Miracle-dz/UniFAR-FTUs huggingface dataset:
On localising an unknown mobile robot

This paper presents an exteroceptive based localisation system that makes the unconventional assumption that a robot’s locomotion mechanism, and its physical interaction with the environment, is unknown. As a consequence, the system functions independently of dead-reckoning estimates and can therefore be considered a self-contained sensing unit with the ability to position an arbitrary robotic platform. The proposed system uses exteroceptive based perception to form hypotheses about the robot’s absolute pose over time. The hypotheses are derived by algorithmically solving the kidnapped robot problem, within a simultaneous localisation and mapping (SLAM) framework. Preliminary results were gathered in real-time using a scanning laser rangefinder, mounted on a skid steering mobile robot, in an outdoor environment. This novel approach to localisation was found to be robust and versatile; with possibly a commercial bent, supported by its generality.
Use of models and observations to assess trends in the 1950–2005 water balance and climate of Upper Klamath Lake, Oregon

A 1‐dimensional surface energy balance model is applied to produce continuous simulations of daily lake evaporation of Upper Klamath Lake, Oregon (UKL) for the period 1950–2005. The model is implemented using observed data from land‐based sites and rafts collected during 2005–2006. Progressively longer, temporally overlapping simulations are produced using observed forcing data sets from sites near UKL. Simulation of the entire 56 years is accomplished using forcing data derived from weather station data and a 1949–2007 regional climate simulation over western North America. Simulated mean annual evaporation for 1950–2005 is 1073 mm. The simulated evaporation estimates are an improvement over existing May–September pan‐derived estimates because the latter are not representative of annual evaporation rates and do not span the multidecadal period of interest over which climate‐driven interannual (and longer) variability is evident. Evaporation and the other components of the water balance display statistically significant trends over the past 56 years that are associated with changes in meteorological forcing over the lake and the radiative and moisture balances at higher elevations of the catchment. Trends in the basin are consistent with and imbedded in regional and hemispheric climate trends that have occurred over the last century.
Surface Loop Motion in FepA

ABSTRACT Using a lysine-specific cleavable cross-linking reagent ethylene glycolbis(sulfosuccimidylsuccinate) (Sulfo-EGS), we studied conformational motion in the surface loops of Escherichia coli FepA during its transport of the siderophore ferric enterobactin. Site-directed mutagenesis determined that Sulfo-EGS reacted with two lysines, K332 and K483, and at least two other unidentified Lys residues in the surface loops of the outer membrane protein. The reagent cross-linked K483 in FepA L7 to either K332 in L5, forming a product that we designated band 1, or to the major outer membrane proteins OmpF, OmpC, and OmpA, forming band 2. Ferric enterobactin binding to FepA did not prevent modification of K483 by Sulfo-EGS but blocked its cross-linking to OmpF/C and OmpA and reduced its coupling to K332. These data show that the loops of FepA undergo conformational changes in vivo, with an approximate magnitude of 15 Å, from a ligand-free open state to a ligand-bound closed state. The coupling of FepA L7 to OmpF, OmpC, or OmpA was TonB independent and was unaffected by the uncouplers CCCP (carbonyl cyanide m-chlorophenylhydrazone) and DNP (2,4-dinitrophenol) but completely inhibited by cyanide.
Potential Clinical Application of Recently Discovered Brain Mechanisms Involved in Hypertension

