Ewing sarcoma/primary neuroectodermal tumors are rare,invasive,and small round blue cell tumors.There are few reports of its occurrence in the urinary system.Here,we present the first middle-aged female patient whose ...Ewing sarcoma/primary neuroectodermal tumors are rare,invasive,and small round blue cell tumors.There are few reports of its occurrence in the urinary system.Here,we present the first middle-aged female patient whose Ewing sarcoma primary site was in the ureter.The main clinical manifestation was intermittent hematuria.She was in good health after complete surgical resection and adjuvant radiotherapy.To date,there has been no recurrence or metastasis.Accurate early diagnosis and appropriate treatment can help prolong survival.18F-fluorodeoxyglucose positron emission tomography/computed tomography is expected to be an effective means of evaluating treatment effects and detecting metastasis and recurrence.In this article,besides introducing a case of Ewing sarcoma/primitive neuroectodermal tumor of the ureter,we review the literature to discuss the current status of diagnosis and treatment.展开更多
Background Primary Ewing＇s sarcoma/primitive neuroectodermal tumor （ES/PNET） of urogenital tract is a rare condition with non-specific clinical presentations, which can make it difficult to diagnose. In this study,...Background Primary Ewing＇s sarcoma/primitive neuroectodermal tumor （ES/PNET） of urogenital tract is a rare condition with non-specific clinical presentations, which can make it difficult to diagnose. In this study, we summarize the clinical presentation, pathological features, therapeutic strategies, and prognosis of ES/PNET.展开更多
BACKGROUND Data on clinical characteristics,treatment outcomes,and prognosis of pancreatic primitive neuroectodermal tumors(PNETs)are limited.AIM To analyze the clinical data of 30 patients with pancreatic PNETs to id...BACKGROUND Data on clinical characteristics,treatment outcomes,and prognosis of pancreatic primitive neuroectodermal tumors(PNETs)are limited.AIM To analyze the clinical data of 30 patients with pancreatic PNETs to identify their clinical characteristics and factors associated with prognosis.METHODS We used the keywords"primary neuroectodermal tumor,""digestive tract,""pancreas,""pancreatic,"and"gastrointestinal,"individually or in combination,to collect data from a global database for all patients with pancreatic PNET to date.Univariate and Cox regression analyses were performed to identify prognostic factors for patient survival.RESULTS A total of 30 cases of pancreatic PNET were included in this study:15 males and 15 females with a mean age of 24 years.The main symptom was abdominal pain(73.3%),and the median tumor size was 7.85 cm.Twenty-four patients(80.0%)underwent surgery and nineteen patients received adjuvant therapy.Local metastasis was observed in 13 patients(43.3%),lymph node metastasis in 10 patients(33.3%),and distant metastasis in 6 patients(20.0%).Local recurrence was observed in 13 patients(43.3%).The median survival time of all patients was 29.4 months,and the overall estimated 1-year and 3-year survival rates were approximately 66.0%and 36.4%,respectively.Univariate analysis showed that chemotherapy(P=0.036),local metastasis(P=0.041),lymph node metastasis(P=0.003),distant metastasis(P=0.049),and surgical margins(P=0.048)were the prognostic factors affecting survival.Multivariate analysis revealed only lymph node metastasis(P=0.012)as a prognostic factor.CONCLUSION Pancreatic PNET is extremely rare,occurs in young adults,has no apparent sex predisposition,has a high rate of metastasis and early recurrence,and has a very poor prognosis.The diagnosis of pancreatic PNET requires a combination of clinical symptoms,pathologic features,immunohistochemistry,and cytogenetic analysis.Univariate analysis suggested that chemotherapy,metastasis,and surgical margins were prognostic factors affecting survival,and multivariate analysis suggested that lymph node metastasis is an important prognostic factor.Therefore,early diagnosis,early and extensive resection,and adjuvant chemoradiotherapy may help improve prognosis.展开更多
Walking is the basic locomotion pattern for bipedal robots.The walking pattern is widely generated using the linear inverted pendulum model.The linear inverted pendulum motion of each support period can be designed as...Walking is the basic locomotion pattern for bipedal robots.The walking pattern is widely generated using the linear inverted pendulum model.The linear inverted pendulum motion of each support period can be designed as a walk primitive to be connected to form a walking trajectory.A novel method of integrating double support phase into the walk primitive was proposed in this article.The method describes the generation of walking patterns using walk primitives with double support,specifically for lateral plane including walking in place,walking for lateral,and walking initiation,and for sagittal plane including fixed step length walking,variable step length walking,and walking initiation.Compared to walk primitives without double support phase,those with double support phase reduce the maximum speed required by the robot and eliminate the need to adjust foothold for achieving continuous speed.The performance of the proposed method is validated by simulations and experiments on Neubot,a position-controlled biped robot.展开更多
