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The impact of neoadjuvant therapy on the functional outcome of patients with resectable rectal cancer is still controversial. The aim of the present study was to explore the effects of neoadjuvant therapy on anorectal function (ARF), urinary function and sexual function in relevant patients.PubMed, Embase, Web of Science and the Cochrane Library were searched systematically. All English-language studies, published from January 2000 to July 2021, that explored the (postoperative) effects of neoadjuvant therapy versus upfront surgery on ARF, urinary function and sexual function of patients were included (PROSPERO 2021: CRD42021281617).The data in this study were derived from 37 articles based on 33 studies; in total, 17 917 patients were enrolled. The meta-analysis revealed that the incidence of anorectal dysfunction in the neoadjuvant therapy group was significantly higher than that in the group of upfront surgery, which was manifested by a higher incidence of major low anterior resection syndrome (odds ratio = 3.09, 95% confidence interval = 2.48, 3.84; P0.001), reduction of mean squeeze pressure and mean resting pressure, and other manifestations, including clustering of stools, incontinence, urgency and use of pads. With the extension of follow-up time, the adverse effects of neoadjuvant therapy on major low anterior resection syndrome existed. Compared with patients undergoing upfront surgery, neoadjuvant therapy increased the risk of urinary incontinence (odds ratio = 1.31, 95% confidence interval = 1.00, 1.72; P = 0.05) and erectile dysfunction (odds ratio = 1.77, 95% confidence interval = 1.27, 2.45; P0.001).Compared with upfront surgery, neoadjuvant therapy is not only associated with impairment of ARF, but also with increased incidence of urinary incontinence and male erectile dysfunction. However, the influence of confounding factors (e.g. surgical method, tumour stage) needs to be considered.

Tumor metastasis is one of the important reasons for the poor prognosis of non-small cell lung cancer (NSCLC) patients, in which lymph node (LN) metastasis is the earliest and most frequent metastasis. With the development of adjuvant immunotherapy, increasing attention has been paid to the tumor-draining lymph nodes（TDLN）in early-stage NSCLC, especially tumor-metastatic lymph nodes, which provides poor prognostic information but has potential benefits in adjuvant treatment. Here, we showed the remodeled immune environment in TDLNs through using TCR-seq and multi-IHC to analyze primary lung cancer tissues and LNs from NSCLC patients with or without LN metastasis. Considering the complex communication between tumor and immunocytes, we subdivided TDLNs and found that metastasis-negative LNs from LN-metastatic patients (MNLN) exhibit more immune activation, exhaustion, and memory compared with both metastasis-positive LNs (MPLN) and TDLNs from non-LN-metastatic patients (NMLN). LN metastasis promotes tumor-specific antigen presentation in TDLNs and induces T cell priming, while existing tumor cells generate an immune-suppressive environment in MPLNs through multiple ways. The evidence implicates the comprehensive immunological mechanism by which LN metastasis influences tumor progression and plays a role in immunotherapy in NSCLC patients.

This meta-analysis aimed to determine whether artificial intelligence (AI) improves colonoscopy outcome metrics i.e. adenoma detection rate (ADR) and polyp detection rate (PDR). Two authors independently searched Web of Science, PubMed, Science Direct, and Cochrane Library to find all published research before July 2021 that has compared AI-aided colonoscopy with routine colonoscopy (RC) for detection of adenoma and polyp. This meta-analysis included 10 RCTs with 6629 individuals in AI-aided (n = 3300) and routine (n = 3329) groups. The results showed that both ADR (RR, 1.43; P

Background: HER2-positive breast cancer patients account for one-fifth of the total breast cancer population. Besides, more and more anti-HER2-targeting drugs have appeared clinically. Objective: This study aimed to analyze the efficacy and safety of additional anti-HER2 (Human Epidermal growth Factor Receptor 2)-targeting drugs in the treatment of HER2-positive advanced breast cancers. Methods: The following databases were searched for published articles containing data on the efficacy and safety of additional anti-HER2- targeting drugs in HER2-positive advanced breast cancer from the time of their inception until December 2019: PubMed, Web of Science, EBSCO, and Cochrane library. The primary outcomes were progression-free survival (PFS) and overall survival(OS). Results: The additional anti-HER2-targeting drugs significantly improved the PFS (HR: 0.66, p Conclusion: Additional anti-HER2-targeting drugs can improve long-term prognosis in HER2-positive advanced breast cancers. Besides, they are associated with fewer AEs and are tolerable. Lapatinib is the most effective drug, followed by pertuzumab, whereas trastuzumab is the least effective. Concerning treatment, we recommend the use of anti-HER2-targeting drugs in first-line therapy of HER2-positive advanced breast cancers.

