ABSTRACT
Substernal goiter is a rare presentation of goiter but relatively frequent cause of anterior mediastinal mass. Symptomatic patients should be treated surgically with a total or partial thyroidectomy via a cervical or thoracic approach. This case report of a woman with a large symptomatic substernal goiter illustrates how the option to perform a partial median sternotomy may be useful when attempting a cervical approach. This allows for better visualization and resection of large masses and minimizes the risk of complications such as recurrent laryngeal nerve injury. Furthermore, it reinforces that cases of substernal goiter should be treated at specialized centers in order to minimize complications and reach better patient outcomes.
ABSTRACT
In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local controller in each UAV uses information only from the UAV itself, its neighbors, and from the virtual leader. Also, a synchronization control objective provides a mechanism to weight between the fleet achieving the desired formation shape, that is, achieving the desired relative position between the UAVs, and each UAV achieving its desired absolute position. The use of a combination of a sliding mode controller and a low pass filter reduces the usual chattering effect, providing a smooth control signal while maintaining robustness. Simulation results show the effectiveness of the proposed decentralized controller.
ABSTRACT
Cancer is the disease with highest public health impact in developed countries. Particularly, breast cancer has the highest incidence in women worldwide and the fifth highest mortality in the globe, imposing a significant social and economic burden to society. The disease has a complex heterogeneous etiology, being associated with several risk factors that range from lifestyle to age and family history. Breast cancer is usually classified according to the site of tumor occurrence and gene expression profiling. Although mutations in a few key genes, such as BRCA1 and BRCA2, are associated with high breast cancer risk, the large majority of breast cancer cases are related to mutated genes of low penetrance, which are frequently altered in the whole population. Therefore, understanding the molecular basis of breast cancer, including the several deregulated genes and related pathways linked to this pathology, is essential to ensure advances in early tumor detection and prevention. In this review, we outline key cellular pathways whose deregulation has been associated with breast cancer, leading to alterations in cell proliferation, apoptosis, and the delicate hormonal balance of breast tissue cells. Therefore, here we describe some potential breast cancer-related nodes and signaling concepts linked to the disease, which can be positively translated into novel therapeutic approaches and predictive biomarkers.
