A square root information filter for multi-GNSS real-time precise clock estimation

Real-time satellite orbit and clock estimations are the prerequisite for Global Navigation Satellite System (GNSS) real-time precise positioning services. To meet the high-rate update requirement of satellite clock corrections, the computational efficiency is a key factor and a challenge due to the rapid development of multi-GNSS constellations. The Square Root Information Filter (SRIF) is widely used in real-time GNSS data processing thanks to its high numerical stability and computational efficiency. In real-time clock estimation, the outlier detection and elimination are critical to guarantee the precision and stability of the product but could be time-consuming. In this study, we developed a new quality control procedure including the three standard steps: i.e., detection, identification, and adaption, for real-time data processing of huge GNSS networks. Effort is made to improve the computational efficiency by optimizing the algorithm to provide only the essential information required in the processing, so that it can be applied in real-time and high-rate estimation of satellite clocks. The processing procedure is implemented in the PANDA (Positioning and Navigation Data Analyst) software package and evaluated in the operational generation of real-time GNSS orbit and clock products. We demonstrated that the new algorithm can efficiently eliminate outliers, and a clock precision of 0.06 ns, 0.24 ns, 0.06 ns, and 0.11 ns can be achieved for the GPS, GLONASS, Galileo, and BDS-2 IGSO/MEO satellites, respectively. The computation time per epoch is about 2 to 3 s depending on the number of existing outliers. Overall, the algorithm can satisfy the IGS real-time clock estimation in terms of both the computational efficiency and product quality

Modified lumbar foraminoplasty using a power-aided reciprocating burr for percutaneous transforaminal endoscopic lumbar discectomy: A technical note and clinical report

BackgroundOne of the main difficulties in a transforaminal endoscopic lumbar discectomy (TELD), and simultaneously the most critical step, is performing an effective and safe foraminoplasty, which is especially difficult for beginners. To make it safer and faster for beginners to perform, we have used a specially designed power-aided reciprocating burr for TELD and reported the technical details.MethodsFrom Jan. 2019 to Nov. 2022, 432 patients with single-level, symptomatic L4/5 or L5/S1 disc herniation were treated with TELD using a novel power-aided reciprocating burr. The surgical procedure is described in detail. Magnetic resonance imaging (MRI) was performed the following day and 3 months after the operation. The learning curves of surgeons with different seniority levels are displayed. The Visual Analogue Scale (VAS) score and the Oswestry Disability Index (ODI) were used to measure low back pain, leg pain, and lumbar function. All patients were followed up for at least 1 year.ResultsAll patients underwent endoscopic surgery successfully. Among the 432 patients, radicular outer membrane damage was observed in 6 cases, and 1 case had hernia of the nerve tract. Except for this patient with aggravation of postoperative numbness, the postoperative neurological symptoms of all patients were significantly improved. The mean VAS scores for low back pain and leg pain and ODI scores were significantly decreased 6 w post-operatively and were maintained until 12 months post-operatively compared to preoperative scores (P < 0.05). All three doctors involved in the study had substantial experience in traditional open spinal surgery. The more operations all three surgeons completed, the more time spent on intervertebral foraminoplasty decreased (P < 0.05). Among them, doctors without experience in TELD surgery became proficient in this technique after accumulating experience in 13 cases. There was no significant difference in foraminoplasty time among these three surgeons during the same growing period (P > 0.05).ConclusionsCurrent clinical data demonstrated the safety and efficacy of modified TELD using a power-aided reciprocating burr for treating lumbar disc herniation (LDH) and showed that this technique significantly reduces the learning curve for beginners when performing foraminoplasty

Nonlinear Optical Microscopy for Histology of Fresh Normal and Cancerous Pancreatic Tissues

BACKGROUND: Pancreatic cancer is a lethal disease with a 5-year survival rate of only 1-5%. The acceleration of intraoperative histological examination would be beneficial for better management of pancreatic cancer, suggesting an improved survival. Nonlinear optical methods based on two-photon excited fluorescence (TPEF) and second harmonic generation (SHG) of intrinsic optical biomarkers show the ability to visualize the morphology of fresh tissues associated with histology, which is promising for real-time intraoperative evaluation of pancreatic cancer. METHODOLOGY/PRINCIPAL FINDINGS: In order to investigate whether the nonlinear optical imaging methods have the ability to characterize pancreatic histology at cellular resolution, we studied different types of pancreatic tissues by using label-free TPEF and SHG. Compared with other routine methods for the preparation of specimens, fresh tissues without processing were found to be most suitable for nonlinear optical imaging of pancreatic tissues. The detailed morphology of the normal rat pancreas was observed and related with the standard histological images. Comparatively speaking, the preliminary images of a small number of chemical-induced pancreatic cancer tissues showed visible neoplastic differences in the morphology of cells and extracellular matrix. The subcutaneous pancreatic tumor xenografts were further observed using the nonlinear optical microscopy, showing that most cells are leucocytes at 5 days after implantation, the tumor cells begin to proliferate at 10 days after implantation, and the extracellular collagen fibers become disordered as the xenografts grow. CONCLUSIONS/SIGNIFICANCE: In this study, nonlinear optical imaging was used to characterize the morphological details of fresh pancreatic tissues for the first time. We demonstrate that it is possible to provide real-time histological evaluation of pancreatic cancer by the nonlinear optical methods, which present an opportunity for the characterization of the progress of spontaneous pancreatic cancer and further application in a non-invasive manner

