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In order to meet the time and angle requirements of hypersonic glide vehicle’s cooperative reentry, a multi-constraint cooperative reentry trajectory planning algorithm is proposed considering the process constraints and transition point constraints. Time constraints and angle constraints are decomposed to vertical plane and horizontal plane, and Newton iteration method is used to plan drag acceleration-energy profile to achieve the longitudinal trajectory satisfied time and distance constraints. The sequential quadratic programming method is used to search the heeling angle turning point to make the trajectory terminal satisfy angle constraints. Through multiple iteration updates, it can get three-dimensional trajectory satisfied the constraints of time and angle. On this basis, this paper analyzes the flight capability of a single aircraft, and gives the determination method of the coordination parameters. The numerical simulation results show that the proposed method can be applied in various scenarios such as cooperative strike and cooperative delivery, and can plan a three-dimensional trajectory with high time and high angle accuracy for aircrafts. This method has strong adaptability to the mission and can meet various constraints and cooperative requirements.

Background: To systematically review and perform a meta-analysis on the predictive value of the primary Gleason grade (PGG) at the positive surgical margin (PSM), length of PSM, number of PSMs, and pathological stage of the primary tumor on biochemical recurrence (BCR) in patients with prostate cancer (PCa) after radical prostatectomy (RP). Methods: A systematic literature search was performed using electronic databases, including PubMed, EMBASE, Cochrane Library, and Web of Science, from January 1, 2005, to October 1, 2023. The protocol was pre-registered in PROSPERO. Subgroup analyses were performed according to the different treatments and study outcomes. Pooled hazard ratios with 95% confidence intervals were extracted from multivariate analyses, and a fixed or random effect model was used to pool the estimates. Subgroup analyses were performed to explore the reasons for the heterogeneity. Results: Thirty-one studies that included 50,028 patients with PCa were eligible for this meta-analysis. The results showed that, compared to PGG3, PGG4/5 was associated with a significantly increased risk of BCR. Compared with PSM ≤3 mm, PSM ≥3 mm was associated with a significantly increased risk of BCR. Compared with unifocal PSM, multifocal PSM (mF-PSM) was associated with a significantly increased risk of BCR. In addition, pT >2 was associated with a significantly increased risk of BCR compared to pT2. Notably, the findings were found to be reliable based on the sensitivity and subgroup analyses. Conclusions: PGG at the PSM, length of PSM, number of PSMs, and pathological stage of the primary tumor in patients with PCa were found to be associated with a significantly increased risk of BCR. Thus, patients with these factors should be treated differently in terms of receiving adjunct treatment and more frequent monitoring. Large-scale, well-designed prospective studies with longer follow-up periods are needed to validate the efficacy of these risk factors and their effects on patient responses to adjuvant and salvage therapies and other oncological outcomes. [ABSTRACT FROM AUTHOR]