Miracle-dz/UniFAR-FTUs huggingface dataset:
Optimal and efficient path planning for partially-known environments

The task of planning trajectories for a mobile robot has received considerable attention in the research literature. Most of the work assumes the robot has a complete and accurate model of its environment before it begins to move; less attention has been paid to the problem of partially known environments. This situation occurs for an exploratory robot or one that must move to a goal location without the benefit of a floorplan or terrain map. Existing approaches plan an initial path based on known information and then modify the plan locally or replan the entire path as the robot discovers obstacles with its sensors, sacrificing optimality or computational efficiency respectively. This paper introduces a new algorithm, D*, capable of planning paths in unknown, partially known, and changing environments in an efficient, optimal, and complete manner. <<ETX>>
The WHIPS prototype for data warehouse creation and maintenance

Summary form only given. The goal of the Whips project (WareHousing Information Project at Stanford) is to develop algorithms and tools for the creation and maintenance of a data warehouse (J. Wiener et al., 1996). In particular, we have developed an architecture and implemented a prototype for identifying data changes at distributed heterogeneous sources, transforming them and summarizing them in accordance with warehouse specifications, and incrementally integrating them into the warehouse. In effect, the warehouse stores materialized views of the source data. The Whips architecture is designed specifically to fulfil several important and interrelated goals: sources and warehouse views can be added and removed dynamically; it is scalable by adding more internal modules; changes at the sources are detected automatically; the warehouse may be updated continuously as the sources change, without requiring down time; and the warehouse is always kept consistent with the source data by the integration algorithms. The Whips system is composed of many distinct modules that potentially reside on different machines. Each module is implemented as a CORBA object. They communicate with each other using ILU, a COBRA compliant object library developed by Xerox PARC.
A hierarchical Bayesian approach for multi‐site optimization of a satellite‐based evapotranspiration model

Modelling is an important tool in simulating and partitioning evapotranspiration (ET). To obtain realistic partitioning of ET, a hierarchical Bayesian (HB) method was used to fit the Priestly–Taylor Jet Propulsion Laboratory (PT‐JPL) model against the multi‐tower Flux Network (FLUXNET) datasets. Unique to the HB method is its ability to exchange of information between sites and simultaneously estimate the species‐and PFT‐level parameters. The results suggested that the sensitive parameters varied at the both species and PFT levels. The parameter β (water control of soil evaporation) exhibited relatively wide species‐and PFT‐level posterior distributions, indicating that the original parameterization of soil moisture constraint may be problematic. Generally, the model with parameters determined by the HB approach showed better performance in predicting and partitioning ET than the original model, especially in evergreen needleleaf forests, open shrublands, closed shrublands, and woody savannas. To overcome the problem of parameter uncertainty (equifinality), direct observations of different components of ET are urgently needed in future studies, and assessments the extent to which the parameter uncertainties are reduced by the use of additional data.
Exploring NK cell receptor dynamics in paediatric leukaemias: implications for immunotherapy and prognosis

Abstract Objectives Immunotherapies targeting natural killer (NK) cell receptors have shown promise against leukaemia. Unfortunately, cancer immunosuppressive mechanisms that alter NK cell phenotype prevent such approaches from being successful. The study utilises advanced cytometry to examine how cancer immunosuppressive pathways affect NK cell phenotypic changes in clinical samples. Methods In this study, we conducted a high‐dimensional examination of the cell surface expression of 16 NK cell receptors in paediatric patients with acute myeloid leukaemia and acute lymphoblastic leukaemia, as well as in samples of non‐age matched adult peripheral blood (APB) and umbilical cord blood (UCB). An unsupervised analysis was carried out in order to identify NK cell populations present in paediatric leukaemias. Results We observed that leukaemia NK cells clustered together with UCB NK cells and expressed relatively higher levels of the NKG2A receptor compared to APB NK cells. In addition, CD56dimCD16+CD57− NK cells lacking NKG2A expression were mainly absent in paediatric leukaemia patients. However, CD56br NK cell populations expressing high levels of NKG2A were highly represented in paediatric leukaemia patients. NKG2A expression on leukaemia NK cells was found to be positively correlated with the expression of its ligand, suggesting that the NKG2A‐HLA‐E interaction may play a role in modifying NK cell responses to leukaemia cells. Conclusion We provide an in‐depth analysis of NK cell populations in paediatric leukaemia patients. These results support the development of immunotherapies targeting immunosuppressive receptors, such as NKG2A, to enhance innate immunity against paediatric leukaemia.
Effect of vertical handovers on performance of TCP-friendly rate control

