Risk management plan and pharmacovigilance system - biopharmaceuticals: biosimilars.

Editor literario del libro, Giancarlo Nota - All chapters are Open Access articles distributed under the Creative Commons Non Commercial-Share Alike-Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited.

Robot navigation in dense crowds : statistical models and experimental studies of human robot cooperation

This thesis explores the problem of mobile robot navigation in dense human crowds. We begin by considering a fundamental impediment to classical motion planning algorithms called the freezing robot problem: once the environment surpasses a certain level of complexity, the planner decides that all forward paths are unsafe, and the robot freezes in place (or performs unnecessary maneuvers) to avoid collisions. Since a feasible path typically exists, this behavior is suboptimal. Existing approaches have focused on reducing predictive uncertainty by employing higher fidelity individual dynamics models or heuristically limiting the individual predictive covariance to prevent overcautious navigation. We demonstrate that both the individual prediction and the individual predictive uncertainty have little to do with this undesirable navigation behavior. Additionally, we provide evidence that dynamic agents are able to navigate in dense crowds by engaging in joint collision avoidance, cooperatively making room to create feasible trajectories. We accordingly develop interacting Gaussian processes, a prediction density that captures cooperative collision avoidance, and a "multiple goal" extension that models the goal driven nature of human decision making. Navigation naturally emerges as a statistic of this distribution.

Most importantly, we empirically validate our models in the Chandler dining hall at Caltech during peak hours, and in the process, carry out the first extensive quantitative study of robot navigation in dense human crowds (collecting data on 488 runs). The multiple goal interacting Gaussian processes algorithm performs comparably with human teleoperators in crowd densities nearing 1 person/m², while a state of the art noncooperative planner exhibits unsafe behavior more than 3 times as often as the multiple goal extension, and twice as often as the basic interacting Gaussian process approach. Furthermore, a reactive planner based on the widely used dynamic window approach proves insufficient for crowd densities above 0.55 people/m². We also show that our noncooperative planner or our reactive planner capture the salient characteristics of nearly any dynamic navigation algorithm. For inclusive validation purposes, we show that either our non-interacting planner or our reactive planner captures the salient characteristics of nearly any existing dynamic navigation algorithm. Based on these experimental results and theoretical observations, we conclude that a cooperation model is critical for safe and efficient robot navigation in dense human crowds.

Finally, we produce a large database of ground truth pedestrian crowd data. We make this ground truth database publicly available for further scientific study of crowd prediction models, learning from demonstration algorithms, and human robot interaction models in general.

Fishery management plans and the development of artisanal fisheries in Nigeria: a review

Management of natural resources all over the world is of paramount importance to their sustainability in developing countries like Nigeria, there is less emphasis on proper management especially of fishery and other aquatic resources due to lack of sensitization and enlightenment of the rural dwellers who are closer to such natural resources. The main thrust of this review is to examine the management plans for Nigerian freshwater bodies (rivers and lakes) and the impact of such plans on the artisanal fisheries development in Nigeria. From the on-shelf information gathered there is scarcity of information on the management of Nigerian freshwater body's information available indicates that there is the traditional fisheries management and the government legal approach in form of fisheries Laws and Regulations. However, these management techniques are poorly carried out since there is a poor follow-up. Appreciable impact of fisheries management introduced on Kanji Lake by the Nigerian-German Kanji Lake Fisheries Promotion Project (NGKLFPP) between 1993 and 2001 proves worthwhile as this introduced some management measures such as implementation of fisheries Laws and Regulations, the ban of obnoxious fishing methods, introduction of fishing license, constitution of a management unit and appointment of liaison fishermen. Within the operative years of the project a lot of success was achieved and it is recommended that the approach in Kainji should be replicated in other freshwater bodies in Nigeria to alleviate poverty in the rural poor fishing communities

On parallel computing for stochastic optimization models and algorithms

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