Miracle-dz/UniFAR-FTUs huggingface dataset:
Accurate Initial State Estimation in a Monocular Visual–Inertial SLAM System

The fusion of monocular visual and inertial cues has become popular in robotics, unmanned vehicles and augmented reality fields. Recent results have shown that optimization-based fusion strategies outperform filtering strategies. Robust state estimation is the core capability for optimization-based visual–inertial Simultaneous Localization and Mapping (SLAM) systems. As a result of the nonlinearity of visual–inertial systems, the performance heavily relies on the accuracy of initial values (visual scale, gravity, velocity and Inertial Measurement Unit (IMU) biases). Therefore, this paper aims to propose a more accurate initial state estimation method. On the basis of the known gravity magnitude, we propose an approach to refine the estimated gravity vector by optimizing the two-dimensional (2D) error state on its tangent space, then estimate the accelerometer bias separately, which is difficult to be distinguished under small rotation. Additionally, we propose an automatic termination criterion to determine when the initialization is successful. Once the initial state estimation converges, the initial estimated values are used to launch the nonlinear tightly coupled visual–inertial SLAM system. We have tested our approaches with the public EuRoC dataset. Experimental results show that the proposed methods can achieve good initial state estimation, the gravity refinement approach is able to efficiently speed up the convergence process of the estimated gravity vector, and the termination criterion performs well.
Numerical and experimental analysis of the sedimentation of spherical colloidal suspensions under centrifugal force

Understanding the sedimentation behaviour of colloidal suspensions is crucial in determining their stability. Since sedimentation rates are often very slow, centrifugation is used to expedite sedimentation experiments. The effect of centrifugal acceleration on sedimentation behaviour is not fully understood. Furthermore, in sedimentation models, interparticle interactions are usually omitted by using the hard-sphere assumption. This work proposes a one-dimensional model for sedimentation using an effective maximum volume fraction, with an extension for sedimentation under centrifugal force. A numerical implementation of the model using an adaptive finite difference solver is described. Experiments with silica suspensions are carried out using an analytical centrifuge. The model is shown to be a good fit with experimental data for 480 nm spherical silica, with the effects of centrifugation at 705 rpm studied. A conversion of data to Earth gravity conditions is proposed, which is shown to recover Earth gravity sedimentation rates well. This work suggests that the effective maximum volume fraction accurately captures interparticle interactions and provides insights into the effect of centrifugation on sedimentation.
Diet preferences as the cause of individual differences rather than the consequence.

Behavioural variation within a species is usually explained as the consequence of individual variation in physiology. However, new evidence suggests that the arrow of causality may well be in the reverse direction: behaviours such as diet preferences cause the differences in physiological and morphological traits. Recently, diet preferences were proposed to underlie consistent differences in digestive organ mass and movement patterns (patch residence times) in red knots (Calidris canutus islandica). Red knots are molluscivorous and migrant shorebirds for which the size of the muscular stomach (gizzard) is critical for the food processing rate. In this study, red knots (C. c. canutus, n = 46) were caught at Banc d'Arguin, an intertidal flat ecosystem in Mauritania, and released with radio-tags after the measurement of gizzard mass. Using a novel tracking system (time-of-arrival), patch residence times were measured over a period of three weeks. Whether or not gizzard mass determined patch residence times was tested experimentally by offering 12 of the 46 tagged red knots soft diets prior to release; this reduced an individual's gizzard mass by 20-60%. To validate whether the observed range of patch residence times would be expected from individual diet preferences, we simulated patch residence times as a function of diet preferences via a simple departure rule. Consistent with previous empirical studies, patch residence times in the field were positively correlated with gizzard mass. The slope of this correlation, as well as the observed range of patch residence times, was in accordance with the simulated values. The 12 birds with reduced gizzard masses did not decrease patch residence times in response to the reduction in gizzard mass. These findings suggest that diet preferences can indeed cause the observed among-individual variation in gizzard mass and patch residence times. We discuss how early diet experiences can have cascading effects on the individual expression of both behavioural and physiomorphic traits. This emphasizes that to understand the ecological consequences of individual differences, knowledge of the environment during development is required.
Prognosis of Abdominal Aortic Aneurysms: A Machine Learning-Enabled Approach Merging Clinical, Morphometric, Biomechanical and Texture Information

