This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC) scheme. Given noisy measurements of the a priori unknown obstacle trajectory, a bootstrapping technique predicts a set of obstacle trajectories. The bootstrapped predictions are incorporated in the MPC optimization using a risk-aware methodology so as to provide probabilistic guarantees on obstacle avoidance. We validate our methods using simulations of a multi-rotor drone that avoids various moving obstacles.

This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC) scheme. Given noisy measurements of the a priori unknown obstacle trajectory, a bootstrapping technique predicts a set of obstacle trajectories. The bootstrapped predictions are incorporated in the MPC optimization using a riskaware methodology so as to provide probabilistic guarantees on obstacle avoidance. We validate our methods using simulations of a 3-dimensional multi-rotor drone that avoids various moving obstacles, such as a thrown ball and a frisbee with air drag.

Background:The purpose of the present study was to assess the role of vitamin D3 in proximal femur fracture in elderly patients. Methods: This is a retrospective study of 120 elderly patient presenting with lower limb fracture who were evaluated clinically and radiologically. Serum vitamin D3 level assessment done in all patient. Results: In my study, I have studied 120 patients of aged more than 60 years, presented to our hospital with lower limb trauma, 62.5% had proximal femoral fractures and 38.5% had other fractures of lower limb. Out of those patients 43% patients were male and 57% were female, which comes to 1:1.3 of male to female ratio. Previous history of fall is very common factor associated with proximal femoral fractures, in my study history of fall was associated with 42% of patients. Distribution of fractures was equal 1: 1 in patients not having history of fall. Proximal femoral fractures was four times more common in patients with previous history of fall, recurrent fall is due to proximal muscle weakness, imbalance, poor eye sight, loss of protective mechanism. In my study 43% of patients have serum d3 level <20 ng/dl, 34 %have serum vitamin d3 level 20 -30 ng/dl, and 23% have serum vitamin d3 level >30 ng/dl. Grading of the osteoporosis with singh index was noted in my study 60% of patients have singh osteoporotic index 3 or less than 3, and most of them had proximal femoral fractures. Patients having fractures of lower limb other than proximal femur have singh osteoporotic index 4 or more than 4.in patients of proximal femoral fractures most of them have singh osteoporotic index 3 or less than 3 and also most of them have serum vitamin d3 level <30 ng /dl. Conclusions: Assessment of vitamin d3 in proximal femoral fracture patients, it shows in Increase incidence proximal femoral fracture in low vitamin d3 level. Adequate dietary calcium intake has been associated with decrease rate of proximal femoral fractures, patients having proximal femoral fractures 66% was taking dietary calcium intake > 750 mg per day. same type of finding was found by feskanschi et al. in patients taking high dietary calcium and vitamin d3 intake have less chance of hip fractures.

Prior to the antibiotic era and more enlighten surgical approaches, the occurrence of septic arthritis presented literal threat to life and limb. Despite potent antibiotics, Septic arthritis continues to be one of the most damaging and prevalent form of arthritis. Septic arthritis is bacterial infection of synovium and subsequently all the structure within the joint, which causes intense inflammatory reaction, possibly leading to destruction of articular cartilage and later of the complete Joints. Case Presentation: A diagnosis of septic arthritis was explicitly assigned when a patient had a positive Gram stain or culture finding of joint fluid, purulent joint aspiration drawn from a joint adjacent to a site with known osteomyelitis, focal joint involvement in the setting of bacteremia. If no growth was observed during culture, we presumed a diagnosis of septic arthritis when 2 of the major and 5 of the minor clinical criteria described by Morrey et al. were satisfied and the diagnosis was supported by ultrasonographic findings. Conclusion:The incidence of septic arthritis in children < 1 year is 1.65 per1000 children, 8.37 per 10,000 infants and in neonates its 2.80 per 1000. Males are most commonly affected with male: female being 3: 1. Hip is commonest involved joint. Commonest organism responsible for septic arthritis is Staphylococcus. The major cause of late presentation and/or delayed initiation of definitive management in septic arthritis is handling of the patients by non-orthopaedics specialist initially. Identified risk factors in this study are prematurity, perinatal hypoxia, septicemia, birth trauma and venous catheterization. Most of the clinical improvement occurs during first 6 weeks. Radiological improvement lags behind clinical improvement by 2-4 weeks. Most important prognostic factors for poor outcome are late presentation and /or delayed initiation of definative management.

Background:The purpose of the present study was to evaluate the outcomes of compound fractures of tibia shaft managed by interlocking intramedullary nailing. Methods: This is a retrospective study of 20 patients with open fractures of tibia shaft operated primarily by tibia interlocking nail. Results: In Our Study we had 20 patients with open tibial fractures. Majority of patients in our series were under 40 years of age with an average age of 28.6 years. The youngest patient was 17 years old and the eldest patient was 55 years. Majority (80%) of our cases sustained Tibial shaft fracture in road traffic accidents. Out of 20 cases in our series in 7 cases (35%) middle 3 rd of tibia was involved and in 9 cases (45%) it was lower 3 rd . Most common radiological pattern of fracture in our series was transverse (55%) followed by oblique in 30% and communited in 15%. In Patel series most common pattern was oblique 50%, transverse in 31% and communited in 19%. In our study, 70% cases were operated within 2 weeks of injury. Earliest case was operated on 3 rd day of injury. Supplementary / secondary procedure required in our series were dynamization (required in 15% of our cases) and bone grafting (5%), none of our cases required nail removal with plating and bone grafting or exchange nailing. One patient required nail removal as he developed deep infection. 75% of our patients were ambulatory within 2 weeks of operation in the form of non weight bearing crutch walking. Of the remaining 5 patients 2 had shaft Femur fracture, one had contralateral both bone leg, one had surgical neck of Humerus with undisplaced Tibial plateau and last one had wound complication. In our series 75% cases showed signs of satisfactory radiological union by 20 weeks. In 50% of our cases clinical and radiological union occurred in 20 weeks' time. There was no incidence of non union in our series. Our series did not include compound grade III fracture rest all series mentioned here included this in their study. Average time of union came out to be 24.8 weeks with minimum of 16 weeks and maximum of 30 weeks. In 10 patients union occurred in >20 weeks (delayed union). 2 were those patients who underwent dynamization, one had underwent bone grafting, one patient had contralateral both bone leg and one patient was 55 years old. In rest 5 patients no obvious cause was found. Delayed union was more in distal1/3 rd fracture due to precarious blood supply. In our study out of 20 patients operated by Tibia interlocking nail 4 (20%) excellent, 6(30%) Good, 10(50%) fair functional results. Conclusions: Treatment of open tibial fracture remains controversial. But the early debridement, primary wound closure and interlock nail is a good option in compound tibia fractures.