Robusni algoritam praćenja mjerenjem smjera pomoću strukturiranog potpunog Kalmanovog filtra zasnovanog na metodi najmanjih kvadrata

A nonlinear approach called the robust structured total least squares kalman filter (RSTLS-KF) algorithm is proposed for solving tracking inaccuracy caused by outliers in bearings-only multi-station passive tracking. In that regard, the robust extremal function is introduced to the weighted structured total least squares (WSTLS) location criterion, and then the improved Danish equivalent weight function is built on the basis, which can identify outliers automatically and reduce the weight of the polluted data. Finally, the observation equation is linearized according to the RSTLS location result with the structured total least norm (STLN) solution. Hence location and velocity of the target can be given by the Kalman filter. Simulation results show that tracking performance of the RSTLS-KF is comparable or better than that of conventional algorithms. Furthermore, when outliers appear, the RSTLS-KF is accurate and robust, whereas the conventional algorithms become distort seriously.U ovome radu predložen je nelinearni pristup za rješavanje netočnosti uzrokovanih netipčnim vrijednostima kod praćenja mjerenjem smjera pasivnim senzorima s više stanica. Pristup je zasnovan na robusnom strukturiranom potpunom Kalmanovom filtru zasnovanom na metodi najmanjih kvadrata. Pomoću predložene metode moguće je estimirati položaj i brzinu praćenog objekta. Simulacijski rezultati pokazuju da je učinkovitost predloženog algoritma jednaka ili bolja od konvencionalnih algoritama. Nadalje, u prisustvu netipčnih vrijednosti mjerenja, predloženi algoritam zadržava točnost i robusnost, dok konvencionalni algoritmi pokazuju pogreške u estimaciji

Mitigating Backdoors in Federated Learning with FLD

Federated learning allows clients to collaboratively train a global model without uploading raw data for privacy preservation. This feature, i.e., the inability to review participants' datasets, has recently been found responsible for federated learning's vulnerability in the face of backdoor attacks. Existing defense methods fall short from two perspectives: 1) they consider only very specific and limited attacker models and unable to cope with advanced backdoor attacks, such as distributed backdoor attacks, which break down the global trigger into multiple distributed triggers. 2) they conduct detection based on model granularity thus the performance gets impacted by the model dimension. To address these challenges, we propose Federated Layer Detection (FLD), a novel model filtering approach for effectively defending against backdoor attacks. FLD examines the models based on layer granularity to capture the complete model details and effectively detect potential backdoor models regardless of model dimension. We provide theoretical analysis and proof for the convergence of FLD. Extensive experiments demonstrate that FLD effectively mitigates state-of-the-art backdoor attacks with negligible impact on the accuracy of the primary task

Mechanism of phosphate release from actin filaments

-phosphate is hydrolyzedwithin seconds and dissociates over minutes. We used all-atom molecular dynamics simulations to sample the release of phosphate from filaments and study residues that gate release. Dissociation of phosphate from Mg2+ is rate limiting and associated with an energy barrier of 20 kcal/mol, consistent with experimental rates of phosphate release. Phosphate then diffuses within an internal cavity toward a gate formed by R177, as suggested in prior computational studies and cryo-EM structures. The gate is closed when R177 hydrogen bonds with N111 and is open when R177 forms a salt bridge with D179. Most of the time, interactions of R177 with other residues occlude the phosphate release pathway. Machine learning analysis reveals that the occluding interactions fluctuate rapidly, underscoring the secondary role of backdoor gate opening in Pi release, in contrast with the previous hypothesis that gate opening is the primary event

Chat-PM: A Class of Composite Hybrid Aerial/Terrestrial Precise Manipulator

This paper concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with existing aerial or terrestrial mobile manipulators, Chat-PM demonstrates advantages in terms of reachability, energy efficiency and manipulation precision. To achieve precise manipulation in terrestrial mode, the dynamics is analyzed with consideration of surface contact, based on which a cascaded controller is designed with compensation for the interference force and torque from the arm. Benefiting from the kinematic constraints caused by the surface contact, the position deviation and the vehicle vibration are effectively decreased, resulting in higher control precision of the end gripper. For manipulation on surfaces with unknown inclination angles, the moving horizon estimation (MHE) is exploited to obtain the precise estimations of force and inclination angle, which are used in the control loop to compensate for the effect of the unknown surface. Real-world experiments are performed to evaluate the superiority of the developed manipulator and the proposed controllers

Combined effects of tenofovir and interferon α1b on viral load and levels of peripheral regulatory T cells in chronic hepatitis B subjects

