Miracle-dz/UniFAR-FTUs huggingface dataset:
A generic driving strategy for urban environments

Autonomous driving in urban environments depends on the ability to interpret the current situation and to react accordingly. This means to continuously make decisions for certain comfort-optimized maneuvers under the constraints of traffic rules and feasibility. This work presents a novel, longitudinal driving strategy formulated as a discrete planning problem. Instead of designing an algorithm for a single one of various potential subproblems, two interfaces are presented, called static and dynamic events, that are capable of representing any situation along the chosen lane of the autonomous vehicle. This allows fast, analytic calculation of Inevitable Collision States which are used as heuristic to realize a guided A* search. Instead of being limited to a small, finite set of maneuvers as rule-based driving strategies like state machines are, the algorithm selects the optimal of an infinite number of possible, implicit maneuvers. The presented algorithm has a worst-case runtime of 80 ms for a planning horizon of 13 seconds and is therefore capable of running online. The approach is evaluated on a simulator in a complex city scenario and on a prototype vehicle on the test track.
Convolutional Neural Support Vector Machines: Hybrid Visual Pattern Classifiers for Multi-robot Systems

We introduce Convolutional Neural Support Vector Machines (CNSVMs), a combination of two heterogeneous supervised classification techniques, Convolutional Neural Networks (CNNs) and Support Vector Machines (SVMs). CNSVMs are trained using a Stochastic Gradient Descent approach, that provides the computational capability of online incremental learning and is robust for typical learning scenarios in which training samples arrive in mini-batches. This is the case for visual learning and recognition in multi-robot systems, where each robot acquires a different image of the same sample. The experimental results indicate that the CNSVM can be successfully applied to visual learning and recognition of hand gestures as well as to measure learning progress.
EAACK—A Secure Intrusion-Detection System for MANETs

The migration to wireless network from wired network has been a global trend in the past few decades. The mobility and scalability brought by wireless network made it possible in many applications. Among all the contemporary wireless networks, Mobile Ad hoc NETwork (MANET) is one of the most important and unique applications. On the contrary to traditional network architecture, MANET does not require a fixed network infrastructure; every single node works as both a transmitter and a receiver. Nodes communicate directly with each other when they are both within the same communication range. Otherwise, they rely on their neighbors to relay messages. The self-configuring ability of nodes in MANET made it popular among critical mission applications like military use or emergency recovery. However, the open medium and wide distribution of nodes make MANET vulnerable to malicious attackers. In this case, it is crucial to develop efficient intrusion-detection mechanisms to protect MANET from attacks. With the improvements of the technology and cut in hardware costs, we are witnessing a current trend of expanding MANETs into industrial applications. To adjust to such trend, we strongly believe that it is vital to address its potential security issues. In this paper, we propose and implement a new intrusion-detection system named Enhanced Adaptive ACKnowledgment (EAACK) specially designed for MANETs. Compared to contemporary approaches, EAACK demonstrates higher malicious-behavior-detection rates in certain circumstances while does not greatly affect the network performances.
Video tracking through occlusions by fast audio source localisation

In this paper we present a novel audio-visual speaker detection and localisation algorithm. Audio source position estimates are computed by a novel stochastic region contraction (SRC) audio search algorithm for accurate speaker localisation. This audio search algorithm is aided by available video information (stochastic region contraction with height estimation (SRC-HE)) which estimates head heights over the whole scene and gives a speed improvement of 56% over SRC. We finally combine audio and video data in a Kalman filter (KF) which fuses person-position likelihoods and tracks the speaker. Our system is composed of a single video camera and 16 microphones. We validate the approach on the problem of video occlusion i.e. two people having a conversation have to be detected and localised at a distance (as in surveillance scenarios vs. enclosed meeting rooms). We show video occlusion can be resolved and speakers can be correctly detected/localised in real data. Moreover, SRC-HE based joint audio-video (AV) speaker tracking outperforms the one based on the original SRC by 16% and 4% in terms of multi object tracking precision (MOTP) and multi object tracking accuracy (MOTA). Speaker change detection improves by 11% over SRC.
Apoptosis of ejaculated human sperm is induced by co-incubation with Chlamydia trachomatis lipopolysaccharide.

