Miracle-dz/UniFAR-FTUs huggingface dataset:
A cooperative SLAM framework with efficient information sharing over mobile ad hoc networks

As the cost of simple robotic platforms plummets, interest in solutions that explore the cooperation between robotic agents grows. Cooperative techniques enjoy a multitude of advantages over their individual counterparts, namely concerning the solution of easily divisible problems. Simultaneous Localization and Mapping (SLAM) is one of the most researched topics in Robotics. It deals with the problem of endowing a mobile robotic platform with the ability to, with no a priori knowledge of the environment, build a representation of its surroundings and, simultaneously, localize itself in it. The exploration of unknown environments seems to be a particularly and intuitively divisible problem, at least at a human level: we simply divide the team into smaller groups, or even into individuals, which explore different areas in the environment. After exploring, the team reassembles and builds a joint representation of the region. However, this approach gives rise to a new set of problems, such as communication, synchronization and information fusion. This work focuses in the solution of these problems, known collectively as Multi-Robot SLAM. We propose a novel software solution that seeks to provide any system capable of performing single robot SLAM with the ability to efficiently communicate with its teammates and to build a global representation of the environment based on the information it exchanges with its peers. This solution was validated through experiments conducted over real-world data, both onand off-line, i.e., both using prerecorded and data gathered during the experiment. It has shown acceptable performance, both in scalability and communication efficiency.
THE LONG ARM OF MATERNAL MULTIPARTNERED FERTILITY AND ADOLESCENT WELL-BEING

which is funded by a cooperative agreement, grant number 5 UOI AEOOOOOI-05, between the Assistant Secretary for Planning and Evaluation (ASPE) in the U.S. Department of Health and Human Services (HHS) and Bowling Green State University. Any opinions and conclusions expressed herein are solely those of the author(s) and should not be construed as representing the opinions or policy of any agency of the federal government. The Long Arm of Maternal Multipartnered Fertility and Adolescent Well-being
Neural representations of pitch : role of peripheral frequency selectivity

Investigating the neural mechanisms underlying the perception of the pitch of harmonic complex tones is of great importance for many reasons. Changes in pitch convey melody in music, and the superposition of different pitches is the basis for harmony. Pitch has an important role in speech, where it carries prosodic features and information about speaker identity. Pitch plays a major role in auditory scene analysis: differences in pitch are a major cue for sound source segregation, while frequency components that share a common fundamental frequency (F0) tend to be grouped into a single auditory object. In psychophysics, a positive correlation is commonly observed between the estimated "resolvability" of individual harmonics of complex tones, assumed to depend primarily on the frequency selectivity of the cochlea, and the strength of the corresponding pitch percepts. In this study, possible neural codes for the pitch of harmonic complex tones were investigated in the auditory nerve of anesthetized cats, with particular focus on their dependence on cochlear frequency selectivity, which was measured directly using both complex tones and band-reject noise. A "rate-place" representation of pitch, based on cues to peripherally-resolved harmonics in profiles of average discharge rate along tonotopically-arranged neurons, was compared to a "temporal" representation, based on periodicity cues in the distributions of interspike intervals of the entire auditory nerve. Although both representations were viable in the range of F0s of cat vocalizations, neither was entirely satisfactory in accounting for psychophysical data. The rate-place representation degraded rapidly with increasing stimulus level and could not account for the upper limit of the perception of the pitch of missing-F0 in humans, while the interspike-interval representation could not predict the correlation between psychophysical pitch salience and peripheral harmonic resolvability. Therefore, we tested an alternative, "spatio-temporal" representation of pitch, where cues to the resolved harmonics arise from the spatial pattern in the phase of the basilar membrane motion. The spatio-temporal representation was relatively stable with level and was consistent with an upper limit for the pitch of missing-F0, thus becoming the strongest candidate to explain several major human pitch perception phenomena. Thesis Supervisor: Bertrand Delgutte Title: Associate Professor of Otology and Laryngology and Health Sciences and Technology Harvard Medical School
Comparing PV power plant soiling measurements extracted from PV module irradiance and power measurements