Path planning is crucial for autonomous flight of fixed-wing Unmanned Aerial Vehicles(UAVs).However,due to the high-speed flight and complex control of fixed-wing UAVs,ensuring the feasibility and safety of planned pa...Path planning is crucial for autonomous flight of fixed-wing Unmanned Aerial Vehicles(UAVs).However,due to the high-speed flight and complex control of fixed-wing UAVs,ensuring the feasibility and safety of planned paths in complex environments is challenging.This paper proposes a feasible path planning algorithm named Closed-loop Radial Ray A^(*)(CL-RaA^(*)).The core components of the CL-RaA^(*)include an adaptive variable-step-size path search and a just-in-time expansion primitive.The former enables fast path search in complex environments,while the latter ensures the feasibility of the generated paths.By integrating these two components and conducting safety checks on the trajectories to be expanded,the CL-RaA^(*)can rapidly generate safe and feasible paths that satisfy the differential constraints that comprehensively consider the dynamics and control characteristics of six-degree-of-freedom fixed-wing UAVs.The final performance tests and simulation validations demonstrate that the CL-RaA^(*)can generate safe and feasible paths in various environments.Compared to feasible path planning algorithms that use the rapidlyexploring random trees,the CL-RaA^(*)not only ensures deterministic planning results in the same scenarios but also generates smoother feasible paths for fixed-wing UAVs more efficiently.In environments with dense grid obstacles,the feasible paths generated by the CL-RaA^(*)are more conducive to UAV tracking compared to those planned using Dubins curves.展开更多
This paper investigates the ergodicity and weak convergence of transition probabilities for two-dimensional stochastic primitive equations driven by multiplicative noise.The existence of invariant measures is establis...This paper investigates the ergodicity and weak convergence of transition probabilities for two-dimensional stochastic primitive equations driven by multiplicative noise.The existence of invariant measures is established using the classical Krylov-Bogoliubov theory.The uniqueness of invariant measures and the weak convergence of transition probabilities are demonstrated through the application of the asymptotic coupling method and Foias-Prodi estimate.展开更多
Epithelioid angiosarcoma is a rare vascular tumour with dark prognosis at short term. The primitive bone localization is exceptional and sometimes presents itself under a unifocal form. We report a clinical case of pe...Epithelioid angiosarcoma is a rare vascular tumour with dark prognosis at short term. The primitive bone localization is exceptional and sometimes presents itself under a unifocal form. We report a clinical case of pelvic multifocal primitive bone epithelioid angiosarcoma (iliac crest and hip) diagnosed on a young male adult (45 years old). The radiological investigations put in evidence geographic osteolytic lesions (type IC) and, diagnostic was given thanks to the histological examination of the surgical biopsy pieces. The evolution was marked by the appearance of pulmonary and lymph node metastases with a death occurring in less than 4 months. Extremely rare tumour, bone epithelioid angiosarcoma is a variant of angiosarcoma characterised by an aggressive nature whose evolution is always fatal. Through this observation we report our experience on the diagnostic approach;and using a literature review we discuss the therapeutic modalities of this tumour with very bad prognosis.展开更多
Introduction: Ewings sarcoma is uncommon in extra osseous locations. They belong to Ewings family of tumours and the primitive neuroectodermal tumour is often diagnosed based on immuno histochemistry and molecular gen...Introduction: Ewings sarcoma is uncommon in extra osseous locations. They belong to Ewings family of tumours and the primitive neuroectodermal tumour is often diagnosed based on immuno histochemistry and molecular genetic studies. Discussion: A 50-year-old gentleman presented with complaints of a swelling in the right thigh. With a diagnosis of soft tissue sarcoma, the patient underwent a wide local excision of the tumour. We review literature of the small round blue cell tumour. Conclusion: Extraosseous Ewings sarcoma presenting as a thigh swelling is uncommon. The sarcoma was vimentin positive and CD99 membrane positivity.展开更多
Background:Photodynamic therapy(PDT)may eradicate residual malignant cells following sarcoma resection,through reactive oxygen species(ROS)mediated cytotoxicity,thus improve clinical outcomes.This study aims to assess...Background:Photodynamic therapy(PDT)may eradicate residual malignant cells following sarcoma resection,through reactive oxygen species(ROS)mediated cytotoxicity,thus improve clinical outcomes.This study aims to assess the efficacy of 5-aminolevulinic acid(5-ALA)as a photosensitizer in combination with red light(RL)for PDT of bone sarcoma cells in vitro.Methods:Three bone sarcoma cell lines underwent treatment with 5-ALA and RL or sham-RL(SL).5-ALA uptake was assessed using flow cytometry.Production of ROS was measured using CellROX Green staining and fluorescence microscopy.Cell viability was assessed using Cell Counting Kit-8 assays.Results:All cell lines showed significant 5-ALA uptake in comparison to the 0 mM control(p<0.05).Production of ROS was significantly increased in cells treated with 5-ALA and RL,compared to those treated with RL and no 5-ALA or SL(p<0.05).Viability was significantly reduced in cells treated with 5-ALA and RL,compared to SL(p<0.05).At 72 h post-treatment,cell viability ranged from 6%-12%in 0.5 mM 5-ALA and RL-treated cells vs.90%-137%in 0.5 mM 5-ALA and SL-treated cells.Conclusion:5-ALA-based PDT led to the desired increased production of ROS and reduction in cell viability in all cell lines.These preliminary in vitro results warrant further study with multicellular spheroid or animal models and suggest PDT has potential to be used as an adjuvant therapy to surgical resection in sarcoma management.展开更多
