基于权重一致性优化的实时Marginalized粒子滤波算法

针对Marginalized粒子滤波中随机量测噪声对于非线性状态估计精度的不利影响以及线性状态估计中计算量较大问题,提出了一种基于权重一致性优化的实时Marginalized粒子滤波算法.首先,结合量测系统建模中先验信息的提取和利用,通过粒子权重间一致性距离和一致性矩阵的构建,提出了量测提升策略下权重的一致性优化方法,以改善粒子滤波在非线性状态估计中的滤波精度.其次,通过对Marginalized粒子滤波实现中时间更新和量测更新环节的结构优化,给出了实时Marginalized粒子滤波,以降低蒙特卡罗仿真实现下卡尔曼滤波在状态线性估计中的计算复杂度.最后,在两者的动态结合基础上给出了新算法具体实现步骤.利用基于单站雷达目标跟踪仿真场景,分析了算法性能.理论分析和仿真实验结果验证了算法的可行性和有效性.

快速Marginalized粒子滤波器在纯方位跟踪中的应用

为提高纯方位跟踪性能,降低粒子滤波方法的运算量,在原有Marginalized粒子滤波器(MPF)的基础上,对线性部分处理方法进行简化,提出了快速Marginalized粒子滤波器(FMPF),并结合纯方位跟踪模型,推导了FMPF应用的具体算法步骤,使用机动目标纯方位跟踪仿真实例,与其他滤波器进行了仿真对比,分析了跟踪性能和计算量。仿真结果表明,与标准粒子滤波器相比,FMPF可以提高线性部分的计算精度,同时减少MPF所需的计算量。

Kernel density estimation and marginalized-particle based probability hypothesis density filter for multi-target tracking

In order to improve the performance of the probability hypothesis density(PHD) algorithm based particle filter(PF) in terms of number estimation and states extraction of multiple targets, a new probability hypothesis density filter algorithm based on marginalized particle and kernel density estimation is proposed, which utilizes the idea of marginalized particle filter to enhance the estimating performance of the PHD. The state variables are decomposed into linear and non-linear parts. The particle filter is adopted to predict and estimate the nonlinear states of multi-target after dimensionality reduction, while the Kalman filter is applied to estimate the linear parts under linear Gaussian condition. Embedding the information of the linear states into the estimated nonlinear states helps to reduce the estimating variance and improve the accuracy of target number estimation. The meanshift kernel density estimation, being of the inherent nature of searching peak value via an adaptive gradient ascent iteration, is introduced to cluster particles and extract target states, which is independent of the target number and can converge to the local peak position of the PHD distribution while avoiding the errors due to the inaccuracy in modeling and parameters estimation. Experiments show that the proposed algorithm can obtain higher tracking accuracy when using fewer sampling particles and is of lower computational complexity compared with the PF-PHD.

Passive target tracking using marginalized particle filter

A marginalized particle filtering （MPF） approach is proposed for target tracking under the background of passive measurement. Essentially, the MPF is a combination of particle filtering technique and Kalman filter. By making full use of marginalization, the distributions of the tractable linear part of the total state variables are updated analytically using Kalman filter, and only the lower-dimensional nonlinear state variable needs to be dealt with using particle filter. Simulation studies are performed on an illustrative example, and the results show that the MPF method leads to a significant reduction of the tracking errors when compared with the direct particle implementation. Real data test results also validate the effectiveness of the presented method.

Marginalized cubature Kalman filtering algorithm based on linear/nonlinear mixed-Gaussian model

Aiming at improving the estimation accuracy and real-time of nonlinear system with linear Gaussian sub-structure,a novel marginalized cubature Kalman filter is proposed in Bayesian estimation framework. Firstly,the marginalized technique is adopted to model the target system dynamics with nonlinear state and linear state separately,and the two parts are estimated by cubature Kalman filter and standard Kalman filter respectively. Therefore,the linear part avoids the generation and propagation process of cubature points. Accordingly,the computational complexity is reduced.Meanwhile,the accuracy of state estimation is improved by taking the difference of nonlinear state estimation as the measurement of linear state. Furthermore,the computational complexity of marginalized cubature Kalman filter is discussed by calculating the number of floating-point operation. Finally,simulation experiments and analysis show that the proposed algorithm can improve the performance of filtering precision and real-time effectively in target tracking system.

