Miracle-dz/UniFAR-FTUs huggingface dataset:
Using evidential occupancy grid for vehicle trajectory planning under uncertainty with tentacles

The uncertainty in environment perception is one of the challenges that we face in trajectory planning. For autonomous vehicle to be efficient, they need to be able to deal with this kind of uncertainty. In this work, we combine two existing frameworks: the Belief Functions to build evidential occupancy grid and clothoid tentacles for trajectory planning. First, we use evidential grids to represent the environment and the uncertainties which arise from ignorance and errors during the perception process. Secondly, we generate a set of clothoid tentacles in the egocentered reference frame related to the ego-vehicle, those tentacles represent possible local trajectories. Thirdly, we modify the evidential grid in order to take into consideration some traffic rules such as safety distance between vehicles. Then to choose the best tentacle to execute, we use reward system of a Markov Decision Process-like model to evaluate generated tentacles regarding several criteria including uncertainty represented by the evidential grid. Real and simulated data were used to validate the planning algorithm with evidential grids.
Suicide among men in Ghana: The burden of masculinity

ABSTRACT In Ghana, some studies have reported a high rate for both fatal and non-fatal suicidal behaviors among men. The current study aimed at understanding the psychosocial circumstances involved in male suicides. We interviewed between two to seven close relations of each of 12 men who died by suicide. Interpretative phenomenological analysis of data indicates that experiences of shame related to loss of economic control, breach of patriarchal norms, and threats to sexual competence contributed to the suicides. Addressing socioeconomic issues, creating opportunities for men to disclose their emotions, and identifying sources of these emotions may help prevent suicide among men.
Homozygous loss of autism-risk gene CNTNAP2 results in reduced local and long-range prefrontal functional connectivity

Functional connectivity aberrancies, as measured with resting-state fMRI (rsfMRI), have been consistently observed in the brain of autism spectrum disorders (ASD) patients. However, the genetic and neurobiological underpinnings of these findings remain unclear. Homozygous mutations in Contactin Associated Protein-like 2 (CNTNAP2), a neurexin-related cell-adhesion protein, are strongly linked to autism and epilepsy. Here we used rsfMRI to show that homozygous mice lacking Cntnap2 exhibit reduced long-range and local functional connectivity in prefrontal and midline brain “connectivity hubs”. Long-range rsfMRI connectivity impairments affected heteromodal cortical regions and were prominent between fronto-posterior components of the mouse default-mode network (DMN), an effect that was associated with reduced social investigation, a core “autism trait” in mice. Notably, viral tracing revealed reduced frequency of prefrontal-projecting neural clusters in the cingulate cortex of Cntnap2−/− mutants, suggesting a possible contribution of defective mesoscale axonal wiring to the observed functional impairments. Macroscale cortico-cortical white matter organization appeared to be otherwise preserved in these animals. These findings reveal a key contribution of ASD-associated gene CNTNAP2 in modulating macroscale functional connectivity, and suggest that homozygous loss-of-function mutations in this gene may predispose to neurodevelopmental disorders and autism through a selective dysregulation of connectivity in integrative prefrontal areas.
Ecological Causes and Consequences of Intratropical Migration in Temperate-Breeding Migratory Birds*

New discoveries from direct tracking of temperate-breeding passerines show that intratropical migration (ITM) occurs in a growing number of species, which has important implications for understanding their evolution of migration, population dynamics, and conservation needs. Our large sample size (N=191) for purple martins (Progne subis subis) tracked with geolocators to winter sites in Brazil, combined with geolocator deployments at breeding colonies across North America, allowed us to test hypotheses for ITM, something which has not yet been possible to do for other species. ITM in purple martins was not obligate; only 44% of individuals exhibited ITM, and movements were not coordinated in time or space. We found no evidence to support the resource hypothesis; rainfall and temperature experienced by individual birds during their last 2 weeks at their first roost site were similar to conditions at their second roost site after ITM. Birds generally migrated away from the heavily forested northwestern Amazon to less forested regions to the south and east. ITM in this aerial insectivore appears to support the competition-avoidance hypothesis and may be triggered by increasing local density in the core wintering region. Full life cycle models and migratory networks will need to incorporate ITM to properly address seasonal carryover effects and identify which wintering regions are most important for conservation.
Lactococcus petauri sp. nov., isolated from an abscess of a sugar glider

