Miracle-dz/UniFAR-FTUs huggingface dataset:
Cartan-Sync: Fast and Global SE(d)-Synchronization

This work addresses the fundamental problem of pose graph optimization (PGO), which is pervasive in the context of SLAM, and widely known as <inline-formula><tex-math notation="LaTeX">$\text{SE}(d)$</tex-math></inline-formula> -synchronization in the mathematical community. Our contribution is twofold. First, we provide a novel, elegant, and compact matrix formulation of the maximum likelihood estimation (MLE) for this problem, drawing interesting connections with the connection Laplacian of a graph object. Second, even though the MLE problem is nonconvex and computationally intractable in general, we exploit recent advances in convex relaxations of PGO and Riemannian techniques for low-rank optimization to yield an <italic>a posteriori certifiably globally optimal</italic> algorithm [A. Bandeira, “A note on probably certifiably correct algorithms,” <italic>Comptes Rendus Mathematique </italic>, vol. 354, pp. 329–333, 2016. ] that is also <italic>fast</italic> and <italic>scalable</italic>. This work builds upon a fairly demanding mathematical machinery, but beyond the theoretical basis presented, we demonstrate its performance through extensive experimentation in common large-scale SLAM datasets. The proposed framework, <monospace>Cartan-Sync</monospace>, is up to one order of magnitude faster that the state-of-the-art <monospace>SE-Sync </monospace> [D. M. Rosen <italic>et al.</italic> “A certifiably correct algorithm for synchronization over the special Euclidean group,” in <italic>Proc. Int. Workshop Algorithmic Found. Robot. </italic>, 2016. ] in some important scenarios (e.g., the KITTI dataset). We make the code for <monospace>Cartan-Sync</monospace> available at <uri>bitbucket.org/jesusbriales/cartan-sync</uri>, along with some examples and guides for a friendly use by researchers in the field, hoping to promote further adoption and exploitation of these techniques in the robotics community.
The anatomy of choice: dopamine and decision-making

This paper considers goal-directed decision-making in terms of embodied or active inference. We associate bounded rationality with approximate Bayesian inference that optimizes a free energy bound on model evidence. Several constructs such as expected utility, exploration or novelty bonuses, softmax choice rules and optimism bias emerge as natural consequences of free energy minimization. Previous accounts of active inference have focused on predictive coding. In this paper, we consider variational Bayes as a scheme that the brain might use for approximate Bayesian inference. This scheme provides formal constraints on the computational anatomy of inference and action, which appear to be remarkably consistent with neuroanatomy. Active inference contextualizes optimal decision theory within embodied inference, where goals become prior beliefs. For example, expected utility theory emerges as a special case of free energy minimization, where the sensitivity or inverse temperature (associated with softmax functions and quantal response equilibria) has a unique and Bayes-optimal solution. Crucially, this sensitivity corresponds to the precision of beliefs about behaviour. The changes in precision during variational updates are remarkably reminiscent of empirical dopaminergic responses—and they may provide a new perspective on the role of dopamine in assimilating reward prediction errors to optimize decision-making.
E-Cigarettes and Cancer Patients

The increasing popularity and availability of electronic cigarettes (i.e., e-cigarettes) in many countries have promoted debate among health professionals as to what to recommend to their patients who might be struggling to stop smoking or asking about e-cigarettes. In the absence of evidence-based guidelines for using e-cigarettes for smoking cessation, some health professionals have urged caution about recommending them due to the limited evidence of their safety and efficacy, while others have argued that e-cigarettes are obviously a better alternative to continued cigarette smoking and should be encouraged. The leadership of the International Association for the Study of Lung Cancer asked the Tobacco Control and Smoking Cessation Committee to formulate a statement on the use of e-cigarettes by cancer patients to help guide clinical practice. Below is this statement, which we will update periodically as new evidence becomes available.
Association Between Dentist–Dental Hygienist Communication and Dental Treatment Outcomes