Background:Clear cell sarcoma of the kidney(CCSK)is a rare and highly aggressive pediatric renal malignancy with a marked propensity for metastatic spread.Cases of CCSK associated with inferior vena cava(IVC)tumor thr...Background:Clear cell sarcoma of the kidney(CCSK)is a rare and highly aggressive pediatric renal malignancy with a marked propensity for metastatic spread.Cases of CCSK associated with inferior vena cava(IVC)tumor thrombus(IVCTT)are exceptionally uncommon in the literature.We report a case of CCSK with IVCTT in a 15-month-old male infant.Case Description:We reported a case admitted in May 2020 for a 3-day history of fever and hematuria.Abdominal CT revealed an unevenly enhanced mass and low-density shadows within the IVC.The diagnosis of CCSK was confirmed via needle biopsy.The patient received 4 cycles of adjuvant chemotherapy.The initial surgery lasted 10 h with 600 mL blood loss,and primary closure was achieved.Postoperative management included 6 cycles of radiotherapy and 5 cycles of chemotherapy.In March 2022,CT detected IVCTT recurrence,requiring surgical intervention involving thrombus removal and partial IVC resection.This procedure lasted 8 h with 300 mL blood loss,followed by 5 additional chemotherapy cycles.The patient showed no sign of IVC obstruction,including varicose veins or lower limb edema,and maintained renal function throughout follow-up.However,Intracranial metastases were detected 15 months postoperatively.After the family opted against additional treatment,the patient succumbed to the disease.Conclusions:The management of CCSK associated with IVCTT should include consideration of IVC thrombectomy.In case of recurrent IVCTT with preserved collateral circulation,combined thrombus excision and partial IVC resection may be warranted.展开更多
The accelerating urbanization process leads to aggravated environmental problems, thus garden design which is a creative activity connecting human and nature has attracted much attention, and also garden designers hav...The accelerating urbanization process leads to aggravated environmental problems, thus garden design which is a creative activity connecting human and nature has attracted much attention, and also garden designers have had to rethink about environmental ethics and morals. This study, from the perspective of environmental ethics, duly proposed the brand-new concept of 'appropriate garden of primitive ecology', proceeded from the orientation, form, value, theoretical basis, realistic significance, culture and consumption psychology of 'garden of primitive ecology', fully developed outstanding ecological wisdoms and morals in traditional Chinese garden culture, boosted garden designs to the environmental ethics level of eco-justice, to seek for the approach to 'garden of primitive ecology' with indigenous Chinese environmental ethic characteristics.展开更多
This paper is devoted to considering the three-dimensional viscous primitive equations of the large-scale atmosphere. First, we prove the global well-posedness for the primitive equations with weaker initial data than...This paper is devoted to considering the three-dimensional viscous primitive equations of the large-scale atmosphere. First, we prove the global well-posedness for the primitive equations with weaker initial data than that in [11]. Second, we obtain the existence of smooth solutions to the equations. Moreover, we obtain the compact global attractor in V for the dynamical system generated by the primitive equations of large-scale atmosphere, which improves the result of [11].展开更多
Extraskeletal Ewing's sarcoma/peripheral primitive neuroectodermal tumor(E-EWS/pP NET) is a rare aggressive malignant small round cell tumor. In this report, we present the case of a 15-year-old boy who suffered f...Extraskeletal Ewing's sarcoma/peripheral primitive neuroectodermal tumor(E-EWS/pP NET) is a rare aggressive malignant small round cell tumor. In this report, we present the case of a 15-year-old boy who suffered from acute abdominal pain accompanied by hematemesis and melena, and was eventually diagnosed with E-EWS/p PNET. To date, there have been only five reported cases of E-EWS/pP NET of the small bowel including the patient in this report. To the best of our knowledge, this is the first documentation of a pP NET of the small bowel mesentery at nonage. All these have made this report rare and significant.展开更多
Peripheral primitive neuroectodermal tumor(PNET) of the kidney is a rare, aggressive tumor known for its recurrence and metastatic potential. Despite the frequency of venous extension to the renal veins and inferior v...Peripheral primitive neuroectodermal tumor(PNET) of the kidney is a rare, aggressive tumor known for its recurrence and metastatic potential. Despite the frequency of venous extension to the renal veins and inferior vena cava, pulmonary tumor embolism at the initial presentation is not common. We report a case of 22-year-old female with PNET of the kidney who presented with tumor embolism in the inferior vena cava(IVC) and bilateral pulmonary artery. The patient underwent surgical resection and histopathological analysis confirmed the presence of tumor within the IVC and pulmonary arteries. The patient received adjuvant chemotherapy and is currently doing well on follow-up.展开更多
