Miracle-dz/UniFAR-FTUs huggingface dataset:
On minimizing turns in robot coverage path planning

In this paper we study sweep coverage path planning, in which a robot must cover all points in a workspace with its footprint. In many coverage applications, including cleaning and monitoring, it is beneficial to use coverage paths with minimal robot turns. To address this, we provide an efficient method to compute the minimum altitude of a non-convex polygonal region, which captures the number of parallel line segments, and thus turns, needed to cover the region. Then, given a non-convex polygon, we provide a method to cut the polygon into two pieces that minimizes the sum of their altitudes. Given an initial convex decomposition of a workspace, we apply this method to iteratively re-optimize and delete cuts of the decomposition. Finally, we compute a coverage path of the workspace by placing parallel line segments in each region, and then computing a tour of the segments of minimum cost. We present simulation results on several workspaces with obstacles, which demonstrate improvements in both the number of turns in the final coverage path and runtime.
In Vivo Visualization of Delta Opioid Receptors upon Physiological Activation Uncovers a Distinct Internalization Profile

G-protein-coupled receptors (GPCRs) mediate numerous physiological functions and represent prime therapeutic targets. Receptor trafficking upon agonist stimulation is critical for GPCR function, but examining this process in vivo remains a true challenge. Using knock-in mice expressing functional fluorescent delta opioid receptors under the control of the endogenous promoter, we visualized in vivo internalization of this native GPCR upon physiological stimulation. We developed a paradigm in which animals were made dependent on morphine in a drug-paired context. When re-exposed to this context in a drug-free state, mice showed context-dependent withdrawal signs and activation of the hippocampus. Receptor internalization was transiently detected in a subset of CA1 neurons, uncovering regionally restricted opioid peptide release. Importantly, a pool of surface receptors always remained, which contrasts with the in vivo profile previously established for exogenous drug-induced internalization. Therefore, a distinct response is observed at the receptor level upon a physiological or pharmacological stimulation. Altogether, direct in vivo GPCR visualization enables mapping receptor stimulation promoted by a behavioral challenge and represents a powerful approach to study endogenous GPCR physiology.
Histopathology of Carp ( Cyprinus carpio L.) Larvae Exposed to Cyanobacteria Extract

Palikova M. , S. Navratil, F. ·turba, F. Tich˘, B. Mar‰alek, L. Blaha: Histopathology of Carp (Cyprinus carpio L.) Larvae Exposed to Cyanobacteria Extract. Acta Vet. Brno 2004, 73: 253-257. The aim of this study was to examine histological changes of tissues of carp embryos and larvae exposed for a short-term (8 days) or a long-term (30 days) to the crude extract of cyanobacteria with the cumulative concentration of 130.0 µg⋅l -1 (high concentration of the extract), 13.0 µg⋅l -1 (medium concentration of the extract) and 1.3 µg⋅l-1 (low concentration of the extract) of microcystins LR, RR and YR. The concentration of 130.0 µg⋅l -1 was used only for the short-term exposure. Tissue sections were stained with haematoxylin-eosin and PAS and examined using light microscopy. Apoptotic cells were detected by TUNEL test. Changes of liver and kidney, in particular, were examined. No histopathological changes were found in control or experimental groups after the short-term exposure except for non-resorbed yolk sacks in the group exposed to the high concentration of the extract. The development had been retarded in this group. Vacuolar dystrophy of hepatocytes accompanied by damage of nuclei (pyknosis, karyolysis) were found after the long-term exposure in the group exposed to the low concentration of the extract. Focal necroses and dystrophic changes of hepatocytes with vacuolization and nuclei damage (pyknosis, karyolysis, hyperchromatosis, karyorrhexis) were found in the group exposed to the medium concentration of the extract for a long term. Apoptotic cells were detected in the liver. No changes were found in the kidney. The results documented the damage of liver tissue in larval stages of carp exposed to the crude extract of cyanobacteria in early life stages of development. The degree of damage depended on the concentration of the extract.
Tangshen Formula Attenuates Diabetic Nephropathy by Promoting ABCA1-Mediated Renal Cholesterol Efflux in db/db Mice

