In order to improve the real-time performance of the trajectory tracking of autonomous vehicles, this paper applies the alternating direction multiplier method (ADMM) to the receding optimization of ...model predictive control (MPC), which improves the computational speed of the algorithm. Based on the vehicle dynamics model, the output equation of the autonomous vehicle trajectory tracking control system is constructed, and the auxiliary variable and the dual variable are introduced. The quadratic programming problem transformed from the MPC and the vehicle dynamics constraints are rewritten into the solution of the ADMM form, and a decreasing penalty factor is used during the solution process. The simulation verification is carried out through the joint simulation platform of Simulink and Carsim. The results show that, compared with the active set method (ASM) and the interior point method (IPM), the algorithm proposed in this paper can not only improve the accuracy of trajectory tracking, but also exhibits good real-time performance in different prediction time domains and control time domains. When the prediction time domain increases, the calculation time shows no significant difference. This verifies the effectiveness of the ADMM in improving the real-time performance of MPC.
Osteosarcoma is a primary malignancy of bone that affects children and adults. Here, we present the largest sequencing study of osteosarcoma to date, comprising 112 childhood and adult tumours ...encompassing all major histological subtypes. A key finding of our study is the identification of mutations in insulin-like growth factor (IGF) signalling genes in 8/112 (7%) of cases. We validate this observation using fluorescence in situ hybridization (FISH) in an additional 87 osteosarcomas, with IGF1 receptor (IGF1R) amplification observed in 14% of tumours. These findings may inform patient selection in future trials of IGF1R inhibitors in osteosarcoma. Analysing patterns of mutation, we identify distinct rearrangement profiles including a process characterized by chromothripsis and amplification. This process operates recurrently at discrete genomic regions and generates driver mutations. It may represent an age-independent mutational mechanism that contributes to the development of osteosarcoma in children and adults alike.
A representative molecular model of shale organic matter (OM) is prerequisite to further theoretic investigation on the fundamental mechanisms governing storage, transport and recovery of shale gas. ...In this work, a systematic strategy to prepare structural and compositional properties of OM is reported first, and then a realistic molecular model of Chinese Cambrian OM is generated based on analytical experimental data. Microstructure characterization and adsorption simulation are further performed using molecular dynamics simulation and grand canonical Monte Carlo simulations, respectively. The OM model, composed of kerogen macromolecules, bitumen components and residual lighter components, shows a reasonable representation of realistic Cambrian OM with respect to structural parameters, generic compositions, physical density and porosity. The OM porous network consists of dominant ultra-micropores and limited micropores. Compared with heavier components, lighter components are more inclined to occupy accessible pores. Interestingly, lighter components are observed to appear in pairs due to competitive adsorption around heteroatom groups. Water molecules are scattered in the system because of abundant functional groups and poor pore connectivity. The OM skeleton represents the adsorption behaviors of methane, carbon dioxide and nitrogen well. The adsorption capacity is carbon dioxide > methane > nitrogen. A higher adsorption capacity corresponds to a lower pressure when the excess isotherm reaches the maximum. The adsorption behaviors of heavier hydrocarbon species (ethane, propane and n-butane) cannot be represented in the OM skeleton with ultra-micropores and limited micropores, and the effect of molecular sizes of these species cannot be neglected. This work reports a systematic construction process for realistic molecular model of shale OM, and the representative OM model can serve as a starting point to explore gas adsorption and transport mechanism in shale organic pores at microscopic scale.
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•Novel construction process for OM model is elaborated.•Direct characterization experiments are used to study kerogen chemical structure.•Representative molecular model of Cambrian OM is generated.•Microstructure characterization is performed on the OM model.•Adsorption behaviors of gas components in the OM skeleton are studied.
Object detection is indispensable to visual environment sensing at basic-level. During that detection there are imbalance between the losses of multi-task and multi-object in state-of-the-art ...algorithms, resulting in the slowdown of training process and low precision. To address this issue, a hybrid loss balancing (HLB) algorithm combined a loss balancing strategy based on gradient equilibrium (LBGE) with a multi-sample loss balancing (MSLB) strategy is proposed. The LBGE strategy increases the accuracy of the Basic network by 3.38% on VOC dataset and by 4.22% on KITTI dataset by updating the weight of each loss during the training iteration. The MSLB strategy with the optimal super-parameter value 200 can improve the accuracy of the basic network by 2.51% on VOC dataset and by 6.62% on KITTI dataset by assigning larger weights to the proposal regions which are more difficult to train. With both strategies working together, the proposed HLB algorithm improves the accuracy by 3.88% on VOC and by 7.24% on KITTI, enhancing robustness to the cross-domain datasets than single strategy. Moreover, the proposed HLB loss function obtains the highest accuracy at 84.02%, a 2.39% higher than that of original loss and other loss functions on average. In a word, the HLB algorithm with the LBGE and MSLB strategies have better understanding ability of basic-level road scenes than Basic network on VOC and KITTI dataset, and can also accelerate the early training speed of the Basic network.