Provenance and depositional setting of the Late MiocenePleistocene clastic sediments in the eastern Arabian Peninsula and western Iraq using rare earth elements geochemistry

The sandstones of the Late miocene–Pliocene Dibdibba Formation in the Najaf–Karbala Plateau and Basra were examined to determine their source rocks and origin. The rare earth elements(REE) and trace elements(Sc, Co, V, and Th) concentrations in these sandstones revealed that they likely derived from a single source. The steep light rare earth elements(LREE) and flat, heavy rare earth element(HREE) patterns, negative Eu anomaly, and high ΣREE contents in sandstones suggest its derivation from a suggests that a passive continental margin environment and originated from felsic source rocks. The average concentration of ΣREE is 93.5 ppm, which is lower than that of the average crustal compositions like Upper Continental Crust and Post Archean Australian Shale. The higher proportion of LREE compared to HREE implies that these sandstones were recycled and derived from a distal source. The Th/Co, Th/Sc, La/Sc, La/Co, Eu/Eu*and(La/Lu)cn elemental ratios indicated that these Late Miocene–Pliocene sandstones were derived from felsic rocks located in the marginal region of the Arabian Shield.

Hydrocarbon accumulation and orderly distribution of whole petroleum system in marine carbonate rocks of Sichuan Basin,SW China

Based on the situation and progress of marine oil/gas exploration in the Sichuan Basin,SW China,the whole petroleum system is divided for marine carbonate rocks of the basin according to the combinations of hydrocarbon accumulation elements,especially the source rock.The hydrocarbon accumulation characteristics of each whole petroleum system are analyzed,the patterns of integrated conventional and unconventional hydrocarbon accumulation are summarized,and the favorable exploration targets are proposed.Under the control of multiple extensional-convergent tectonic cycles,the marine carbonate rocks of the Sichuan Basin contain three sets of regional source rocks and three sets of regional cap rocks,and can be divided into the Cambrian,Silurian and Permian whole petroleum systems.These whole petroleum systems present mainly independent hydrocarbon accumulation,containing natural gas of affinity individually.Locally,large fault zones run through multiple whole petroleum systems,forming a fault-controlled complex whole petroleum system.The hydrocarbon accumulation sequence of continental shelf facies shale gas accumulation,marginal platform facies-controlled gas reservoirs,and intra-platform fault-and facies-controlled gas reservoirs is common in the whole petroleum system,with a stereoscopic accumulation and orderly distribution pattern.High-quality source rock is fundamental to the formation of large gas fields,and natural gas in a whole petroleum system is generally enriched near and within the source rocks.The development and maintenance of large-scale reservoirs are essential for natural gas enrichment,multiple sources,oil and gas transformation,and dynamic adjustment are the characteristics of marine petroleum accumulation,and good preservation conditions are critical to natural gas accumulation.Large-scale marginal-platform reef-bank facies zones,deep shale gas,and large-scale lithological complexes related to source-connected faults are future marine hydrocarbon exploration targets in the Sichuan Basin.

Deep tectonics and seismogenic mechanisms of the seismic source zone of the Jishishan M_(s)6.2 earthquake on December 18,2023,at the northeast margin of the Tibetan Plateau

On December 18,2023,an M_(s)6.2 earthquake occurred in Jishishan,Gansu Province,China.This earthquake happened in the eastern region of the Qilian Orogenic Belt,which is situated at the forefront of the NE margin of the Tibetan Plateau(i.e.,Qinghai-Tibet Plateau),encompassing a rhombic-shaped area that intersects the Qilian-Qaidam Basin,Alxa Block,Ordos Block,and South China Block.In this study,we analyzed the deep tectonic pattern of the Jishishan earthquake by incorporating data on the crustal thickness,velocity structure,global navigation satellite system(GNSS)strain field,and anisotropy.We discovered that the location of the earthquake was related to changes in the crustal structure.The results showed that the Jishishan M_(s)6.2 earthquake occurred in a unique position,with rapid changes in the crustal thickness,Vp/Vs,phase velocity,and S-wave velocity.The epicenter of the earthquake was situated at the transition zone between high and low velocities and was in proximity to a low-velocity region.Additionally,the source area is flanked by two high-velocity anomalies from the east and west.The principal compressive strain orientation near the Lajishan Fault is primarily in the NNE and NE directions,which align with the principal compressive stress direction in this region.In some areas of the Lajishan Fault,the principal compressive strain orientations show the NNW direction,consistent with the direction of the upper crustal fast-wave polarization from local earthquakes and the phase velocity azimuthal anisotropy.These features underscore the relationship between the occurrence of the Jishishan M_(s)6.2 earthquake and the deep inhomogeneous structure and deep tectonic characteristics.The NE margin of the Tibetan Plateau was thickened by crustal extension in the process of northeastward expansion,and the middle and lower crustal materials underwent structural deformation and may have been filled with salt-containing fluids during the extension process.The presence of this weak layer makes it easier for strong earthquakes to occur through the release of overlying rigid crustal stresses.However,it is unlikely that an earthquake of comparable or larger magnitude would occur in the short term(e.g.,in one year)at the Jishishan east margin fault.