The accumulation of dust and other environmental contaminants on PV modules, also known as PV module soiling, is a significant source of lost potential power generation for PV installations. Designers and operators of utility-scale solar power plants are increasingly seeking methods to quantify soiling-related losses, in order to improve performance modeling and verification or to optimize washing schedules. Recently, soiling measurement equipment has been introduced based on the measurement of two co-planar PV modules, one of which is regularly cleaned, and the other of which naturally accumulates environmental contaminants. These measurements are used to determine a soiling ratio (SR), which may be applied as a derate factor in analysis of the PV system performance. In this work, we examine the difference between a soiling ratio metric calculated from measured temperature-corrected short-circuit current values (SRIsc), which represents the fraction of irradiance reaching the soiled modules, versus a soiling ratio calculated from measured temperature-corrected PV module maximum power values (SRPmax), which represents the fraction of power produced by the soiled modules compared to clean modules. We examine both techniques for CdTe and c-Si module technologies. This study is motivated by the fact that variations in module efficiency versus irradiance, as well as any non-uniformity of soiling, may introduce differences between the power losses estimated from short-circuit current values versus actual soiling-induced power losses. For CdTe, the SRIsc method is found to be a good proxy for the SRPmax method for nonuniform soiling levels up to 11%.
Diversity Performance Analysis for On-Body Communication Channels at 2.45 GHz

Body-centric communications is an important part of fourth-generation personal communications systems. Like the mobile cellular communication channel, on-body communication channels are affected by fading. In this paper, the effect of diversity for on-body communication channels is investigated. Measurements were taken in both an anechoic and typical indoor environments, with random body movements. Three different types of antennas were used. The diversity gain was calculated by plotting the cumulative distribution functions (CDF) for five body channels. Significant diversity gain values are observed for the nonline-of-sight channels and dynamic channels involving large body movements. The uplink and downlink diversity performance was found to be similar.
Competitive affective gaming: winning with a smile

Human-computer interaction (HCI) is expanding towards natural modalities of human expression. Gestures, body movements and other affective interaction techniques can change the way computers interact with humans. In this paper, we propose to extend existing interaction paradigms by including facial expression as a controller in videogames. NovaEmötions is a multiplayer game where players score by acting an emotion through a facial expression. We designed an algorithm to offer an engaging interaction experience using the facial expression. Despite the novelty of the interaction method, our game scoring algorithm kept players engaged and competitive. A user study done with 46 users showed the success and potential for the usage of affective-based interaction in videogames, i.e., the facial expression as the sole controller in videogames. Moreover, we released a novel facial expression dataset with over 41,000 images. These face images were captured in a novel and realistic setting: users playing games where a player's facial expression has an impact on the game score.
Girls and Gangs: ‘Shemale’ Gangsters in the UK?

In recent years there have been a number of high profile stories reporting increasing levels of female involvement in group related crime. According to these reports teenage girls are no longer spectators hovering on the periphery of street gangs but are hard core members actively engaging in the kind of extreme violence that is usually the preserve of men. As girl ‘gangsters’, young women are seen to be engaging in a wide range of crimes such as robbery, rape and murder. Using findings from an empirical study on young people’s use of weapons and involvement in street based groups, this article examines female involvement in ‘gangs’ and their violent behaviour. It challenges the dominant stereotype of girl ‘gangsters’ as malicious violent aggressors. The notion of the gang and implications for policy and practice will also be considered.
Medial Malleolar Osteotomy for the Correction of Varus Deformity During Total Ankle Arthroplasty: Results in 15 Ankles