An intersystem or vertical handover is a key enabling mechanism for next generations of mobile communication systems. A vertical handover can cause an abrupt change of up to two orders of magnitude in link bandwidth and latency. It is hard for end-to-end congestion control to adapt promptly to such changes. This is especially a concern for slowly responsive congestion control algorithms, such as TCP-Friendly Rate Control (TFRC). TFRC is designed to provide a smooth transmission rate for real-time applications and, therefore, is less responsive to changes in network conditions than TCP. Using measurements and simulation, we show that TFRC has significant difficulties adapting after a vertical handover. TFRC receives only a fraction of TCP throughput over a fast link, but can be grossly unfair to concurrent TCP flows after handover to a slow link. We show that two proposals based on overbuffering and an explicit handover notification are effective solutions to these problems. Using them, TFRC can quickly adapt to new link characteristics after a handover, while otherwise maintaining a smooth transmission rate.
Intracerebroventricular BDNF infusion may reduce cerebral ischemia/reperfusion injury by promoting autophagy and suppressing apoptosis

Abstract Here, it was aimed to investigate the effects of intracerebroventricular (ICV) Brain Derived Neurotrophic Factor (BDNF) infusion for 7 days following cerebral ischemia (CI) on autophagy in neurons in the penumbra. Focal CI was created by the occlusion of the right middle cerebral artery. A total of 60 rats were used and divided into 4 groups as Control, Sham CI, CI and CI + BDNF. During the 7‐day reperfusion period, aCSF (vehicle) was infused to Sham CI and CI groups, and BDNF infusion was administered to the CI + BDNF group via an osmotic minipump. By the end of the 7th day of reperfusion, Beclin‐1, LC3, p62 and cleaved caspase‐3 protein levels in the penumbra area were evaluated using Western blot and immunofluorescence. BDNF treatment for 7 days reduced the infarct area after CI, induced the autophagic proteins Beclin‐1, LC3 and p62 and suppressed the apoptotic protein cleaved caspase‐3. Furthermore, rotarod and adhesive removal test times of BDNF treatment started to improve from the 4th day, and the neurological deficit score from the 5th day. ICV BDNF treatment following CI reduced the infarct area by inducing autophagic proteins Beclin‐1, LC3 and p62 and inhibiting the apoptotic caspase‐3 protein while its beneficial effects were apparent in neurological tests from the 4th day.
Triclosan: Current Status, Occurrence, Environmental Risks and Bioaccumulation Potential

Triclosan (TCS) is a multi-purpose antimicrobial agent used as a common ingredient in everyday household personal care and consumer products. The expanded use of TCS provides a number of pathways for the compound to enter the environment and it has been detected in sewage treatment plant effluents; surface; ground and drinking water. The physico-chemical properties indicate the bioaccumulation and persistence potential of TCS in the environment. Hence, there is an increasing concern about the presence of TCS in the environment and its potential negative effects on human and animal health. Nevertheless, scarce monitoring data could be one reason for not prioritizing TCS as emerging contaminant. Conventional water and wastewater treatment processes are unable to completely remove the TCS and even form toxic intermediates. Considering the worldwide application of personal care products containing TCS and inefficient removal and its toxic effects on aquatic organisms, the compound should be considered on the priority list of emerging contaminants and its utilization in all products should be regulated.
Evaluation of the immune response of layer chickens to Newcastle disease virus vaccines using the new vaccination regimens

