Miracle-dz/UniFAR-FTUs huggingface dataset:
A hierarchical Model Predictive Control framework for autonomous ground vehicles

A hierarchical framework based on Model Predictive Control (MPC) for autonomous vehicles is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle while fulfilling various physical and design constraints. We start from the low-level active steering-controller presented in [3], [9] and integrate it with a high level trajectory planner. At both levels MPC design is used. At the high-level, a trajectory is computed on-line, in a receding horizon fashion, based on a simplified point-mass vehicle model. At the low- level a MPC controller computes the vehicle inputs in order to best follow the desired trajectory based on detailed nonlinear vehicle model. This article presents the approach, the method for implementing it, and successful preliminary simulative results on slippery roads at high entry speed.
Unique Cortical Physiology Associated With Ipsilateral Hand Movements and Neuroprosthetic Implications

Background and Purpose— Brain computer interfaces (BCIs) offer little direct benefit to patients with hemispheric stroke because current platforms rely on signals derived from the contralateral motor cortex (the same region injured by the stroke). For BCIs to assist hemiparetic patients, the implant must use unaffected cortex ipsilateral to the affected limb. This requires the identification of distinct electrophysiological features from the motor cortex associated with ipsilateral hand movements. Methods— In this study we studied 6 patients undergoing temporary placement of intracranial electrode arrays. Electrocorticographic (ECoG) signals were recorded while the subjects engaged in specific ipsilateral or contralateral hand motor tasks. Spectral changes were identified with regards to frequency, location, and timing. Results— Ipsilateral hand movements were associated with electrophysiological changes that occur in lower frequency spectra, at distinct anatomic locations, and earlier than changes associated with contralateral hand movements. In a subset of 3 patients, features specific to ipsilateral and contralateral hand movements were used to control a cursor on a screen in real time. In ipsilateral derived control this was optimal with lower frequency spectra. Conclusions— There are distinctive cortical electrophysiological features associated with ipsilateral movements which can be used for device control. These findings have implications for patients with hemispheric stroke because they offer a potential methodology for which a single hemisphere can be used to enhance the function of a stroke induced hemiparesis.
Landscapes at Landnám: Palynological and Palaeoentomological Evidence from Ibftanes, Faroe Islands

Toftanes is a Viking age farmstead in the coastal village of Leirvík, Eysturoy. Excavations in the 1980s revealed four buildings, thousands of finds and radiocarbon dates which extend back to perhaps the 9th century AD. This is the first complex farmstead of the Viking Age landnám settlement to have been completely excavated in the Faroe Islands. Organic remains from floor layers were subjected to pollen and insect analyses in an effort to reconstruct land use associated with the farm and thewiderlandscape. The taphonomy of the deposits and their contained fossils presents diffículties for the interpretation of results.It is clear, however, that a mainly open landscape was associated with a largely pastoral economy, but cereal-type pollen is also present. The insect faunas are enigmatic in showing a very muted anthropogenic signature, yet one which displays obvious signs of anthropochorous habitats. Future palaeoecological research will include the investigation of many more samples and the analyses of seeds.
On Default Correlation: A Copula Function Approach

This article studies the problem of default correlation. It introduces a random variable called “time-until-default” to denote the survival time of each defaultable entity or financial instrument, and defines the default correlation between two credit risks as the correlation coefficient between their survival times. The author explains why a copula function approach should be used to specify the joint distribution of survival times after marginal distributions of survival times are derived from market information, such as risky bond prices or asset swap spreads. He shows that the current approach to default correlation through asset correlation is equivalent to using a normal copula function. Numerical examples illustrate the use of copula functions in the valuation of some credit derivatives, such as credit default swaps and first-to-default contracts.
Structured output regression for detection with partial truncation

We develop a structured output model for object category detection that explicitly accounts for alignment, multiple aspects and partial truncation in both training and inference. The model is formulated as large margin learning with latent variables and slack rescaling, and both training and inference are computationally efficient. We make the following contributions: (i) we note that extending the Structured Output Regression formulation of Blaschko and Lampert [1] to include a bias term significantly improves performance; (ii) that alignment (to account for small rotations and anisotropic scalings) can be included as a latent variable and efficiently determined and implemented; (iii) that the latent variable extends to multiple aspects (e.g. left facing, right facing, front) with the same formulation; and (iv), most significantly for performance, that truncated and truncated instances can be included in both training and inference with an explicit truncation mask. We demonstrate the method by training and testing on the PASCAL VOC 2007 data set - training includes the truncated examples, and in testing object instances are detected at multiple scales, alignments, and with significant truncations.
IGF1 as predictor of all cause mortality and cardiovascular disease in an elderly population.