Primitive neuroectodermal tumor (PNET) of the pancreas is an extremely rare tumor that usually occurs in children or young adults. We report a case of a 33-year-old male patient with an 18 cm × 18 cm × 16 cm...Primitive neuroectodermal tumor (PNET) of the pancreas is an extremely rare tumor that usually occurs in children or young adults. We report a case of a 33-year-old male patient with an 18 cm × 18 cm × 16 cm mass arising from the pancreatic body and tail with a one- day history of abdominal pain. Initial CT scan showed no signs of metastatic tumor spread. The tumor caused intrabdominal bleeding and the patient underwent primary tumor resection including partial gastrectomy, left pancreatic resection and splenectomy. Diagnosis of PNET was confi rmed by histology, immunohistochemistry and FISH analysis. All neoplastic cells were stained positive for MIC2-protein (CD99). Approximately one month after surgery, several liver metastases were observed and the patient underwent chemotherapy according to the Euro- Ewing protocol. Subsequent relaparotomy excluded any residual hepatic or extrahepatic abdominal metastases. Although PNET in the pancreas is an extremely rare entity, it should be considered in the diffential diagnosis of pancreatic masses, especially in young patients. This alarming case particularly illustrates that PNET in the pancreas although in an advanced stage can present with only a short history of mild symptoms.展开更多
The design of a total energy conserving semi-implicit scheme for the multiple-level baroclinic primitive equation has remained an unsolved problem for a long time. In this work, however, we follow an energy perfect co...The design of a total energy conserving semi-implicit scheme for the multiple-level baroclinic primitive equation has remained an unsolved problem for a long time. In this work, however, we follow an energy perfect conserving semi-implicit scheme of a European Centre for Medium-Range Weather Forecasts (ECMWF) type sigma-coordinate primitive equation which has recently successfully formulated. Some real-data contrast tests between the model of the new conserving scheme and that of the ECMWF-type of global spectral semi-implicit scheme show that the RMS error of the averaged forecast Height at 850 hPa can be clearly improved after the first integral week. The reduction also reaches 50 percent by the 30th day. Further contrast tests demonstrate that the RMS error of the monthly mean height in the middle and lower troposphere also be largely reduced, and some well-known systematical defects can be greatly improved. More detailed analysis reveals that part of the positive contributions comes from improvements of the extra-long wave components. This indicates that a remarkable improvement of the model climate drift level can be achieved by the actual realizing of a conserving time-difference scheme, which thereby eliminates a corresponding computational systematic error source/sink found in the currently-used traditional type of weather and climate system models in relation to the baroclinic primitive equations.展开更多
Mafic rocks comprising tholeiitic pillow basalt, dolerite and minor gabbro form the basal stratigraphic unit in the ca. 2.8 to 2.6 Ga Geita Greenstone Belt situated in the NW Tanzania Craton. They outcrop mainly along...Mafic rocks comprising tholeiitic pillow basalt, dolerite and minor gabbro form the basal stratigraphic unit in the ca. 2.8 to 2.6 Ga Geita Greenstone Belt situated in the NW Tanzania Craton. They outcrop mainly along the southern margin of the belt, and are at least 50 million years older than the supracrustal assemblages against which they have been juxtaposed. Geochemical analyses indicate that parts of the assemblage approach high Mg-tholeiite （more than 8 wt.% MgO）. This suite of samples has a restricted compositional range suggesting derivation from a chemically homogenous reservoir. Trace element modeling suggests that the mafic rocks were derived by partial melting within the spinel peridotite field from a source rock with a primitive mantle composition. That is, trace elements maintain primitive mantle ratios （Zr/Hf = 32-35, Ti/Zr - 107-147）, producing flat REE and HFSE profles [（La/Yb）pm = 0.9 -1.3], with abundances of 3-10 times primitive mantle and with minor negative anomalies of Nb [（Nb/ La）pm - 0.6-0.8] and Th [（Th/La）pm = 0.6-0.9]. Initial isotope compositions （εNd） range from 1.6 to 2.9 at 2.8 Ga and plot below the depleted mantle line suggesting derivation from a more enriched source compared to present day MORB mantle. The trace element composition and Nd isotopic ratios are similar to the mafic rocks outcropping -50 km south. The mafic rocks outcropping in the Geita area were erupted through oceanic crust over a short time period, between -2830 and-2820 Ma; are compositionally homogenous, contain little to no associated terrigenous sediments, and their trace element composition and short emplacement time resemble oceanic plateau basalts. They have been interpreted to be derived from a plume head with a primitive mantle composition.展开更多
BACKGROUND Adrenal primitive neuroectodermal tumor(PNET) is an extremely rare malignant tumor with poor prognosis and of neural crest origin. Herein, we report a case of adrenal PNET and summarized its clinical and pa...BACKGROUND Adrenal primitive neuroectodermal tumor(PNET) is an extremely rare malignant tumor with poor prognosis and of neural crest origin. Herein, we report a case of adrenal PNET and summarized its clinical and pathological characteristics on the basis of 16 patients reported recently.CASE SUMMARY A female patient aged 25 years presented with right lumbago for 12 mo, and preoperative computed tomography showed a huge right adrenal mass. She received tumorectomy, and post-operative pathological examination showed adrenal PNET. After surgery, she underwent adjuvant chemotherapy and was followed up 31 mo after surgery. She received brachytherapy for right paracolic and hepatic metastases. She was alive and followed up for 60 mo. In available studies, only 57.14%(4/7) and 44.44%(4/9) were positive for the expression of neuron-specific enolase and synaptophysin, respectively, although CD99 expression was found in all the patients(100%; 10/10).CONCLUSION It is concluded that adrenal PNET is very rare and highly malignant, and histology is a golden standard in its diagnosis. Surgery and adjuvant therapy is the main treatment.展开更多