An effective surveillance strategy for the progression of abdominal aortic aneurysms (AAAs) may be achieved by assessing its expected growth rate in a personalized manner. Given the variety of factors with an impact on AAA growth, an integrative approach to the problem could potentially benefit from incorporating clinical and morphometric data, as well as mechanical stress characterizations. In addition, here we investigated the use of texture information on computed tomography angiography images within the AAA sac. A cohort of n=38 patients underwent a baseline examination, plus a follow-up visit to measure AAA growth rates, in terms of its maximum diameter (Dmax) divided by the elapsed time period. Subsequently, each case was labelled as slow, medium or quick growth, compared to the expected rate reported in demographic studies, as a function of gender and baseline Dmax. We computed a total of 102 features (5 clinical, 17 morphometric, 4 biomechanical, and 76 on texture) and used a number of machine learning (ML) algorithms; with the aim of minimizing misclassification costs. The performance of the system was evaluated with a leave-one-out cross-validation scheme. The results achieved by the best performing approach, an ensemble of decision trees (LPBoost) using the entire 102-dimensional feature space, indicated that the combination of different information sources, along with ML algorithms, may have a positive impact on the AAA prognosis assessment.
Association mining of mutated cancer genes in different clinical stages across 11 cancer types

Many studies have demonstrated that some genes (e.g. APC, BRAF, KRAS, PTEN, TP53) are frequently mutated in cancer, however, underlying mechanism that contributes to their high mutation frequency remains unclear. Here we used Apriori algorithm to find the frequent mutational gene sets (FMGSs) from 4,904 tumors across 11 cancer types as part of the TCGA Pan-Cancer effort and then mined the hidden association rules (ARs) within these FMGSs. Intriguingly, we found that well-known cancer driver genes such as BRAF, KRAS, PTEN, and TP53 were often co-occurred with other driver genes and FMGSs size peaked at an itemset size of 3∼4 genes. Besides, the number and constitution of FMGS and ARs differed greatly among different cancers and stages. In addition, FMGS and ARs were rare in endocrine-related cancers such as breast carcinoma, ovarian cystadenocarcinoma, and thyroid carcinoma, but abundant in cancers contact directly with external environments such as skin melanoma and stomach adenocarcinoma. Furthermore, we observed more rules in stage IV than in other stages, indicating that distant metastasis needed more sophisticated gene regulatory network.
Qualitative and Quantitative Phytochemical Analysis of Different Extracts from Thymus algeriensis Aerial Parts

This study was performed to evaluate the metabolite recovery from different extraction methods applied to Thymus algeriensis aerial parts. A high-performance liquid chromatographic method using photodiode array detector with gradient elution has been developed and validated for the simultaneous estimation of different phenolic compounds in the extracts and in their corresponding purified fractions. The experimental results show that microwave-assisted aqueous extraction for 15 min at 100 °C gave the most phenolics-enriched extract, reducing extraction time without degradation effects on bioactives. Sixteen compounds were identified in this extract, 11 phenolic compounds and five flavonoids, all known for their biological activities. Color analysis and determination of chlorophylls and carotenoids implemented the knowledge of the chemical profile of this plant.
Learning of Optimal Forecast Aggregation in Partial Evidence Environments

