Miracle-dz/UniFAR-FTUs huggingface dataset:
Monocular camera localization in 3D LiDAR maps

Localizing a camera in a given map is essential for vision-based navigation. In contrast to common methods for visual localization that use maps acquired with cameras, we propose a novel approach, which tracks the pose of monocular camera with respect to a given 3D LiDAR map. We employ a visual odometry system based on local bundle adjustment to reconstruct a sparse set of 3D points from image features. These points are continuously matched against the map to track the camera pose in an online fashion. Our approach to visual localization has several advantages. Since it only relies on matching geometry, it is robust to changes in the photometric appearance of the environment. Utilizing panoramic LiDAR maps additionally provides viewpoint invariance. Yet low-cost and lightweight camera sensors are used for tracking. We present real-world experiments demonstrating that our method accurately estimates the 6-DoF camera pose over long trajectories and under varying conditions.
Helicobacter bilis triggers persistent immune reactivity to antigens derived from the commensal bacteria in gnotobiotic C3H/HeN mice

Background: Infection with Helicobacter species has been associated with the development of mucosal inflammation and inflammatory bowel disease (IBD) in several mouse models. However, consensus regarding the role of Helicobacter as a model organism to study microbial-induced IBD is confounded by the presence of a complex colonic microbiota. Aim: To investigate the kinetics and inflammatory effects of immune system activation to commensal bacteria following H bilis colonisation in gnotobiotic mice. Methods: C3H/HeN mice harbouring an altered Schaedler flora (ASF) were selectively colonised with H bilis and host responses were investigated over a 10-week period. Control mice were colonised only with the defined flora (DF). Tissues were analysed for gross/histopathological lesions, and bacterial antigen-specific antibody and T-cell responses. Results: Gnotobiotic mice colonised with H bilis developed mild macroscopic and microscopic lesions of typhlocolitis beginning 3 weeks postinfection. ASF-specific IgG responses were demonstrable within 3 weeks, persisted throughout the 10-week study, and presented as a mixed IgG1:IgG2a profile. Lymphocytes recovered from the mesenteric lymph node of H bilis-colonised mice produced increased levels of interferon γ, tumour necrosis factor α (TNFα), interleukin 6 (IL6) and IL12 in response to stimulation with commensal- or H bilis-specific bacterial lysates. In contrast, DF mice not colonised with H bilis did not develop immune responses to their resident flora and remained disease free. Conclusions: Colonisation of gnotobiotic C3H/HeN mice with H bilis perturbs the host’s response to its resident flora and induces progressive immune reactivity to commensal bacteria that contributes to the development of immune-mediated intestinal inflammation.
Effect of chronic Giardia lamblia infection on epithelial transport and barrier function in human duodenum

Background:Giardia lamblia causes infection of the small intestine, which leads to malabsorption and chronic diarrhoea. Aim: To characterise the inherent pathomechanisms of G lamblia infection. Methods: Duodenal biopsy specimens from 13 patients with chronic giardiasis and from controls were obtained endoscopically. Short-circuit current (ISC) and mannitol fluxes were measured in miniaturised Ussing chambers. Epithelial and subepithelial resistances were determined by impedance spectroscopy. Mucosal morphometry was performed and tight junction proteins were characterised by immunoblotting. Apoptotic ratio was determined by terminal deoxynucleotidyl transferase-mediated deoxyuridine triphosphate nick-end labelling staining. Results: In giardiasis, mucosal surface area per unit serosa area was decreased to 75% (3%) of control, as a result of which epithelial resistance should increase. Instead, epithelial resistance of giardiasis biopsy specimens was decreased (19 (2) vs 25 (2) Ω cm2; p<0.05) whereas mannitol flux was not significantly altered (140 (27) vs 105 (16) nmol/h/cm2). As structural correlate, reduced claudin 1 expression and increased epithelial apoptosis were detected. Furthermore, basal ISC increased from 191 (20) in control to 261 (12) µA/h/cm2 in giardiasis. The bumetanide-sensitive portion of ISC in giardiasis was also increased (51 (5) vs 20 (9) µA/h/cm2 in control; p<0.05). Finally, phlorizin-sensitive Na+–glucose symport was reduced in patients with giardiasis (121 (9) vs 83 (14) µA/h/cm2). Conclusions:G lamblia infection causes epithelial barrier dysfunction owing to down regulation of the tight junction protein claudin 1 and increased epithelial apoptoses. Na+-dependent d-glucose absorption is impaired and active electrogenic anion secretion is activated. Thus, the mechanisms of diarrhoea in human chronic giardiasis comprise leak flux, malabsorptive and secretory components.
Obesity increases oesophageal acid exposure