Accumulating evidence indicates that central activation of the sympathetic nervous system plays an important role in hypertension.1–8 The aim of this review is to inform clinicians about the involvement of brain mechanisms in clinical hypertension and the applicability of recent findings to clinical practice. Clinicians, particularly cardiologists and nephrologists, are now initiating clinical treatment of hypertension that targets the sympathetic nervous system using novel techniques, such as catheter-based renal denervation and carotid baroreflex activation therapy.9,10 Renal denervation reduces efferent renal sympathetic activity, thereby decreasing renal tubular sodium reabsorption, supporting renal blood flow, and inhibiting the renin–angiotensin–aldosterone system, which has a blood pressure–lowering effect. In addition, it has been proposed that inhibition of central sympathetic outflow via reduced renal afferent input to the brain leads to a long-term reduction in blood pressure.11 Carotid baroreflex activation therapy reduces blood pressure and central sympathetic outflow, and the sympathoinhibitory action lasts for a much longer period than previously thought, without rapid adaptation.12,13 In addition, the currently used antihypertensive drugs are suggested to act on the central nervous system.7,14 The brain is essential for processing and integrating various stimuli from the periphery to maintain blood pressure and fluid homeostasis.1–3 The circumventricular organs, hypothalamus, and brain stem are major brain regions contributing to this function.2 During the past several decades, however, neural mechanisms, such as arterial baroreflex function, have been considered to be involved in short-term blood pressure regulation, but not in long-term blood pressure control (ie, hypertension). 1–4 Arterial baroreceptors adapt and thus cannot provide accurate negative feedback signals to the brain to maintain normal arterial pressure. Importantly, surgical removal of the afferent projections of arterial baroreceptors (sinoaortic denervation) results in a transient increase in arterial …
Molecular epidemiological characterization of poultry red mite, Dermanyssus gallinae, in Japan

Dermanyssus gallinae, the poultry red mite, is an obligatory blood-sucking ectoparasite. The genetic diversity of D. gallinae has been examined in some countries, but so far not in Asian countries. Here, we sequenced a part of the mitochondrial cytochrome oxidase subunit I (COI) and16S rRNA genes and nuclear internal transcribed spacers (ITS) region in 239 mite samples collected from 40 prefectures throughout Japan. The COI and 16S rRNA nucleotide sequences were classified into 28 and 26 haplotypes, respectively. In phylogenetic trees, the haplotypes clustered into 2 haplogroups corresponding to haplogroups A and B, which were previously reported. Haplogroups A and B were further subdivided into sub-haplogroups AJ1 and AJ2, and BJ1 and BJ2, respectively. In both trees, the sequences of haplotypes in AJ1 and BJ2 were relatively distant from those reported in other countries, while some sequences in AJ2 and BJ1 were identical to those in Europe. In addition, the ITS sequences were classified into two sequences, and both sequences were closely related to the sequences found in European countries. These findings indicate a possibility of international oversea transmission of D. gallinae.
The Stability of Kernel Principal Components Analysis and its Relation to the Process Eigenspectrum

In this paper we analyze the relationships between the eigenvalues of the m x m Gram matrix K for a kernel k (·, ·) corresponding to a sample x1,. ,xm drawn from a density p(x) and the eigenvalues of the corresponding continuous eigenproblem. We bound the differences between the two spectra and provide a performance bound on kernel PCA.
Anesthesia and Sedation Practices Among Neurointerventionalists during Acute Ischemic Stroke Endovascular Therapy

Background and Purpose: Intra-arterial reperfusion therapies are expanding frontiers in acute ischemic stroke (AIS) management but there is considerable variability in clinical practice. The use of general anesthesia (GA) is one example. We aimed to better understand sedation practices in AIS. Methods: An online survey was distributed to the 68 active members of the Society of Vascular and Interventional Neurology (SVIN). Survey development was based on discussions at the SVIN Endovascular Stroke Round Table Meeting (Chicago, IL, 2008). The final survey contained 12 questions. Questions were developed as single and multiple-item responses; with an option for a free-text response. Results: There was a 72% survey response rate (N = 49/68). Respondents were interventional neurologists in practice 1–5 years (71.4%, N = 35). The mean (±SD) AIS interventions performed per year at the respondents’ institutions was 42.5 ± 25, median 35.0 (IQR 20, 60). The most frequent anesthesia type used was GA (anesthesia team), then conscious sedation (nurse administered), monitored anesthesia care (anesthesia team), and finally local analgesia alone. There was a preference for GA because of eliminating movement (65.3% of respondents; N = 32/49), perceived procedural safety (59.2%, N = 29/49), and improved procedural efficacy (42.9%, N = 21/49). However, cited limitations to GA included risk of time delay (69.4%, N = 34), of propagating cerebral ischemia due to hypoperfusion or other complications (28.6%, N = 14), and lack of adequate anesthesia workforce (20.4%, N = 7). Conclusions: The most frequent type of anesthesia used by Neurointerventionalists for AIS interventions is GA. Prior to making GA standard of care during AIS intervention, more data are needed about effects on clinical outcomes.
Facing extensively drug-resistant tuberculosis--a hope and a challenge.