This study aims to evaluate the efficacy and safety of high-intensity focused ultrasound (HIFU) alone or combined with transcatheter arterial chemoembolization (TACE) for patients with hepatocellular carcinoma (HCC) but were contraindicated for hepatectomy and radiofrequency ablation (RFA). Patients between 20 and 80 years of age with 1–3 foci of HCC were selected. Included patients have had primary or recurrent liver lesions with no evidence of extra-hepatic metastasis prior to the study. Patients were treated with ultrasound-guided HIFU alone or HIFU combined with TACE (treated with TACE once within 4 weeks prior to receiving HIFU). Thirty-seven patients were enrolled, for a total of 45 lesions. The 2-year local control (LC) rate was 73.0% and the median LC time was 22 months. The 2-year progression-free survival (PFS) was 29.7% and the median PFS time was 9 months. Finally, the 2-year overall survival (OS) was 70.3%, and the median OS time was 24 months. The most common adverse events (AEs) were elevated liver enzymes, followed by fatigue, and pain, no grade 4 AEs or death occurred. Multivariate analysis showed that age, Child–Pugh class, and the number of tumors were independent prognostic factors for PFS and that the AFP levels and the number of tumors were significantly correlated with the OS. This study indicates that the HIFU/HIFU combined with TACE treatment is safe, and is capable of achieving both a good LC rate and a considerably good prognosis. The procedure should be considered for patients who were deemed unsuitable for other local treatments.

Background Laparoscopic sleeve gastrectomy (LSG) and laparoscopic Roux-en-Y gastric bypass (LRYGB) procedures are becoming more popular in the world of bariatric surgery. Objectives This study investigates how LSG and LRYGB affect gut hormones and examines their differences. Setting Systematic review and meta-analysis. Methods The literature was retrieved from PubMed, Web of Science, Embase, and the Cochrane Library database before April 2020. Results We included 53 articles in our meta-analysis. After bariatric surgery, the patients’ ghrelin, fasting acyl-ghrelin, fasting peptide YY (PYY), and their AUC in the LSG group were significantly lower than those in LRYGB group. Fasting ghrelin levels were significantly reduced in patients who received LSG. After LRYGB, the postoperative fasting PYY was higher than at baseline, and the results were statistically significant. Additionally, we found an increase in fasting ghrelin levels after LRYGB. Lastly, insulin levels were both reduced after LSG and LRYGB with no significant difference. Conclusions In terms of gut hormones, ghrelin decreased significantly after LSG, while PYY increased after LRYGB. However, the impacts caused by the change in gut hormones after undergoing either LSG and LRYGB on patients are complicated, therefore, the results should be interpreted cautiously.

Background: Neoadjuvant chemotherapy (NAC) has been defined as any preoperative chemotherapy scheme aiming to reduce tumor staging and to control preoperative micrometastasis, which has been extensively used as a treatment for resectable gastric cancer. However, its effect on the long-term survival of patients with locally advanced gastric cancer (AGC) or esophagogastric junction cancer (EGC) remains unknown. Objective: This study aimed at investigating the long-term efficacy of NAC in locally AGC/EGC. Methods: The following databases were searched for articles published from their inception to April 2020: PubMed, Web of Science, EBSCO, and Cochrane library. The primary outcomes were overall survival (OS) and progression-free survival (PFS). Results: A total of 19 articles were included in this meta-analysis, with a total of 4,446 patients. The results showed that NAC increased the patients’ 3-year OS (HR: 0.56, 95% CI, 0.21 - 0.91, p < 0.001), 3-year PFS (HR: 0.76, 95% CI, 0.66 - 0.87, p < 0.001), 5-year OS (HR: 0.71, 95% CI, 0.64 - 0.78, p < 0.001), and 5-year PFS (HR: 0.70, 95% CI, 0.61 - 0.79, p < 0.001). Besides, subgroup analysis showed that Asian countries have benefited significantly from NAC (HR: 0.65, 95% CI, 0.55 - 0.74, p < 0.001), and other countries have also benefited (HR: 0.79, 95% CI, 0.68 - 0.89, p < 0.001). Conclusions: Compared with adjuvant chemotherapy and surgery alone, NAC can improve the long-term survival outcomes (OS and PFS) of patients with resectable AGC or EGC.

