This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the smoothness of maneuvering through cluttered environments, especially targeting low-speed velocity profiles. In such a profile, external aerodynamic effects that are applied on the quadrotor can be neglected. Hence, we used a simplified motion model to represent the motion of the quadrotor when formulating the Nonlinear Model Predictive Control (NMPC)-based local planner. However, the simplified motion model causes residual dynamics between the high-level planner and the low-level controller. The Sparse Gaussian Process Regression-based technique is proposed to reduce these residual dynamics. The proposed technique is compared with Data-Driven MPC. The comparison results yield that an augmented residual dynamics model-based planner helps to reduce the nominal model error by a factor of 2 on average. Further, we compared the proposed complete framework with four other approaches. The proposed approach outperformed the others in terms of tracking the reference trajectory without colliding with obstacles with less flight time without losing computational efficiency.
Acetabular fractures can be classified into 5 simple and 5 associated fracture patterns. A significant amount of variation and complexity exists in these fractures patterns. Fractures of the posterior wall are the most common acetabular fractures. Comminution of the quadrilateral plate adds to fracture instability, and more rigid and stable internal fixation is mandatory. The goal of this study was to assess the results of reconstruction of comminuted posterior wall fractures of the acetabulum associated with quadrilateral plate fractures using the tension band technique. Twelve patients (9 men and 3 women) were included in the study. Mean patient age was 38.6 years (range, 24-47 years). Minimum follow-up was more than 2 years postoperatively. Reconstruction of the fracture included anatomic reduction of the fracture and fixation with a buttress plate for the posterior column and a prebent one-third tubular plate for the quadrilateral plate fracture. Clinical results were excellent in 58% of patients and good in 17% of patients. Radiologic results were excellent in 50% of patients and good in 17% of patients. Radiologically, based on the fracture gap postoperatively, 8 (66%) patients showed anatomic reduction, 2 (17%) showed good reduction, and 2 (17%) showed poor reduction. The study confirms that this method of reconstruction facilitates accurate and firm reduction of displaced posterior wall fractures of the acetabulum.
BackgroundMajor depressive disorder (MDD) is a public health burden that creates a strain not only on individuals, but also on the economy. Treatment-resistant depression in the course of major depressive disorder represents a clinically challenging condition that is defined as insufficient response to two or more antidepressant trails with antidepressants of the same or different classes that were administered at adequate daily doses for at least 4 weeks.Objective/HypothesisTo develop a treatment guideline for Treatment Resistant Depression (TRD).MethodologyExperts in the field gathered and reviewed the available evidence about the subject. Then, a series of meetings were held to create recommendations that can be utilized by Egyptian psychiatrists.ResultsThe guidelines provide recommendations in various clinical settings. It evaluates different situations, such as patients at risk of resistance, those with resistance and recommends strategies to resolve the clinical case.ConclusionThe consensus guidelines will improve the outcomes of patients, as they provide recommendations across various domains that are of concern for the practicing psychiatrist.
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