Abstract Background The study aimed to evaluate the immunological response of layer chickens to live Newcastle disease virus vaccine using a newly developed vaccine schedule administered via the ocular route, as well as assess the persistence of passive antibodies in layer chickens and the effectiveness of protection against strains of the virus. Methods A total of 140‐day‐old Lohmann Brown chicks were randomly divided into seven groups, 20 chicks each. Groups 1–3 received a single eye instillation of the vaccine at ages 5, 26 and 54 days, respectively, whereas groups 4–6 received a double eye instillation. Group 7 served as non‐vaccinated control group. Ten days after immunization, samples were taken from hens that had received the vaccine at ages 15, 36 and 64, as well as from control chickens that had not received the vaccine at ages 5, 15, 21 and 31. Results A total of 10 serum samples from all chickens exhibited protective antibodies, and booster doses resulted in the highest haemagglutination inhibition titre. No significant change in antibody production was observed among layer hens (p > 0.05). The study found that the La Sota (GMT ± SD: 6.71 ± 4.96), La Sota (GMT ± SD: 8.00 ± 0.00) and thermostable I2 (GMT ± SD: 7.60 ± 6.02), vaccination schedules provided the maximum immune response in single eye instillation, whereas the HB1 (GMT ± SD: 7.11 ± 4.77), La Sota (GMT ± SD: 7.83 ± 5.76) and La Sota (GMT ± SD: 7.60 ± 6.02), combination was the second‐best vaccination schedule in double eye instillation. Furthermore, maternally‐derived antibodies were maintained up to 31 days of age, indicating the level of passive immunity prior to vaccination. Characteristic lesions, such as edematous and diphtheria mucosal membranes of the trachea, along with petechial and necrotic haemorrhages of the proventriculus, were observed during the necropsy of the birds that died from the challenged virus. Conclusion This study suggests that subsequent live virus vaccine by ocular route immunization is required to effectively protect against velogenic viscerotropic Newcastle disease infection. The results also highlight the importance of developing effective vaccination schedules and routes to enhance immunity against ND in layer chickens.
Using the gross motor function measure evolution ratio to compare different dosage of hyperbaric treatment with conventional therapies in children with cerebral palsy – could it end the controversy?

The Gross Motor Function Measure is used in most studies measuring gross motor function in children with cerebral palsy. In many studies, including those evaluating the effect of hyperbaric treatment, the Gross Motor Function Measure variations were potentially misinterpreted because of the lack of control groups. The Gross Motor Function Measure Evolution Ratio (GMFMER) uses historical data from the Gross Motor Function Classification System curves and allows to re-analyze previous published studies which used the Gross Motor Function Measure by considering the natural expected evolution of the Gross Motor Function Measure. As the GMFMER is defined by the ratio between the recorded Gross Motor Function Measure score increase and the expected increase attributed to natural evolution during the duration of the study (natural evolution yields a GMFMER of 1), it becomes easy to assess and compare the efficacy of different treatments. Objective The objective of this study is to revisit studies done with different dosage of hyperbaric treatment and to compare the GMFMER measured in these studies with those assessing the effects of various recommended treatments in children with cerebral palsy. Methods PubMed Searches were conducted to included studies that used the Gross Motor Function Measure to evaluate the effect of physical therapy, selective dorsal rhizotomy, botulinum toxin injection, hippotherapy, stem cell, or hyperbaric treatment. The GMFMER were computed for each group of the included studies. Results Forty-four studies were included, counting 4 studies evaluating the effects of various dosage of hyperbaric treatment in children with cerebral palsy. Since some studies had several arms, the GMFMER has been computed for 69 groups. The average GMFMER for the groups receiving less than 2 h/week of physical therapy was 2.5 ± 1.8 whereas in context of very intensive physical therapy it increased to 10.3 ± 6.1. The GMFMER of stem cell, selective dorsal rhizotomy, hippotherapy, and botulinum toxin treatment was, 6.0 ± 5.9, 6.5 ± 2.0, 13.3 ± 0.6, and 5.0 ± 2.9, respectively. The GMFMER of the groups of children receiving hyperbaric treatment were 28.1 ± 13.0 for hyperbaric oxygen therapy and 29.8 ± 6.8 for hyperbaric air. Conclusion The analysis of the included studies with the GMFMER showed that hyperbaric treatment can result in progress of gross motor function more than other recognized treatments in children with cerebral palsy.
Energy efficiency of grazing Hereford heifers classified by paternal residual feed intake