Celecoxib Inhibits the Lytic Activation of Kaposi’s Sarcoma-Associated Herpesvirus through Down-Regulation of RTA Expression by Inhibiting the Activation of p38 MAPK

Kaposi’s sarcoma associated herpesvirus (KSHV) is the etiologic agent of Kaposi’s sarcoma (KS), primary effusion lymphoma (PEL), and multicentric Castleman’s disease (MCD). KSHV’s lytic replication cycle is critical for the pathogenesis of KSHV-associated diseases. Despite recent progress in the development of treatments for KSHV associated malignancies, these therapies are not completely efficacious and cause side effects. Therefore, more effective therapies with antiviral agents against KSHV are urgently needed. In this study, we identified celecoxib as an antiviral agent against KSHV. Our data suggest that celecoxib inhibits the lytic activation of KSHV through the down-regulation of the expression of the lytic switch protein, replication and transcription activator (RTA), by inhibiting the activation of p38 MAPK. Therefore, celecoxib may provide a candidate inhibitor for the therapeutic research of KSHV-related malignancies

A comprehensive study on the ecotoxicity of ivermectin to earthworms (Eisenia fetida)

Ivermectin (IVM) is a dewormer commonly utilized in animal farming. Nevertheless, there is a deficiency of research on the bioecotoxicity of IVM in soil. In this study, earthworms were utilized as test animals to investigate the ecotoxicological impacts of IVM. The experiment lasted 28 days and involved adding varied doses of IVM to a culture substrate of soil mixed with cow dung and feeding it to earthworms. The experiment entailed recording earthworm weight, number of earthworm cocoons, histological damage, oxidative stress indicators, and gene expression levels. The analysis results showed that earthworm growth and reproduction were hampered by IVM. Moreover, pathological damage to the earthworms increased with increasing IVM concentration, which caused increased oxidative damage to the earthworms. These findings offer a summary of the impact of IVM on earthworms and a reference point for future research examining the ecological implications of IVM

Collaborative passenger flow control for oversaturated metro lines: a stochastic optimization method

With the rapid increase in travel demands in urban areas, large passenger flow becomes a common phenomenon in the metro system of some large cities. To ensure the safety and improve the operational efficiency of the metro system, this paper proposes an effective method to formulate a robust passenger flow control strategy over a metro line, in which the stochastic and dynamic passenger flow is specifically considered. By discretizing the time horizon into a series of time intervals, we propose an integer linear programming model aimed at minimizing the expected passenger waiting time over the metro line. To solve the proposed model, a heuristic algorithm that integrates the Lagrangian relaxation approach and CPLEX solver is designed to search for high-quality solutions for the problem of interest. Finally, two sets of numerical experiments, including a small-scale case and a real-world instance, are implemented to validate the performance of the proposed approaches

Effects of gibberellic acid and N, N-dimethyl piperidinium chloride on the dose of and physiological responses to prometryn in black nightshade (Solanum nigrum L.).

The use of gibberellic acid (GA3) and N, N-dimethyl piperidinium chloride (DPC) in combination with prometryn would likely increase the control of black nightshade in cotton fields. Experiments were designed to investigate the physiological and biochemical responses of black nightshade at the three- to four-leaf stage to prometryn applied at different rates, either alone or in combination with GA3 or DPC, in a greenhouse environment. These studies demonstrated that prometryn applied in combination with DPC at low rates (7.2 g ai ha(-1)) led to increased fresh weight and visible injury of black nightshade compared with prometryn applied alone or in combination with GA3; however, at rates of 36, 180, and 900 g ai ha(-1), prometryn in combination with DPC caused the least visible injury among all treatments and prometryn in combination with GA3 caused the greatest visible injury. These results suggest that black nightshade suffered more severe damage when prometryn was applied in combination with GA3, which is supported by the reduced soluble protein content, lower antioxidant enzyme activities, and higher malondialdehyde (MDA) content in the plants treated with prometryn plus GA3. These results indicate that the application of GA3 in combination with prometryn to black nightshade may have the potential to lower the levels of prometryn tolerance in these plants