The commonly prescribed Tangshen Formula (TSF) is a traditional Chinese formulation that has been shown to reduce plasma lipid metabolism and proteinuria and improve the estimated glomerular filtration rate (eGFR) in patients with diabetic kidney disease. This study investigated the underlying mechanism whereby TSF regulates renal lipid accumulation and ameliorates diabetic renal injuries in spontaneous diabetic db/db mice and in vitro in sodium palmitate (PA)-stimulated and Abca1-SiRNA-transfected mouse tubular epithelial cells (mTECs). The results revealed that TSF treatment significantly ameliorated the renal injuries by lowering urinary albumin excretion and improving renal tissue injuries in diabetic (db/db) mice. Interestingly, the treatment with TSF also resulted in decreased cholesterol levels in the renal tissues of db/db mice, which was associated with increased expression of the peroxisome proliferator-activated receptor γ coactivator 1-α (PGC-1α), the Liver X receptors (LXR), and ATP-binding cassette subfamily A member 1 (ABCA1), suggesting that TSF might attenuate diabetic kidney injury via a mechanism associated with improving cholesterol efflux in the diabetic kidney. This was investigated in vitro in mTECs, and the results showed that TSF reduced the PA-stimulated cholesterol accumulation in mTECs. Mechanistically, the addition of TSF was capable of reversing PA-induced downregulation of PGC-1α, LXR, and ABCA1 expression and cholesterol accumulation in mTECs, suggesting that TSF might act the protection via the PGC-1α-LXR-ABCA1 pathway to improve the cholesterol efflux in the renal tissues of db/db mice. This was further confirmed by silencing ABCA1 to block the promotive effect of TSF on cholesterol efflux in vitro. In conclusion, TSF might ameliorate diabetic kidney injuries by promoting ABCA1-mediated renal cholesterol efflux.
The DSM-IV rates of child and adolescent disorders in Puerto Rico: prevalence, correlates, service use, and the effects of impairment.

BACKGROUND Few prevalence studies in which DSM-IV criteria were used in children in representative community samples have been reported. We present prevalence data for the child and adolescent population of Puerto Rico and examine the relation of DSM-IV diagnoses to global impairment, demographic correlates, and service use in an island-wide representative sample. METHODS We sampled 1886 child-caretaker dyads in Puerto Rico by using a multistage sampling design. Children were aged 4 to 17 years. Response rate was 90.1%. Face-to-face interviews of children and their primary caretakers were performed by trained laypersons who administered the Diagnostic Interview Schedule for Children, version IV (DISC-IV) in Spanish. Global impairment was measured by using the Children's Global Assessment Scale scored by the interviewer of the parent. Reports of service use were obtained by using the Service Assessment for Children and Adolescents. RESULTS Although 19.8% of the sample met DSM-IV criteria without considering impairment, 16.4% of the population had 1 or more of the DSM-IV disorders when a measure of impairment specific to each diagnosis was considered. The overall prevalence was further reduced to 6.9% when a measure of global impairment was added to that definition. The most prevalent disorders were attention-deficit/hyperactivity disorder (8.0%) and oppositional defiant disorder (5.5%). Children in urban settings had higher rates than those in rural regions. Older age was related to higher rates of major depression and social phobia, and younger age was related to higher rates of attention-deficit/hyperactivity disorder. Both overall rates and rates of specific DSM-IV/DISC-IV disorders were related to service use. Children with impairment without diagnosis were more likely to use school services, whereas children with impairment with diagnosis were more likely to use the specialty mental health sector. Of those with both a diagnosis and global impairment, only half received services from any source. CONCLUSIONS Because we used the DISC-IV to apply DSM-IV criteria, the study yielded prevalence rates that are generally comparable with those found in previous surveys. The inclusion of diagnosis-specific impairment criteria reduced rates slightly. When global impairment criteria were imposed, the rates were reduced by approximately half.
Numerical Analysis of the Reaction-diffusion Equation for Soluble Starch and Dextrin as Substrates of Immobilized Amyloglucosidase in a Porous Support by Using Least Square Method