A strain of lactic acid bacteria, designated 159469T, isolated from a facial abscess in a sugar glider, was characterized genetically and phenotypically. Cells of the strain were Gram-stain-positive, coccoid and catalase-negative. Morphological, physiological and phylogenetic data indicated that the isolate belongs to the genus Lactococcus. Strain 159469T was closely related to Lactococcus garvieae ATCC 43921T, showing 95.86 and 98.08 % sequence similarity in 16S rRNA gene and rpoB gene sequences, respectively. Furthermore, a pairwise average nucleotide identity blast (ANIb) value of 93.54 % and in silico DNA–DNA hybridization value of 50.7 % were determined for the genome of strain 159469T, when compared with the genome of the type strain of Lactococcus garvieae. Based on the data presented here, the isolate represents a novel species of the genus Lactococcus, for which the name Lactococcus petauri sp. nov. is proposed. The type strain is 159469T (=LMG 30040T=DSM 104842T).
Graphene Modified TiO2 Composite Photocatalysts: Mechanism, Progress and Perspective

Graphene modified TiO2 composite photocatalysts have drawn increasing attention because of their high performance. Some significant advancements have been achieved with the continuous research, such as the corresponding photocatalytic mechanism that has been revealed. Specific influencing factors have been discovered and potential optimizing methods are proposed. The latest developments in graphene assisted TiO2 composite photocatalysts are abstracted and discussed. Based on the primary reasons behind the observed phenomena of these composite photocatalysts, probable development directions and further optimizing strategies are presented. Moreover, several novel detective technologies—beyond the decomposition test—which can be used to judge the photocatalytic performances of the resulting photocatalysts are listed and analyzed. Although some objectives have been achieved, new challenges still exist and hinder the widespread application of graphene-TiO2 composite photocatalysts, which deserves further study.
The hydrodynamics of swimming microorganisms

Cell motility in viscous fluids is ubiquitous and affects many biological processes, including reproduction, infection and the marine life ecosystem. Here we review the biophysical and mechanical principles of locomotion at the small scales relevant to cell swimming, tens of micrometers and below. At this scale, inertia is unimportant and the Reynolds number is small. Our emphasis is on the simple physical picture and fundamental flow physics phenomena in this regime. We first give a brief overview of the mechanisms for swimming motility, and of the basic properties of flows at low Reynolds number, paying special attention to aspects most relevant for swimming such as resistance matrices for solid bodies, flow singularities and kinematic requirements for net translation. Then we review classical theoretical work on cell motility, in particular early calculations of swimming kinematics with prescribed stroke and the application of resistive force theory and slender-body theory to flagellar locomotion. After examining the physical means by which flagella are actuated, we outline areas of active research, including hydrodynamic interactions, biological locomotion in complex fluids, the design of small-scale artificial swimmers and the optimization of locomotion strategies.
Ethnicity and sexual risk in heterosexual people attending sexual health clinics in England: a cross-sectional, self-administered questionnaire study