The goal of this study is to evaluate the safety and efficacy of high intensity focused ultrasound (HIFU) for patients with colorectal liver metastases (CRLM) but were contraindicated for resection and radiofrequency ablation. Patients between 20 and 80 years of age with 1–3 liver metastases from colorectal cancer were selected. Included patients have had their primary lesions removed with no evidence of extrahepatic metastasis prior to the study. Ultrasound-guided HIFU was employed and target regions’ ablation was achieved with repeated sonications from the deep to shallow regions of the tumors section by section. Thirteen patients were enrolled. The most common adverse events (AEs) were pain (n = 8), followed by fatigue (n = 7), increased aspartate aminotransferase (AST) (n = 7), increased alanine aminotransferase (ALT) (n = 5), and skin edema (n = 4). No grade ≥ 3 AEs occurred and while most patients (76.9%) achieved a complete response, three patients achieved a partial response. The objective response rate was 100% after the first HIFU treatment. Nine patients relapsed but the tumors were mostly isolated to the liver (8/9). The median follow-up period was 25 months. The 2-year progression-free survival (PFS) was 16.7%, and the median PFS was 9 months. Notably, the 2-year overall survival (OS) was 77.8%, and the median OS was 25 months. This study indicates that the HIFU treatment is safe, is able to achieve a good tumor response rate and long-term prognosis even when the foci were in high-risk locations, and should be considered for patients who were considered unsuitable for other local treatments.

This study assesses the differences in postoperative nutritional status between laparoscopic sleeve gastrectomy (LSG) and laparoscopic Roux-en-Y gastric bypass (LRYGB). We searched the literature from PubMed, Web of Science, Embase, and the Cochrane Library database. Twenty-nine articles were included, with a total of 5437 obese patients. After bariatric surgery, the LSG group had less anemia and iron deficiency anemia than the LRYGB group. The serum iron, ferritin deficiency, and vitamin B12 rates after LSG were lower than patients receiving LRYGB. And PTH and serum phosphorus concentration of patients after LSG were both lower than those after LRYGB. The postoperative results of LSG were better than that of LRYGB. Therefore, we recommend LSG for a better postoperative nutrition, but only for reference.

Both dynamic and interactive, cross-cultural education emphasizes respect, interaction, and understanding between various cultural groups. Its fundamental principle is to acknowledge and value cultural diversity while opposing attempts to artificially unite cultures in order to recognise the equality and common heritage of all cultures. The goal of intercultural education, from an individual’s perspective, is to support those who are educated in understanding, accepting, and respecting other foreign cultures in order to better adapt to and thrive in a multicultural society. To develop students’ intercultural communication skills is the goal of intercultural education. Based on the associations between intercultural education and speculative reading, this essay analyzes the crucial role that intercultural English teaching and speculative reading instruction play in colleges and universities before going over the situation and approaches that English speculative reading instruction is currently facing. This paper primarily discusses the data on students from the student work management system, the relationship between grades and actual behavior, and the rules that are mined to provide a scientific basis for decision-making for the relevant units in colleges and universities. According to experimental analysis, the data mining algorithm in this paper performs better than the other two in terms of predicting students’ English achievement, with an average accuracy of 0.86 compared to 0.71, 0.075, and 0.73 for the other three algorithms. The decision tree created using this methodology can quantitatively reflect the impact of different teaching factors on learning quality and offers a clear and reliable foundation for formulating targeted improvement strategies.

Background: Gastrojejunostomy (GJ) and endoscopic stenting (ES) are common palliative treatments for gastric outlet obstruction (GOO). This study aimed to determine the optimal intervention modality for malignant GOO by comparing clinical outcomes after GJ and ES.Methods: Two authors independently searched Web of Science, PubMed, Embase, and the Cochrane Library for all the relevant articles before February 2021 to compare the clinical outcomes of GOO patients undergoing GJ or ES. The primary outcome was overall survival.Results: This meta-analysis included 31 articles with 2444 GOO patients. Although the GJ group outperformed the ES group in technical success (OR,3.79; P=0.003), clinical success was not significantly different between the two groups (OR,1.25; P=0.50). The GJ group had a longer hospitalization (WMD,7.34; P=0.001), lower re-obstruction (OR, 0.41; P=0.006) and lower reintervention (OR, 0.30; PConclusions: Both GJ and ES are safe and effective intervention modalities for malignant GOO. GJ had significantly improved survival in gastric cancer patients with GOO, while no significant difference was observed between the two groups in pancreatic cancer patients with GOO. Therefore, we recommend that life expectancy should be considered when choosing palliative treatment for malignant GOO (ES or GJ).