As of June 2008, a total of 49 countries worldwide reported to the World Health Organization (WHO) at least one case of extensively drug-resistant tuberculosis. Since its first description in March 2006,1 this disease has become the most alarming issue in international tuberculosis control and one that seriously risks compromising the progress observed in many countries over the past decade.2 Extensively drug-resistant tuberculosis, which is especially frequent among drug-resistant cases in the former Soviet Union, has been linked with very poor treatment outcomes and deemed potentially untreatable in both developing and rich countries.3 Initial evidence has come from observations among .
SUMO Modification Regulates BLM and RAD51 Interaction at Damaged Replication Forks

The gene mutated in Bloom's syndrome, BLM, is important in the repair of damaged replication forks, and it has both pro- and anti-recombinogenic roles in homologous recombination (HR). At damaged forks, BLM interacts with RAD51 recombinase, the essential enzyme in HR that catalyzes homology-dependent strand invasion. We have previously shown that defects in BLM modification by the small ubiquitin-related modifier (SUMO) cause increased gamma-H2AX foci. Because the increased gamma-H2AX could result from defective repair of spontaneous DNA damage, we hypothesized that SUMO modification regulates BLM's function in HR repair at damaged forks. To test this hypothesis, we treated cells that stably expressed a normal BLM (BLM+) or a SUMO-mutant BLM (SM-BLM) with hydroxyurea (HU) and examined the effects of stalled replication forks on RAD51 and its DNA repair functions. HU treatment generated excess gamma-H2AX in SM-BLM compared to BLM+ cells, consistent with a defect in replication-fork repair. SM-BLM cells accumulated increased numbers of DNA breaks and were hypersensitive to DNA damage. Importantly, HU treatment failed to induce sister-chromatid exchanges in SM-BLM cells compared to BLM+ cells, indicating a specific defect in HR repair and suggesting that RAD51 function could be compromised. Consistent with this hypothesis, RAD51 localization to HU-induced repair foci was impaired in SM-BLM cells. These data suggested that RAD51 might interact noncovalently with SUMO. We found that in vitro RAD51 interacts noncovalently with SUMO and that it interacts more efficiently with SUMO-modified BLM compared to unmodified BLM. These data suggest that SUMOylation controls the switch between BLM's pro- and anti-recombinogenic roles in HR. In the absence of BLM SUMOylation, BLM perturbs RAD51 localization at damaged replication forks and inhibits fork repair by HR. Conversely, BLM SUMOylation relieves its inhibitory effects on HR, and it promotes RAD51 function.
A Comprehensive Survey of Data Mining-Based Accounting-Fraud Detection Research

This survey paper categorizes, compares, and summarizes the data set, algorithm and performance measurement in almost all published technical and review articles in automated accounting fraud detection. Most researches regard fraud companies and non-fraud companies as data subjects, Eigenvalue covers auditor data, company governance data, financial statement data, industries, trading data and other categories. Most data in earlier research were auditor data; Later research establish model by using sharing data and public statement data. Company governance data have been widely used. It is generally believed that ratio data is more effective than accounting data; Seldom research on time Series Data Mining were conducted. The retrieved literature used mining algorithms including statistical test, regression analysis, neural networks, decision tree, Bayesian network, and stack variables etc. Regression Analysis is widely used on hiding data. Generally the detecting effect and accuracy of NN are superior to regression model. General conclusion is that model detecting is better than auditor detecting rate without assisting. There is a need to introduce other algorithms of no-tag data mining. Owing to the small size of fraud samples, some literature reached conclusion based on training samples and may overestimated the effect of model.
Comparison of the Effect of Heterologous and Homologous Seminal Plasma on Motility and Chromatin Integrity of Stallion Spermatozoa Selected by Single Layer Centrifugation