Objectives In the UK, people of black ethnicity experience a disproportionate burden of HIV and STI. We aimed to assess the association of ethnicity with sexual behaviour and sexual health among women and heterosexual men attending genitourinary medicine (GUM) clinics in England. Methods The Attitudes to and Understanding of Risk of Acquisition of HIV is a cross-sectional, self-administered questionnaire study of HIV negative people recruited from 20 GUM clinics in England, 2013–2014. Modified Poisson regression with robust SEs was used to calculate adjusted prevalence ratios (aPR) for the association between ethnicity and various sexual risk behaviours, adjusted for age, study region, education and relationship status. Results Questionnaires were completed by 1146 individuals, 676 women and 470 heterosexual men. Ethnicity was recorded for 1131 (98.8%) participants: 550 (48.6%) black/mixed African, 168 (14.9%) black/mixed Caribbean, 308 (27.2%) white ethnic groups, 105 (9.3%) other ethnicity. Compared with women from white ethnic groups, black/mixed African women were less likely to report condomless sex with a non-regular partner (aPR (95% CI) 0.67 (0.51 to 0.88)), black/mixed African and black/mixed Caribbean women were less likely to report two or more new partners (0.42 (0.32 to 0.55) and 0.44 (0.29 to 0.65), respectively), and black/mixed Caribbean women were more likely to report an STI diagnosis (1.56 (1.00 to 2.42)). Compared with men from white ethnic groups, black/mixed Caribbean men were more likely to report an STI diagnosis (1.91 (1.20 to 3.04)), but did not report risk behaviours more frequently. Men and women of black/mixed Caribbean ethnicity remained more likely to report STI history after adjustment for sexual risk behaviours. Discussion Risk behaviours were reported less frequently by women of black ethnicity; however, history of STI was more prevalent among black/mixed Caribbean women. In black/mixed Caribbean men, higher STI history was not explained by ethnic variation in reported risk behaviours. The association between STI and black/mixed Caribbean ethnicity remained after adjustment for risk behaviours.
Multimodal Theranostic Nanoformulations Permit Magnetic Resonance Bioimaging of Antiretroviral Drug Particle Tissue-Cell Biodistribution

RATIONALE: Long-acting slow effective release antiretroviral therapy (LASER ART) was developed to improve patient regimen adherence, prevent new infections, and facilitate drug delivery to human immunodeficiency virus cell and tissue reservoirs. In an effort to facilitate LASER ART development, “multimodal imaging theranostic nanoprobes” were created. These allow combined bioimaging, drug pharmacokinetics and tissue biodistribution tests in animal models. METHODS: Europium (Eu3+)- doped cobalt ferrite (CF) dolutegravir (DTG)- loaded (EuCF-DTG) nanoparticles were synthesized then fully characterized based on their size, shape and stability. These were then used as platforms for nanoformulated drug biodistribution. RESULTS: Folic acid (FA) decoration of EuCF-DTG (FA-EuCF-DTG) nanoparticles facilitated macrophage targeting and sped drug entry across cell barriers. Macrophage uptake was higher for FA-EuCF-DTG than EuCF-DTG nanoparticles with relaxivities of r2 = 546 mM-1s-1 and r2 = 564 mM-1s-1 in saline, and r2 = 850 mM-1s-1 and r2 = 876 mM-1s-1 in cells, respectively. The values were ten or more times higher than what was observed for ultrasmall superparamagnetic iron oxide particles (r2 = 31.15 mM-1s-1 in saline) using identical iron concentrations. Drug particles were detected in macrophage Rab compartments by dual fluorescence labeling. Replicate particles elicited sustained antiretroviral responses. After parenteral injection of FA-EuCF-DTG and EuCF-DTG into rats and rhesus macaques, drug, iron and cobalt levels, measured by LC-MS/MS, magnetic resonance imaging, and ICP-MS were coordinate. CONCLUSION: We posit that these theranostic nanoprobes can assess LASER ART drug delivery and be used as part of a precision nanomedicine therapeutic strategy.
Higher Cytopathic Effects of a Zika Virus Brazilian Isolate from Bahia Compared to a Canadian-Imported Thai Strain

Zika virus (ZIKV) is an emerging pathogen from the Flaviviridae family. It represents a significant threat to global health due to its neurological and fetal pathogenesis (including microcephaly and congenital malformations), and its rapid dissemination across Latin America in recent years. The virus has spread from Africa to Asia, the Pacific islands and the Americas with limited knowledge about the pathogenesis associated with infection in recent years. Herein, we compared the ability of the Canadian-imported Thai strain PLCal_ZV and the Brazilian isolate HS-2015-BA-01 from Bahia to produce infectious ZIKV particles and cytopathic effects in a cell proliferation assay. We also compared the intracellular viral RNA accumulation of the two strains by quantitative RT-PCR (reverse transcription polymerase chain reaction) analyses. Our observations show that HS-2015-BA-01 is more cytopathic than PLCal_ZV in proliferation assays in Vero, Human Embryonic Kidney HEK 293T and neuroblastoma SH-SY5Y cells. Quantitative RT-PCR shows that the level of viral RNA is higher with HS-2015-BA-01 than with PLCal_ZV in two cell lines, but similar in a neuroblastoma cell line. The two strains have 13 amino acids polymorphisms and we analyzed their predicted protein secondary structure. The increased cytopathicity and RNA accumulation of the Brazilian ZIKV isolate compared to the Thai isolate could contribute to the increased pathogenicity observed during the Brazilian epidemic.
Capturing magma intrusion and faulting processes during continental rupture: seismicity of the Dabbahu (Afar) rift

