A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle

In this paper, we propose a novel robust navigational approach to be integrated with the guidance and control systems of an uninhabitedsurface vehicle Springer. A weighted Interval Kalman Filter (wIKF) in used for waypoint tracking, and has been compared with that of one that uses a conventional Kalman Filter (KF) navigational design. The conventional KF fails to predict correctly the vehicle’s heading when there is unmodelled uncertainty of the sensing equipment, and thus would negatively affect the performance of subsequent navigation, guidance and control (NGC). While the proposed method using a wIKF technique enhances robustness with respect to erroneous modelling, and thus secures better accuracy and efficiency in completing a mission

Acute kidney injury in patients treated with immune checkpoint inhibitors

BACKGROUND: Immune checkpoint inhibitor-associated acute kidney injury (ICPi-AKI) has emerged as an important toxicity among patients with cancer. METHODS: We collected data on 429 patients with ICPi-AKI and 429 control patients who received ICPis contemporaneously but who did not develop ICPi-AKI from 30 sites in 10 countries. Multivariable logistic regression was used to identify predictors of ICPi-AKI and its recovery. A multivariable Cox model was used to estimate the effect of ICPi rechallenge versus no rechallenge on survival following ICPi-AKI. RESULTS: ICPi-AKI occurred at a median of 16 weeks (IQR 8-32) following ICPi initiation. Lower baseline estimated glomerular filtration rate, proton pump inhibitor (PPI) use, and extrarenal immune-related adverse events (irAEs) were each associated with a higher risk of ICPi-AKI. Acute tubulointerstitial nephritis was the most common lesion on kidney biopsy (125/151 biopsied patients [82.7%]). Renal recovery occurred in 276 patients (64.3%) at a median of 7 weeks (IQR 3-10) following ICPi-AKI. Treatment with corticosteroids within 14 days following ICPi-AKI diagnosis was associated with higher odds of renal recovery (adjusted OR 2.64; 95% CI 1.58 to 4.41). Among patients treated with corticosteroids, early initiation of corticosteroids (within 3 days of ICPi-AKI) was associated with a higher odds of renal recovery compared with later initiation (more than 3 days following ICPi-AKI) (adjusted OR 2.09; 95% CI 1.16 to 3.79). Of 121 patients rechallenged, 20 (16.5%) developed recurrent ICPi-AKI. There was no difference in survival among patients rechallenged versus those not rechallenged following ICPi-AKI. CONCLUSIONS: Patients who developed ICPi-AKI were more likely to have impaired renal function at baseline, use a PPI, and have extrarenal irAEs. Two-thirds of patients had renal recovery following ICPi-AKI. Treatment with corticosteroids was associated with improved renal recovery

Linear-Time Algorithms for Tree Root Problems

Abstract. Let T be a tree on a set V of nodes. The p-th power T p of T is the graph on V such that any two nodes u and w of V are adjacent in T p if and only if the distance of u and w in T is at most p. Given an n-node m-edge graph G and a positive integer p, the p-th tree root problem asks for a tree T, if any, such that G = T p. Given a graph G, the tree root problem asks for a positive integer p and a tree T, if any, such that G = T p. Kearney and Corneil gave the best previously known algorithms for both problems. Their algorithm for the former (respectively, latter) problem runs in O(n3) (respectively, O(n4)) time. In this paper, we give O(n + m)-time algorithms for both problems.