BACKGROUND IGF1 is believed to influence ageing and development of cardiovascular disease (CVD) through complex mechanisms. Reduced IGF1 levels might be causally associated with conditions accompanying ageing including development of CVD. However, in animal models reduced GH-IGF1 signalling increases lifespan. Reduced IGF1 activity might also be associated with longevity in humans. OBJECTIVE The objective was to investigate if plasma IGF1 levels were associated with all cause mortality, and the development of chronic heart failure (CHF) and a major CV event. PATIENTS AND DESIGN A population based study of 642 individuals, aged 50-89 years. Development of CHF was evaluated in 576 individuals with normal systolic function assessed by echocardiography and without the history of CHF or myocardial infarction. Development of the first major CV event was evaluated in 504 individuals with normal systolic function and without prevalent CVD. Outcomes were ascertained after 5 years using hospital discharge diagnoses. RESULTS Adjustment for risk factors IGF1 values in the fourth quartile versus values below the fourth quartile was associated with increased mortality (n=103), hazard ratio (HR) 1.52 (95% confidence interval (CI) 1.01-2.28; P=0.044). IGF1 in the fourth quartile was also independently associated with risk of development of CHF (n=19), HR 5.02 (95% CI 2.00-12.64; P=0.001) but showed no association with the overall incidence of major CV events (n=58), HR 1.05 (95% CI 0.59-1.90; P=0.861). CONCLUSIONS High IGF1 levels were independently associated with increased all cause mortality and risk of development of CHF, whereas no relation with the overall incidence of CVD was observed.
Nonopsonic phagocytosis of microorganisms.

Nonopsonic phagocytosis mediated by phagocyte receptors that recognize corresponding adhesins on microbial surfaces has attracted increasing interest as a potential host defense mechanism against extracellular pathogens and as a means of survival in the host for intracellular pathogens. Three types of nonopsonic phagocytosis involving carbohydrate-protein interactions (also termed lectinophagocytosis), protein-protein interactions, and hydrophobic interactions are discussed. A prominent receptor on phagocytic cells involved in recognizing pathogens belongs to the CD11/CD18 integrins. It mediates both opsonophagocytosis and nonopsonic phagocytosis and exhibits multiple specificity for different microbial adhesins. In other cases, similar specificity toward a microbial ligand (e.g. the Klebsiella pneumoniae capsule) is shared by dual molecules, one of which (e.g. the mannose-binding protein in serum) mediates opsonophagocytosis and the other (e.g. the macrophage mannose receptor) mediates nonopsonic phagocytosis of the microorganisms. In addition, we discuss how nonopsonic phagocytosis can trigger the phagocytes to release inflammatory agents and cause tissue injury. Further studies of the molecular mechanisms of nonopsonic phagocytosis, in particular those underlying the up-regulation of the phagocytic receptors by various agents, should lead to the development of new approaches for the prevention of infectious diseases.
The Maturity of Debt Issues and Predictable Variation in Bond Returns

The maturity of new debt issues predicts excess bond returns. When the share of long-term debt issues in total debt issues is high, future excess bond returns are low. This predictive power comes in two parts. First, inflation, the real short-term rate, and the term spread predict excess bond returns. Second, these same variables explain the long-term share, and together account for much of its own ability to predict excess bond returns. The results are consistent with survey evidence that firms use debt market conditions in an effort to determine the lowest-cost maturity at which to borrow.
TP53 and/or BRCA1 Mutations Based on CtDNA Analysis as Prognostic Biomarkers for Primary Triple-Negative Breast Cancer

Simple Summary For effective cancer treatment, it is important to scrutinize individual driver gene mutations. In this study, we investigated whether analyzing gene mutations in primary breast cancer based on ctDNA could be a biomarker of prognosis using plasma from 95 patients with primary breast cancer. The key finding was that TP53 and/or BRCA1 mutation-positive groups had poor recurrence-free survival in the TNBC patients compared to TP53 and BRCA1 mutation-negative groups. This result indicates that TP53 and/or BRCA1 mutations on ctDNA could be useful prognostic markers in TNBC patients. Abstract Precise biomarkers for predicting the therapeutic efficacy of molecularly targeted drugs are limited at the protein level; thus, it has been important to broadly scrutinize individual cancer driver gene mutations for effective cancer treatments. Multiplex cancer genome profiling can comprehensively identify gene mutations that are therapeutic targets using next-generation sequencing (NGS). In addition, circulating tumor DNA (ctDNA) is a DNA fragment released into the blood by tumor cell-derived cell death or apoptosis. Liquid biopsy with ctDNA is a novel clinical test for identifying genetic mutations in an entire population noninvasively, in real-time, and heterogeneously. Although there are several reports on ctDNA, fewer have evaluated ctDNA with NGS before an initial treatment for breast cancer patients. Therefore, we examined whether analyzing tumor-associated gene mutations in primary breast cancer based on ctDNA could serve as a biomarker for prognosis and optimal treatment selection. Ninety-five primary breast cancer patients treated at our department from January 2017 to October 2020 were included. Pretreatment plasma samples were subjected to NGS analysis of ctDNA, and correlations with patients’ clinicopathological characteristics were evaluated. Fifty-nine (62.1%) patients were positive for ctDNA. ctDNA tended to be positive in hormone receptor-negative, and TP53 (34%), BRCA1 (20%), and BRCA2 (17%) gene mutations were more frequent. Regarding recurrence-free survival, the prognosis was poor in the TP53 and/or BRCA1 mutation-positive groups, especially in triple-negative breast cancer (TNBC) patients. In conclusion, the results of this study indicate that ctDNA with liquid biopsy could identify the poor prognosis group before treatment among TNBC patients and for those for whom optimal treatment selection is desirable; additionally, optimal treatment could be selected according to the ctDNA analysis results.
Comparison of the open‐closed separatrix in a global magnetospheric simulation with observations: The role of the ring current