In this paper, we study the bases and base sets of primitive symmetric loop-free （generalized） signed digraphs on n vertices. We obtain sharp upper bounds of the bases, and show that the base sets of the classes of ...In this paper, we study the bases and base sets of primitive symmetric loop-free （generalized） signed digraphs on n vertices. We obtain sharp upper bounds of the bases, and show that the base sets of the classes of such digraphs are （2, 3,..., 2n - 1}. We also give a new proof of an important result obtained by Cheng and Liu.展开更多
文摘Ewing sarcoma/primary neuroectodermal tumors are rare,invasive,and small round blue cell tumors.There are few reports of its occurrence in the urinary system.Here,we present the first middle-aged female patient whose Ewing sarcoma primary site was in the ureter.The main clinical manifestation was intermittent hematuria.She was in good health after complete surgical resection and adjuvant radiotherapy.To date,there has been no recurrence or metastasis.Accurate early diagnosis and appropriate treatment can help prolong survival.18F-fluorodeoxyglucose positron emission tomography/computed tomography is expected to be an effective means of evaluating treatment effects and detecting metastasis and recurrence.In this article,besides introducing a case of Ewing sarcoma/primitive neuroectodermal tumor of the ureter,we review the literature to discuss the current status of diagnosis and treatment.
文摘Background Primary Ewing＇s sarcoma/primitive neuroectodermal tumor （ES/PNET） of urogenital tract is a rare condition with non-specific clinical presentations, which can make it difficult to diagnose. In this study, we summarize the clinical presentation, pathological features, therapeutic strategies, and prognosis of ES/PNET.
文摘BACKGROUND Data on clinical characteristics,treatment outcomes,and prognosis of pancreatic primitive neuroectodermal tumors(PNETs)are limited.AIM To analyze the clinical data of 30 patients with pancreatic PNETs to identify their clinical characteristics and factors associated with prognosis.METHODS We used the keywords"primary neuroectodermal tumor,""digestive tract,""pancreas,""pancreatic,"and"gastrointestinal,"individually or in combination,to collect data from a global database for all patients with pancreatic PNET to date.Univariate and Cox regression analyses were performed to identify prognostic factors for patient survival.RESULTS A total of 30 cases of pancreatic PNET were included in this study:15 males and 15 females with a mean age of 24 years.The main symptom was abdominal pain(73.3%),and the median tumor size was 7.85 cm.Twenty-four patients(80.0%)underwent surgery and nineteen patients received adjuvant therapy.Local metastasis was observed in 13 patients(43.3%),lymph node metastasis in 10 patients(33.3%),and distant metastasis in 6 patients(20.0%).Local recurrence was observed in 13 patients(43.3%).The median survival time of all patients was 29.4 months,and the overall estimated 1-year and 3-year survival rates were approximately 66.0%and 36.4%,respectively.Univariate analysis showed that chemotherapy(P=0.036),local metastasis(P=0.041),lymph node metastasis(P=0.003),distant metastasis(P=0.049),and surgical margins(P=0.048)were the prognostic factors affecting survival.Multivariate analysis revealed only lymph node metastasis(P=0.012)as a prognostic factor.CONCLUSION Pancreatic PNET is extremely rare,occurs in young adults,has no apparent sex predisposition,has a high rate of metastasis and early recurrence,and has a very poor prognosis.The diagnosis of pancreatic PNET requires a combination of clinical symptoms,pathologic features,immunohistochemistry,and cytogenetic analysis.Univariate analysis suggested that chemotherapy,metastasis,and surgical margins were prognostic factors affecting survival,and multivariate analysis suggested that lymph node metastasis is an important prognostic factor.Therefore,early diagnosis,early and extensive resection,and adjuvant chemoradiotherapy may help improve prognosis.
基金supported in part by the National Key R&D Program under Grant 2018YFB1304504.
文摘Walking is the basic locomotion pattern for bipedal robots.The walking pattern is widely generated using the linear inverted pendulum model.The linear inverted pendulum motion of each support period can be designed as a walk primitive to be connected to form a walking trajectory.A novel method of integrating double support phase into the walk primitive was proposed in this article.The method describes the generation of walking patterns using walk primitives with double support,specifically for lateral plane including walking in place,walking for lateral,and walking initiation,and for sagittal plane including fixed step length walking,variable step length walking,and walking initiation.Compared to walk primitives without double support phase,those with double support phase reduce the maximum speed required by the robot and eliminate the need to adjust foothold for achieving continuous speed.The performance of the proposed method is validated by simulations and experiments on Neubot,a position-controlled biped robot.