ABSTRACT Communication between physician and patient is critical in all fields of medicine, and various types of communication exist in healthcare settings. Cooperation among healthcare professionals is thought to be essential in providing high-quality services. Dental hygienists are key team members in the provision of dental care, and are known to play an important role in the health of their patients. This study aimed to determine the effect of communication between dentists and hygienists on patient satisfaction. Study subjects were dentists, patients, and dental hygienists, and we examined how dentist–dental hygienist communication affected patient outcome indices. A significant difference was observed only for satisfaction in terms of meeting expectations (p = 0.035). Results for patient satisfaction indicated significant differences in explanatory behavior in dentist–dental hygienist evaluations (p = 0.001). The results showed improved health and reduced fear, indicating significant differences for the dentist–dental hygienist evaluations in explanation behavior (p = 0.016). Our evaluation of the effects of dentist–dental hygienist communication on patient outcomes indicated a significant correlation, suggesting that inter-professional communication in the field of dentistry affects patient satisfaction.
The neuronal and actin commitment: Why do neurons need rings?

The role of the actin cytoskeleton in neurons has been extensively studied in actin‐enriched compartments such as the growth cone and dendritic spines. The recent discovery of actin rings in the axon shaft and in dendrites, together with the identification of axon actin trails, has advanced our understanding on actin organization and dynamics in neurons. However, specifically in the case of actin rings, the mechanisms regulating their nucleation and assembly, and the functions that they may exert in axons and dendrites remain largely unexplored. Here we discuss the possible structural, mechanistic and functional properties of the subcortical neuronal cytoskeleton putting the current knowledge in perspective with the information available on actin rings formed in other biological contexts, and with the organization of actin‐spectrin lattices in other cell types. The detailed analysis of these novel neuronal actin ring structures, together with the elucidation of the function of actin‐binding proteins in neuron biology, has a large potential to uncover new mechanisms of neuronal function under normal conditions that may have impact in our understanding of axon degeneration and regeneration. © 2016 Wiley Periodicals, Inc.
Assessment of palatal rugae patterns in Manipuri and Kerala population

Background: Palatal rugae comprises three to seven ridges radiating out tangentially from the incisive papilla on the anterior part of the palate. These rugae patterns are studied for various reasons, mainly in the fields of anthropology, genetics, orthodontics, prosthodontics, and forensic science. Objective: To compare the palatal rugae pattern in two different populations (Manipuri and Kerala), and to assess the predominant pattern if any in the selected groups. Materials and Methods: Sixty maxillary study models (30 from each group including males and females) were examined in the age group ranging from 17 to 23 years. Palatal rugae pattern were analyzed on the right and left sides of the palate for total number, length, shape, direction, and unification. Results: After analyzing the rugae patterns in both the groups and between the two sides of the palate, the wavy pattern was found to be predominant followed by curved, straight, and circular in overall population. Manipuri population showed predominant curved shape than the Kerala population and was statistically significant. Females in general had slightly more rugae than males and the left side of the palate showed comparatively more number of rugae than on the right side. Conclusion: A statistically significant association between the shape of the rugae and population exists although, subtle. Parameters like direction and unification need more attention for better understanding.
Women's perceived internal control of future pregnancy outcomes and its related factors

Background and Purpose: With regards to the importance of women's beliefs in improving pregnancy outcomes, this study was performed to determine the perceived internal control on future pregnancy outcomes and its related factors in women who participated in pre-marital counseling. Materials and Methods: In a cross-sectional study, women's perceived internal control was investigated. The study population comprised the women in reproductive age of whom 400 were selected by random sampling. Data collection instrument was a questionnaire consisting of demographic, pre-conceptional care, and internal control questions. Two categories of favorite and not favorite levels of internal control were defined based on the total score. The validity of the questionnaire was determined via content validity method by use of experts’ opinion and its reliability was evaluated through the calculation of Cronbach's alpha coefficient which was 0.76. Data were analyzed through frequency tables, correlation coefficient, and Chi-square test at the confidence level of 0.95. Results: Two hundred sixty-five (65%) women had a good perceived internal control and it was significantly associated with the age, educational level, and hearing about pre-conceptional care. The internal control score also showed a positive and significant correlation with both age and the subject knowledge about folic acid (r = 0.19 and r = 0.15, respectively). Conclusion: The majority of women had a favorite perceived internal control. Since age and educational level were the affecting factors on the perceived internal control of women, promoting the level of internal control in young women and those with low education in pre-marital counseling classes seems necessary.
Risk score predicts high‐grade prostate cancer in DNA‐methylation positive, histopathologically negative biopsies