We consider the forecast aggregation problem in repeated settings where the forecasts are of a binary state of nature. In each period multiple experts provide forecasts about the state. The goal of the aggregator is to aggregate those forecasts into a subjective accurate forecast. We assume that the experts are Bayesian and the aggregator is non-Bayesian and ignorant of the information structure (i.e., the distribution over the signals) under which the experts make their forecasts. The aggregator observes the experts’ forecasts only. At the end of each period, the realized state is observed by the aggregator. We focus on the question of whether the aggregator can learn to optimally aggregate the forecasts of the experts, where the optimal aggregation is the Bayesian aggregation that takes into account all the information in the system. We consider the class of partial evidence information structures, where each expert is exposed to a different subset of conditionally independent signals. Our main results are positive: we show that optimal aggregation can be learned in polynomial time in quite a wide range of instances in partial evidence environments. We provide an exact characterization of the instances where optimal learning is possible as well as those where it is impossible.
A study of the MTHFR gene polymorphism C677T in colorectal cancer.

PURPOSE The aim of this study was to examine the clinical significance of the methylenetetrahydrofolate reductase (MTHFR) gene polymorphism C677T in colorectal cancer (CRC). The hypothesis was that the genotype could affect the risk of cancer development and the results of cancer treatment. PATIENTS AND METHODS Genotyping was made for a random 30% (n = 544) of all patients treated for CRC at our unit from 1999 to 2006 (n = 1812). Basic clinical and pathologic factors were analyzed by genotype group and also compared with those of the entire cohort. Tolerability of chemotherapy and possible side effects were analyzed by genotype. Survival was analyzed by genotype for all stages for patients treated between 1999 and 2003. The genotype prevalence was also compared with a control material of healthy blood donors. RESULTS No genotype was associated with an increased risk of CRC or higher cancer stage. The patients with CT/TT genotype had significantly greater risk of suffering side effects from fluoropyrimidine (5-fluorouracil) treatment (P < .05). In stage III colon cancer, the patients with CT/TT genotype had a poorer prognosis than those with the CC genotype. The difference was significant in univariate (P < .003) and multivariate (P < .040) analysis. Though the genotype-associated side effect risks remained in stage IV, the effect on survival was not significant (P < .1). CONCLUSION The MTHFR polymorphism C677T does, in our material, not affect the risk of CRC; however, it can affect the sensitivity to chemotherapy and the risk of side-effects and therefore survival in stage III and possibly stage IV colon cancer. It could be a future predictive factor in the choice of a treatment regimen.
Flavanol-rich lychee fruit extract alleviates diet-induced insulin resistance via suppressing mTOR/SREBP-1 mediated lipogenesis in liver and restoring insulin signaling in skeletal muscle.

SCOPE An elevated intracellular lipid contents resulted from lipid oversupply links obesity to insulin resistance. Flavanol-rich lychee fruit extract, oligonol, exhibited anti-obesity property in vitro and in vivo; however, the effects of oligonol on peripheral lipid metabolism and insulin sensitivity have not been fully investigated. We hypothesized that oligonol alleviated insulin resistance via decreasing intracellular lipid contents in peripheral tissues. METHODS AND RESULTS Dietary oligonol supplementation (20 or 200 mg/kg bw) reduced glucose and insulin levels, improved oral glucose tolerance, and suppressed inflammatory markers, MCP-1 and IL-6, in High-Fat diet (HFD) induced obese mice. Marked decreases in subcutaneous and visceral fat area, adipocyte size, and adipocyte released hormones including leptin and resistin by high-dose oligonol treatment were associated with downregulation of PPARγ gene expression. Significantly reduced intrahepatocellular lipid contents and hepatic triglyceride levels by oligonol (both doses) were associated with downregulation of mTOR/SREBP-1-mediated de novo lipogenesis. In skeletal muscle, oligonol enhanced Sirtuin1 protein expression and AMPKα activation, consequently resulted in reductions of intramuscular lipid contents and triglyceride levels and restoration of IRS-1 and AS160 phosphorylation. CONCLUSION Oligonol reduced intracellular lipid contents in liver and skeletal muscle and suppressed inflammatory markers, thereby alleviating HFD-induced insulin resistance.
Transport physics and biorheology in the setting of hemostasis and thrombosis