The effect on sperm motility and chromatin integrity of adding homologous or heterologous equine seminal plasma (SP) to fresh stallion spermatozoa selected by single layer centrifugation (SLC) was studied. No statistical difference in mean progressive motility was seen after adding SP at time 0 h, although there were differences for individual stallions. The proportion of spermatozoa with high velocity was increased compared to untreated SLC-selected spermatozoa (P < 0.05), with significant differences between individuals (P < 0.01). When the SLC samples were stored for 24 h before adding SP, a significant increase in mean progressive motility was seen for SLC + homologous SP (P < 0.01) and for SLC + heterologous SP (P < 0.056). Whether homologous SP or heterologous SP had a greater effect on progressive motility depended on the individual. Adding either type of SP caused a significant increase in chromatin damage compared to SLC after storage for 24 h (homologous SP, P < 0.05; heterologous SP, P < 0.01). These preliminary data showed that storage of SLC-spermatozoa mixed with SP should be avoided because of the risk of increased chromatin damage. If SP is to be added to take advantage of a transient increase in progressive motility for a particular individual stallion, different combinations of SP and spermatozoa should be tested first to optimize the effect.
Two-point palatal discrimination in patients with upper airway resistance syndrome, obstructive sleep apnea syndrome, and normal control subjects.

STUDY OBJECTIVE To compare the results of a two-point palatal discrimination response in normal subjects (n = 15), patients with obstructive sleep apnea syndrome (OSAS) [n = 15], and patients with upper airway resistance syndrome (UARS) [n = 15] matched for age, sex, and body mass index. DESIGN Comparison study of three subject groups. SETTING A sleep-disorders clinic. SUBJECTS Participants were selected based on clinical questionnaire, clinical evaluation, and polysomnography. INTERVENTION Polysomnography involving measurement of flow limitation with a nasal cannula pressure transducer system and of respiratory effort with esophageal pressure was performed in order to recognize the presence, absence, and types of sleep-disordered breathing. The 45 subjects were submitted to a two-point palatal discrimination study during wakefulness performed by an investigator blinded to the polysomnogram results. RESULTS Patients with OSAS had a clear impairment of their palatal sensory input with a significant decrement in two-point discrimination, but patients with UARS and normal control subjects had similar responses. Patients with UARS exhibited at least intermittent snoring in most cases. CONCLUSION The normal responses seen in patients with UARS indicate that these patients are more capable of transmitting sensory inputs than patients with OSAS. This may be one element explaining the difference in arousal response previously documented in UARS compared to OSAS.
Neural Correlates of Conscious and Unconscious Vision in Parietal Extinction

Brain areas activated by stimuli in the left visual field of a right parietal patient suffering from left visual extinction were identified using event-related functional magnetic resonance imaging. Left visual field stimuli that were extinguished from awareness still activated the ventral visual cortex, including areas in the damaged right hemisphere. An extinguished face stimulus on the left produced robust category-specific activation of the right fusiform face area. On trials where the left visual stimulus was consciously seen rather than extinguished, greater activity was found in the ventral visual cortex of the damaged hemisphere, and also in frontal and parietal areas of the intact hemisphere. These findings extend recent observations on visual extinction, suggesting distinct neural correlates for conscious and unconscious perception.
Mutual funds, part II: fund flows and security returns

