Miracle-dz/UniFAR-FTUs huggingface dataset:
A novel RRT*-based algorithm for motion planning in Dynamic environments

Sampling-based motion planning has become a powerful framework for solving complex robotic motion-planning tasks. Despite the introduction of a multitude of algorithms, most of these deal with the static case involving non-moving obstacles. In this work, we are extending our memory efficient RRT*FN algorithm to dynamic scenarios. Specifically, we retain the useful parts of the tree (the data structure storing the motion plan information) after a dynamic obstacle invalidates the solution path. We then employ two greedy heuristics to repair the solution instead of running the whole motion planning process from scratch. We call this new algorithm, RRT*FN-Dynamic (RRT*FND). To compare our method to the state-of-the-art motion planners, RRT* and RRT*FN, we conducted an extensive set of benchmark experiments in dynamic environments using two robot models: a non-holonomic mobile robot and an industrial manipulator. The results of these experiments show that RRT*FND finds the solution path in shorter time in most of the cases and verifies the efficacy of it in dynamic settings.
Klebsiella oxytoca: opportunistic infections in laboratory rodents

Opportunistic pathogens have become increasingly relevant as the causative agents of clinical disease and pathological lesions in laboratory animals. This study was conducted to evaluate the role of Klebsiella oxytoca as an opportunistic pathogen in laboratory rodents. Therefore, K. oxytoca-induced lesions were studied from 2004 to early 2006 in naturally infected rodent colonies maintained at The Jackson Laboratory (TJL), Bar Harbor, USA, the Animal Research Centre (Tierforschungszentrum, TFZ) of the University of Ulm, Germany and the Central Animal Facility (ZTM) of the Hannover Medical School, Germany. K. oxytoca infections were observed in substrains of C3H/HeJ mice, which carry the Tlr4Lps-d allele; in LEW.1AR1-iddm rats, the latter being prone to diabetes mellitus; in immunodeficient NMRI-Foxn1nu mice; and in mole voles, Ellobius lutescens. The main lesions observed were severe suppurative otitis media, urogenital tract infections and pneumonia. Bacteriological examination revealed K. oxytoca as monocultures in all cases. Clonality analysis performed on strains isolated at the ZTM and TFZ (serotyping, pulse field gel electrophoresis [PFGE], enterobacterial repetitive intergenic consensus (ERIC) polymerase chain reaction, sequencing of 16S rRNA and rpoB genes) revealed that the majority of bacteria belonged to two clones, one in each facility, expressing the capsule type K55 (ZTM) or K72 (TFZ). Two strains, one isolated at the ZTM and one at the TFZ, showed different PFGE and ERIC pattern than all other isolates and both expressed capsule type K35. In conclusion, K. oxytoca is an opportunistic pathogen capable of inducing pathological lesions in different rodent species.
Genome Sequence of the Emerging Pathogen Helicobacter canadensis

ABSTRACT We determined the genome sequence of the type strain of Helicobacter canadensis, an emerging human pathogen with diverse animal reservoirs. Potential virulence determinants carried by the genome include systems for N-linked glycosylation and capsular export. A protein-based phylogenetic analysis places H. canadensis close to Wolinella succinogenes.
[STUDY ON RELATIONSHIP BETWEEN DIFFUSION TENSOR IMAGING AND VISUAL EVOKED POTENTIAL IN VISUAL PATHWAY OF NEUROMYELITIS OPTICA].

