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The surveillance data obtained from an unmanned aerial vehicle during real-time operation are very important for unmanned aerial vehicle supervision. In this study, in order to obtain more reliable and accurate unmanned aerial vehicle flight paths, we have proposed a trajectory fusion method of unmanned aerial vehicle data based on an active and passive feedback system. The active surveillance data are obtained from automatic dependent surveillance – broadcast and the passive surveillance data are derived from the unmanned aerial vehicle ground control station. The convex combination fusion algorithm is employed to fuse the two sets of data to obtain the accurate flight state and a continuous stable running track for the unmanned aerial vehicle. The simulation results showed that the fusion trajectory obtained using the convex combination fusion algorithm was smoother than the local trajectory obtained by the interacting multiple model algorithm. [ABSTRACT FROM AUTHOR]

Objectives: To investigate prognostic effect of postoperative resection-margin status for intraoperatively positive resection margin in advanced gastric cancer and discuss the treatment choice for intraoperatively positive resection margins., Methods: A retrospective study was investigated in 64 advanced gastric cancer patients with positive resection margin after potentially curative resection. The survival between 50 patients who was re-excised to a negative resection margin (NR group) and 14 patients who were left with positive resection margin (PR group) was compared. Prognostic factors were analyzed using univariate and multivariate Cox regression model analysis., Results: The median survival in the PR group was 17.0 months (95%CI: 11.6 - 22.4) as compared with 23.0 months (95%CI: 20.5 - 25.5) in the NR group (P = 0.045). However, resection-margin status lost significance on multivariate analysis. In the subgroup of D2 lymphadenectomy, the median survival in the PR group and NR group were 17.0 months (95%CI: 12.0 - 22.0) and 24.0 months (95%CI: 19.8 - 28.1) respectively; multivariate analysis further identified resection margin status as an independent prognostic factor., Conclusions: Re-excision for intraoperatively positive margin to negative margin improves the prognosis of the patients with advanced gastric cancer, and re-excision is the first choice when intraoperative frozen section detects a positive margin. Routine frozen section of resection margin should be mandatory in all advanced gastric cancer undergoing potentially curative surgery.