rehabilitation program and daily treatment of either mirror therapy or mental imagery on a regular basis, first in a rehabilitation care unit and later at home. Main Outcome Measures Phantom limb pain (PLP) was measured by visual analog scale (VAS) score at baseline (0) and at 4, 8, and 12 months. Results This study included 92 patients ranging in age from 12 to 75 years (average, 34.79y). There was no significant difference in VAS score between the groups at baseline, but we found a significant reduction of pain in both groups at follow-up. However, upon comparing the improvement in both groups, we determined that the mirror therapy group had better improvement (from 7.07±1.74 to 2.74±0.77) compared with the mental imagery group (from 7.85±0.76 to 5.87±1.41). Conclusions Mirror therapy and mental imagery are both good and cost-effective rehabilitation aids for amputee patients to reduce PLP, but mirror therapy appears to be more effective than mental imagery.