Marginal zone lymphoma with severe rashes: A case report

BACKGROUND Marginal zone lymphoma(MZL)is an indolent subtype of non-Hodgkin lymphoma(NHL),which is rare clinically with severe rashes as the initial symptom.CASE SUMMARY This study reports a case of MZL with generalized skin rashes accompanied by pruritus and purulent discharge.First-line treatment with rituximab combined with zanubrutinib had poor effects.However,after switching to obinutuzumab combined with zanubrutinib,the case was alleviated,and the rashes disappeared.CONCLUSION For patients with advanced stage MZL not benefiting from type I anti-CD20 monoclonal antibody(mAb)combination therapy,switching to a type II anti-CD20 mAb combination regimen may be considered.This approach may provide a new perspective in the treatment of MZL.

Photosynthetic response to a winter heatwave in leading and trailing edge populations of the intertidal red alga Corallina offi-cinalis(Rhodophyta)

Marine heatwaves(MHWs)caused by anthropogenic climate change are becoming a key driver of change at the ecosystem level.Thermal conditions experienced by marine organisms across their distribution,particularly towards the equator,are likely to approach their physiological limits,resulting in extensive mortality and subsequent changes at the population level.Populations at the margins of their species’distribution are thought to be more sensitive to climate-induced environmental pressures than central populations,but our understanding of variability in fitness-related physiological traits in trailing versus leading-edge populations is limited.In a laboratory simulation study,we tested whether two leading(Iceland)and two trailing(Spain)peripheral populations of the intertidal macroalga Corallina officinalis display different levels of maximum potential quantum efficiency(Fv/Fm)resilience to current and future winter MHWs scenarios.Our study revealed that ongoing and future local winter MHWs will not negatively affect leading-edge populations of C.officinalis,which exhibited stable photosynthetic efficiency throughout the study.Trailing edge populations showed a positive though non-significant trend in photosynthetic efficiency throughout winter MHWs exposure.Poleward and equatorward populations did not produce significantly different results,with winter MHWs having no negative affect on Fv/Fm of either population.Additionally,we found no long-term regional or population-level influence of a winter MHWs on this species’photosynthetic efficiency.Thus,we found no statistically significant difference in thermal stress responses between leading and trailing populations.Nonetheless,C.officinalis showed a trend towards higher stress responses in southern than northern populations.Because responses rest on a variety of local population traits,they are difficult to predict based solely on thermal pressures.

Belief reliability:a scientific exploration of reliability engineering

This paper systematically introduces and reviews a scientific exploration of reliability called the belief reliability.Beginning with the origin of reliability engineering,the problems of present theories for reliability engineering are summarized as a query,a dilemma,and a puzzle.Then,through philosophical reflection,we introduce the theoretical solutions given by belief reliability theory,including scientific principles,basic equations,reliability science experiments,and mathematical measures.The basic methods and technologies of belief reliability,namely,belief reliability analysis,function-oriented belief reliability design,belief reliability evaluation,and several newly developed methods and technologies are sequentially elaborated and overviewed.Based on the above investigations,we summarize the significance of belief reliability theory and make some prospects about future research,aiming to promote the development of reliability science and engineering.

The largest CPIES array in the marginal sea:abundant dynamics in the northeast South China Sea

The South China Sea(SCS)is a marginal sea connecting the Pacific and Indian oceans and has gained much attention in recent decades.The dynamics in the northeast SCS are considerably influenced by topography,monsoons,tropical cyclones,the Kuroshio intrusion,and water exchange through the Luzon Strait(LS).

Aboveground biomass stocks of species-rich natural forests in southern China are influenced by stand structural attributes,species richness and precipitation

Forests,the largest terrestrial carbon sinks,play an important role in carbon sequestration and climate change mitigation.Although forest attributes and environmental factors have been shown to impact aboveground biomass,their influence on biomass stocks in species-rich forests in southern China,a biodiversity hotspot,has rarely been investigated.In this study,we characterized the effects of environmental factors,forest structure,and species diversity on aboveground biomass stocks of 30 plots(1 ha each) in natural forests located within seven nature reserves distributed across subtropical and marginal tropical zones in Guangxi,China.Our results indicate that forest aboveground biomass stocks in this region are lower than those in mature tropical and subtropical forests in other regions.Furthermore,we found that aboveground biomass was positively correlated with stand age,mean annual precipitation,elevation,structural attributes and species richness,although not with species evenness.When we compared stands with the same basal area,we found that aboveground biomass stock was higher in communities with a higher coefficient of variation of diameter at breast height.These findings highlight the importance of maintaining forest structural diversity and species richness to promote aboveground biomass accumulation and reveal the potential impacts of precipitation changes resulting from climate warming on the ecosystem services of subtropical and northern tropical forests in China.Notably,many natural forests in southern China are not fully stocked.Therefore,their continued growth will increase their carbon storage over time.