BACKGROUND Previous work has shown that co-incubation of human sperm with Chlamydia trachomatis serovars E and LGV leads to premature sperm death and that this is due primarily to chlamydial lipopolysaccharide (LPS). Here, we investigated the possible involvement of apoptosis in this premature sperm death. METHODS Highly motile preparations of sperm from normozoospermic patients were co-incubated for 6 h with extracted LPS from C. trachomatis serovars E and LGV. Three different methods were used to determine if LPS-treated sperm underwent apoptosis, including: (i) flow cytometry; (ii) measurement of ADP:ATP ratios; and (iii) measurement of mono- and oligonucleosomal DNA fragments. Caspase activity was also investigated by fluorimetry and by use of a pan-caspase inhibitor and caspase-3 inhibitor. RESULTS All three methods used for detection indicated that C. trachomatis LPS induced some apoptosis in sperm after 6 h when compared with a staurosporine (apoptosis-positive) control. Moreover, a greater degree of apoptosis was seen with C. trachomatis serovar E than with serovar LGV. It was also shown that C. trachomatis LPS-induced apoptosis of sperm could be blocked with a pan-caspase inhibitor and a caspase-3 inhibitor. Moreover, by using a fluorogenic substrate, apoptosis was shown to be caspase-mediated. CONCLUSIONS In general it is believed that apoptosis does not occur in C. trachomatis-infected host cells. However, using three different methods, our findings clearly indicate that co-incubation of sperm with C. trachomatis LPS results in cellular death which is in part due to apoptosis and is caspase-mediated. These findings provide an explanation as to how C. trachomatis can mediate premature death in human sperm.
WOODY PLANT ESTABLISHMENT AND SPATIAL HETEROGENEITY IN GRASSLANDS

Root exclusion experiments demonstrated the importance of belowground competition between grasses and Prosopis glandulosa (honey mesquite) during the critical seeding establishment phase of the woody plant life cycle. Belowground available volume accounted for 67% and 79% of the variance in first- and second-year Prosopis seedling growth and survival, respectively. Available volume in the vertical dimension was more important than that in the horizontal dimension. Trials spanned years with contrasting annual precipitation, suggesting that root competition occurs in years of near-average as well as below-average annual rainfall. Spatial heterogeneity in canopy gaps and belowground biomass was also quantified in a Schizachayriuim–Paspalum grassland matrix and evaluated with respect to Prosopis seedling establishment. Of the 100 grid points encountered in four grass stands, 62% were unoccupied; and 50% of these exceeded 80 cm2 (∼10 cm diameter). Gaps ≥ 10 cm in diameter were sufficient for successful Prosopi.
Extensive Turnover of Dendritic Spines and Vascular Remodeling in Cortical Tissues Recovering from Stroke

Recovery of function after stroke is thought to be dependent on the reorganization of adjacent, surviving areas of the brain. Macroscopic imaging studies (functional magnetic resonance imaging, optical imaging) have shown that peri-infarct regions adopt new functional roles to compensate for damage caused by stroke. To better understand the process by which these regions reorganize, we used in vivo two-photon imaging to examine changes in dendritic and vascular structure in cortical regions recovering from stroke. In adult control mice, dendritic arbors were relatively stable with very low levels of spine turnover (<0.5% turnover over 6 h). After stroke, however, the organization of dendritic arbors in peri-infarct cortex was fundamentally altered with both apical dendrites and blood vessels radiating in parallel from the lesion. On a finer scale, peri-infarct dendrites were exceptionally plastic, manifested by a dramatic increase in the rate of spine formation that was maximal at 1–2 weeks (5–8-fold increase), and still evident 6 weeks after stroke. These changes were selective given that turnover rates were not significantly altered in ipsilateral cortical regions more distant to the lesion (>1.5 mm). These data provide a structural framework for understanding functional and behavioral changes that accompany brain injury and suggest new targets that could be exploited by future therapies to rebuild and rewire neuronal circuits lost to stroke.
Accelerated Resolution of AA Amyloid in Heparanase Knockout Mice Is Associated with Matrix Metalloproteases