Substrates' concentration profile was studied in a porous matrix containing immobilized amyloglucosidase for glucose production. This analysis was performed by using an analytical method called Least Square Method, and the results were compared with numerical solution. Effects of effective diffusivity, Michael's constant, maximum reaction rate and initial substrate concentration were studied on Soluble Starch and Dextrin concentration in the spherical support. The outcomes revealed that Least Square Method has an excellent agreement with numerical solution, and in the center of support, substrate concentration is minimum. Increasing of effective diffusivity and Michael's constant reduced the Soluble Starch and Dextrin profile gradient.
RETRACTED ARTICLE: Skin rejuvenation by microneedle fractional radiofrequency and a human stem cell conditioned medium in Asian skin: a randomized controlled investigator blinded split-face study

Statement of Retraction We, the Editors and Publisher of the Journal of Cosmetic and Laster Therapy, have retracted the following article: Kyu Young Seo, Dong Hyun Kim, Sang Eun Lee, Moon Soo Yoon & Hee Jung Lee (2013) Skin rejuvenation by microneedle fractional radiofrequency and a human stem cell conditioned medium in Asian skin: a randomized controlled investigator blinded split-face study, Journal of Cosmetic and Laser Therapy, 15:1, 25-33, https://doi.org/10.3109/14764172.2012. 748201 Since publication, concerns have been raised about the originality of the text and data presented in the article as compared to a previous article published by the same authors in Lasers in Surgery and Medicine: Seo, K.Y. , Yoon, M.S., Kim, D.H. and Lee, H.J. (2012), Skin rejuvenation by microneedle fractional radiofrequency treatment in Asian skin; Clinical and histological analysis. Lasers Surg. Med., 44: 631-636. doi:10.1002/lsm.22071. Taylor & Francis requested an explanation from the authors regarding the similarities between the two papers, but we received no response. We have been informed in our decision-making by our policy on publishing ethics and integrity and the COPE guidelines on retractions. The retracted article will remain online to maintain the scholarly record, but it will be digitally watermarked on each page as ‘Retracted’.
Effectiveness of Scat‐Detection Dogs in Determining Species Presence in a Tropical Savanna Landscape

Abstract: Most protected areas are too small to sustain populations of wide‐ranging mammals; thus, identification and conservation of high‐quality habitat for those animals outside parks is often a high priority, particularly for regions where extensive land conversion is occurring. This is the case in the vicinity of Emas National Park, a small protected area in the Brazilian Cerrado. Over the last 40 years the native vegetation surrounding the park has been converted to agriculture, but the region still supports virtually all of the animals native to the area. We determined the effectiveness of scat‐detection dogs in detecting presence of five species of mammals threatened with extinction by habitat loss: maned wolf (Chrysocyon brachyurus), puma (Puma concolor), jaguar (Panthera onca), giant anteater (Myrmecophaga tridactyla), and giant armadillo (Priodontes maximus). The probability of scat detection varied among the five species and among survey quadrats of different size, but was consistent across team, season, and year. The probability of occurrence, determined from the presence of scat, in a randomly selected site within the study area ranged from 0.14 for jaguars, which occur primarily in the forested areas of the park, to 0.91 for maned wolves, the most widely distributed species in our study area. Most occurrences of giant armadillos in the park were in open grasslands, but in the agricultural matrix they tended to occur in riparian woodlands. At least one target species occurred in every survey quadrat, and giant armadillos, jaguars, and maned wolves were more likely to be present in quadrats located inside than outside the park. The effort required for detection of scats was highest for the two felids. We were able to detect the presence for each of five wide‐ranging species inside and outside the park and to assign occurrence probabilities to specific survey sites. Thus, scat dogs provide an effective survey tool for rare species even when accurate detection likelihoods are required. We believe the way we used scat‐detection dogs to determine the presence of species can be applied to the detection of other mammalian species in other ecosystems.
E‐Participation, Transparency, and Trust in Local Government