Background: Preoperative deformity in the frontal plane in the arthritic ankle is a risk factor for failure after total ankle arthroplasty. Medial malleolar lengthening osteotomy was developed to correct varus malalignment. Materials and Methods: From 1998 to 2005 total ankle arthroplasty combined with medial malleolar lengthening osteotomy was done in 15 ankles (13 patients) with a mean preoperative varus deformity of 14.9 (SD, 7.8) degrees. Diagnosis was arthritis with instability in 11 ankles (9 patients) and inflammatory joint disease in 4 ankles. Two mobile-bearing designs were used. Osteosynthesis of the osteotomy was done in 2 ankles; for the remaining 13 osteotomies, no fixation was used. Results: Followup was 5 (range 2 to 8) years. Neutral alignment was obtained in all ankles. In 3 patients residual hindfoot varus remained, for which a second-stage hindfoot correction was done. Two rheumatoid ankles developed a symptom-free nonunion of the medial malleolus, all other malleolar osteotomies united. One tibial component, implanted with too much anterior slope, developed early aseptic loosening and was revised. Debridement for talar-malleolar arthritis was done in two ankles. Of the 14 ankles in followup, 12 were rated as excellent or good, one as fair. One ankle with subsidence of the talar component was rated as unsatisfactory. AOFAS score increased from 30.8 preoperative to 81.0 at followup (p < 0.01). Conclusion: Medial malleolar lengthening osteotomy is an easy technique for the realignment of the varus ankle at the time of total ankle arthroplasty, and served as an alternative to medial ligament release or lateral ligament reconstruction.
The Extensive Margin and Monetary Policy 1

The creation of new firms, referred to as the extensive margin, is a significant but overlooked dimension of monetary policy. A monetary VAR documents that monetary policy has significant effects on firm creation. An analytically tractable model combining sticky prices and firm entry shows that entry alters the transmission of monetary policy innovations, acting much like a type of investment in more standard models. Monetary policy rules that offset the uncertainty of productivity shocks can raise the mean level of entry and thereby welfare, suggesting a new motivation for stabilization policy. JEL classification: E22, E52, L16
The Seroprevalence of Some Pathogen Specific IgM in Children with Acute Respiratory Tract Infections in Guangzhou Region, 2011 - 2012.

BACKGROUND Acute respiratory tract infections (ARTIs) are the leading cause of morbidity and death in children < 5 years worldwide. The aim of this study is to analyze the seroprevalence of nine pathogen specific IgMs in children with ARTIs with respect to gender, age, and seasonality in the Guangzhou region. METHODS Serum samples were collected from 20160 children with ARTIs admitted to the Guangzhou Women and Children's Medical Center between 2011 and 2012. Serum-specific IgM antibodies to nine respiratory pathogens, Mycoplasma pneumonia (MP), Legionella pneumophila (LP), Coxiella burnetii (C. burnetii), Chlamydophila pneumonia (CP), adenovirus (ADV), respiratory syncytial virus (RSV), type A and type B influenza virus (IVA and IVB), and parainfluenza virus (PIV), were detected using immunofluorescence assay. RESULTS The male-to-female ratio of all patients was 1.9:1. The median age was 3 years and 8 months with a significant difference in seropositivity to respiratory tract pathogens between children from different age groups. Seropositivity was detected in 43.53% of the children with the top three pathogens being MP (33.15%), RSV (10.27%), and ADV (6.63%), followed by IVB (2.63%), LP (2.25%), IVA (1.59%), PIV (1.57%), CP (0.27%), and C. burnetii (0.13%). The prevalence of single, double, and triple seropositivity was 70.20% (6160/8775), 25.22% (2213/8775), and 4.57% (401/8775), respectively. The total IgM seropositivity for any kind of pathogen in the nine kinds of pathogens peaked in winter (46.53%), while the nadir was observed in summer (41.97%). CONCLUSIONS The top three seroprevalence of nine kinds of pathogen specific IgM was MP, followed by RSV and ADV. The epidemic pathogen specific IgM had a season-specific seropositivity distribution. Seroprevalence of the pathogen should be a focus of attention.
Ethical leadership and job insecurity