Background: Obesity has been associated with gastro-oesophageal reflux disease (GERD); however, the mechanism by which obesity may cause GERD is unclear. Aim: To examine the association between oesophageal acid exposure and total body or abdominal anthropometric measures. Methods: A cross-sectional study of consecutive patients undergoing 24 h pH-metry was conducted. Standardised measurements of body weight and height as well as waist and hip circumference were obtained. The association between several parameters of oesophageal acid exposures and anthropometric measures were examined in univariate and multivariate analyses. Results: 206 patients (63% women) with a mean age of 51.4 years who were not on acid-suppressing drugs were enrolled. A body mass index (BMI) of >30 kg/m2 (compared with BMI<25 kg/m2) was associated with a significant increase in acid reflux episodes, long reflux episodes (>5 min), time with pH<4, and a calculated summary score. These significant associations have affected total, postprandial, upright and supine pH measurements. Waist circumference was also associated with oesophageal acid exposure, but was not as significant or consistent as BMI. When adjusted for waist circumference by including it in the same model, the association between BMI>30 kg/m2 and measures of oesophageal acid exposure became attenuated for all, and not significant for some, thus indicating that waist circumference may mediate a large part of the effect of obesity on oesophageal acid exposure. Conclusions: Obesity increases the risk of GERD, at least partly, by increasing oesophageal acid exposure. Waist circumference partly explains the association between obesity and oesophageal acid exposure.
Branch-duct intraductal papillary mucinous neoplasms of the pancreas: to operate or not to operate?

Background: Branch-duct intraductal papillary mucinous neoplasms (BD-IPMNs) of the pancreas are reported to be less aggressive than the main-duct type. Hence, less aggressive treatment has been proposed for the former. Aim: To evaluate the effectiveness of a follow-up protocol for BD-IPMNs. Design: Prospective study. Setting: An academic tertiary referral centre. Patients: From 2000 to 2003, 109 patients with BD-IPMNs underwent trans-abdominal ultrasound and magnetic resonance cholangiopancreatography with secretin. Patients who presented malignancy-related parameters (size >3.5 cm, nodules, thick walls, carbohydrate antigen 19.9 level >25 U/l, recent-onset or worsened diabetes) and/or complained of symptoms were submitted to surgery (arm A). All asymptomatic patients without suspicion of malignancy were followed up according to a 6-month clinical–radiological protocol (arm B). Main outcome measures: The effectiveness of conservative management of BD-IPMNs. Results: 20 (18.3%) patients underwent surgery (arm A); pathological diagnosis of BD-IPMNs was always confirmed. 89 (81.7%) patients were followed up for a median of 32 months (arm B); of these, 57 (64%) patients had multifocal disease. After a mean follow-up of 18.2 months, 5 (5.6%) patients showed an increase in lesion size and underwent surgery. The pathological diagnosis was branch-duct adenoma in three patients and borderline adenoma in two. Conclusions: Surgery is indicated in <20% of cases of BD-IPMNs, and, in the absence of malignancy-related parameters, careful non-operative management seems to be safe and effective in asymptomatic patients. Although observation for a longer time is needed to confirm these results, our findings support the guidelines recently recommended by the International Association of Pancreatology.
Prognostic value of the lymph node ratio in node positive colon cancer

