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。

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.

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.

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.

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).

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.

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.

Transformation of marginal zone lymphoma into high-grade B-cell lymphoma expressing terminal deoxynucleotidyl transferase:A case report

BACKGROUND High-grade B-cell lymphoma(HGBL)is an unusual malignancy that includes myelocytomatosis viral oncogene(MYC),B-cell lymphoma-2(BCL-2),and/or BCL-6 rearrangements,termed double-hit or triple-hit lymphomas,and HGBL-not otherwise specific(HGBL-NOS),which are morphologically characteristic of HGBL but lack MYC,BCL-2,or BCL-6 rearrangements.HGBL is partially transformed by follicular lymphoma and other indolent lymphoma,with few cases of marginal zone lymphoma(MZL)transformation.HGBL often has a poor prognosis and intensive therapy is currently mainly advocated,but there is no good treatment for these patients who cannot tolerate chemotherapy.CASE SUMMARY We reported a case of MZL transformed into HGBL-NOS with TP53 mutation and terminal deoxynucleotidyl transferase expression.Gene analysis revealed the gene expression profile was identical in the pre-and post-transformed tissues,suggesting that the two diseases are homologous,not secondary tumors.The chemotherapy was ineffective and the side effect was severe,so we tried combination therapy including venetoclax and obinutuzumab.The patient tolerated treatment well,and reached partial response.The patient had recurrence of hepatocellular carcinoma and died of multifunctional organ failure.He survived for 12 months after diagnosis.CONCLUSION Venetoclax combined with obinutuzumab might improve the survival in some HGBL patients,who are unsuitable for chemotherapy.

Differential pressure difference based altitude control of a stratospheric satellite

An autonomous altitude adjustment system for a stratospheric satellite(StratoSat)platform is proposed.This platform consists of a helium balloon,a ballonet,and a two-way blower.The helium balloon generates lift to balance the platform gravity.The two-way blower inflates and deflates the ballonet to regulate the buoyancy.Altitude adjustment is achieved by tracking the differential pressure difference(DPD),and a threshold switching strategy is used to achieve blower flow control.The vertical acceleration regulation ability is decided not only by the blower flow rate,but also by the designed margin of pressure difference(MPD).Pressure difference is a slow-varying variable compared with altitude,and it is adopted as the control variable.The response speed of the actuator to disturbance can be delayed,and the overshoot caused by the large inertia of the platform is inhibited.This method can maintain a high tracking accuracy and reduce the complexity of model calculation,thus improving the robustness of controller design.

Using Flowable Composite as Gingival Retraction Cord in Prosthodontics Dentistry: Two Case Reports: A Dental Technique

One of the most challenging factors affecting impression quality and good marginal fit is the gingival retraction method, which aims to separate the gingiva from the tooth to expose the finishing line of the prepared tooth. Bleeding and contamination from the crevicular fluid may compete for space with the impression material within the sulcus, leading to indistinct preparations and a lack of detail at the margin. In addition, such procedures might damage the PDL and cause permanent recession. Flowable composite cable, as opposed to traditional retraction cords, offers the proper marginal seal and visibility during the impression record because of its lower viscosity, improved adaptability, and elastic properties. The aim of this report is to present a brand-new, innovative method for controlling gingival hemorrhage in addition to the gingival retraction in restorative and prosthodontic treatment by utilizing a flowable composite during the final impression record procedure. In these case reports, the flowable composite cord technique is used instead of traditional gingival cords to modify and refine the gingival tissue before taking the traditional final impression or digital scan. Two cases were done for patients undergoing fixed prosthodontics and veneer treatment within a 2-year follow-up period. In addition, the flowable composite cord was used as temporary restoration before the final prosthetic cementation or under the provisional crowns. As a result, clean and healthy gingival tissues render cementation of the final prosthesis quicker and easier to perform. The patients in both cases claimed that their prosthodontic treatments, which involved the application of a flowable composite cord to temporarily retraction the gingiva, had produced good outcomes at the yearlong follow-up. In conclusion, the flowable composite cord technique is found to be a useful tool to improve the quality of impressions in fixed prosthodontics by providing excellent access for impression material to record fine details of the finish line of the prepared tooth structure, and to alter the inflamed tissue into a healthy tissue.

Tracking application about singer model based on marginalized particle filter

This article deals with the problem of maneuvering target tracking which results in a mixed linear/non-linear model estimation problem. For maneuvering tracking system, extended Kalman filter （EKF） or particle filter （PF） is traditionally used to estimate the states. In this article, marginalized particle filter （MPF） is presented for application in a mixed linear/non-linear model estimation problem. MPF is a combination of Kalman filter （KF） and PF. So it holds both advantage of them and can be used for mixed linear/non-linear substructure, where the conditionally linear states are estimated using KF and the nonlinear states are estimated using PF. Simulation results show that MPF guarantees the estimation accuracy and alleviates the potential computational burden problem compared with PF and EKF in maneuvering target tracking application.