Purpose – This study aims to investigate the relationship between ethical leadership and the employee’s perception of job insecurity in the Egyptian public sector. It also investigates the mediating effect of work locus of control on the hypothesized relationship. Design/methodology/approach – The study uses a questionnaire that consists of measures adopted from existing and tested scales. The hypothesized model has been tested using multiple regression analysis. Findings – The findings reveal that the character of ethical leadership significantly reduces the employee’s perception of threats to job features and the powerlessness to counteract threats. However, the empowerment dimension of ethical leadership has adverse effects in the employee’s perception of powerlessness. Practical implications – The adverse effects of the empowerment behavior dimension of ethical leadership may be attributed to East–West differences in the conceptualization of empowerment. The Arab style of management promotes the Islam.
Mutations in the Carboxyl-terminal SEC24 Binding Motif of the Serotonin Transporter Impair Folding of the Transporter*

The serotonin transporter (SERT) is a member of the SLC6 family of solute carriers. SERT plays a crucial role in synaptic neurotransmission by retrieving released serotonin. The intracellular carboxyl terminus of various neurotransmitter transporters has been shown to be important for the correct delivery of SLC6 family members to the cell surface. Here we studied the importance of the C terminus in trafficking and folding of human SERT. Serial truncations followed by mutagenesis identified sequence spots (PG601,602, RII607–609) within the C terminus relevant for export of SERT from the endoplasmic reticulum (ER). RI607,608 is homologous to the RL-motif that in other SLC6 family members provides a docking site for the COPII component Sec24D. The primary defect resulting from mutation at PG601,602 and RI607,608 was impaired folding, because mutated transporters failed to bind the inhibitor [3H]imipramine. In contrast, when retained in the ER (e.g. by dominant negative Sar1) the wild type transporter bound [3H]imipramine with an affinity comparable to that of the surface-expressed transporter. SERT-RI607,608AA and SERT-RII607–609AAA were partially rescued by treatment of cells with the nonspecific chemical chaperone DMSO or the specific pharmacochaperone ibogaine (which binds to the inward facing conformation of SERT) but not by other classes of ligands (inhibitors, substrates, amphetamines). These observations (i) demonstrate an hitherto unappreciated role of the C terminus in the folding of SERT, (ii) indicates that the folding trajectory proceeds via an inward facing intermediate, and (iii) suggest a model where the RI-motif plays a crucial role in preventing premature Sec24-recruitment and export of incorrectly folded transporters.
Freestyle Pedicled Perforator Flaps: Safety, Prevention of Complications, and Management Based on 85 Consecutive Cases

Background: Despite the widespread use of free perforator flaps, pedicled perforator flaps seem not to be as widely accepted, probably because of the fear of vascular complications caused by transfer of a flap attached only by its vascular pedicle, prone to shearing, kinking, and trauma. In this article, the authors report on their experience with 85 consecutive cases, focusing on incidence, prevention, and management of complications. Methods: Eighty-five consecutive cases were treated over 6 years at the Plastic and Reconstructive Surgery Department of the University of Palermo for defects of different causes that were reconstructed with a freestyle pedicled perforator flap, in every region of the body, including the head and neck (41.2 percent), trunk (20 percent), upper limb (7.1 percent), and lower limb (31.8 percent). The majority of flaps (67.1 percent) were 180-degree propeller perforator flaps. Results: Complete flap survival was observed in 93 percent of cases. Six flaps (7 percent) had vascular complications that were managed with venous supercharging (two cases), derotation (one case), conservative management (two cases), or secondary skin grafting (one case). The authors provide their approach to each situation to prevent or manage complications. Conclusions: The 93 percent success rate in this series seems to be acceptable and demonstrates that these flaps might be safely included in the authors' routine. If the flaps are appropriately planned and executed, with the suggestions provided in this article, some mistakes can be avoided to make these flaps even safer. CLINICAL QUESTION/LEVEL OF EVIDENCE: Therapeutic, IV.
Efficient formation of bipolar microtubule bundles requires microtubule-bound γ-tubulin complexes