This article examines the relationship between electronic participation (e-participation) and trust in local government by focusing on five dimensions of the e-participationprocess: (1) satisfaction with e-participation applications, (2) satisfaction with government responsiveness to e-participants, (3) e-participants’ development through the participation, (4) perceived influence on decision making, and (5) assessment of government transparency. Using data from the 2009 E-Participation Survey in Seoul Metropolitan Government, this article finds that e-participants’ satisfaction with e-participation applications is directly associated with their development and their assessment of government transparency. The findings reveal that e-participants’ satisfaction with government responsiveness is positively associated with their perceptions of influencing government decision making. Furthermore, there is a positive association between e-participants’ perception of influencing government decision making and their assessment of government transparency. Finally, the article finds that there is a positive association between e-participants’ assessment of government transparency and their trust in the local government providing the e-participation program.
Spatial scale and intraspecific trait variability mediate assembly rules in alpine grasslands

Assembly of grassland communities has long been scrutinized through the lens of functional diversity. Studies generally point to an overwhelming influence of climate on observed patterns of functional diversity, despite experimental evidence demonstrating the importance of biotic interactions. We postulate that this is because most observational studies neglect both scale dependencies of assembly processes and phenotypic variation between individuals. Here, we test for changes in the importance of abiotic filtering and biotic interactions along a stress gradient by explicitly accounting for different scales. In addition to quantifying intraspecific trait variability (ITV), we also vary the two components of spatial scale, including grain (i.e. community size) and extent (i.e. the geographical area that defines the species pool). We sampled 20 grassland communities in ten sites distributed along a 975‐m elevation gradient. At each site, we measured seven functional traits for a total of 2020 individuals at different spatial grains. We related community functional diversity metrics to the main environmental gradient of our study area, growing season length (GSL), and assessed the dependence of these relationships on spatial grain, spatial extent and ITV. At large spatial grain and extent, the imprint of environmental filtering on functional diversity became more important with increasing stress (i.e. functional diversity decreased with shorter GSL). At small spatial grain and extent, we found a convex relationship between functional diversity and GSL congruent with the hypothesis that competition is dominant at low‐stress levels while facilitative interactions are dominant at high‐stress levels (i.e. high functional diversity at both extremes of the stress gradient). Importantly, the effect of intraspecific variability on assembly rules was noticeable only at small spatial grain and extent. Synthesis. Our study reveals how the combination of abiotic stress and biotic interactions shapes the functional diversity of alpine grasslands at different spatial scales, and highlights the importance of phenotype variation between individuals for community assembly processes at fine spatial scale. Our results suggest that studies analysing trait‐based assembly rules but ignoring ITV and focusing on a single spatial scale are likely to miss essential features of community diversity patterns.
ASSOCIATION OF PLOIDY AND SEXUAL SYSTEM IN LYCIUM CALIFORNICUM (SOLANACEAE)