OBJECTIVE To study the relationship between brain white matter fiber occult lesions and P100 wave latency of visual evoked potential (VEP) in neuromyelitis optica (NMO) patients by diffusion tensor imaging (DTI). METHODS Twenty patients with NMO who were treated between July 2008 and April 2009 were selected as the trial group. According to the VEP test, the latency of P100 wave was prolonged, the NMO patients were divided into VEP abnormal group (trial group 1) and VEP normal group (trial group 2). Twenty healthy adult volunteers served as the control group. The DTI examination in brain was done to measure the fractional anisotropy (FA) value of optic nerve (FAn), optic tract (FAt), and optic radiation (FAr); and the mean diffusivity (MD) value of optic nerve (MDn), optic tract (MDt), and optic radiation (MDr). The FA, MD, and P100 wave latency were compared between groups, and the correlation between MD, FA, and P100 wave latency of NMO were analyzed. RESULTS In the 20 NMO patients, 13 patients with VEP had prolonged bilateral P100 wave latency prolongation or no wave (trial group 1), and 7 patients had normal bilateral P100 wave latency (trial group 2). Compared with the trial group 2 and the control group, the FA values were significantly decreased, and the MD values were significantly increased in the trial group 1 (P < 0.05). There was no significant difference in the FA and MD values between the trial group 2 and the control group (P > 0.05). All FA (FAn, FAt, and FAr) values of each part of NMO patients were negatively correlated with the latency of P100 wave (P < 0.05), all MD (MDn, MDt, and MDr) values were positively correlated with the latency of P100 wave (P < 0.05). CONCLUSION DTI could show small pathylogical changes in the white matter fibers of visual pathway, and there is a correlation between DTI and VEP in NMO, suggesting that a more comprehensive assessment to the condition and prognosis can be made through the VEP in the clinical indicators.
ZAP-70 compared with immunoglobulin heavy-chain gene mutation status as a predictor of disease progression in chronic lymphocytic leukemia.

BACKGROUND The course of chronic lymphocytic leukemia (CLL) is variable. In aggressive disease, the CLL cells usually express an unmutated immunoglobulin heavy-chain variable-region gene (IgV(H)) and the 70-kD zeta-associated protein (ZAP-70), whereas in indolent disease, the CLL cells usually express mutated IgV(H) but lack expression of ZAP-70. METHODS We evaluated the CLL B cells from 307 patients with CLL for ZAP-70 and mutations in the rearranged IgV(H) gene. We then investigated the association between the results and the time from diagnosis to initial therapy. RESULTS We found that ZAP-70 was expressed above a defined threshold level in 117 of the 164 patients with an unmutated IgV(H) gene (71 percent), but in only 24 of the 143 patients with a mutated IgV(H) gene (17 percent, P<0.001). Among the patients with ZAP-70-positive CLL cells, the median time from diagnosis to initial therapy in those who had an unmutated IgV(H) gene (2.8 years) was not significantly different from the median time in those who had a mutated IgV(H) gene (4.2 years, P=0.07). However, the median time from diagnosis to initial treatment in each of these groups was significantly shorter than the time in patients with ZAP-70-negative CLL cells who had either mutated or unmutated IgV(H) genes (P<0.001). The median time from diagnosis to initial therapy among patients who did not have ZAP-70 was 11.0 years in those with a mutated IgV(H) gene and 7.1 years in those with an unmutated IgV(H) gene (P<0.001). CONCLUSIONS Although the presence of an unmutated IgV(H) gene is strongly associated with the expression of ZAP-70, ZAP-70 is a stronger predictor of the need for treatment in B-cell CLL.
Epidemiology of severe brain injuries: a prospective population-based study.

BACKGROUND The aim of this prospective study was to estimate annual incidences of hospitalization for severe traumatic brain injury (TBI) (maximum Abbreviated Injury Score in the head region [HAIS] 4 or 5) in a defined population of 2.8 million. METHODS Severe TBI patients were included in the emergency departments in the 19 hospitals of the region. A prospective data form was completed with initial neurologic state, computed tomographic scan lesions, associated injuries, length of unconsciousness, and length of stay in acute care centers. Outcome at the time the patient left acute hospitalization was retrospectively assessed from medical notes. RESULTS During the 1-year period (1996), 497 residents fulfilled the inclusion criteria, leading to an annual incidence rate of 17.3 per 100,000 population; 58.1% were HAIS5. Mortality rate was 5.2 per 100,000. Men accounted for 71.4% of cases. Median age was 44 years, with a quarter of patients more than 70 years old. Traffic accidents were the most frequent causes (48.3%), but falls accounted for 41.8% of all patients. Age and severity were different according to the major categories of external causes. In HAIS5 patients, 86.5% were considered as comatose (coma lasting more than 24 hours or leading to immediate death) but only 60.9% had an initial Glasgow Coma Scale score < 9. In the HAIS4 group, 7.2% had an initial Glasgow Coma Scale score < 9. Fatality rates were 30.0% in the whole study group, 7.7% in HAIS4, 12.8% in HAIS5 without coma, and 51.2% in HAIS5 with coma. CONCLUSION This study shows a decrease in severe TBI incidence when results are compared with another study conducted 10 years earlier in the same region. This is because of a decrease in traffic accidents. However, this results in an increase in the proportion of falls in elderly patients and an increase in the median age in our patients. This increased age influences the mortality rate.
Malnutrition and parasitic helminth infections