Abstract Residual feed intake (RFI) has become a widely spread index of feed efficiency. Although most of beef cattle systems in the world are pasture based, RFI evaluation and research is usually performed in confinement conditions. In this context, residual heat production (RHP) estimated as the difference between actual and expected heat production (HP), could allow to identify efficient animals. Thus, the aim of this work was to evaluate the relationship between paternal estimated breeding values (EBV) for RFI and beef heifer efficiency, measured as RHP, as well as its association with heifers’ productive and reproductive performance on grazing conditions. Seventy-one 25 ± 0.8-mo-old and seventy-four 24 ± 0.7-mo-old Hereford heifers were managed as contemporary groups in spring 2019 and 2020, respectively. Heifers were sired by 10 RFI-evaluated bulls and classified into three groups according to the paternal EBV for RFI: five bulls of low RFI (high efficiency, pHE), two bulls of medium RFI (medium efficiency), and three bulls of high RFI (low efficiency, pLE). The experimental period lasted 70 d prior to their first insemination where HP was determined by the heart rate-O2 pulse technique. In addition, reproductive performances during the first and second breeding and calving seasons were recorded. Heifers’ RHPs expressed as MJ/d and kJ/kg of body weight (BW)0.75/d were positively correlated with paternal RFI EBVs (P < 0.05; r > 0.60). Moreover, BW and average daily gain (ADG) were greater (P < 0.01) for pHE than pLE heifers while expressed as units of BW0.75/d, neither total HP nor metabolizable energy (ME) intake differed between groups, but pHE heifers had greater retained energy (RE; P < 0.01) and lower RHP (P < 0.05) than pLE ones. Gross energy efficiency (RE/ME intake) was greater (P < 0.001) for pHE than pLE heifers while the HP/ADG and RHP/ADG were reduced (P < 0.05) and feed-to-gain ratio (ADG/DM intake) tended to be greater (P = 0.07) for pHE than pLE heifers. In addition, during the first breeding and calving seasons, small but significant (P < 0.01) differences in reproductive responses between groups suggested an earlier pregnancy in pHE heifers than the pLE group, differences that disappeared during the second breeding and calving seasons. Thus, heifers sired by high-efficiency bulls measured as RFI were more efficient measured as RHP in grazing conditions, without significant differences in reproductive performance.
Hereditary hemochromatosis: recent advances in molecular genetics and clinical management.

BACKGROUND AND OBJECTIVE Hereditary hemochromatosis (HC) is an inborn error of iron metabolism leading to increased intestinal iron absorption and progressive iron overload. There have been definite advances in our knowledge of the pathogenesis and management of idiopathic hemochromatosis in recent years, which prompted us to review this subject. INFORMATION SOURCES The material examined in the present review includes articles and abstracts published in the journals covered by the Science Citation Index and Medline. In addition, both authors have been working in this field for several years and have contributed twelve of the papers cited in the references. STATE OF ART AND PERSPECTIVES The disease is a late onset autosomic recessive condition, especially frequent in Caucasians. If unrecognized, severe clinical symptoms develop in mid-life related to organ failure. Early diagnosis prevents complications, since an intensive phlebotomy course removes excess iron and offers patients a normal life expectancy. Transferrin saturation is the first examination step, but liver biopsy is still essential for diagnosis and prognosis of HC. The biochemical defect is unknown. Positional cloning of the HC gene has led to the isolation of all the candidate region on the short arm of chromosome 6, telomeric to HLA-A. Recently a putative HC gene has been cloned from this region and found to be mutated in a large proportion of patients. The gene, known as HLA-H, is an atypical MHC class I gene. Although its biological function remains unknown, HLA-H is the first strong HC candidate gene. Molecular screening of patients and carriers is now possible in a significant portion of cases, thereby permitting better control of the disease. If it is unequivocally confirmed that the HLA-H gene is responsible for the disease, understanding of its biological function will provide information on the type and activity of the involved protein, revealing new insights into iron uptake and metabolism in humans.
Algorithms for computing QoS paths with restoration

