A Risk Prediction Model for Post-endoscopic Retrograde Cholangiopancreatography Pancreatitis After Stent Insertion for Malignant Biliary Obstruction: Development and Validation.

Objectives: Pancreatitis is the most common complication of post-endoscopic retrograde cholangiopancreatography (ERCP). There are currently no prediction models, particularly for post-ERCP pancreatitis (PEP) after biliary stent placement due to malignant biliary obstruction (MBO). To that end, we aim to develop and validate a predictive model for PEP.

Robust cooperative trajectory tracking control for an unactuated floating object with multiple vessels system.

This paper proposes a robust cooperative trajectory tracking control scheme for an unactuated floating object with multiple vessels under environmental disturbances. The object and multiple vessels are connected by using towlines. The proposed control scheme consists of three parts: a virtual controller for the object, a control allocation algorithm and a distributed robust time-varying formation controller for vessels.