Continental rupture models emphasize the role of faults in extensional strain accommodation; extension by dyke intrusion is commonly overlooked. A major rifting episode that began in 2005 September in the Afar depression of Ethiopia provides an opportunity to examine strain accommodation in a zone of incipient plate rupture. Earthquakes recorded on a temporary seismic array (2005 October to 2006 April), direct observation of fault patterns and geodetic data document ongoing strain and continued dyke intrusion along the ? 60-km long Dabbahu rift segment defined in earlier remote sensing studies. Epicentral locations lie along a ? 3 km wide, ? 50 km long swath that curves into the SE flank of Dabbahu volcano; a second strand continues to the north toward Gab'ho volcano. Considering the ? 8 m of opening in the September crisis, we interpret the depth distribution of microseismicity as the dyke intrusion zone; the dykes rise from ? 10 km to the near-surface along the ? 60-km long length of the tectono-magmatic segment. Focal mechanisms indicate slip along NNW-striking normal faults, perpendicular to the Arabia–Nubia plate opening vector. The seismicity, InSAR, continuous GPS and structural patterns all suggest that magma injection from lower or subcrustal magma reservoirs continued at least 3 months after the main episode. Persistent earthquake swarms at two sites on Dabbahu volcano coincide with areas of deformation identified in the InSAR data: (1) an elliptical, northwestward-dipping zone of seismicity and subsidence interpreted as a magma conduit, and (2) a more diffuse, 8-km radius zone of shallow seismicity (<2 km) above a shadow zone, interpreted as a magma chamber between 2.5 and 6 km subsurface. InSAR and continuous GPS data show uplift above a shallow source in zone (2) and uplift above the largely aseismic Gab'ho volcano. The patterns of seismicity provide a 3-D perspective of magma feeding systems maintaining the along-axis segmentation of this incipient seafloor spreading segment.
Proteasomal Dysfunction Induced By Diclofenac Engenders Apoptosis Through Mitochondrial Pathway

Diclofenac is the most commonly used phenylacetic acid derivative non‐steroidal anti‐inflammatory drug (NSAID) that demonstrates significant analgesic, antipyretic, and anti‐inflammatory effects. Several epidemiological studies have demonstrated anti‐proliferative activity of NSAIDs and examined their apoptotic induction effects in different cancer cell lines. However, the precise molecular mechanisms by which these pharmacological agents induce apoptosis and exert anti‐carcinogenic properties are not well known. Here, we have observed that diclofenac treatment induces proteasome malfunction and promotes accumulation of different critical proteasome substrates, including few pro‐apoptotic proteins in cells. Exposure of diclofenac consequently elevates aggregation of various ubiquitylated misfolded proteins. Finally, we have shown that diclofenac treatment promotes apoptosis in cells, which could be because of mitochondrial membrane depolarization and cytochrome c release into cytosol. This study suggests possible beneficial insights of NSAIDs‐induced apoptosis that may improve our existing knowledge in anti‐proliferative interspecific strategies development. J. Cell. Biochem. 118: 1014–1027, 2017. © 2016 Wiley Periodicals, Inc.
The Snackbot: Documenting the design of a robot for long-term Human-Robot Interaction