Background This study aimed to determine the optimal intervention modality for malignant GOO by comparing clinical outcomes after Gastrojejunostomy and endoscopic stenting. Methods Two authors independently searched Web of Science, PubMed, Embase, and the Cochrane Library for articles before February 2021 to compare the clinical outcomes of GOO patients undergoing GJ or ES. Results This meta-analysis included 31 articles with 2444 GOO patients. Although the GJ group outperformed the ES group in technical success (OR,3.79; P = 0.003), clinical success was not significantly different between the two groups (OR,1.25; P = 0.50). The GJ group had a longer hospitalization, lower re-obstruction and lower reintervention. Moreover, GJ had a better survival than ES in the gastric cancer group (HR, 0.33; P = 0.009). However, no significant statistical difference was observed in the pancreatic cancer group (HR, 0.55; P = 0.159). Conclusions Both GJ and ES are safe and effective intervention modalities for malignant GOO. GJ had significantly improved survival in gastric cancer patients with GOO, while no significant difference was observed between the two groups in pancreatic cancer patients with GOO.

The state-of-the-art deep reinforcement learning algorithm, i.e., the deep deterministic policy gradient (DDPG), has achieved good performance in continuous control problems for the robotics. However, the conventional experience replay mechanism of the DDPG algorithm stores the experience explored by the mobile robot in the bufer pool, and trains the neural network through random sampling, without considering whether the transition is valuable, which can probably influence the network performance. To overcome the limitation, the DDPG framework with separating experience is developed for mobile robot collision-free navigation in this study, to replay the transitions of valuable and the failed experience discretely. Additionally, environment state vector is designed including mobile robot and obstacles, the reward function and action space are also designed. The simulation results show that the proposed model can possess the collision-free navigation capacity to deal with multiple obstacles.

It is important to endow the robot with the ability of learning the complex motion sequences and thus adopt such motions when facing to changeable environment. This paper proposes an improved Dynamic Movement Primitives (DMP) method. In order to solve the problem of invalidation of forcing term in conventional DMP, the improved DMP approach, i.e., the DMP together with Deep Neural Network (DNN), is proposed. Specially, DNN is introduced to fit the target nonlinear function with the demonstrated trajectory information, instead of using a specific formula to describe the forcing term in DMP. Thus, improved DMP method can avoid the drawback of conventional DMP. Simulation work is conducted and the results show that the invalidation performance of forcing term is improved compared with conventional DMP. In addition, the generalization property of improved DMP is also beneficial to work environmental adaptability.

In GPS/INS integrated navigation, Kalman filter is usually used for data fusion between GPS and INS. The filtering algorithm of integrated navigation is related to whether the advantages of each sensor in the integrated navigation can be utilized, the navigation accuracy is improved, the reliable working time of the navigation system is improved and the navigation requirement are met. In this paper, we proposed an approach based on the Grasshopper optimization algorithm (GOA), which is a recent algorithm inspired by the biological behavior shown in swarm of grasshoppers. The goal of the proposed approach is to optimize the parameters of the Kalman filter. The Kalman filter method is improved by grasshopper optimization algorithm, which improves the accuracy of integrated navigation and reduces the errors caused by system noise and measurement noise. For verification, the proposed approach is compared with particle swarm optimization. The simulation experiment results show that the proposed approach has a better effect.

The residual capacity of energy storage battery is an important index of flight safety as well as an essential parameter in the process of flight strategy design of a solar powered communication/remote-sensing UAV. SOC (State-Of-Charge) is generally used to represent the residual capacity of energy storage battery. Its physical meaning is the ratio of the residual capacity of battery and its capacity in completely charging state. The energy storage battery module will take the charge-discharge power as input and SOC as output. As for the practical application of the battery, the accuracy of models and parameters become technical difficulties. Through the test and analysis of lithium batteries, various factors affecting the performance of batteries are found out and the test data of lithium batteries are obtained. This paper analyzes the test data and the models together and evaluates the parameters of lithium batteries through exponential curve fitting and least-square parameter identification. Moreover, the application effects of the two methods are summarized and compared.

