Sepsis is a major public and global health concern. Every hour of delay in detecting sepsis significantly increases the risk of death, highlighting the importance of accurately predicting sepsis in a timely manner. A growing body of literature has examined developing new or improving the existing machine learning (ML) approaches for timely and accurate predictions of sepsis. This study contributes to this literature by providing clear insights regarding the role of the recency and adequacy of historical information in predicting sepsis using ML. To this end, we implemented a deep learning model using a bidirectional long short-term memory (BiLSTM) algorithm and compared it with six other ML algorithms based on numerous combinations of the prediction horizons (to capture information recency) and observation windows (to capture information adequacy) using different measures of predictive performance. Our results indicated that the BiLSTM algorithm outperforms all other ML algorithms and provides a great separability of the predicted risk of sepsis among septic versus non-septic patients. Moreover, decreasing the prediction horizon (in favor of information recency) always boosts the predictive performance; however, the impact of expanding the observation window (in favor of information adequacy) depends on the prediction horizon and the purpose of prediction. More specifically, when the prediction is responsive to the positive label (i.e., Sepsis), increasing historical data improves the predictive performance when the prediction horizon is short-moderate.

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Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can broaden the deployment scenarios for humanoids and animaloids. While several brachiating robots of varying complexity have been proposed in the past, this paper presents the simplest possible prototype of a brachiation robot, using only a single actuator and unactuated grippers. The novel passive gripper design allows it to snap on and release from monkey bars, while guaranteeing well defined start and end poses of the swing. The brachiation behavior is realized in three different ways, using trajectory optimization via direct collocation and stabilization by a model-based time-varying linear quadratic regulator (TVLQR) or model-free proportional derivative (PD) control, as well as by a reinforcement learning (RL) based control policy. The three control schemes are compared in terms of robustness to disturbances, mass uncertainty, and energy consumption. The system design and controllers have been open-sourced 1 . Due to its minimal and open design, the system can serve as a canonical underactuated platform for education and research.