Depositional model of the Member Deng-2 marginal microbial mound-bank complex of the Dengying Formation in the southwestern Sichuan Basin, SW China: Implications for the Ediacaran microbial mound construction and hydrocarbon exploration

Recent advances in hydrocarbon exploration have been made in the Member Deng-2 marginal microbial mound-bank complex reservoirs of the Dengying Formation in the western Sichuan Basin, SW China,where the depositional process is regarded confusing. The microfacies, construction types, and depositional model of the Member Deng-2 marginal microbial mound-bank complex have been investigated using unmanned aerial vehicle photography, outcrop section investigation, thin section identification,and seismic reflections in the southwestern Sichuan Basin. The microbialite lithologic textures in this region include thrombolite, dendrolite, stromatolite, fenestral stromatolite, spongiostromata stone,oncolite, aggregated grainstone, and botryoidal grapestone. Based on the comprehensive analysis of“depositional fabrics-lithology-microfacies”, an association between a fore mound, mound framework,and back mound subfacies has been proposed based on water depth, current direction, energy level and lithologic assemblages. The microfacies of the mound base, mound core, mound flank, mound cap, and mound flat could be recognized among the mound framework subfacies. Two construction types of marginal microbial mound-bank complex have been determined based on deposition location, mound scale, migration direction, and sedimentary facies association. Type Jinkouhe microbial mound constructions(TJMMCs) develop along the windward margin owing to their proximity to the seaward subfacies fore mound, with a northeastwardly migrated microbial mound on top of the mud mound,exhibiting the characteristics of large-sized mounds and small-sized banks in the surrounding area. Type E'bian microbial mound constructions(TEMMCs) primarily occur on the leeward margin, resulting from the presence of onshore back mound subfacies, with the smaller southwestward migrated microbial mounds existing on a thicker microbial flat. The platform margin microbial mound depositional model can be correlated with certain lateral comparison profile and seismic reflection structures in the 2D seismic section, which can provide references for future worldwide exploration. Microbial mounds with larger buildups and thicker vertical reservoirs are typically targeted on the windward margin, while small-sized microbial mounds and flats with better lateral connections are typically focused on the leeward margin.

Linkage between precipitation isotopes and water vapor sources in the monsoon margin:Evidence from arid areas of Northwest China

The isotope composition in precipitation has been widely considered as a tracer of monsoon activity.Compared with the coastal region,the monsoon margin usually has limited precipitation with large fluctuation and is usually sensitive to climate change.The water resource management in the monsoon margin should be better planned by understanding the composition of precipitation isotope and its influencing factors.In this study,the precipitation samples were collected at five sampling sites(Baiyin City,Kongtong District,Maqu County,Wudu District,and Yinchuan City)of the monsoon margin in the northwest of China in 2022 to analyze the characteristics of stable hydrogen(δD)and oxygen(δ18O)isotopes.We analyzed the impact of meteorological factors(temperature,precipitation,and relative humidity)on the composition of precipitation isotope at daily level by regression analysis,utilized the Hybrid Single-Particle Lagrangian Integrated Trajectory(HYSPLIT)-based backward trajectory model to simulate the air mass trajectory of precipitation events,and adopted the potential source contribution function(PSCF)and concentration weighted trajectory(CWT)to analyze the water vapor sources.The results showed that compared with the global meteoric water line(GMWL),the slope of the local meteoric water line(LMWL;δD=7.34δ^(18)O-1.16)was lower,indicating the existence of strong regional evaporation in the study area.Temperature significantly contributed toδ18O value,while relative humidity had a significant negative effect onδ18O value.Through the backward trajectory analysis,we found eight primary locations that were responsible for the water vapor sources of precipitation in the study area,of which moisture from the Indian Ocean to South China Sea(ITSC)and the western continental(CW)had the greatest influence on precipitation in the study area.The hydrogen and oxygen isotopes in precipitation are significantly influenced by the sources and transportation paths of air mass.In addition,the results of PSCF and CWT analysis showed that the water vapor source areas were primarily distributed in the south and northwest direction of the study area.