The Global Burden of Disease caused by the 3 major intestinal nematodes is an estimated 22·1million disability-adjusted life-years (DALYs) lost for hookworm, 10·5million for Ascaris lumbricoides, 6·4million for Trichuris trichiura, and 39·0million for the three infections combined (as compared with malaria at 35·7million) (World Bank, 1993; Chan et al. 1994); these figures illustrate why some scarce health care resources must be used for their control. Strongyloides stercoralis is the fourth most important intestinal worm infection; its nutritional implications are discussed, and the fact that its geographic distribution needs further study is emphasized. Mechanisms underlying the malnutrition induced by intestinal helminths are described. Anorexia, which can decrease intake of all nutrients in tropical populations on marginal diets, is likely to be the most important in terms of magnitude and the probable major mechanism by which intestinal nematodes inhibit growth and development. We present a revised and expanded conceptual framework for how parasites cause/aggravate malnutrition and retard development in endemic areas. Specific negative effects that a wide variety of parasites may have on gastrointestinal physiology are presented. The synergism between Trichuris and Campylobacter, intestinal inflammation and growth failure, and new studies showing that hookworm inhibits growth and promotes anaemia in preschool (as well as school-age) children are presented. We conclude by presenting rationales and evidence to justify ensuring the widest possible coverage for preschool-age children and girls and women of childbearing age in intestinal parasite control programmes, in order to prevent morbidity and mortality in general and specifically to help decrease the vicious intergenerational cycle of growth failure (of low-birth-weight/intrauterine growth retardation and stunting) that entraps infants, children and girls and women of reproductive age in developing areas.
Bringing in the negative reinforcements: the avoidance feedback-related negativity

The feedback-related negativity (FRN) is an event-related potential thought to reflect a reward prediction error, when an outcome is worse than expected. Behavior motivated by the avoidance of negative outcomes is sustained through negative reinforcement processes. Escaping or avoiding a negative outcome may be successful or not, resulting in an analogous situation to that which elicits the FRN. We observed that when expected avoidance of an aversive outcome fails to occur, there occurs a negative deflection in the frontocentral event-related potential at approximately 350 ms, but with a slow wave following. We suggest that the FRN may be considered an index of a broader class of reward-based learning that also includes avoiding negative outcomes as well as expecting positive ones.
PRODUCTION BY PENICILLIUM VIRIDICATUM RFC 3 BY SOLID STATE FERMENTATION USING AGRICULTURAL WASTES AND AGRO-INDUSTRIAL BY-PRODUCTS

Pectin lyase and polygalacturonase production by newly isolated Penicillium viridicatum strain Rfc3 was carried out by means of solid state fermentation using orange bagasse, corn tegument, wheat bran and mango and banana peels as carbon sources. The maximal activity value of polygalacturonase (Pg) (30U.g) was obtained using wheat bran as carbon source while maximal pectin lyase (Pl) (2000 U.g) activity value was obtained in medium composed of orange bagasse. Mixtures of banana or mango peels with sugar cane bagasse resulted in increased Pg and Pl production compared to fermentations in which this residue was not used. The mixture of orange bagasse and wheat bran (50%) increased the production of Pg and Pl to 55 U.g and 3540 U.g –1 respectively. Fractions of Pg and Pl, isolated by gel filtration in Sephadex G50, presented optimum activity at pH 5.0 and 10.5 respectively. Maximal activity of Pg and Pl fractions was determined at 55oC and 50oC respectively. Pg was stable in neutral pH range and at 40oC whereas Pl was stable in acidic pH and at 35oC, for 1 h.
Perspectives on global change theory