Mutual funds played a very small role in the financial system until the 1970s, before which ownership of financial instruments was dominated by commercial banks, thrift institutions, insurance companies, and pension funds. The financial system of the 1990s is not simply the system of the 1970s with more mutual funds, however. Evolution in financial laws and regulations, increasing global interactions, the rise of new financial instruments, major shifts in the structure and nature of financial institutions, and a change in the locus of risk-bearing from institutions to individuals have also shaped investors' decisions. > The goal of this study is to assess the historical evidence to see whether the interactions between mutual fund inflows and outflows and asset prices are potentially destabilizing to security markets. The author addresses some issues of shareholder behavior and the differences between direct ownership and pooled ownership of securities. He presents an econometric analysis of the interactions between security returns and mutual fund flows, and he uses his model to trace out the effect of shocks to security returns and fund flows. In contrast to previous studies, he finds that security returns do affect future fund flows, and that some fund flows do affect future security returns. But he finds no persistence in security returns—shocks to, say, stock returns do not imply further changes in stock returns, so the rationale for momentum trading over a longer period finds no support.
Life history variation in Barents Sea fish: implications for sensitivity to fishing in a changing environment

Under exploitation and environmental change, it is essential to assess the sensitivity and vulnerability of marine ecosystems to such stress. A species’ response to stress depends on its life history. Sensitivity to harvesting is related to the life history “fast–slow” continuum, where “slow” species (i.e., large, long lived, and late maturing) are expected to be more sensitive to fishing than “fast” ones. We analyze life history traits variation for all common fish species in the Barents Sea and rank fishes along fast–slow gradients obtained by ordination analyses. In addition, we integrate species’ fast–slow ranks with ecosystem survey data for the period 2004–2009, to assess life history variation at the community level in space and time. Arctic fishes were smaller, had shorter life spans, earlier maturation, larger offspring, and lower fecundity than boreal ones. Arctic fishes could thus be considered faster than the boreal species, even when body size was corrected for. Phylogenetically related species possessed similar life histories. Early in the study period, we found a strong spatial gradient, where members of fish assemblages in the southwestern Barents Sea displayed slower life histories than in the northeast. However, in later, warmer years, the gradient weakened caused by a northward movement of boreal species. As a consequence, the northeast experienced increasing proportions of slower fish species. This study is a step toward integrating life history traits in ecosystem-based areal management. On the basis of life history traits, we assess the fish sensitivity to fishing, at the species and community level. We show that climate warming promotes a borealization of fish assemblages in the northeast, associated with slower life histories in that area. The biology of Arctic species is still poorly known, and boreal species that now establish in the Arctic are fishery sensitive, which calls for cautious ecosystem management of these areas.
Web image annotation using word co-occurrence and association analysis

With the popularization of Web and image devices, there are more and more digital images available on the Internet. How to effectively organize and manage these Web images becomes a critical issue. In this paper, a novel approach that employs the relationships between words to achieve Web image annotations is proposed. First, the related textual information associated with Web images is identified as the candidate annotations for Web images. Second, the word co-occurrence is utilized to eliminate irrelevant keywords for improving the annotation accuracy. Then, the keyword-based association analysis is exploited to further discover possible semantics for enriching the final annotations of Web images. Finally, experimental results demonstrate the effectiveness of the proposed method.
Analyzing the Determinants of Individual Action on Climate Change by Specifying the Roles of Six Values in South Korea

The serious problems stemming from climate change require an active response it. This study focuses on the role of value factors in action on climate change. Individuals’ values systematically influence the fundamental orientation of their attitudes and behaviors. Therefore, this study analyzes whether six values, namely: ideology, environmental justice, religiosity, personal norms, scientific optimism, and environmentalism, influence action on climate change directly or indirectly, and compares their effects with perception factors’ impact. The results indicate that religiosity decreased action on climate change, whereas personal norms, science and technology (S&T) optimism, and environmentalism increased such action. Among the perception factors, perceived risks and benefits, trust, and knowledge increased action on climate change. Furthermore, perception factors explained action on climate change more than value factors did. Moreover, value factors (i.e., S&T optimism and environmentalism) moderated the impacts of perceived risks, perceived benefits, and negative emotions on action against climate change.