基金supported by the National Natural Science Foundation of China(No.52272382)the Fundamental Research Funds for the Central Universities,China。
文摘Path planning is crucial for autonomous flight of fixed-wing Unmanned Aerial Vehicles(UAVs).However,due to the high-speed flight and complex control of fixed-wing UAVs,ensuring the feasibility and safety of planned paths in complex environments is challenging.This paper proposes a feasible path planning algorithm named Closed-loop Radial Ray A^(*)(CL-RaA^(*)).The core components of the CL-RaA^(*)include an adaptive variable-step-size path search and a just-in-time expansion primitive.The former enables fast path search in complex environments,while the latter ensures the feasibility of the generated paths.By integrating these two components and conducting safety checks on the trajectories to be expanded,the CL-RaA^(*)can rapidly generate safe and feasible paths that satisfy the differential constraints that comprehensively consider the dynamics and control characteristics of six-degree-of-freedom fixed-wing UAVs.The final performance tests and simulation validations demonstrate that the CL-RaA^(*)can generate safe and feasible paths in various environments.Compared to feasible path planning algorithms that use the rapidlyexploring random trees,the CL-RaA^(*)not only ensures deterministic planning results in the same scenarios but also generates smoother feasible paths for fixed-wing UAVs more efficiently.In environments with dense grid obstacles,the feasible paths generated by the CL-RaA^(*)are more conducive to UAV tracking compared to those planned using Dubins curves.
基金supported in part by the NSFC(12171084,12326367)the Jiangsu Provincial Scientific Research Center of Applied Mathematics(BK20233002)the fundamental Research Funds for the Central Universities(RF1028623037)。
文摘This paper investigates the ergodicity and weak convergence of transition probabilities for two-dimensional stochastic primitive equations driven by multiplicative noise.The existence of invariant measures is established using the classical Krylov-Bogoliubov theory.The uniqueness of invariant measures and the weak convergence of transition probabilities are demonstrated through the application of the asymptotic coupling method and Foias-Prodi estimate.
文摘Epithelioid angiosarcoma is a rare vascular tumour with dark prognosis at short term. The primitive bone localization is exceptional and sometimes presents itself under a unifocal form. We report a clinical case of pelvic multifocal primitive bone epithelioid angiosarcoma (iliac crest and hip) diagnosed on a young male adult (45 years old). The radiological investigations put in evidence geographic osteolytic lesions (type IC) and, diagnostic was given thanks to the histological examination of the surgical biopsy pieces. The evolution was marked by the appearance of pulmonary and lymph node metastases with a death occurring in less than 4 months. Extremely rare tumour, bone epithelioid angiosarcoma is a variant of angiosarcoma characterised by an aggressive nature whose evolution is always fatal. Through this observation we report our experience on the diagnostic approach;and using a literature review we discuss the therapeutic modalities of this tumour with very bad prognosis.
文摘Introduction: Ewings sarcoma is uncommon in extra osseous locations. They belong to Ewings family of tumours and the primitive neuroectodermal tumour is often diagnosed based on immuno histochemistry and molecular genetic studies. Discussion: A 50-year-old gentleman presented with complaints of a swelling in the right thigh. With a diagnosis of soft tissue sarcoma, the patient underwent a wide local excision of the tumour. We review literature of the small round blue cell tumour. Conclusion: Extraosseous Ewings sarcoma presenting as a thigh swelling is uncommon. The sarcoma was vimentin positive and CD99 membrane positivity.
文摘Background:Photodynamic therapy(PDT)may eradicate residual malignant cells following sarcoma resection,through reactive oxygen species(ROS)mediated cytotoxicity,thus improve clinical outcomes.This study aims to assess the efficacy of 5-aminolevulinic acid(5-ALA)as a photosensitizer in combination with red light(RL)for PDT of bone sarcoma cells in vitro.Methods:Three bone sarcoma cell lines underwent treatment with 5-ALA and RL or sham-RL(SL).5-ALA uptake was assessed using flow cytometry.Production of ROS was measured using CellROX Green staining and fluorescence microscopy.Cell viability was assessed using Cell Counting Kit-8 assays.Results:All cell lines showed significant 5-ALA uptake in comparison to the 0 mM control(p<0.05).Production of ROS was significantly increased in cells treated with 5-ALA and RL,compared to those treated with RL and no 5-ALA or SL(p<0.05).Viability was significantly reduced in cells treated with 5-ALA and RL,compared to SL(p<0.05).At 72 h post-treatment,cell viability ranged from 6%-12%in 0.5 mM 5-ALA and RL-treated cells vs.90%-137%in 0.5 mM 5-ALA and SL-treated cells.Conclusion:5-ALA-based PDT led to the desired increased production of ROS and reduction in cell viability in all cell lines.These preliminary in vitro results warrant further study with multicellular spheroid or animal models and suggest PDT has potential to be used as an adjuvant therapy to surgical resection in sarcoma management.