The biophysics of blood flow can dictate the function of molecules and cells in the vasculature with consequent effects on hemostasis, thrombosis, embolism, and fibrinolysis. Flow and transport dynamics are distinct for (i) hemostasis vs. thrombosis and (ii) venous vs. arterial episodes. Intraclot transport changes dramatically the moment hemostasis is achieved or the moment a thrombus becomes fully occlusive. With platelet concentrations that are 50‐ to 200‐fold greater than platelet‐rich plasma, clots formed under flow have a different composition and structure compared with blood clotted statically in a tube. The platelet‐rich, core/shell architecture is a prominent feature of self‐limiting hemostatic clots formed under flow. Importantly, a critical threshold concentration of surface tissue factor is required for fibrin generation under flow. Once initiated by wall‐derived tissue factor, thrombin generation and its spatial propagation within a clot can be modulated by γ′‐fibrinogen incorporated into fibrin, engageability of activated factor (FIXa)/activated FVIIIa tenase within the clot, platelet‐derived polyphosphate, transclot permeation, and reduction of porosity via platelet retraction. Fibrin imparts tremendous strength to a thrombus to resist embolism up to wall shear stresses of 2400 dyne cm−2. Extreme flows, as found in severe vessel stenosis or in mechanical assist devices, can cause von Willebrand factor self‐association into massive fibers along with shear‐induced platelet activation. Pathological von Willebrand factor fibers are A Disintegrin And Metalloprotease with ThromboSpondin‐1 domain 13 resistant but are a substrate for fibrin generation due to FXIIa capture. Recently, microfluidic technologies have enhanced the ability to interrogate blood in the context of stenotic flows, acquired von Willebrand disease, hemophilia, traumatic bleeding, and drug action.
Effects of Polyvinylpyrrolidone on Structure and Performance of Composite Scaffold of Chitosan Superfine Powder and Polyurethane

Novel asymmetric composite scaffolds of chitosan superfine powder (CSP) and biomedical polyurethane (BPU) were prepared by an immersion-precipitation phase inversion method. Effects of polyvinylpyrrolidone (PVP) as a pore-forming agent on the structure and performance of the CSP/BPU composite scaffolds were investigated. The morphology and structure of the composite scaffolds were verified via scanning electron microscopy, X-ray diffraction, and porosity measurement. The performance of composite scaffolds was characterized by determination of the swelling ratio, measurement of the water vapor transmission rate (WVTR), mechanical test, and degradation experiment. The result showed that all CSP/BPU scaffolds were asymmetric with a skin layer near the top surface and a porous supporting solid matrix. The porosity and average pore size of CSP/BPU scaffolds exhibited a maximum value at 5 wt% PVP. The crystallinity and the lamellar thickness (L) of composite scaffolds decreased with increasing PVP content from 0 to 8 wt%. The swelling ratio of CSP/BPU scaffolds also exhibited a maximum value as PVP increased to 5 wt%, which suggested that swelling ratios were controlled by the porosity, whereas, with increasing PVP content, the WVTR of CSP/BPU scaffolds increased and the tensile properties and degradation rates showed a decreasing tendency. Consequently, through adjusting PVP content, CSP/BPU scaffolds prepared by immersion precipitation phase transformation could be a potential material that could be applied in skin tissue engineering. © 2011 Wiley Periodicals, Inc. Adv Polym Techn 31: 310–318, 2012; View this article online at wileyonlinelibrary.com. DOI 10.1002/adv.20254
Persons living with HIV infection on antiretroviral therapy also consulting traditional healers: a study in three African countries