AA-amyloidosis is a disease characterized by abnormal deposition of serum A amyloid (SAA) peptide along with other components in various organs. The disease is a complication of inflammatory conditions that cause persistent high levels of the acute phase reactant SAA in plasma. In experimental animal models, the deposited amyloid is resolved when the inflammation is stopped, suggesting that there is an efficient clearance mechanism for the amyloid. As heparan sulfate (HS) is one of the major components in the amyloid, its metabolism is expected to affect the pathology of AA amyloidosis. In this study, we investigated the effect of heparanase, a HS degradation enzyme, in resolution of the AA amyloid. The transgenic mice deficient in heparanase (Hpa-KO) produced a similar level of SAA in plasma as the wildtype control (Ctr) mice upon induction by injection of AEF (amyloid enhancing factor) and inflammatory stimuli. The induction resulted in formation of SAA amyloid 7-days post treatment in the spleen that displayed a comparable degree of amyloid load in both groups. The amyloid became significantly less in the Hpa-KO spleen than in the Ctr spleen 10-days post treatment, and was completely resolved in the Hpa-KO spleen on day 21 post induction, while a substantial amount was still detected in the Ctr spleen. The rapid clearance of the amyloid in the Hpa-KO mice can be ascribed to upregulated matrix metalloproteases (MMPs) that are believed to contribute to degradation of the protein components in the AA amyloid. The results indicate that both heparanase and MMPs play important parts in the pathological process of AA amyloidosis.
Functional Anatomy of Nonvisual Feedback Loops during Reaching: A Positron Emission Tomography Study

Reaching movements performed without vision of the moving limb are continuously monitored, during their execution, by feedback loops (designated nonvisual). In this study, we investigated the functional anatomy of these nonvisual loops using positron emission tomography (PET). Seven subjects had to “look at” (eye) or “look and point to” (eye–arm) visual targets whose location either remained stationary or changed undetectably during the ocular saccade (when vision is suppressed). Slightly changing the target location during gaze shift causes an increase in the amount of correction to be generated. Functional anatomy of nonvisual feedback loops was identified by comparing the reaching condition involving large corrections (jump) with the reaching condition involving small corrections (stationary), after subtracting the activations associated with saccadic movements and hand movement planning [(eye–arm–jumping minus eye–jumping) minus (eye–arm–stationary minus eye–stationary)]. Behavioral data confirmed that the subjects were both accurate at reaching to the stationary targets and able to update their movement smoothly and early in response to the target jump. PET difference images showed that these corrections were mediated by a restricted network involving the left posterior parietal cortex, the right anterior intermediate cerebellum, and the left primary motor cortex. These results are consistent with our knowledge of the functional properties of these areas and more generally with models emphasizing parietal–cerebellar circuits for processing a dynamic motor error signal.
Training for attentional control in dual task settings: A comparison of young and old adults

The authors examined whether the learning and performance of dual tasks by young and old adults could be enhanced through training. Adults were trained with either a fixed-priority or variable-priority training strategy on a monitoring task and an alphabet-arithmetic task and then transferred to a scheduling and a paired-associates running memory task. Participants in the variable priority condition learned the monitoring and alphabet-arithmetic tasks more quickly and achieved a higher level of mastery on these tasks than did those in the fixed-priority condition. Moreover, participants trained with the variable priority technique showed evidence of the development of automatic processing and a more rapid rate of learning and higher level of mastery of the transfer tasks than did the fixed-priority participants. These results are discussed in terms of the mechanisms that underlie learning and performance of dual tasks and with respect to potential applications. (PsycINFO Database Record (c) 2012 APA, all rights reserved) Keywords: Driver distraction; Language: en
A Day in the Life of a Data Cache Miss