Human infl uences on ecological drivers are increasingly recognized as dominant processes across a range of spatial and temporal scales. Regional to global-scale changes in drivers and important resources, such as atmospheric carbon dioxide concentrations, climate, and nitrogen deposition, are known to alter biotic structure, ecosystem function, and biogeochemical processes with feedbacks to human activities and the atmosphere (Petit et al. 1999; Grimm et al. 2000; Fenn et al. 2003; IPCC 2007). Human activities also directly affect ecosystems at fi ner scales through urbanization, species movement and extinction, and changes in land use that, in aggregate, have global impacts as human populations continue to increase and migrate (Alig et al. 2004; Th eobold 2005; Grimm et al. 2008b). Although large volumes of data on global change drivers and ecological responses to them have been synthesized (e.g., Heinz Center 2002; Millennium Ecosystem Assessment 2005; Canadell et al. 2007; IPCC 2007), a coherent body of ecological theory focused on global change is lacking (Peters et al. 2008). Th e U.S. Global Change Research Act of 1990 defi ned global change as: “Changes in the global environment—including alterations in climate, land productivity, oceans or other water resources, atmospheric chemistry, and ecological systems—that may alter the capacity of the Earth to sustain life. ” It is now clear that direct and indirect human actions are responsible for most of the more dramatic change occurring today and forecast for the future (Vitousek et al. 1997b). Global change is an aggregate of diff erent forces that op-
Delayed nerve regeneration in streptozotocin diabetic rats

Nerve regeneration across a 10‐mm gap was delayed in streptozotocin diabetic rats 3 and 4 weeks after transecting the sciatic nerve. Opposite ends of each cut nerve were introduced into a silicone tube, leaving a 10‐mm gap. Electron microscopy was used to evaluate the progress of regeneration in sections at 2‐mm intervals across the 10‐mm gap. After 3 weeks, control axons had bridged the 10‐mm gap, and myelin sheaths extended for 6–8 mm. By contrast, axons and their myelin sheaths were seen no further than 2 mm from the proximal stump in diabetic animals. By 4 weeks, axons had bridged the gap in diabetics; however, they appeared immature and showed dystrophic changes. The findings suggest that although regeneration does occur in diabetic nerves, it is significantly delayed and qualitatively impaired.
Traumatin- and Dinortraumatin-containing Galactolipids in Arabidopsis

Background: The pathway to form green leaf volatiles is important for plant defense against pathogens and herbivores. Results: Galactolipids with truncated oxoacids are formed as counterparts of green leaf volatiles. Conclusion: Galactolipid-hydroperoxides are substrates for hydroperoxide lyase. Significance: The biosynthetic pathway partly proceeds directly with galactolipids, without the involvement of lipases, to form free fatty acids. Green leaf volatiles (GLVs) consisting of six-carbon aldehydes, alcohols, and their esters, are biosynthesized through the action of fatty acid hydroperoxide lyase (HPL), which uses fatty acid hydroperoxides as substrates. GLVs form immediately after disruption of plant leaf tissues by herbivore attacks and mechanical wounding and play a role in defense against attackers that attempt to invade through the wounds. The fates and the physiological significance of the counterparts of the HPL reaction, the 12/10-carbon oxoacids that are formed from 18/16-carbon fatty acid 13-/11-hydroperoxides, respectively, are largely unknown. In this study, we detected monogalactosyl diacylglycerols (MGDGs) containing the 12/10-carbon HPL products in disrupted leaf tissues of Arabidopsis, cabbage, tobacco, tomato, and common bean. They were identified as an MGDG containing 12-oxo-9-hydroxy-(E)-10-dodecenoic acid and 10-oxo-7-hydroxy-(E)-8-decenoic acid and an MGDG containing two 12-oxo-9-hydroxy-(E)-10-dodecenoic acids as their acyl groups. Analyses of Arabidopsis mutants lacking HPL indicated that these MGDGs were formed enzymatically through an active HPL reaction. Thus, our results suggested that in disrupted leaf tissues, MGDG-hydroperoxides were cleaved by HPL to form volatile six-carbon aldehydes and non-volatile 12/10-carbon aldehyde-containing galactolipids. Based on these results, we propose a novel oxylipin pathway that does not require the lipase reaction to form GLVs.
Herpes simplex virus: discovering the link between heparan sulphate and hereditary bone tumours