These accurate extraction of specific objects in remote sensing images has become a research hotspot. For remote sensing image feature extraction, shape, color and other features can be selected to extract objects from complex scenes. In this paper, a method of remote sensing image feature extraction based on bat algorithm and normalized chromatic aberration is proposed. Firstly, the contrast of remote sensing images is enhanced by using bat algorithm. After enhancement, it can be seen from the histogram that the optimized images contrast is significantly enhanced compared with the traditional histogram equalization. Then, the normalized chromatic aberration method is adopted to extract features. The normalized chromatic aberration is calculated by normalizing the RGB three-channel component and compared with the fixed threshold. Finally, the feature binary graphs are obtained, and then the region of interest (ROI) in the remote sensing image is extracted. The algorithm proposed in this paper can realize remote telematics sensing images processing and obtain complete and accurate target areas. The highest extraction rate was reached 96%.

BackgroundThe prognosis of pancreatic cancer (PC) is extremely poor and most patients with metastatic PC still receive palliative care. Here, we report the efficacy and safety of FOLFIRINOX (oxaliplatin, irinotecan, leucovorin, 5-fluorouracil) in the treatment of metastatic PC.MethodsWe searched PubMed, Web of Science, EBSCO, and Cochrane library databases for articles that described efficacy and safety of FOLFIRINOX in patients with metastatic PC, from their inception to July 2020. The primary outcomes targeted included overall survival (OS) and progression-free survival (PFS).ResultsWe found that FOLFIRINOX could directly improve OS rate of patients with metastatic PC (HR: 0.76, 95% Cl: 0.67-0.86, pppp>0.05). The main adverse events (AEs) targeted hematological toxicity and the gastrointestinal system, and included febrile neutropenia, a reduction in white blood cells and appetite, as well as diarrhea.ConclusionThese findings indicated that FOLFIRINOX has potential benefits for the prognosis of patients with metastatic PC. Furthermore, there is no difference between the regimen of FOLFIRINOX and nab-paclitaxel + gemcitabine in this study. The application of FOLFIRINOX should be according to the actual situation of the patients and the experience of the doctors.

Effectively achieving wound healing is a great challenge. Herein, we facilely prepared temperature-responsive MXene nanobelt fibers (T-RMFs) carrying vitamin E with a controllable release ability for wound healing. These T-RMFs were composed of MXene nanosheets spread along polyacrylonitrile and polyvinylpyrrolidone composite nanobelts together with a thermosensitive PAAV- coating layer. The high mass loading and high surface area of the MXene nanosheets endow the T-RMFs with excellent photothermal properties. The temperature could be easily controlled by near-infrared (NIR) irradiation exposure, and then the thermoresponsive polymeric coating layer relaxed the interface to dissolve vitamin E and promote vitamin E release. The T-RMFs demonstrated excellent biocompatibility and wound-healing functions in cellular and animal tests. The facile method, high mass loading, high surface area, excellent wound-healing functions, interesting nanosheet/nanobelt structure, mass production potential, and NIR responsive properties of these T-RMFs indicate the great potential of our nanobelts for wound healing, tissue engineering, and much broader application areas. This facile nanosheet/nanobelt preparation strategy paves a new way for nanomaterial fabrication and applications. We facilely prepared temperature-responsive MXene nanosheet/nanobelt fibers carrying vitamin E with a controllable release ability for wound healing, tissue engineering, and much broader applications.

African swine fever (ASF) is one of the most lethal viral diseases affecting both domestic pigs and wild boars. The acute infection of the ASF disease in domestic pigs leads to a 100% mortality rate with symptoms including high fever, vascular changes, cyanosis of the skin. Until now, there are no commercial vaccines and antiviral drugs available for ASF control. Therefore, the spread of ASF poses great economic losses to the pig industry and the ecosystems in the affected countries. A rapid and capable method was urgently needed to monitor ASFV-specific antibodies for controlling the spread of ASFV. In this study, we obtained one strain of monoclonal antibody (mAb) against the p54 protein of ASFV, and the target epitope of the mAb was determined to be 175YTHKDLENSL184. The experimental results demonstrated that the monoclonal antibody could successfully recognize the exogenously expressed p54 protein and the chimeric virus constructed in our laboratory. The mAb could be used as a detection tool for the development of ASF vaccine strains. In addition, the ELISA established by using the obtained synthetic epitope peptide as the antigen had high sensitivity, good specificity and showed the great potential for ASF epidemic monitoring and control.