Distal margin distance in radical resection of locally advanced rectal cancer after neoadjuvant therapy

Colorectal cancer has a high incidence and mortality rate in China, with the majority of cases being middle and low rectal cancer. Surgical intervention is currently the main treatment modality for locally advanced rectal cancer, with the common goal of improving oncological outcomes while preserving function. The controversy regarding the circumferential resection margin distance in rectal cancer surgery has been resolved. With the promotion of neoadjuvant therapy concepts and advancements in technology, treatment strategies have become more diverse.Following tumor downstaging, there is an increasing trend towards extending the safe distance of distal rectal margin. This provides more opportunities for patients with low rectal cancer to preserve their anal function.However, there is currently no consensus on the specific distance of distal resection margin.

Bendamustine and rituximab as frontline therapy in extranodal marginal zone lymphoma:a single-institution experience

Extranodal marginal zone lymphoma(EMZL)encompasses 70%of cases of marginal zone lymphoma.Frontline bendamustine and rituximab(BR)were derived from trials involving other indolent non-Hodgkin’s lymphomas.Only one trial has evaluated frontline BR prospectively in EMZL.This retrospective study reports outcomes among EMZL patients receiving frontline BR.Twenty-five patients were included with a median age of 69 years(40–81).Five(20.0%)patients had stage Ⅰ/Ⅱ disease,and 20(80.0%)had stage Ⅲ/Ⅳ disease.The median number of cycles was 6.0(3.0–6.0).Maintenance rituximab was administered to 10(41.7%)individuals.Overall response rate(ORR)was 100.0%(60.0%complete response,40.0%partial response).Medians of overall survival and progression-free survival were not reached.The estimated 2-year progression-free survival was 85.2%and overall survival was 100.0%.Four(16.6%)patients had infections related to treatment;3(12.0%)transformed to diffuse large B-cell lymphoma;5(20.8%)had a relapse or progression of EMZL;and 3(12.0%)died unrelated to BR.BR is an efficacious and well-tolerated front-line regimen for EMZL with response data consistent with existing literature.

Three-dimensional constrained gravity inversion of Moho depth and crustal structural characteristics at Mozambique continental margin

Mozambique's continental margin in East Africa was formed during the break-off stage of the east and west Gondwana lands. Studying the geological structure and division of continent-ocean boundary(COB) in Mozambique's continental margin is considered of great significance to rebuild Gondwana land and understand its movement mode. Along these lines, in this work, the initial Moho was fit using the known Moho depth from reflection seismic profiles, and a 3D multi-point constrained gravity inversion was carried out. Thus, highaccuracy Moho depth and crustal thickness in the study area were acquired. According to the crustal structure distribution based on the inversion results, the continental crust at the narrowest position of the Mozambique Channel was detected. According to the analysis of the crustal thickness, the Mozambique ridge is generally oceanic crust and the COB of the whole Mozambique continental margin is divided.

Parameterized Analysis of Aeroservoelastic Stability for Closed-Loop Aircraft

The closed-loop flight control system of fly by wire is generally adopted in modern air-craft.Based on the frequency-domain stability analysis,the aeroservoelastic model of closedloop aircraft is established,and aeroservoelastic stability parameterized calculation of design improvement is conducted after the preliminary analysis.The design variables are mounted location of integrated sensors and damping coefficientsζ1,ζ2 of notch filter,with stability margin of the system as design objective.Results indicate that aeroservoelastic margin of the aircraft in certain states is insufficient.While the mounted location of integrated sensors is adjusted,the system stability can be improved to certain extent.It’s more appropriate to mount the integrated sensors in the overlapping field between the nodal lines of vertical and lateral bending for the fuselage.The system stability is also significantly improved by adding notch filter,both gain margin and phase margin increase when the real number pairζ1-ζ2 is located in the zone above the 45°diagonal ofζ1,ζ2 con-struction plane,and the farther theζ1-ζ2 is from the 45°diagonal,the stronger the system stability.Also the decrease in the gain peak of frequency response and the enhancement of relative stability of the system are achieved by the appropriateζ1-ζ2 of notch filter.

Managing crawling-type gastric adenocarcinoma with endoscopic techniques and postoperative monitoring

Crawling-type gastric adenocarcinoma is a rare subtype of gastric cancer with diagnostic and therapeutic challenges due to its flat,ill-defined lesions.Advanced diagnostic techniques,such as narrow-band imaging and linear endoscopic ultrasonography,improve detection,but endoscopic submucosal dissection poses a risk of incomplete resection.Despite negative resection margins,vigilant postoperative monitoring is crucial due to the potential for recurrence.This letter highlights the importance of refined diagnostic criteria,individualized treatment approaches,and continuous follow-up to optimize management of this unique gastric cancer subtype.