Prostate cancer (PCa) diagnosis is challenging because efforts for effective, timely treatment of men with significant cancer typically result in over‐diagnosis and repeat biopsies. The presence or absence of epigenetic aberrations, more specifically DNA‐methylation of GSTP1, RASSF1, and APC in histopathologically negative prostate core biopsies has resulted in an increased negative predictive value (NPV) of ∼90% and thus could lead to a reduction of unnecessary repeat biopsies. Here, it is investigated whether, in methylation‐positive men, DNA‐methylation intensities could help to identify those men harboring high‐grade (Gleason score ≥7) PCa, resulting in an improved positive predictive value.
SPATIALLY RESOLVED CHEMISTRY IN NEARBY GALAXIES. III. DENSE MOLECULAR GAS IN THE INNER DISK OF THE LIRG IRAS 04296+2923

We present a survey of 3 mm molecular lines in IRAS 04296+2923, one of the brightest known molecular-line emitting galaxies, and one of the closest luminous infrared galaxies (LIRGs). Data are from the Owens Valley and CARMA millimeter interferometers. Species detected at ≲ 4″ resolution include C18O, HCN, HCO+, HNC, CN, CH3OH, and, tentatively, HNCO. Along with existing CO, 13CO, and radio continuum data, these lines constrain the chemical properties of the inner disk. Dense molecular gas in the nucleus fuels a star formation rate ≳10 M☉ yr−1 and is traced by lines of HCN, HCO+, HNC, and CN. A correlation between HCN and star formation rate is observed on sub-kiloparsec scales, consistent with global relations. Toward the nucleus, CN abundances are similar to those of HCN, indicating emission comes from a collection (∼40–50) of moderate visual extinction, photon-dominated-region clouds. The CO isotopic line ratios are unusual: CO(1–0)/13CO(1–0) and CO(1–0)/C18O(1–0) line ratios are large toward the starburst, as is commonly observed in LIRGs, but farther out in the disk these ratios are remarkably low (≲ 3). 13CO/C18O abundance ratios are lower than in Galactic clouds, possibly because the C18O is enriched by massive star ejecta from the starburst. 13CO is underabundant relative to CO. Extended emission from CH3OH indicates that dynamical shocks pervade both the nucleus and the inner disk. The unusual CO isotopologue ratios, the CO/HCN intensity ratio versus LIR, the HCN/CN abundance ratio, and the gas consumption time versus inflow rate all indicate that the starburst in IRAS 04296+2923 is in an early stage of development.
Human Brain Mapping of Visual Script Familiarity between Phonological and Logographic Language: 3 T Functional MRI Study

Neurolinguistic circuitry for two different scripts of language, such as phonological scripts (PhonoS) versus logographic scripts (LogoS) (e.g., English versus Chinese, resp.), recruits segregated neural pathways according to orthographic regularity (OrthoR). The purpose of this study was to identify the effect of VSF for cortical representation according to different OrthoR to represent Hangul versus Hanja as PhonoS versus LogoS, respectively. A total of 24 right-handed, native Korean undergraduate students with the first language of PhonoS and the second language of LogoS were divided into high- or low-competent groups for L2 of LogoS. The implicit word reading task was performed using Hanja and Hangul scripts during functional magnetic resonance imaging (fMRI) acquisition. Fluctuations of fMRI BOLD signal demonstrated that the LogoS was associated with the ventral pathway, whereas PhonoS was associated with the dorsal pathway. By interaction analysis, compared with high-competent group, low-competent group showed significantly greater activation for Hanja than for Hangul reading in the right superior parietal lobule area and the left supplementary motor area, which might be due to neural efficiency such as attention and cognition rather than core neurolinguistic neural demand like OrthoR processing.
MicroRNAs in melanocyte and melanoma biology