Background The purpose of this study was to analyze the efficacy and safety of additional anti-HER2 (human epidermal growth factor receptor 2)-targeting drugs in HER2-positive advanced breast cancers.Methods For this study, the following databases were searched for articles published from its inception until December 2019: PubMed, Web of Science, EBSCO, and Cochrane library, of which the main outcomes were the progression-free survival (PFS) and overall survival (OS).Results We conducted a meta-analysis and the results showed that additional anti-HER2-targeting drugs improved the HER2-positive advanced breast cancer patients’ PFS (HR: 0.66, p p p p = 0.001). Trastuzumab benefited the least, with no difference statistical significance (HR: 0.87, 95% Cl: 0.31–1.44, p = 0.594). In terms of treatment regimen, first-line treatment (HR: 0.67, 95% Cl: 0.52–0.82, p p = 0.004). The main adverse events (AEs) observed were diarrhea and the main cardiotoxicity observed was decreased ejection fraction.Conclusions Additional anti-HER2-targting drugs may improve long-term prognosis in HER2-positive advanced breast cancers. Moreover, the AEs were safe and tolerable. Besides, lapatinib had the best benefit, and pertuzumab followed by, trastuzumab had the least benefit in terms of drug selection. From the aspect of treatment, it recommended significantly to use anti-HER2-targeting drugs in first-line therapy based on our research in HER2-positive advanced breast cancers.

Background: Posterior circulation stroke is characterized by poor prognosis because its optimal thrombolysis “time window” is always missed. After mechanical thrombectomy (MT), the recanalization rate of posterior circulation obstruction is significantly increased, but prognosis remains poor. To best manage patients, prognostic factors are needed to inform MT triaging after posterior circulation stroke. Methods: A systematic literature search was done for the period through April 2020. Studies included those with posterior circulation stroke cases that underwent MT. The primary outcome measure in this study was the modified Rankin Scale on day 90. Results: No outcome differences were found in gender, atrial fibrillation, smoking, and coronary artery disease (OR = 1.07, 95% CI: 0.90–1.28; OR = 1.02, 95% CI: 0.82–1.26; OR = 1.26, 95% CI: 0.94–1.68; and OR = 0.84, 95% CI: 0.58–1.22, respectively). Hypertension, diabetes mellitus, and previous stroke correlated with poorer prognosis (OR = 0.61, 95% CI: 0.48–0.77; OR = 0.60, 95% CI: 0.50–0.73; and OR = 0.74, 95% CI: 0.55–0.99, respectively). However, hyperlipidemia correlated with better prognosis (OR = 1.28, 95% CI: 1.04–1.58). Conclusion: Our analysis indicates that hypertension, diabetes mellitus, or previous stroke correlate with poorer outcomes. Intriguingly, hyperlipidemia correlates with better prognosis. These factors may help inform triage decisions when considering MT for posterior circulation stroke patients. However, large, multicenter, randomized controlled trials are needed to validate these observations.