[1] The development of global magnetospheric models, such as Space Weather Modeling Framework (SWMF), which can accurately reproduce and track space weather processes has high practical utility. We present an interval on 5 June 1998, where the location of the polar cap boundary, or open-closed field line boundary (OCB), can be determined in the ionosphere using a combination of instruments during a period encompassing a sharp northward to southward interplanetary field turning. We present both point- and time-varying comparisons of the observed and simulated boundaries in the ionosphere and find that when using solely the coupled ideal magnetohydrodynamic magnetosphere-ionosphere model, the rate of change of the OCB to a southward turning of the interplanetary field is significantly faster than that computed from the observational data. However, when the inner magnetospheric module is incorporated, the modeling framework both qualitatively, and often quantitatively, reproduces many elements of the studied interval prior to an observed substorm onset. This result demonstrates that the physics of the inner magnetosphere is critical in shaping the boundary between open and closed field lines during periods of southward interplanetary magnetic field (IMF) and provides significant insight into the 3-D time-dependent behavior of the Earth's magnetosphere in response to a northward-southward IMF turning. We assert that during periods that do not include the tens of minutes surrounding substorm expansion phase onset, the coupled SWMF model may provide a valuable and reliable tool for estimating both the OCB and magnetic field topology over a wide range of latitudes and local times.
An ontology for Western Saharan manuscripts

As more efforts are performed to digitize Western Saharan manuscripts, for preserving the memory they represent, the need to be able to work on these digitized materials naturally grows. Beyond cataloguing, an ontology is the basis to provide to researchers new tools for retrieving and integrating these knowledge sources. In this paper, we present an ontology describing West-Saharan manuscripts. We first precise the domain and the purposes, then we illustrate each step of the ontology's building, from experts and local resources to its alignment with well-established reference ontologies, including its automatic enrichment from existing thesaurus. This incremental process may be reused in other projects.
Refining the theory of partisan alignments

In this article we provide a theoretical and empirical evaluation of the evolution of partisan alignments in Latin America since the beginning of the Third Wave of democratization. We first point to a series of limitations of the conventional framework of partisan alignments, namely their disregard of party systems that are only partially or non-institutionalized. Second, we propose a refined framework that is more universally applicable. We then operationalize our indicators and apply our new framework to every democratic country in Latin America to generate a map of the evolution of partisan loyalties in Latin America in the period 1980–2012. Our analysis reveals that the conventional view of widespread partisan dealignment in Latin America is largely inaccurate.
Changes across the psychometric function following perceptual learning of an RSVP reading task

Several recent studies have shown that perceptual learning can result in improvements in reading speed for people with macular disease (e.g., Chung, 2011; Tarita-Nistor et al., 2014). The improvements were reported as an increase in reading speed defined by specific criteria; however, little is known about how other properties of the reading performance or the participants' perceptual responses change as a consequence of learning. In this paper, we performed detailed analyses of data following perceptual learning using an RSVP (rapid serial visual presentation) reading task, looking beyond the change in reading speed defined by the threshold at a given accuracy on a psychometric function relating response accuracy with word exposure duration. Specifically, we explored the statistical characteristics of the response data to address two specific questions: was there a change in the slope of the psychometric function and did the improvements in performance occur consistently across different word exposure durations? Our results show that there is a general steepening of the slope of the psychometric function, leading to non-uniform improvements across stimulus levels.
Pseudodementia in Patients with Unipolar and Bipolar Disorders: A Case Series and Literature Review