The importance of microRNAs as key molecular components of cellular processes is now being recognized. Recent reports have shown that microRNAs regulate processes as diverse as protein expression and nuclear functions inside cells and are able to signal extracellularly, delivered via exosomes, to influence cell fate at a distance. The versatility of microRNAs as molecular tools inspires the design of novel strategies to control gene expression, protein stability, DNA repair and chromatin accessibility that may prove very useful for therapeutic approaches due to the extensive manageability of these small molecules. However, we still lack a comprehensive understanding of the microRNA network and its interactions with the other layers of regulatory elements in cellular and extracellular functions. This knowledge may be necessary before we exploit microRNA versatility in therapeutic settings. To identify rules of interactions between microRNAs and other regulatory systems, we begin by reviewing microRNA activities in a single cell type: the melanocyte, from development to disease.
Nickel-based Enzyme Systems*

Of the eight known nickel enzymes, all but glyoxylase I catalyze the use and/or production of gases central to the global carbon, nitrogen, and oxygen cycles. Nickel appears to have been selected for its plasticity in coordination and redox chemistry and is able to cycle through three redox states (1+, 2+, 3+) and to catalyze reactions spanning ∼1.5 V. This minireview focuses on the catalytic mechanisms of nickel enzymes, with an emphasis on the role(s) of the metal center. The metal centers vary from mononuclear to complex metal clusters and catalyze simple hydrolytic to multistep redox reactions.
Palpation and dorsal acetabular rim radiographic projection for early detection of canine hip dysplasia: a prospective study.

OBJECTIVE To determine the value of 2 diagnostic methods: (1) the reduction angle (RA) using the Ortolani maneuver and (2) the dorsal acetabular slope (DAS) from the dorsal acetabular rim (DAR) radiographic projection, to predict osteoarthritis (OA) in dogs with hip dysplasia. STUDY DESIGN Prospective study. SAMPLE POPULATION Dogs (n = 73). METHODS Hip-extended ventrodorsal (VD) radiographic projections, RA, and DAS were evaluated when dogs were 6, 12, and 24 months of age. VD projections were qualitatively scored for OA. RA was determined using the Ortolani maneuver in dorsal recumbency and DAS using the DAR projection. Distraction index (DI) measurements from the compression-distraction radiographic projections (PennHIP method) were also performed at 6 months of age. Statistical analyses were used to establish the range of values of normal and abnormal RA and DAS, to document the temporal variation in RA and DAS, to compare the ability of the different methods to predict coxofemoral OA, to determine the influence of pure passive laxity and of the DAS on the occurrence of an Ortolani sign and on the magnitude of the RA, to establish the relationship between the DAS and subsequent development of passive laxity and coxofemoral OA, and to evaluate the influence of the DAS and RA on the occurrence of coxofemoral OA with severe, moderate, and minimal coxofemoral passive joint laxity, respectively. RESULTS VD, RA, DAS, and DI methods of coxofemoral joint evaluation correlated significantly with the status of the coxofemoral joints at 2 years of age. The risk of occurrence of coxofemoral OA increased, as the RA, DAS, or DI increased. There was a significant positive linear relationship between RA and DI (P = .015, r(2) = 0.32), RA and DAS (P = .0078, r(2) = 0.38), and DAS and DI (P = .015, r(2) = 0.33). A negative Ortolani sign was at all times significantly predictive of absence of coxofemoral OA at 2 years of age. DAS best predicted coxofemoral OA for DI ≥ 0.7, whereas RA best predicted coxofemoral OA for 0.3 < DI < 0.7; however, RA proved to be the best overall predictor of coxofemoral OA. CONCLUSION RA measured at 6 months of age in dorsal recumbency was the best predictor of coxofemoral OA at 2 years of age.
Explained variation in shared frailty models