The enhanced corrosion resistance of UMAO coatings on Mg by silane treatment

The surface silanization was carried out on ultrasonic micro-arc oxidation (UMAO) coatings on pure magnesium using KH550 as silane coupling agent (SCA). The surface morphology, chemical bonds and corrosion resistance of the silane films were investigated by scanning electron microscope (SEM), Fourier transform infrared spectroscopy (FTIR) and electrochemical workstation, respectively. The results showed that hybrid coatings were successfully prepared on pure magnesium by UMAO-NaOH (1 mol/L, 2 mol/L, 3 mol/L)-SCA processing. The organic films with Si–O–Mg bonds are helpful for the reduction of the pores in UMAO coatings. The pores decreased with increasing NaOH concentration. Compared with single UMAO treatment, the corrosion potentials (Ecorr) of magnesium plates with UMAO-NaOH (1 mol/L, 2 mol/L, 3 mol/L)-SCA treatment increased by 29 mV, 53 mV and 75 mV, respectively, meanwhile the corrosion current density (Icorr) reduced one to two orders of magnitude. It indicated that the corrosion resistance of the coatings was improved by silane treatment

Occurrence and profiles of polycyclic aromatic hydrocarbons (PAHs), polychlorinated biphenyls (PCBs) and organochlorine pesticides (OCPs) in soils from a typical e-waste recycling area in Southeast China

Surface soils collected from Taizhou, a typical e-waste recycling area in Southeast China, were analyzed for the residues of polycyclic aromatic hydrocarbons (PAHs), polychlorinated biphenyls (PCBs), and organochlorine pesticides (OCPs) by using microwave-assisted extraction and gas chromatography -mass spectrometry (GC-MS). The total concentrations of 16 PAHs in US EPA's priority list (Sigma PAHs), six indicator PCBs (Sigma PCBs), 15 OCPs widely used in China (Sigma OCPs) in soils ranged from 125 to 4737 ng/g (average: 854 ng/g), from not detected to 55.4 ng/g (3.16 ng/g), and from 47.9 to 820 ng/g (276 ng/g), respectively. Individual PAHs were ubiquitously found in soil samples with detected ratio of 96% and their residual levels were comparable with those of serious polluted sites. Principal component analysis in combination with diagnostic ratios suggested that the combustion of coal, wood, and plastic wastes that are closely associated with illegal and unsafe recycling operations of e-wastes was the main source of PAHs in this area. Compared with other polluted sites, the PCBs residues in soils were generally low except for those in the major recycling site. The residual levels of OCPs in this region were also relatively higher and hexachlorocyclohexane (HCH), dichlorodiphenyltrichloroethane (DDT) and its metabolite forms including dichlorodiphenyldichloroethane (DDD) and dichlorodiphenyldichloroethylene (DDE), hexachlorobenzene (HCB), and dicofol were dominant species. The composition analysis indicated that the HCHs residues in soils might originate from the application of lindane (pure gamma-HCH) and parts of DDTs possibly from the wide use of dicofol with high impurity of DDT compounds in this region.Surface soils collected from Taizhou, a typical e-waste recycling area in Southeast China, were analyzed for the residues of polycyclic aromatic hydrocarbons (PAHs), polychlorinated biphenyls (PCBs), and organochlorine pesticides (OCPs) by using microwave-assisted extraction and gas chromatography -mass spectrometry (GC-MS). The total concentrations of 16 PAHs in US EPA's priority list (Sigma PAHs), six indicator PCBs (Sigma PCBs), 15 OCPs widely used in China (Sigma OCPs) in soils ranged from 125 to 4737 ng/g (average: 854 ng/g), from not detected to 55.4 ng/g (3.16 ng/g), and from 47.9 to 820 ng/g (276 ng/g), respectively. Individual PAHs were ubiquitously found in soil samples with detected ratio of 96% and their residual levels were comparable with those of serious polluted sites. Principal component analysis in combination with diagnostic ratios suggested that the combustion of coal, wood, and plastic wastes that are closely associated with illegal and unsafe recycling operations of e-wastes was the main source of PAHs in this area. Compared with other polluted sites, the PCBs residues in soils were generally low except for those in the major recycling site. The residual levels of OCPs in this region were also relatively higher and hexachlorocyclohexane (HCH), dichlorodiphenyltrichloroethane (DDT) and its metabolite forms including dichlorodiphenyldichloroethane (DDD) and dichlorodiphenyldichloroethylene (DDE), hexachlorobenzene (HCB), and dicofol were dominant species. The composition analysis indicated that the HCHs residues in soils might originate from the application of lindane (pure gamma-HCH) and parts of DDTs possibly from the wide use of dicofol with high impurity of DDT compounds in this region