基金Research Project of Hunan Health Commission in 2023(D202304058618)Innovation Project of Hunan Science and Technology Department(2018SK504)National Nature Science Foundation of China(No.82203414).
文摘Background:Clear cell sarcoma of the kidney(CCSK)is a rare and highly aggressive pediatric renal malignancy with a marked propensity for metastatic spread.Cases of CCSK associated with inferior vena cava(IVC)tumor thrombus(IVCTT)are exceptionally uncommon in the literature.We report a case of CCSK with IVCTT in a 15-month-old male infant.Case Description:We reported a case admitted in May 2020 for a 3-day history of fever and hematuria.Abdominal CT revealed an unevenly enhanced mass and low-density shadows within the IVC.The diagnosis of CCSK was confirmed via needle biopsy.The patient received 4 cycles of adjuvant chemotherapy.The initial surgery lasted 10 h with 600 mL blood loss,and primary closure was achieved.Postoperative management included 6 cycles of radiotherapy and 5 cycles of chemotherapy.In March 2022,CT detected IVCTT recurrence,requiring surgical intervention involving thrombus removal and partial IVC resection.This procedure lasted 8 h with 300 mL blood loss,followed by 5 additional chemotherapy cycles.The patient showed no sign of IVC obstruction,including varicose veins or lower limb edema,and maintained renal function throughout follow-up.However,Intracranial metastases were detected 15 months postoperatively.After the family opted against additional treatment,the patient succumbed to the disease.Conclusions:The management of CCSK associated with IVCTT should include consideration of IVC thrombectomy.In case of recurrent IVCTT with preserved collateral circulation,combined thrombus excision and partial IVC resection may be warranted.
文摘The accelerating urbanization process leads to aggravated environmental problems, thus garden design which is a creative activity connecting human and nature has attracted much attention, and also garden designers have had to rethink about environmental ethics and morals. This study, from the perspective of environmental ethics, duly proposed the brand-new concept of 'appropriate garden of primitive ecology', proceeded from the orientation, form, value, theoretical basis, realistic significance, culture and consumption psychology of 'garden of primitive ecology', fully developed outstanding ecological wisdoms and morals in traditional Chinese garden culture, boosted garden designs to the environmental ethics level of eco-justice, to seek for the approach to 'garden of primitive ecology' with indigenous Chinese environmental ethic characteristics.
基金supported in part by the NSF of China (90511009, 10801017)National Basic Research Program of China (973 Program, 2007CB814800)
文摘This paper is devoted to considering the three-dimensional viscous primitive equations of the large-scale atmosphere. First, we prove the global well-posedness for the primitive equations with weaker initial data than that in [11]. Second, we obtain the existence of smooth solutions to the equations. Moreover, we obtain the compact global attractor in V for the dynamical system generated by the primitive equations of large-scale atmosphere, which improves the result of [11].
文摘Extraskeletal Ewing's sarcoma/peripheral primitive neuroectodermal tumor(E-EWS/pP NET) is a rare aggressive malignant small round cell tumor. In this report, we present the case of a 15-year-old boy who suffered from acute abdominal pain accompanied by hematemesis and melena, and was eventually diagnosed with E-EWS/p PNET. To date, there have been only five reported cases of E-EWS/pP NET of the small bowel including the patient in this report. To the best of our knowledge, this is the first documentation of a pP NET of the small bowel mesentery at nonage. All these have made this report rare and significant.
文摘Peripheral primitive neuroectodermal tumor(PNET) of the kidney is a rare, aggressive tumor known for its recurrence and metastatic potential. Despite the frequency of venous extension to the renal veins and inferior vena cava, pulmonary tumor embolism at the initial presentation is not common. We report a case of 22-year-old female with PNET of the kidney who presented with tumor embolism in the inferior vena cava(IVC) and bilateral pulmonary artery. The patient underwent surgical resection and histopathological analysis confirmed the presence of tumor within the IVC and pulmonary arteries. The patient received adjuvant chemotherapy and is currently doing well on follow-up.
文摘Primitive neuroectodermal tumor (PNET) of the pancreas is an extremely rare tumor that usually occurs in children or young adults. We report a case of a 33-year-old male patient with an 18 cm × 18 cm × 16 cm mass arising from the pancreatic body and tail with a one- day history of abdominal pain. Initial CT scan showed no signs of metastatic tumor spread. The tumor caused intrabdominal bleeding and the patient underwent primary tumor resection including partial gastrectomy, left pancreatic resection and splenectomy. Diagnosis of PNET was confi rmed by histology, immunohistochemistry and FISH analysis. All neoplastic cells were stained positive for MIC2-protein (CD99). Approximately one month after surgery, several liver metastases were observed and the patient underwent chemotherapy according to the Euro- Ewing protocol. Subsequent relaparotomy excluded any residual hepatic or extrahepatic abdominal metastases. Although PNET in the pancreas is an extremely rare entity, it should be considered in the diffential diagnosis of pancreatic masses, especially in young patients. This alarming case particularly illustrates that PNET in the pancreas although in an advanced stage can present with only a short history of mild symptoms.