Even though pseudodementia has been historically linked to depression, other psychiatric conditions may cause reversible cognitive alterations. The purpose of this study is to improve our understanding of pseudodementia occurring throughout the entire bipolar spectrum. A systematic review was conducted according to PRISMA guidelines. PubMed, Scopus, and Web of Science databases were searched up to March 2023. Fifteen articles on patients with pseudodementia and bipolar disorder (BD), mania, hypomania, or mixed depression have been included. Moreover, seven female patients with mood disorders diagnosed with pseudodementia have been described. According to our research, pseudodementia in patients with BD mostly occurs during a depressive episode. However, pseudodementia has also been observed in the context of manic and mixed states. Psychomotor and psychotic symptoms were commonly associated. The most typical cognitive impairments were disorientation, inattention, and short-term memory deficits. Alterations in neuroimaging were frequently observed. Electroconvulsive therapy and lithium, either alone or in combination with antipsychotics, resulted in the most widely used therapies. Cognitive decline may occur in a substantial proportion of patients. Since pseudodementia can manifest along the entire mood spectrum, it should be taken into consideration as a possible diagnosis in BD patients showing cognitive deficits during manic, mixed, and depressive states.
Maternal and Zygotic aldh1a2 Activity Is Required for Pancreas Development in Zebrafish

We have isolated and characterized a novel zebrafish pancreas mutant. Mutant embryos lack expression of isl1 and sst in the endocrine pancreas, but retain isl1 expression in the CNS. Non-endocrine endodermal gene expression is less affected in the mutant, with varying degrees of residual expression observed for pdx1, carbA, hhex, prox1, sid4, transferrin and ifabp. In addition, mutant embryos display a swollen pericardium and lack fin buds. Genetic mapping revealed a mutation resulting in a glycine to arginine change in the catalytic domain of the aldh1a2 gene, which is required for the production of retinoic acid from vitamin A. Comparison of our mutant (aldh1a2um22) to neckless (aldh1a2i26), a previously identified aldh1a2 mutant, revealed similarities in residual endodermal gene expression. In contrast, treatment with DEAB (diethylaminobenzaldehyde), a competitive reversible inhibitor of Aldh enzymes, produces a more severe phenotype with complete loss of endodermal gene expression, indicating that a source of Aldh activity persists in both mutants. We find that mRNA from the aldh1a2um22 mutant allele is inactive, indicating that it represents a null allele. Instead, the residual Aldh activity is likely due to maternal aldh1a2, since we find that translation-blocking, but not splice-blocking, aldh1a2 morpholinos produce a phenotype similar to DEAB treatment. We conclude that Aldh1a2 is the primary Aldh acting during pancreas development and that maternal Aldh1a2 activity persists in aldh1a2um22 and aldh1a2i26 mutant embryos.
Basic fibroblast growth factor increases division and delays differentiation of dopamine precursors in vitro

Growth factors have been shown to be involved in the regulation of division and differentiation of neuroepithelial cells. In the present study we examined the ability of various factors to influence the development of dopamine precursors. Primary neuronal cultures were prepared from the embryonic day 12 (E12) rat ventral mesencephalon, a time and place which coincides with the beginning of the birth of the dopamine neurons of the substantia nigra pars compacta. At low plating density in serum-free medium, the dopamine precursors divide for approximately 1 d in vitro. We report here that basic fibroblast growth factor (bFGF) can expand the period of dopamine precursor division at least until day 8 in culture, which is well beyond the normal division of these cells. This increase in cell division was accompanied by a delay in differentiation as compared to untreated control cultures. Upon differentiation, the high-affinity dopamine uptake values in bFGF- treated cultures were 20 times maximal control values. Mature dopamine neurons appeared at the same time as astrocytes, which may be playing a role in inducing dopamine neuron differentiation. IGF-I, GDNF, and EGF were unable to mimic the effect of bFGF on division and differentiation of dopamine precursors. Expanding in vitro the number of dopamine precursors provides tissue that may be suitable for transplantation in patients with Parkinson's disease.
Performance exploration of Generative Pre-trained Transformer-2 for lyrics generation

In recent years, the field of Natural Language Processing (NLP) has undergone a revolution, with text generation playing a key role in this transformation. This shift is not limited to technological areas but has also seamlessly penetrated creative domains, with a prime example being the generation of song lyrics. To be truly effective, generative models, like Generative Pre-trained Transformer (GPT)-2, require fine-tuning as a crucial step. This paper, utilizing the robustness of the widely-referenced Kaggle dataset titled "Song Lyrics", carefully explores the impacts of modulating three key parameters: learning rate, batch size, and sequence length. The dataset presents a compelling narrative that highlights the learning rate as the most influential determinant, directly impacting the quality and coherence of the lyrics generated. While increasing the batch size and extending sequence lengths promise enhanced model performance, it is evident that there is a saturation point beyond which further benefits are limited. Through this exploration, the paper aims to demystify the complex world of model calibration and emphasize the importance of strategic parameter selection in pursuit of lyrical excellence.