Traditional healers provide healthcare to a substantial proportion of people living with HIV infection (PLHIV) in high HIV burden countries in sub-Saharan Africa. However, the impact on the health of retained patients visiting traditional healers is unknown. In 2011, a study to asses adherence to anti-retroviral therapy (ART) performed in 18 purposefully selected HIV treatment centers in Tanzania, Zambia and Uganda showed that ‘consulting a traditional healer/herbalist because of HIV’ was an independent risk factor for incomplete ART adherence. To identify characteristics of PLHIV on ART who were also consulting traditional healers, we conducted a secondary analysis of the data from this study. It was found that 260 (5.8%) of the 4451 patients enrolled in the study had consulted a traditional healer during the last three months because of HIV. In multivariable analysis, patients with fewer HIV symptoms, those who had been on ART for >5.3 years and those from Tanzania were more likely to have consulted a traditional healer. However, at the time of the study, there was a famous healer in Manyara district, Loliondo village of Tanzania who claimed his herbal remedy was able to cure all chronic diseases including HIV. HIV treatment programs should be aware that patients with fewer HIV symptoms, those who have been on ART for five or more years, and patients attending ART centers near famous traditional healers are likely to consult traditional healers. Such patients may need more support or counseling about the risks of both stopping ART and poor adherence. Considering the realities of inadequate human resources for health and the burden of disease caused by HIV in sub-Saharan Africa, facilitating a collaboration between allopathic and traditional health practitioners is recommended.
Typology of Internet gaming disorder and its clinical implications

Various perspectives exist regarding Internet gaming disorder. While the concept of behavioral addiction is gaining recognition, some view the phenomenon as merely excessive indulgence in online pastimes. Still, in recent years, complaints from patients or their family members about problems related to Internet use, particularly Internet gaming, have become more common. However, the clinical picture of Internet gaming disorder could be obscured by its heterogeneous manifestations with other intertwined factors, such as psychiatric comorbidities, neurodevelopmental factors, sociocultural factors, and game‐related factors, which may influence the pathogenesis as well as the clinical course. To mitigate such problems, clinicians should be able to consider diverse aspects related to Internet gaming disorder. Classifying such a heterogeneous problem into subtypes that share a similar etiology or phenomenology may provide additional clues in the diagnostic process and allow us to designate available clinical resources for particularly vulnerable factors. In this review paper, we suggest a typology of ‘impulsive/aggressive,’ ‘emotionally vulnerable,’ ‘socially conditioned,’ and ‘not otherwise specified’ as subtypes of the heterogeneous phenomena of pathological Internet gaming. The implications of these subtypes for assessment and treatment planning will also be highlighted.
Influence of HLA Matching on the Efficacy of Allogeneic Mesenchymal Stromal Cell Therapies for Osteoarthritis and Degenerative Disc Disease

Background The necessity for more effective therapies for chronic osteoarticular diseases has led to the development of treatments based on mesenchymal stem cells (MSCs), the natural precursors of musculoskeletal tissue. Treatments with autologous MSCs yielded excellent results, with nearly 70% improvement of pain and disability in osteoarthritis and degenerative disc disease. Using allogeneic MSCs is logistically more convenient and would widen the pool of eligible patients, but potential immune rejection should be considered. In this context, MSCs are purportedly immune evasive and better tolerated than other cell types. Methods We used samples collected during the performance of 2 randomized clinical trials using allogeneic bone marrow MSCs for treatment of osteoarthritis (NCT01586312) and degenerative disc disease (NCT01860417). Serum samples were used to determine anti-HLA antibodies, whereas either blood or MSC samples were used for HLA typing of recipients and donors, respectively. Algofunctional indexes were used as indicators of clinical evolution, and the correlation between the number of donor-host HLA mismatches and the efficacy of treatment was determined. Results Immune response was weak and transient, with reactivity decaying during the first year. Consistently, better donor-recipient HLA matching did not enhance efficacy. Conclusions This lack of reactivity is presumably due to the cooperation of 2 factors, (1) downregulation of the host immune responses by the transplanted MSCs and (2) effective insulation of these cells inside the articular cavity or the intervertebral disc, respectively. Interestingly, better HLA matching did not enhance efficacy. These observations have medical relevance as they support the clinical use of allogeneic cells, at least as a single-dose administration. Multiple-dose applications will require further research to exclude possible sensitization.