Eugenics and the Exclusion of Marginalized Groups in the U.S.in the Early 20th Century

Eugenics was a discipline founded by the British scholar Galton in 1883 to improve the genetic quality of human beings.When eugenics was introduced to the United States in the early 20th century,it quickly developed into an influential eugenics movement that pointed in new directions to solve the social problems of the United States at that time.In American eugenics movement,eugenicists used family studies to construct the marginalized groups such as the mentally retarded,the poor,and criminals into"hereditary defectives"that would lead to the degradation of the American race.At the same time,they used intelligence tests to demonstrate the"Superiority of the Nordic Race"and to belittle other races,thereby highlighting the dangers of racial mixing.These eugenics discourses provided a plausible justification for segregation,sterilization,and marriage restrictions against marginalized groups in the United States and a"scientific"cloak for restrictive immigration policies,serving as an essential tool for exclusionists to gain support from policymakers and the public.

The Powerful Role of Mothers in Adolescent Purpose Development

Adolescence is a critical time for the cultivation of life purpose,also known as a meaningful long-term aim focused on contribution to others.Youth with purpose,especially marginalized youth,report a number of positive outcomes.Relationships with caring adults appear to be particularly helpful in guiding young people on their path to purpose,but little work has focused specifically on the role of mothers.This qualitative study,approved by a Institutional Review Board,examines how twenty adolescents from marginalized communities describe their sense of purpose and its relationship to their caregivers.The sample size was determined based on saturation,a process in qualitative research when the researchers begin to observe redundancy in the data.Through content analysis,a major theme emerged:the role of mothers and their impact on purpose development on their children.Results showed that mothers helped their adolescents develop their sense of purpose through serving as a sense of inspiration,providing the adolescents with support,sparking a desire for the adolescents to make their mothers proud,and through the mothers and adolescents in engaging in conversations about one’s future.

Effectiveness of Helicobacter pylori eradication in the treatment of early-stage gastric mucosa-associated lymphoid tissue lymphoma:An up-to-date meta-analysis

BACKGROUND Gastric mucosa-associated lymphoid tissue(MALT)lymphoma(GML)is usually a low-grade B-cell neoplasia strongly associated with Helicobacter pylori(H.pylori)-induced chronic gastritis.Clinical practice guidelines currently recommend H.pylori eradication as the preferred initial treatment for early-stage GML.To determine the practical effect of bacterial eradication as the sole initial therapy for early-stage GML,an updated analysis and review of available evidence is imperative.AIM To perform a meta-analysis to assess the rate of complete remission(CR)of H.pylori-positive early-stage GML following bacterial eradication.METHODS We performed independent,computer-assisted literature searches using the PubMed/MEDLINE,Embase,and Cochrane Central databases through September 2022.Prospective and retrospective observational studies evaluating the CR of early-stage GML following bacterial eradication in H.pylori-positive patients.The risk of bias was assessed using Joanna Briggs Institute(JBI)Critical Appraisal Tools.The pooled estimate of the complete histopathological remission rate and respective confidence intervals(95%CI)were calculated following the random-effects model.Heterogeneity and inconsistency were assessed using Cochran’s Q test and I2 statistic,and heterogeneity was defined as P<0.01 and I²>50%,respectively.Subgroup and meta-regression analyses were conducted to explore potential sources of heterogeneity.RESULTS The titles and abstracts of 1576 studies were screened;96 articles were retrieved and selected for full-text reading.Finally,61 studies were included in the proportional meta-analysis(P-MA).Forty-six were prospective and fifteen were retrospective uncontrolled,single-arm,observational studies.The overall risk of bias was low to moderate in all but a single report,with an average critical appraisal score across all studies of 79.02%.A total of 2936 H.pylori-positive early-stage GML patients,in whom H.pylori was successfully eradicated,were included in the analysis.The pooled CR of H.pylori-positive early-stage GML after bacterial eradication was 75.18%(95%CI:70.45%-79.91%).P-MA indicated the substantial heterogeneity in CR reported across studies(I2=92%;P<0.01).Meta-regression analysis identified statistically significant effect modifiers,including the proportion of patients with t(11;18)(q21;q21)-positive GML and the risk of bias in each study.CONCLUSION Comprehensive synthesis of available evidence suggests that H.pylori eradication is effective as the sole initial therapy for early-stage GML.Although the substantial heterogeneity observed across studies limits the interpretation of the pooled overall CR,the present study is a relevant to informing clinical practice.

Marginal donor liver versus standard donor liver: A single-center observational study

Background:The effectiveness and safety of marginal donor livers remain controversial.This study aimed to investigate the clinical efficacy of marginal donor livers in patients with liver transplantation(LT).Methods:This study included 199 liver donors(including 16 split donors)and 206 liver recipients from January 1,2018 to January 27,2020,with case follow-up until July 31,2021.Clinical data of donors and recipients were retrospectively analyzed and were divided into the marginal donor and standard donor groups according to the criteria of marginal donor livers.Indices of liver and kidney functions,complications,and survival curves of the two groups were compared.Results:Compared with the standard donor group,the blood creatinine levels were significantly higher in the marginal donor group in the first week after operation(P<0.05);there were no significant differences in alanine aminotransferase,aspartate aminotransferase,and total bilirubin levels after LT(all P>0.05);there was no significant difference in the incidence of complications after LT(P>0.05);there was also no significant difference in the survival curve(P=0.335).Conclusions:There were no significant differences in liver and kidney function and survival curve between the standard donor and marginal donor groups.The marginal donor liver appears safe and reliable for LT and may be an important strategy to expand the donor pool and solve the shortage of organs.