基金This research was jointly supported by the National Key Programme for Developing Basic Sciences (G1998040911) and the National Natural Science Foundation of China under Grant Nos. 49675267, 49205058, and 49975020.
文摘The design of a total energy conserving semi-implicit scheme for the multiple-level baroclinic primitive equation has remained an unsolved problem for a long time. In this work, however, we follow an energy perfect conserving semi-implicit scheme of a European Centre for Medium-Range Weather Forecasts (ECMWF) type sigma-coordinate primitive equation which has recently successfully formulated. Some real-data contrast tests between the model of the new conserving scheme and that of the ECMWF-type of global spectral semi-implicit scheme show that the RMS error of the averaged forecast Height at 850 hPa can be clearly improved after the first integral week. The reduction also reaches 50 percent by the 30th day. Further contrast tests demonstrate that the RMS error of the monthly mean height in the middle and lower troposphere also be largely reduced, and some well-known systematical defects can be greatly improved. More detailed analysis reveals that part of the positive contributions comes from improvements of the extra-long wave components. This indicates that a remarkable improvement of the model climate drift level can be achieved by the actual realizing of a conserving time-difference scheme, which thereby eliminates a corresponding computational systematic error source/sink found in the currently-used traditional type of weather and climate system models in relation to the baroclinic primitive equations.
文摘Mafic rocks comprising tholeiitic pillow basalt, dolerite and minor gabbro form the basal stratigraphic unit in the ca. 2.8 to 2.6 Ga Geita Greenstone Belt situated in the NW Tanzania Craton. They outcrop mainly along the southern margin of the belt, and are at least 50 million years older than the supracrustal assemblages against which they have been juxtaposed. Geochemical analyses indicate that parts of the assemblage approach high Mg-tholeiite （more than 8 wt.% MgO）. This suite of samples has a restricted compositional range suggesting derivation from a chemically homogenous reservoir. Trace element modeling suggests that the mafic rocks were derived by partial melting within the spinel peridotite field from a source rock with a primitive mantle composition. That is, trace elements maintain primitive mantle ratios （Zr/Hf = 32-35, Ti/Zr - 107-147）, producing flat REE and HFSE profles [（La/Yb）pm = 0.9 -1.3], with abundances of 3-10 times primitive mantle and with minor negative anomalies of Nb [（Nb/ La）pm - 0.6-0.8] and Th [（Th/La）pm = 0.6-0.9]. Initial isotope compositions （εNd） range from 1.6 to 2.9 at 2.8 Ga and plot below the depleted mantle line suggesting derivation from a more enriched source compared to present day MORB mantle. The trace element composition and Nd isotopic ratios are similar to the mafic rocks outcropping -50 km south. The mafic rocks outcropping in the Geita area were erupted through oceanic crust over a short time period, between -2830 and-2820 Ma; are compositionally homogenous, contain little to no associated terrigenous sediments, and their trace element composition and short emplacement time resemble oceanic plateau basalts. They have been interpreted to be derived from a plume head with a primitive mantle composition.
基金Supported by National Natural Science Foundation of China,No.81572621Medical and Technology Intercrossing Research Foundation of Shanghai Jiaotong University,No.YG2016QN65
文摘BACKGROUND Adrenal primitive neuroectodermal tumor(PNET) is an extremely rare malignant tumor with poor prognosis and of neural crest origin. Herein, we report a case of adrenal PNET and summarized its clinical and pathological characteristics on the basis of 16 patients reported recently.CASE SUMMARY A female patient aged 25 years presented with right lumbago for 12 mo, and preoperative computed tomography showed a huge right adrenal mass. She received tumorectomy, and post-operative pathological examination showed adrenal PNET. After surgery, she underwent adjuvant chemotherapy and was followed up 31 mo after surgery. She received brachytherapy for right paracolic and hepatic metastases. She was alive and followed up for 60 mo. In available studies, only 57.14%(4/7) and 44.44%(4/9) were positive for the expression of neuron-specific enolase and synaptophysin, respectively, although CD99 expression was found in all the patients(100%; 10/10).CONCLUSION It is concluded that adrenal PNET is very rare and highly malignant, and histology is a golden standard in its diagnosis. Surgery and adjuvant therapy is the main treatment.
基金Supported by the National Natural Science Foundation of China(Grant Nos.1090106111071088)the Zhujiang Technology New Star Foundation of Guangzhou(Grant No.2011J2200090)
文摘In this paper, we study the bases and base sets of primitive symmetric loop-free （generalized） signed digraphs on n vertices. We obtain sharp upper bounds of the bases, and show that the base sets of the classes of such digraphs are （2, 3,..., 2n - 1}. We also give a new proof of an important result obtained by Cheng and Liu.