Background Currently, nivolumab and ipilimumab are the most widely used immune checkpoint inhibitors. We performed a meta-analysis to evaluate the efficacy and treatment-related adverse events (TRAEs) of nivolumab plus ipilimumab therapy in cancer treatment. Methods We examined data from PubMed, Web of Science, EBSCO, and Cochrane Library. Eleven articles fulfilled our criteria, which we divided into 3 groups: nivolumab plus ipilimumab versus nivolumab (the dose used for monotherapy is 3 mg/kg), nivolumab plus ipilimumab versus ipilimumab (the dose used for monotherapy is 3 mg/kg), and nivolumab 1 mg/kg plus ipilimumab 3 mg/kg (N1I3) versus nivolumab 3 mg/kg plus ipilimumab 1 mg/kg (N3I1). We measured the complete response (CR), partial response (PR), objective response rate (ORR), and TRAEs in any grade and grade 3 or higher. Results The overall effect estimate favored the combined immunotherapy group in terms of the ORR (RR: 1.40, p < 0.001) and PR (RR: 1.50, p < 0.001) than nivolumab alone. Compared with ipilimumab alone, the combined immunotherapy group had better CR (RR: 4.89, p < 0.001), PR (RR: 2.75, p < 0.001), and ORR (RR: 3.31, p < 0.001). Finally, N1I3 showed better PR (RR: 1.35, p = 0.006) and ORR (RR: 1.21, p = 0.03) than N3I1. The incidence of any TRAEs was similar between both groups (RR: 1.05, p = 0.06). However, the incidence of serious adverse events (grade 3 or higher) was lower in group N3I1 than group N1I3 (RR: 1.51, p < 0.001). Conclusion This meta-analysis showed that the curative effect of nivolumab plus ipilimumab was better than that of nivolumab or ipilimumab monotherapy. In the combined immunotherapy group, N1I3 was more effective than N3I1. Although the side effects were slightly increased in N1I3 group, overall safety was acceptable.

Laparoscopic sleeve gastrectomy (LSG) and laparoscopic Roux-en-Y gastric bypass (LRYGB) are the mainstays of bariatric surgery in recent years. In addition, there has been an increased interest in the quality of life (QoL) of obese patients after surgery. This study examined the QoL of patients who had undergone either LSG or LRYGB. We retrieved the literature from PubMed, Web of Science, Embase, and the Cochrane Library database before November 2019. A total of 10 articles and 2327 obese patients were included in our meta-analysis. The QoL scoring tools included in the statistical analysis are the following: the gastrointestinal quality of life index, 36-items short-form health survey, bariatric analysis and reporting outcome system, and the Moorehead-Ardelt quality of life questionnaire II. Although the QoL score of the LRYGB group was higher than that of the LSG group in the bariatric analysis and reporting outcome system subgroup, statistical analysis showed no difference in the postoperative QoL of LSG and LRYGB. In our study, no difference was found in the QoL between LSG and LRYGB. Therefore, in terms of postoperative QoL, surgical methods should be selected on the basis of the patients' condition and level of understanding of the surgeries.

Additional file 4: Supplementary Table 1. Characteristics of included clinical trials in the meta-analysis.

Aiming at solving the attitude control problem of a hypersonic glide vehicle, this paper proposes a decoupling control method based on a nonlinear extended state observer (NESO). According to the decentralized robust control theory of Tornambè, the coupling terms and the uncertainties are regarded as generalized uncertainties, and the NESO-based estimation and compensation signals are added to the closed-loop control law. The theoretical deduction proves that the proposed method can ensure that the tracking error of the closed-loop system is uniformly bounded. The simulation is carried out on the hypersonic glide vehicle model and compared with the traditional subchannel feedback control method. The simulation results show that the designed decoupling control method has superior control performances, and the influence of channel-coupling and uncertainty is compensated to a great extent.

Additional file 1: Supplementary Table. 1. Characteristics of included clinical trials in the meta-analysis.

GNSS/INS (Global Navigation Satellite System/ Inertial Navigation System) integrated navigation system can be applied to agricultural UAV (unmanned aerial vehicle) with the following two requirements: (1) After working for a long time, the precision of navigation parameters will not decrease; (2) The integrated navigation algorithm is simple and reliable, which requires low processing capacity for airborne chips. Aiming at satisfying above two requirements, firstly, the centralized Kalman filter method is used to fuse GPS (Global Position System) and INS systems under the premise of loose coupling. The combination is compact, which greatly reduces the amount of computing in the system and simplifies the complexity of the system. Secondly, the error of INS system navigation parameters estimated by discrete Kalman filter algorithm is fed back into INS system by feedback emendation method, which overcomes the problem that the navigation accuracy will decline after long time work. Finally, the simulations of velocity and position error after filtering are demonstrated respectively. The stability and effectiveness of proposed algorithms are verified.

This paper proposes a simplified particle model to increase the efficiency of trajectory planning. The energy flow model including solar cells module, propulsion system module, and battery module are also proposed. From expert experiences, a rules-based longitudinal trajectory planning algorithm with better energy efficiency is developed. Simulations verify that the proposed algorithm basically satisfies the requirements, but it is hard to meet all the constraints and a globally optimization algorithm must be developed in the next step.