The mechanism for forming linear microtubule (MT) arrays in cells such as neurons, polarized epithelial cells, and myotubes is not well understood. A simpler bipolar linear array is the fission yeast interphase MT bundle, which in its basic form contains two MTs that are bundled at their minus ends. Here, we characterize mto2p as a novel fission yeast protein required for MT nucleation from noncentrosomal γ-tubulin complexes (γ-TuCs). In interphase mto2Δ cells, MT nucleation was strongly inhibited, and MT bundling occurred infrequently and only when two MTs met by chance in the cytoplasm. In wild-type 2, we observed MT nucleation from γ-TuCs bound along the length of existing MTs. We propose a model on how these nucleation events can more efficiently drive the formation of bipolar MT bundles in interphase. Key to the model is our observation of selective antiparallel binding of MTs, which can both explain the generation and spatial separation of multiple bipolar bundles.
Expression of HIF-1α and P-gp in non-small cell lung cancer and the relationship with HPV infection

The aim of the study was to study the expression of hypoxia-inducible factor-1α (HIF-1α) and P-glycoprotein (P-gp) and analyze its correlation with human papillomavirus (HPV) infection. From January, 2012 to May, 2014, 72 cases of non-small cell lung cancer (NSCLC) pathologic tissue samples were selected from the study group. Fifty-four lung benign lesions were selected to serve as the control group. HIF-1α and P-gp expression levels were detected using immunohistochemistry. PCR was used to detect the expression of HPV genome employing specific primers for HPV 16 and 18 types. The results showed that there was 47.2 and 63.9% positive HIF-1α and P-gp expression in the study group. No P-gp or HIF-1α expression was detected in the control group. The results established a positive correlation between the expression of HIF-1α and P-gp. In the study group, the expression and differentiation degree of HIF-1α was related to lymphatic metastasis. The HIF-1α expression in the well-differentiated samples was lower than that in the moderate or poorly differentiated samples. HIF-1α expression in patients with lymphatic metastasis was higher than in patients without metastasis. The expression rate of P-gp in adenocarcinoma was higher than that in squamous carcinoma. The detection rate of HPV DNA was 45.83 and 3.70% in the study and control groups, respectively. The HPV infection and differentiation degree had relevance to lymphatic metastasis in the study group. The HPV DNA detection rate in the well-differentiated samples was lower than that in the moderate or poorly differentiated samples. The HPV DNA detection rate in patients with lymphatic metastasis was higher than that in patients with no lymphatic metastasis. There was a close link between HIF-1α, P-gp expression and NSCLC occurrence, and the development of multidrug resistance. In conclusion, the detection of HIF-1α and P-gp expression can effectively predict drug resistance during chemotherapy in NSCLC, and these proteins can be used in drug prognosis.
P-Glycoprotein Contributes to the Blood-Brain, but Not Blood-Cerebrospinal Fluid, Barrier in a Spontaneous Canine P-Glycoprotein Knockout Model

P-glycoprotein is considered to be a major factor impeding effective drug therapy for many diseases of the central nervous system (CNS). Thus, efforts are being made to gain a better understanding of P-glycoprotein's role in drug distribution to brain parenchyma and cerebrospinal fluid (CSF). The goal of this study was to validate and introduce a novel P-glycoprotein–deficient (ABCB1-1Δ) canine model for studying P-glycoprotein–mediated effects of drug distribution to brain tissue and CSF. CSF concentrations of drug are often used to correlate efficacy of CNS drug therapy as a surrogate for determining drug concentration in brain tissue. A secondary goal of this study was to investigate the validity of using CSF concentrations of P-glycoprotein substrates to predict brain tissue concentrations. Loperamide, an opioid that is excluded from the brain by P-glycoprotein, was used to confirm a P-glycoprotein–null phenotype in the dog model. ABCB1-1Δ dogs experienced CNS depression following loperamide administration, whereas ABCB1 wild-type dogs experienced no CNS depression. In summary, we have validated a novel P-glycoprotein–deficient canine model and have used the model to investigate transport of the P-glycoprotein substrate 99mTc-sestamibi at the blood-brain barrier and blood-CSF barrier.