Purpose: To study the combined effects of tenofovir and interferon α1b on viral load and peripheral blood regulatory T cell concentrations of chronic hepatitis B (CHB) subjects. Methods: Patients with chronic hepatitis B (86 cases) were randomly assigned to two groups: control group and study group. In control subjects, tenofovir was given orally (300 mg/kg bwt/day). In addition to tenofovir, the study group received interferon α1b injection intramuscularly at a dose of 50 μg/kg thrice a week. Liver function, serum hepatitis B viral (HBV) load, and serum levels of peripheral blood regulatory T-lymphocytes were determined. Clinical effectiveness and adverse reactions in both groups were also assessed. Results: After treatment, total effectiveness was higher in the study group (86.04 %) than in control patients (62.79 %) (p < 0.05). Serum aspartate transaminase (AST), alanine aminotransferase (ALT) and total bilirubin (TBIL) significantly decreased in the study group, relative to control, but HBV DNAnegative, HbeAg-negative and HbsAg-negative cells were markedly higher in patients in the study group (p < 0.05). Moreover, there were higher CD4+ T and CD8+ T counts, and CD4+ T/CD8+ T ratio in study subjects than in control subjects (p < 0.05). Conclusion: The combination of tenofovir with interferon α1b effectively improves liver functions in patients with CHB, reduces viral load, and exerts anti-HBV effect by regulating the levels of peripheral blood T-lymphocytes

Multiple Comparisons of the Efficacy and Safety for Seven Treatments in Tibia Shaft Fracture Patients

Background: A tibia shaft fracture is one of the most common long bone fractures, with two general types, open fracture and close fracture. However, there is no universally accepted guideline suggesting which treatment to use under certain circumstances. Therefore, a comprehensive network meta-analysis (NMA) is needed to summarize existing studies and to provide more credible data-based medical guidelines.Methods: Available literature was identified by searching medical databases with relevant key terms. Studies that met the inclusion and exclusion criteria, baseline, intervention, and the outcome of treatments, were extracted. A comparative connection of these studies was demonstrated through net plots. Continuous variables and binary variables were reported as mean difference (MD) and odds ratio (OR) with a 95% credible interval (CrI), respectively. The comparison of direct and indirect outcome and their P-value were listed in the node-splitting table. Treatments for each endpoint were ranked by their surface under the cumulative ranking curve (SUCRA) value. A heat plot was created to illustrate the contribution of raw data and the inconsistency between direct and indirect comparisons.Results: According to the search strategy, 697 publications were identified, and 25 records were included, involving 3,032 patients with tibia shaft fractures. Seven common surgical or non-surgical treatments, including reamed intramedullary nailing (RIN), un-reamed intramedullary nailing (UIN), minimally reamed intramedullary nailing (MIN), ender nailing (EN), external fixation (EF), plate, and cast, were compared, in terms of time to union, reoperation, non-union, malunion, infection and implant failure. Plate performed relatively better for time to union, while cast might be the best choice in close cases to reduce the risks of reoperation, non-union, malunion, and infection. To prevent implant failure, EN seemed to be better.Conclusion: Cast might have the highest probability of the most optimal choice for tibia shaft fracture in close cases, while reamed intramedullary nailing ranked second

Measurement of Stimulated Raman Side-Scattering Predominance and Energetic Importance in the Compression Stage of the Double-Cone Ignition Approach to Inertial Confinement Fusion

Due to its particular geometry, stimulated Raman side-scattering (SRSS) drives scattered light emission at non-conventional directions, leading to scarce and complex experimental observations. Experimental campaigns at the SG-II UP facility have measured the scattered light driven by SRSS over a wide range of angles, showing an emission at large polar angles, sensitive to the plasma profile and laser polarization. Furthermore, direct comparison with back-scattering measurement has evidenced SRSS as the dominant Raman scattering process in the compression stage, leading to the scattering loss of about 5\% of the total laser energy. The predominance of SRSS was confirmed by 2D particle-in-cell simulations, and its angular spread has been corroborated by ray-tracing simulations. The main implication is that a complete characterization of the SRS instability and an accurate measurement of the energy losses require the collection of the scattered light in a broad range of directions. Otherwise, spatially limited measurement could lead to an underestimation of the energetic importance of stimulated Raman scattering

Fabricating a novel HLC-hBMP2 fusion protein for the treatment of bone defects

Treating serious bone trauma with an osteo-inductive agent such as bone morphogenetic proteins (BMPs) has been considered as an optimized option when delivered via a collagen sponge (CS). Previous work has shown that the BMP concentration and release rate from approved CS carriers is difficult to control with precision. Here we presented the fabrication of a recombinant fusion protein from recombinant human-like collagen (HLC) and human BMP-2 (hBMP2). The fusion protein preserved the characteristic of HLC allowing the recombinant protein to be expressed in Yeast (such as Pichia pastoris GS115) and purified rapidly and easily with mass production after methanol induction. It also kept the stable properties of HLC and hBMP2 in the body fluid environment with good biocompatibility and no cytotoxicity. Moreover, the recombinant fusion protein fabricated a vertical through-hole structure with improved mechanical properties, and thus facilitated migration of bone marrow mesenchymal stem cells (MSCs) into the fusion materials. Furthermore, the fusion protein degraded and released hBMP-2 in vivo allowing osteoinductive activity and the enhancement of utilization rate and the precise control of the hBMP2 release. This fusion protein when applied to cranial defects in rats was osteoinductively active and improved bone repairing enhancing the repairing rate 3.5- fold and 4.2- fold when compared to the HLC alone and the control, respectively. There were no visible inflammatory reactions, infections or extrusions around the implantation sites observed. Our data strongly suggests that this novel recombinant fusion protein could be more beneficial in the treatment of bone defects than the simple superposition of the hBMP2/collagen sponge