The activity within a processor following a cache miss is studied via a series of simulation experiments. This is a preliminary step toward developing ways of mitigating data cache miss penalties, especially for long misses. With a modest-sized reorder buffer (ROB) of 64 entries, structural blockages due to a full ROB are the major cause of the cache miss penalty. For the SpecINT2000 benchmarks, about 90% of long cache misses result in a blocked ROB. After structural constraints are removed, data dependences are found not to be a major cause of performance loss. In fact, instruction issuing can proceed at full speed for at least one thousand cycles (the length we sampled) beyond a data cache miss. In some cases we found control dependences do pose a problem, however. That is, there are many mispredicted branches that depend on data from a cache miss. With an 8K gshare predictor, 30% or more of data cache misses feed into a mispredicted branch in 7 of 12 benchmarks. Finally, we discuss implications for future processor designs. This includes lengthening ROBs (and enlarging physical rename locations), coupled with a more modest enlarging of instruction issue windows.
It’s Not Real Until It’s on Facebook: A Qualitative Analysis of Social Media and Digital Communication among Emerging Adults in College

Emerging adults are encountering a developmental stage in a polymediated world that brings autonomy, intimacy, and identity to the forefront of their transition from adolescence to adulthood. This study focuses on traditionally-aged college students who are deeply immersed with digital technology and communication as a primary method to communicate and interact with peers, partners, teachers, and family members. To understand the relationship between digital communication and emerging adulthood, researchers facilitated a qualitative study grounded in ethnomethodological and dramaturgical perspective to uncover the unique ways in which college students make sense of their social media during this developmental time period. Data collection occurred through nine focus groups; in all, 44 undergraduate students participated. Findings illustrate four relevant patterns to the development of emerging adults: a key rationale for use among participants that is tied to both ritualized behavior and institutional constraints; the importance of autonomy with their digital communication use that is often stifled by parental access to their mediated lives; the presentation of an identity that is rooted in norms of acceptable use; and the importance of digital communication to the development and maintenance of connections to family, friends, and intimate partners. Implications for further research are discussed.
ApoE4 delays dendritic spine formation during neuron development and accelerates loss of mature spines in vitro

The ε4 allele of the gene that encodes apolipoprotein E (APOE4) is the greatest genetic risk factor for Alzheimer's disease (AD), while APOE2 reduces AD risk, compared to APOE3. The mechanism(s) underlying the effects of APOE on AD pathology remains unclear. In vivo, dendritic spine density is lower in APOE4-targeted replacement (APOE-TR) mice compared with APOE2- and APOE3-TR mice. To investigate whether this apoE4-induced decrease in spine density results from alterations in the formation or the loss of dendritic spines, the effects of neuron age and apoE isoform on the total number and subclasses of spines were examined in long-term wild-type neurons co-cultured with glia from APOE2-, APOE3- and APOE4-TR mice. Dendritic spine density and maturation were evaluated by immunocytochemistry via the presence of drebrin (an actin-binding protein) with GluN1 (NMDA receptor subunit) and GluA2 (AMPA receptor subunit) clusters. ApoE isoform effects were analyzed via a method previously established that identifies phases of spine formation (day-in-vitro, DIV10–18), maintenance (DIV18–21) and loss (DIV21–26). In the formation phase, apoE4 delayed total spine formation. During the maintenance phase, the density of GluN1+GluA2 spines did not change with apoE2, while the density of these spines decreased with apoE4 compared to apoE3, primarily due to the loss of GluA2 in spines. During the loss phase, total spine density was lower in neurons with apoE4 compared to apoE3. Thus, apoE4 delays total spine formation and may induce early synaptic dysfunction via impaired regulation of GluA2 in spines.
Effect of Constraint-Induced Movement Therapy and Mirror Therapy for Patients With Subacute Stroke