To gain entry into the host, viruses use host cell surface molecules that normally serve as receptors for other ligands. Herpes simplex virus type 1 (HSV‐1) uses heparan sulphate (HS) glycosaminoglycans (GAGs) as receptors for initial attachment to the host cell surface. HS GAGs are both ubiquitous and structurally diverse, and normally serve as critical mediators of interactions between the cell and the extracellular environment. We have used the HS binding ability of HSV‐1 to identify the function of a cellular gene, EXT1, which is involved in HS polymerisation. Cellular factors that affect virus growth and replication are often key regulators of the cell cycle and EXT1 is no different—humans with inherited mutations in EXT1 have developmental defects that lead to bone tumours (hereditary multiple exostoses, HME) and sometimes chondrosarcomas. Thus, as a result of using HSV‐1 as a molecular probe, a functionally orphaned disease gene now has a defined function. These findings highlight the utility of viruses for investigating important cellular processes. Copyright © 2000 John Wiley & Sons, Ltd.
Analyses of mutations in the human renal kallikrein (hKLKl) gene and their possible relevance to blood pressure regulation and risk of myocardial infarction

The kallikrein‐kinin system is involved in the maintenance of blood pressure (BP), and studies have shown an inverse correlation between BP and urinary kallikrein levels. These and other effects, make the human tissue kallikrein (hKLKl) gene a candidate gene with respect to BP regulation as well as risk of myocardial infarction (MI). By analysis for single‐stranded conformation polymorphisms (SSCPs), patterns consistent with four different variants of the gene were detected and further characterized by DNA sequencing. Three of the variants have not been described before. Two of the polymorphisms changed the codon for an amino acid. Methods based on the polymerase chain reaction (PCR) were developed to analyze these polymorphisms at the hKLKl locus. We found no evidence of association between any genotype in the polymorphisms and normal BP level in two series of healthy, unrelated individuals. In a third series, diastolic BP exhibited a weak association with genotypes in three of the four polymorphisms. Since no such association was detected in the other two series, we conclude that no effect on normal BP level is exerted by variants in the hKLKl as expressed in these polymorphisms. In two series of monozygotic (MZ) twin pairs, there were no differences between genotypes in within‐pair difference in systolic BP or diastolic BP. Finally, no differences in allele frequencies or genotype frequencies in the four polymorphisms at the hKLKl locus were found between a series of young MI survivors and a series of controls. Thus, genes in the four polymorphisms at the hKLKl locus detected by SSCP and DNA sequencing did not exhibit associations with MI. and had neither “level gene” nor “variability gene” effects on normal blood pressure.
The Human Host Defense Peptide LL37/hCAP Accelerates Angiogenesis in PEGT/PBT Biopolymers

Introduction:Antimicrobial peptides are effector molecules of the innate immune response and contribute to host defense and inflammation. This study was designed to evaluate neovascularization in biopolymers after instillation with LL37 of angiogenesis in the dorsal skinfold chamber in mice. Material and Methods:The host defense peptide human cathelicicin LL37 was tested for in vitro antimicrobial activity in a bilayer radial diffusion assay. For in vivo testing, 4 different concentrations of LL37 or carrier control were instilled into a biopolymer, then inserted into the dorsal skinfold chamber in Balb/c mice. Standard microcirculatory parameters were assessed over 24 days’ follow-up. Results:LL37 showed broad-spectrum antimicrobial activity against Gram-positive and -negative bacteria. The LL37 treatment of the biopolymer accelerated the onset of neovascularization by 6 days compared with the carrier control (P < 0.01). Conclusion:This study demonstrated that LL37 has antimicrobial activity and is important for early support of neoangiogenesis in biopolymers. The multifunctional human host defense peptide LL37 has potential as an adjunct for tissue engineering.
Reversible diabetic nerve dysfunction: Structural correlates to electrophysiological abnormalities

Structural alterations of the nodal and paranodal areas were examined in the posterior tibial nerve in insulin‐depleted and insulin‐treated diabetic BB rats. The early metabolic phase of the distal symmetrical polyneuropathy was characterized by paranodal axonal swellings and nodal bulgings of the axon. These alterations correlate with intraaxonal sodium accumulation and decreased sodium equilibrium potentials which account for the early nerve conduction defect. Both the structural and electrophysiological abnormalities were completely normalized after vigorous insulin therapy. In the chronic diabetic polyneuropathy the paranodal area showed loss of paranodal axoglial junctions and paranodal myelin retraction. These changes may be partially responsible for the impaired electrical activity at the node as exemplified by irreversibly impaired sodium permeability and nerve conduction.