Abstract In North American Lycium (Solanaceae), the evolution of gender dimorphism has been proposed as a means of restoring outcrossing after polyploidization causes the loss of self-incompatibility. Previous studies of this process in Lycium focused on comparisons between species that differ in ploidy. We examined intraspecific variation in floral morphology and DNA content in populations of L. californicum to determine correlations between sexual system and cytotype. We also used nuclear ITS and GBSSI sequence data to determine whether diploid and polyploid forms represent the same phylogenetic species, and the phylogeographic relationships among populations and ploidy levels. Within populations, no variation in ploidy was found, although among populations there was a perfect correspondence between sexual system and cytotype. Diploid populations were all hermaphroditic, whereas tetraploid populations were all gender dimorphic. There was no clear geographic pattern to the occurrence of diploid and tetraploid forms. Phylogenetic analysis confirms that L. californicum, regardless of ploidy, forms a monophyletic group within the genus Lycium. Sequences from diploid and polyploid individuals did not form reciprocally monophyletic clades, indicating either multiple gains of polyploidy, ongoing gene flow between cytotypes, or lack of lineage sorting since the evolution of polyploidy. The correspondence between ploidy and sex expression is consistent with the hypothesis that polyploidization triggers the evolution of gender dimorphism in this and other Lycium species.
Homo erectus revisited: Aspects of affinity and diversity in a pleistocene hominin species

Fossil material assigned to Homo erectus is reviewed and the composition, integrity and morphological range of the species explored, to investigate its phyletic status and possible components of geographical and temporal variation. There is no convincing morphological case for differentiating early African specimens (H. ergaster) or "Meganthropus"material from H. erectus and claims for their specific identity seem to reflect evolutionary models and perceptions of the process rather than the characteristics of the fossil specimens themselves. Ileret and Dmanisi fossils indicate marked cranial variation in early H. erectus, with SK 847 a similar or closely related form. New dates and clarified stratigraphy indicate early hominin presence in Java and a correspondingly long interval between early and latest H. erectus there. Regional trends include some increase in brain size and cranial robusticity (Africa), dental reduction (Java and China), increased brain size and cranial gracilisation (Java). Contrasts are, however, limited and could well reflect drift rather than selection, especially in SE Asia. Variation in cranial (? and body) size apparently persisted in African erectus with possible behavioural and socio-ecological correlates. Similar variability is lacking among the Asian fossils, implying major differences between African and Asian populations, but much more fossil evidence is needed to resolve this. Late Lower Pleistocene African H. erectus populations were ancestral to more derived forms, with the species persisting in Asia until Middle-Upper Pleistocene times. H. floresiensis was probably derived from SE Asian H. erectus via a transilience event and selection for endemic dwarfing.
Three-dimensional reconstruction and quantification of cervical carcinoma invasion fronts from histological serial sections

The analysis of the three-dimensional (3-D) structure of tumoral invasion fronts of carcinoma of the uterine cervix is the prerequisite for understanding their architectural-functional relationship. The variation range of the invasion patterns known so far reaches from a smooth tumor-host boundary surface to more diffusely spreading patterns, which all are supposed to have a different prognostic relevance. As a very decisive limitation of previous studies, all morphological assessments just could be done verbally referring to single histological sections. Therefore, the intention of this paper is to get an objective quantification of tumor invasion based on 3-D reconstructed tumoral tissue data. The image processing chain introduced here is capable to reconstruct selected parts of tumor invasion fronts from histological serial sections of remarkable extent (90-500 slices). While potentially gaining good accuracy and reasonably high resolution, microtome cutting of large serial sections especially may induce severe artifacts like distortions, folds, fissures or gaps. Starting from stacks of digitized transmitted light color images, an overall of three registration steps are the main parts of the presented algorithm. By this, we achieved the most detailed 3-D reconstruction of the invasion of solid tumors so far. Once reconstructed, the invasion front of the segmented tumor is quantified using discrete compactness.
Comparison of modulational instabilities in full-dispersion shallow water models

We study the modulational instability of a shallow water model, with and without surface tension, which generalizes the Whitham equation to include bi-directional propagation. Without surface tension, the small amplitude periodic traveling waves are modulationally unstable if their wave number is greater than a critical wave number predicting a Benjamin-Feir type instability and the result qualitatively agrees with the shallow water model in [HP16]. With surface tension, the result qualitatively agrees with the physical problem except for the large surface tension limit which is accurately predicted by the shallow water model in [HP16]. We also compare the results with the Whitham and full-dispersion Camassa-Holm equations.