In this paper, a generic multi-sensor fusion framework is developed for the localization of intelligent vehicles and mobile robots. The localization framework is based on moving horizon estimation (MHE). Unlike the commonly used probabilistic filtering algorithms – for example, extended Kalman filter (EKF) and unscented Kalman filter (UKF) – MHE relies on solving successive least squares optimization problems over the innovation of multiple sensors’ measurements and a specific estimation horizon. In this paper, we present an efficient and generic multi-sensor fusion scheme, based on MHE. The proposed multi-sensor fusion scheme is capable of operating with different sensors’ rates, missing measurements, and outliers. Moreover, the proposed scheme is based on a multi-threading architecture to reduce its computational cost, making it more feasible for practical applications. The MHE fusion method is tested using simulated data as well as real experimental data sequences from an intelligent vehicle and a mobile robot combining measurements from different sensors to get accurate localization results. The performance of MHE is compared against that of UKF, where the MHE estimation results show superior performance.

The aim of this study is to report the treatment outcomes, toxicities, and dosimetric feasibility of simultaneous integrated boost by RapidArc (RA-SIB) compared with 3dimentional-conformal radiation therapy (3D-CRT) for patients with glioblastoma. Methods: Eleven patients with unifocal glioblastoma (grade IV astrocytoma, WHO classification) were treated during the period from April 2011 until February 2013 with postoperative irradiation and concomitant temozolomide 75 mg/m 2 followed by 6-12 months of adjuvant temozolomide 200 mg/m 2 for 5 days/4weeks. One patient received temozolomide for 12 months, 5patients for 6 months, and 5patients did not receive adjuvant temozolomide. RA-SIB technique was used and patients received 46 Gy per fraction of 2 Gy in 23 sessions on the planning target volume (PTV1) (contrast enhancement + per-focal edema as seen in T2 MR + 2.3 cm) with concomitant daily superimposed boost (SIB) on PTV2 corresponding to the contrast enhancement + 2.3 cm. The treatment outcomes and toxicity were assessed. Dose Volume Histogram DVH analysis was performed between SIB-RA and 3D-CRT plans of each patient. For the PTV, the comparison parameters included, the mean dose, the standard deviation, maximum dose, conformity index (CI), and homogeneity index (HI). Results: The median progression free survival (PFS) and overall survival (OS) were 13 months (95% CI, 8.2-17.8), and 16 months (95% CI, 2.1-29.9) respectively. Four of six patients (67%) showed local progression (recurrence) after initial response, all recurrences occurred at the site of PTV2. Seven patients experienced acute grade 1-2 toxicities during the treatment. Late post radiation brain edema was reported in 3 patients. Conclusion: The SIB-RA did not prove the superiority in survival outcomes compared with the historical data using 3D-CRT. From the dosimetric standpoint, SIB-RA is a superior technique with respect to 3D-CRT when there are overlaps between organs at risk (OARs) and PTV.

BackgroundThe role of dose escalation in patients receiving long-term androgen deprivation therapy (ADT) is still a controversial issue. The aim of the current study was to evaluate whether dose escalation for ≥76–80 Gy had any advantage in terms of biochemical disease-free survival (BDFS), distant metastasis-free survival (DMFS), or overall survival outcomes over the dose levels from 70 to <76 Gy.Patients and methodsThe study included a cohort of 24 patients classified with high- and intermediate-risk localized prostate cancer. All patients received ADT, starting at 4–6 months before radiation therapy and continued for a total period of 12–24 months in high-risk patients. The treatment plan was given in two phases. In the first phase, the nodal planning target volume (PTV) and the prostate PTV received 48.6 and 54 Gy, respectively, over 27 fractions. The treatment was applied through intensity-modulated radiation therapy or volumetric modulated arc therapy with a simultaneous integrated boost technique.ResultsMore than half of the patients were in T3–T4 stage, 79.1% of the patients were in the high-risk category, and all patients received ADT. The rate of acute grade II gastrointestinal and genitourinary toxicities in all patients were 41.7% and 62.5%, respectively. The rate of freedom from grade II rectal toxicity at 2 years was 89% and 83% for patients treated with dose levels <76 and ≥76 Gy, respectively. The rate of BDFS at 2 years was 90% and 85% for doses <76 and ≥76 Gy, respectively. The DMFS at 2 years was 100% and 76% for dose levels <76 and ≥76 Gy, respectively.ConclusionIn the current study, there were no significant differences in the BDFS and DMFS between patients treated with a dose of <76 and ≥76 Gy, including elective pelvic lymph nodes irradiation combined with ADT.

For high risk prostate cancer, the treatment volumes and even dose levels are still a controversial issue. The aim of this study is to evaluate the dosemetric parameters and acute toxicity of dose-escalated whole pelvis (WP) Intensity Modulated Radiation Therapy (IMRT) and volumetric modulated arc therapy (VMAT) prostate boost following neoadjuvant and concomitant with androgen deprivation therapy in high-risk prostate cancer patients. This analysis included 73 high-risk prostate cancer patients treated with WP-IMRT followed by boost to the prostate by VMAT to total dose of 80 Gy; between January 2014 and October 2016. Androgen deprivation therapy (ADT) was given for all patients before and during radiation therapy. Drawing the dose volume histograms (DVHs) was done for planning target volumes (PTVs), including Prostate PTV & nodal PTV, and organs at risk including rectum, bladder, femoral heads, and bowel bag for the plans. Acute radiation toxicities were reported during the radiation course and the following 3 months. The DVH analysis showed good coverage of PTVs and organs at risk doses were acceptable. No recorded acute Grade ≥ 3 toxicity. Acute grade 1 toxicity for Gastrointestinal (GI) and Genitourinary (GU) were 65% and 35% respectively, while Grade 2 toxicity was 30% for both. The Proctitis and frequency were the commonest acute toxicity and were maximal during the 5th week of radiation therapy. Dose escalation in two phases utilizing Simultaneous integrated boost (SIB) combined with ADT in high risk prostate cancer patient is feasible and associated with acceptable acute GI and GU toxicity.

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