In this article, a coverage path planning problem is discussed in the case of agricultural fields and agricultural machines. Methods and algorithms to solve this problem are developed. These algorithms are applicable to both robots and human-driven machines. The necessary condition is to cover the whole field, and the goal is to find as efficient a route as possible. As yet, there is no universal algorithm or method capable of solving the problem in all cases. Two new approaches to solve the coverage path planning problem in the case of agricultural fields and agricultural machines are presented for consideration. Both of them are greedy algorithms. In the first algorithm the view is from on top of the field, and the goal is to split a single field plot into subfields that are simple to drive or operate. This algorithm utilizes a trapezoidal decomposition algorithm, and a search is developed of the best driving direction and selection of subfields. This article also presents other practical aspects that are taken into account, such as underdrainage and laying headlands. The second algorithm is also an incremental algorithm, but the path is planned on the basis of the machine's current state and the search is on the next swath instead of the next subfield. There are advantages and disadvantages with both algorithms, neither of them solving the problem of coverage path planning problem optimally. Nevertheless, the developed algorithms are remarkable steps toward finding a way to solve the coverage path planning problem with nonomnidirectional vehicles and taking into consideration agricultural aspects. C 2009 Wiley Periodicals, Inc.

Standard of care for cancer is commonly a combination of surgery with radiotherapy or chemoradiotherapy. However, in some advanced cancer patients this approach might still remaininefficient and may cause many side effects, including severe complications and even death. Oncolytic viruses exhibit different anti-cancer mechanisms compared with conventional therapies, allowing the possibility for improved effect in cancer therapy. Chemotherapeutics combined with oncolytic viruses exhibit stronger cytotoxic responses and oncolysis. Here, we have investigated the systemic delivery of the oncolytic adenovirus and paclitaxel encapsulated in extracellular vesicles (EV) formulation that, in vitro, significantly increased the transduction ratio and the infectious titer when compared with the virus and paclitaxel alone. We demonstrated that the obtained EV formulation reduced the in vivo tumor growth in animal xenograft model of human lung cancer. Indeed, we found that combined treatment of oncolytic adenovirus and paclitaxel encapsulated in EV has enhanced anticancer effects both in vitro and in vivo in lung cancer models. Transcriptomic comparison carried out on the explanted xenografts from the different treatment groups revealed that only 5.3% of the differentially expressed genes were overlapping indicating that a de novo genetic program is triggered by the presence of the encapsulated paclitaxel: this novel genetic program might be responsible of the observed enhanced antitumor effect. Our work provides a promising approach combining anticancer drugs and viral therapies by intravenous EV delivery as a strategy for the lung cancer treatment.

Concentrated 3% and 6.5% anionic nanofibrillar cellulose (ANFC) hydrogels were introduced as matrix reservoirs for controlled delivery applications of small molecules and proteins. A further aim was to study how the freeze-drying and subsequent rehydration of ANFC hydrogel affects the rheological properties and drug release of selected model compounds from the reconstructed hydrogels. It was demonstrated that the 3% and 6.5% ANFC hydrogels can be freeze-dried with suitable excipients into highly porous aerogel structures and redispersed back into the hydrogel form without significant change in the rheological properties. Freeze-drying did not affect the drug release properties from redispersed ANFC hydrogels, indicating that these systems could be stored in the dry form and only redispersed when needed. For large molecules, the diffusion coefficients were significantly smaller when higher ANFC fiber content was used, indicating that the amount of ANFC fibers in the hydrogel can be used to control the release rate. The release of small molecules was controlled with the ANFC fiber content only to a moderate extent. The results indicate that ANFC hydrogel can be used for controlled delivery of several types of molecules and that the hydrogel can be successfully freeze-dried and redispersed.

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