We present the design of the Snackbot, a robot that will deliver snacks in our university buildings. The robot is intended to provide a useful, continuing service and to serve as a research platform for long-term Human-Robot Interaction. Our design process, which occurred over 24 months, is documented as a contribution for others in HRI who may be developing social robots that offer services. We describe the phases of the design project, and the design decisions and tradeoffs that led to the current version of the robot.
A hidden Markov model for route and destination prediction

We present a simple model and algorithm for predicting driver destinations and routes, based on the input of the latest road links visited as part of an ongoing trip. The algorithm may be used to predict any clusters previously observed in a driver's trip history. It assumes that the driver's historical trips are grouped into clusters sharing similar patterns. Given a new trip, the algorithm attempts to predict the cluster in which the trip belongs. The proposed algorithm has low temporal complexity. In addition, it does not require the transition and emission matrices of the Markov chain to be computed. Rather it relies on the frequencies of co-occurrences of road links and trip clusters. We validate the proposed algorithm against an experimental dataset. We discuss the success and convergence of the algorithm and show that our algorithm has a high prediction success rate.
A Multimodal Fingerprint-Based Indoor Positioning System for Airports

Indoor localization techniques are becoming popular in order to provide a seamless indoor positioning system enhancing the traditional GPS service that is only suitable for outdoor environments. Though there are proprietary and costly approaches targeting high accuracy positioning, Wi-Fi and BLE networks are widely deployed in many public and private buildings (e.g. shopping malls, airports, universities, etc.). These networks are accessible through mobile phones resulting in an effective commercial off-the-self basic infrastructure for an indoor service. The obtained positioning accuracy is still being improved and there is ongoing research on algorithms adapted for Wi-Fi and BLE and also for the particularities of indoor environments. This paper focuses not only on indoor positioning techniques, but also on a multimodal approach. Traditional proposals employ only one network technology whereas this paper integrates two different technologies in order to provide improved accuracy. It also sets the basis for combining (merging) additional technologies, if available. The initial results show that the positioning service performs better with a multimodal approach compared to individual (monomodal) approaches and even compared with Google’s geolocation service in public spaces such as airports.
Study of IL4‐590C/T and IL6‐174G/C Gene Polymorphisms in Type 2 Diabetic Patients With Chronic Kidney Disease in North Indian Population

To explore the associations between potential functional promoter polymorphisms in pro‐inflammatory and anti‐inflammatory (IL‐4(‐590C/T) and IL‐6(‐174G/C) cytokine genes, and kidney dysfunction in North Indian type 2 diabetic subjects with chronic kidney disease. A total of 150 subjects aged 25–75 year were included in this study. The glomerular filtration rate (GFR) and serum creatinine were estimated. PCR was performed to analyse genotype distribution in IL‐4 (‐590T/C) and IL‐6 (‐174G/C) among healthy, type 2 diabetic patients with or without CKD. The genotype distributions were determined by Hardy–Weinberg equilibrium. CKD patients showed lower GFR (59.36 ± 1.33 ml/min/1.73 m2) and higher serum creatinine (1.93 ± 0.99% mg) level in comparison to diabetic patients without CKD and healthy subjects. Genotypic distribution of the different genotypes among the study groups in IL‐4 gene was genotype CC = 30, TC = 12, and TT = 8 in CKD patients. In type 2 diabetic patients without CKD, genotype distribution was CC = 38, TC = 10, and TT = 2. In healthy subjects, distribution of genotype was CC = 35, TC = 14, and TT = 1. The distribution of different genotype among the study groups for IL‐6 gene was GG = 27, GC = 20, and CC = 3 in healthy subjects; GG = 28, GC = 19, and CC = 3 in diabetic patients without CKD and GG = 38, GC = 11, and CC = 1 in diabetic patients with CKD. There was no significant difference in the distribution of genotype frequencies between healthy subjects and diabetic patients without CKD but a significant difference was found in diabetic patients with CKD. The functional promoter polymorphisms IL4‐590C/T and IL6‐174G/C, which affect the IL‐4 and IL‐6 levels in north Indian subjects, were associated with kidney dysfunction and CKD. J. Cell. Biochem. 118: 1803–1809, 2017. © 2016 Wiley Periodicals, Inc.