Objective To evaluate the effectiveness of constraint-induced movement therapy (CIMT) and combined mirror therapy for inpatient rehabilitation of the patients with subacute stroke. Methods Twenty-six patients with subacute stroke were enrolled and randomly divided into three groups: CIMT combined with mirror therapy group, CIMT only group, and control group. Two weeks of CIMT for 6 hours a day with or without mirror therapy for 30 minutes a day were performed under supervision. All groups received conventional occupational therapy for 40 minutes a day for the same period. The CIMT only group and control group also received additional self-exercise to substitute for mirror therapy. The box and block test, 9-hole Pegboard test, grip strength, Brunnstrom stage, Wolf motor function test, Fugl-Meyer assessment, and the Korean version of Modified Barthel Index were performed prior to and two weeks after the treatment. Results After two weeks of treatment, the CIMT groups with and without mirror therapy showed higher improvement (p<0.05) than the control group, in most of functional assessments for hemiplegic upper extremity. The CIMT combined with mirror therapy group showed higher improvement than CIMT only group in box and block test, 9-hole Pegboard test, and grip strength, which represent fine motor functions of the upper extremity. Conclusion The short-term CIMT combined with mirror therapy group showed more improvement compared to CIMT only group and control group, in the fine motor functions of hemiplegic upper extremity for the patients with subacute stroke.
Portfolio Choice in the Presence of Personal Illiquid Projects

Personal projects, such as a private business or the purchase of a home, influence individuals' portfolio choice. We conduct a theoretical analysis of this influence when financial assets are required to provide liquidity to personal projects. Due to this liquidity consideration, individuals behave in a more risk-averse fashion when there is a large penalty for discontinuing or underinvesting in the final stages of the projects. In addition, using data from the 1995 Survey of Consumer Finances, we find that households that are saving to invest in their own businesses or in their own homes indeed have significantly safer financial portfolios. Copyright The American Finance Association 2002.
Young Children's Knowledge of Strategies in Delay of Gratification.

A vignette procedure was used to elicit knowledge of delay of gratification strat egies in 4-, 6-, and 8-year-old children. The 4-year-olds evidenced minimal con structive knowledge of effective delay strategies, but the majority of 6-year-olds knew of the value of thinking happy thoughts, and of avoiding sad thoughts. Also, 50% of the 6-year-olds were able to describe at least one form of distrac tive strategy, with visual distraction more likely to be cited than mental or cogni tive forms of distraction. By the age of 8, 94% of the children were able to de scribe at least one type of distractive technique.
Decentralized Control and Optimization of Networks with QoS-Constrained Services

We consider data networks in which real-time/near real-time applications require not only successful transmission of packets from source to destination, but also specific end-to-end delay bounds, such as voice over IP. Although there is a well-developed general theory for control of best-effort packet traffic in data networks (elastic traffic), little is known about decentralized control mechanisms that ensure end-to-end performance bounds (inelastic traffic). In this paper we propose and analyze a simple, distributed and self-stabilizing rate control scheme that uses only end-to-end delay feedback to ensure QoS while using the network resources efficiently. In particular, we show that while for short paths (up to two hops long) the proposed scheme guarantees end-to-end delay budgets for all node pairs and also maximizes the total network throughput, when there are long paths in the network the resulting solution, even though still self-stabilizing and QoS-compliant, can deviate from the global network throughput. We present numerical results and conclude with a discussion of possible implementations of the proposed scheme in multi-service networks involving a mixture of best-effort and QoS-constrained services.
Trade Integration of Central and Eastern European Countries: Lessons from a Gravity Model

The aim of the paper is to analyse the factors behind the rapid trade integration of the Central and Eastern European countries with the euro area in the past ten years and to gauge the potential for further integration. We use as benchmark an enhanced gravity model estimated with a large sample of bilateral trade flows across 61 countries since 1980. We show that a careful examination of the fixed effects of the model is crucial for the proper interpretation of the results: simply extracting the predicted values of the regression (“in-sample”) – as commonly done in the literature – leads to distorted results as it fails to take the transition process properly into account. As an alternative, we propose a two-stage “out-of-sample” approach. The results suggest that trade integration between most of the largest Central and Eastern European countries and the euro area is already relatively advanced, while the Baltic countries as well as the South Eastern European countries still have significant scope for integration.