The transcription factor FOS has long been implicated in the pathogenesis of bone tumours, following the discovery that the viral homologue, v-fos, caused osteosarcoma in laboratory mice. However, ...mutations of FOS have not been found in human bone-forming tumours. Here, we report recurrent rearrangement of FOS and its paralogue, FOSB, in the most common benign tumours of bone, osteoblastoma and osteoid osteoma. Combining whole-genome DNA and RNA sequences, we find rearrangement of FOS in five tumours and of FOSB in one tumour. Extending our findings into a cohort of 55 cases, using FISH and immunohistochemistry, provide evidence of ubiquitous mutation of FOS or FOSB in osteoblastoma and osteoid osteoma. Overall, our findings reveal a human bone tumour defined by mutations of FOS and FOSB.
A fusion between fibronectin 1 (FN1) and activin receptor 2A (ACVR2A) has been reported previously in isolated cases of the synovial chondromatosis. To analyze further and validate the findings, we ...performed FISH and demonstrated recurrent FN1-ACVR2A rearrangements in synovial chondromatosis (57%), and chondrosarcoma secondary to synovial chondromatosis (75%), showing that FN1 and/or AVCR2A gene rearrangements do not distinguish between benign and malignant synovial chondromatosis. RNA sequencing revealed the presence of the FN1-ACVR2A fusion in several cases that were negative by FISH suggesting that the true prevalence of this fusion is potentially higher than 57%. In soft tissue chondromas, FN1 alterations were detected by FISH in 50% of cases but no ACVR2A alterations were identified. RNA sequencing identified a fusion involving FN1 and fibroblast growth factor receptor 2 (FGFR2) in the case of soft tissue chondroma and FISH confirmed recurrent involvement of both FGFR1 and FGFR2. These fusions were present in a subset of soft tissue chondromas characterized by grungy calcification, a feature reminiscent of phosphaturic mesenchymal tumor. However, unlike the latter, fibroblast growth factor 23 (FGF23) mRNA expression was not elevated in soft tissue chondromas harboring the FN1-FGFR1 fusion. The mutual exclusivity of ACVR2A rearrangements observed in synovial chondromatosis and FGFR1/2 in soft tissue chondromas suggests these represent separate entities. There have been no reports of malignant soft tissue chondromas, therefore differentiating these lesions will potentially alter clinical management by allowing soft tissue chondromas to be managed more conservatively.
Undifferentiated sarcomas (USARCs) of adults are diverse, rare, and aggressive soft tissue cancers. Recent sequencing efforts have confirmed that USARCs exhibit one of the highest burdens of ...structural aberrations across human cancer. Here, we sought to unravel the molecular basis of the structural complexity in USARCs by integrating DNA sequencing, ploidy analysis, gene expression, and methylation profiling. We identified whole genome duplication as a prevalent and pernicious force in USARC tumorigenesis. Using mathematical deconvolution strategies to unravel the complex copy-number profiles and mutational timing models we infer distinct evolutionary pathways of these rare cancers. In addition, 15% of tumors exhibited raised mutational burdens that correlated with gene expression signatures of immune infiltration, and good prognosis.
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•Undifferentiated sarcomas contain biologically relevant molecular subgroups•Identification of mismatch repair deficiency open up alternate avenues for therapy•Pseudohaploidization is a recurrent event in undifferentiated sarcomas•Copy-number signatures are useful for inferring states of sarcoma evolution
Steele et al. determine the molecular landscape of undifferentiated sarcomas. They identify tumors with high mutation burdens, which are enriched for activation of immune pathways and have good prognoses, and deduce four tumorigenic routes, all of which begin with driver mutations before whole genome duplication.
EWSR1::NFATC2 rearranged sarcomas are a group of rare round, undifferentiated sarcomas with clinicopathological features different from those of Ewing's sarcoma (ES) family and other non-ES sarcomas. ...We report 4 cases of this rare sarcoma and review their features.
Four cases of EWSR1::NFATC2 rearranged round cell sarcoma of the bone from the Pathology Department of Peking University People's Hospital were retrospectively studied. Clinical and pathological data were summarized, and immunohistochemical staining, fluorescence in situ hybridization (FISH), and Next-generation sequencing (NGS) were performed. Relevant literature reports were also reviewed.
Among the four cases of EWSR1::NFATC2 rearranged round cell sarcoma, three were male, and one was female, with the age ranged from 14 to 34 years old at diagnosis (mean age: 27.5 years). All tumors were located in the femur and ranged in size from 4 to 8cm (mean 6cm), involving the surrounding soft tissues. All four patients underwent surgical treatment, and three received chemotherapy and radiotherapy postoperatively. Follow-up results showed that all four patients were alive. Histologically, the tumors exhibited small round cell sarcoma phenotype, with the stroma rich in mucin or exhibiting a glassy appearance. The tumor cells diffusely expressed CD99, NKX2.2, NKX3.1 and focal expression of CK and EMA was observed. FISH analysis showed that EWSR1 gene rearrangement was detected in all 4 cases, accompanied by 5' locus amplification. EWSR1::NFATC2 fusion probe demonstrated multi yellow fusion signals. NGS identified EWSR1::NFATC2 breakpoints in exon 9 and exon 3 in all 4 cases. The average follow-up duration of the study group was 88 months (range from 26-180 months). One case experienced both local recurrence and metastasis to the lung and chest wall. One case presented with local recurrence. The remaining two cases did not have the recurrence or metastasis.
Although the disease can locally recur and metastasize to the lungs, its mortality rate is significantly lower than that of Ewing sarcoma and other high-grade small round cell undifferentiated sarcomas. Therefore, it supports to classify this tumor as a separate subtype of small round cell sarcoma.
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