There is a growing interest among service providers to offer new services with quality of service (QoS) guaranties that are also resilient to failures. Supporting QoS connections requires the existence of a routing mechanism, that computes the QoS paths, i.e., paths that satisfy QoS constraints (e.g., delay or bandwidth). Resilience to failures, on the other hand, is achieved by providing, for each primary QoS path, a set of alternative QoS paths used upon a failure of either a link or a node. The above objectives, coupled with the need to minimize the global use of network resources, imply that the cost of both the primary path and the restoration topology should be a major consideration of the routing process. We undertake a comprehensive study of problems related to finding suitable restoration topologies for QoS paths. We consider both bottleneck QoS constraints, such as bandwidth, and additive QoS constraints, such as delay and jitter. This is the first study to provide a rigorous solution, with proven guarantees, to the combined problem of computing QoS paths with restoration. It turns out that the widely used approach of disjoint primary and restoration paths is not an optimal strategy. Hence, the proposed algorithms construct a restoration topology, i.e., a set of bridges, each bridge protecting a portion of the primary QoS path. This approach guaranties to find a restoration topology with low cost when one exists. In addition to analysis, we test our approach also by way of simulations. The simulation results demonstrate that our proposed approximation algorithms identify QoS restoration paths whose cost is significantly smaller than those provided by alternative approaches.
Plasma homocysteine and markers for oxidative stress and inflammation in patients with coronary artery disease – a prospective randomized study of vitamin supplementation

Abstract Background: Elevated plasma levels of total homocysteine (tHcy) are associated with an increased risk of developing occlusive vascular diseases. To better illustrate the relationship between plasma tHcy concentration, oxidative stress, and inflammation in patients with coronary artery disease (CAD), we measured plasma 8-isoprostane-prostaglandin F 2 (Iso-P), plasma malondialdehyde (MDA), and several markers of inflammation. We also aimed to demonstrate the effects of vitamin supplementation on these markers. Methods: A total of 93 patients with ischemic heart disease were investigated. Of these, 34 had plasma tHcy ≤8μmol/L, while 59 had plasma tHcy ≥15.0 μmol/L. The 59 patients were randomized to open therapy with folic acid, 5mg, pyridoxine, 40mg, and cyancobalamin, 1mg once daily for 3months (n=29) or to no vitamin treatment (n=30). Blood samples were obtained from both groups before randomization and 3months later. A sample was also obtained from the remaining 34 patients. Results: Plasma Iso-P, serum amyloid A (S-AA), and plasma intercellular adhesion molecule-1 (ICAM-1) concentrations were higher in patients with high plasma tHcy levels than in patients with low to normal tHcy levels. Plasma levels of P-, L-, E-selectins, MDA, C-reactive protein (CRP), and orosomucoid did not differ between the groups. Vitamin therapy reduced plasma tHcy from 17.4 (15.3/20.1) to 9.2 (8.3/10.3)μmol/L (25th and 75th percentiles in parentheses) (p<0.0001). Plasma levels of Iso-P remained unchanged and, of all inflammatory markers, only the S-AA concentrations were slightly reduced by the vitamin treatment, from 5.3 (2.2/7.0)ng/L at baseline to 4.6 (2.1/6.9)ng/L (p<0.05) after 3months of vitamin supplementation. Conclusion: Patients with CAD and high plasma tHcy levels had elevated plasma levels of Iso-P. The increase remained unaffected by plasma tHcy-lowering therapy, suggesting that homocysteine per se does not cause increased lipid peroxidation. Levels of plasma ICAM-1 and S-AA were increased in patients with high plasma tHcy, suggesting an association between homocysteinemia and low-grade inflammation.
Screening for Impaired Visual Acuity in Older Adults: US Preventive Services Task Force Recommendation Statement.

DESCRIPTION Update of the US Preventive Services Task Force (USPSTF) recommendation on screening for impaired visual acuity in older adults. METHODS The USPSTF reviewed the evidence on screening for visual acuity impairment associated with uncorrected refractive error, cataracts, and age-related macular degeneration among adults 65 years or older in the primary care setting; the benefits and harms of screening; the accuracy of screening; and the benefits and harms of treatment of early vision impairment due to uncorrected refractive error, cataracts, and age-related macular degeneration. POPULATION This recommendation applies to asymptomatic adults 65 years or older who do not present to their primary care clinician with vision problems. RECOMMENDATION The USPSTF concludes that the current evidence is insufficient to assess the balance of benefits and harms of screening for impaired visual acuity in older adults. (I statement).