Explained variation measures the relative gain in predictive accuracy when prediction based on prognostic factors replaces unconditional prediction. The factors may be measured on different scales or may be of different types (dichotomous, qualitative, or continuous). Thus, explained variation permits to establish a ranking of the importance of factors, even if predictive accuracy is too low to be helpful in clinical practice. In this contribution, the explained variation measure by Schemper and Henderson (2000) is extended to accommodate random factors, such as center effects in multicenter studies. This permits a direct comparison of the importance of centers and of other prognostic factors. We develop this extension for a shared frailty Cox model and provide an SAS macro and an R function to facilitate its application. Interesting empirical properties of the variation explained by a random factor are explored by a Monte Carlo study. Advantages of the approach are exemplified by an Austrian multicenter study of colon cancer.
Mechanical Failure of Endocrowns Manufactured with Different Ceramic Materials: An In Vitro Biomechanical Study

PURPOSE To evaluate the effect of different silica-based ceramic materials on the mechanical failure behavior of endocrowns used in the restoration of endodontically treated mandibular molar teeth. MATERIALS AND METHODS Thirty-six intact mandibular molar teeth extracted because of a loss of periodontal support received root canal treatment. The teeth were prepared with a central cavity to support the endocrowns, replacing the occlusal surface with mesial-lingual-distal walls. Data acquisition of the prepared tooth surfaces was carried out digitally with a powder-free intraoral scanner. Restoration designs were completed on manufactured restorations from three silicate ceramics: alumina-silicate (control), zirconia-reinforced (Zr-R), and polymer-infiltrated (P-I). Following adhesive cementation, endocrowns were subjected to thermal aging, and then, each specimen was obliquely loaded to record the fracture strength and define the mechanical failure. For the failure definition, the fracture type characteristics were identified, and further analytic measurements were made on the fractured tooth and ceramic structure. RESULTS Load-to-fracture failure did not differ significantly, and the calculated mean values were 1035.08 N, 1058.33 N, and 1025.00 N for control, Zr-R, and P-I groups, respectively; however, the stiffness of the restoration-tooth complex was significantly higher than that in both test groups. No statistically significant correlation was established in paired comparisons of the failure strength, restorative stiffness, and fractured tooth distance parameters. The failure mode for teeth restored with zirconia-reinforced glass ceramics was identified as non-restorable. The resin interface in the control and P-I groups presented similar adhesive failure behavior. CONCLUSION Mechanical failure of endocrown restorations does not significantly differ for silica-based ceramics modified either with zirconia or polymer.
SAMe-TT2R2 predicts quality of anticoagulation in patients with acute venous thromboembolism: The MAQI2 experience

A high SAMe-TT2R2 score predicted poor warfarin control and adverse events among atrial fibrillation patients. However, the SAMe-TT2R2 score has not been well validated in venous thromboembolism (VTE) patients. A cohort of 1943 warfarin-treated patients with acute VTE was analyzed to correlate the SAMe-TT2R2 score with time in therapeutic range (TTR) and clinical adverse events. A TTR <60% was more frequent among patients with a high (>2) versus low (0–1) SAMe-TT2R2 score (63.4% vs 52.3%, p<0.0001). A high SAMe-TT2R2 score (>2) correlated with increased overall adverse events (7.9 vs 4.5 overall adverse events/100 patient years, p=0.002), driven primarily by increased recurrent VTE rates (4.2 vs 1.5 recurrent VTE/100 patient years, p=0.0003). The SAMe-TT2R2 score had a modest predictive ability for international normalized ratio (INR) quality and adverse clinical events among warfarin-treated VTE patients. The utility of the SAMe-TT2R2 score to guide clinical decision-making remains to be investigated.