Surgery is the primary treatment of non-metastatic colon cancer. En bloc removal of the colon with its associated mesenteric lymph nodes is essential. However, the number of lymph nodes reported with colectomy varies widely and may be a result of variation in the actual number of regional lymph nodes, surgical technique, or the thoroughness of the pathologist in finding lymph nodes. The number of lymph node metastases is an important negative prognostic factor and is used in stratification schemes for clinical trials.1 Recent studies have emphasised the fact that examining a greater number of nodes increases the likelihood of correct staging and is associated with better survival, after controlling …
Stable reinforcement learning with autoencoders for tactile and visual data

For many tasks, tactile or visual feedback is helpful or even crucial. However, designing controllers that take such high-dimensional feedback into account is non-trivial. Therefore, robots should be able to learn tactile skills through trial and error by using reinforcement learning algorithms. The input domain for such tasks, however, might include strongly correlated or non-relevant dimensions, making it hard to specify a suitable metric on such domains. Auto-encoders specialize in finding compact representations, where defining such a metric is likely to be easier. Therefore, we propose a reinforcement learning algorithm that can learn non-linear policies in continuous state spaces, which leverages representations learned using auto-encoders. We first evaluate this method on a simulated toy-task with visual input. Then, we validate our approach on a real-robot tactile stabilization task.
Hepatoprotective effect of aqueous extract of Lippia multiflora leaves against ethanol-induced toxicity in Wistar rats.

Aim: Usually called Tea of Gambia, Lippia multiflora is traditionally used for its sedative, relaxing, febrifuge, anti-flu-like, antispasmodic, hypotensive, anti-inflammatory, anti-catarrhal, mucolytic, antiinfective and hepatoprotective properties. The present study was carried out to evaluate the hepatoprotective effect of aqueous extract of Lippia multiflora leaves against ethanol induced toxicity in rat livers. Study Design: Thirty Wistar albino rats (100-162 g) were divided into six groups of five animals. Original Research Article Bouagnon et al.; EJMP, 7(3): 146-155, 2015; Article no.EJMP. 2015.077 147 Group 1 served as control and received only distilled water. Group 2 received only 15%ethanol (3 mL/100 g body weight/day). Group 3 served as standard group and received silymarin (70 mg/kg b.w.). Groups 4, 5 and 6 served as extract treatment groups and received respectively 100, 300 and 900 mg/kg of L. multiflora aqueous extract. 15% ethanol (3 mL/100 g b.w./day) was administered 1h after treatment in groups 3, 4, 5 and 6. Place and Duration of Study: The study was carried out in Laboratory of Biochemical Pharmacodynamy, Felix Houphouet-Boigny University of Cocody-Abidjan (Cote d’Ivoire) between September and November 2014. Methodology: All treatment protocols followed 28 days. Animals received daily doses and were observed for psychomotor changes and other signs of toxicity including death throughout the period of study. At days 7, 14, 21 and 28 of experimental period, blood samples were collected from retroorbital venous plexus in non-heparinized tubes and the serum levels of liver marker enzymes, biochemical metabolites and hematological parameters (numbers of red blood cells, white blood cells, platelet count and mean cell volume)were monitored. Results: L. multiflora extract (300 and 900 mg/kg b.w.) provides significant protection (P<0.05) against ethanol induced toxicity in rat livers showed by reduction of enzymatic parameters activities (ALT, AST and GGT). Histopathological study shows a normal hepatic architecture in L. multiflora extract (300 and 900 mg/kg b.w.) group compared to 15% ethanol group. Additionally, hematological analyses revealan increase of red blood cells and platelet count. A decrease of white blood cells and mean cell volume values in groups treated with 300 and 900 mg/kg of L. multiflora compared to 15% ethanol group is also observed. Conclusion: Our results prove that L. multiflora extract has protective effects against ethanolinduced toxicity.
Excess mortality rates in a cohort of patients infected with the hepatitis C virus: a prospective study

Objective: We analysed the Trent Hepatitis C cohort to determine standardised mortality ratios in patients infected with hepatitis C virus (HCV), and to identify risk factors and associations with all-cause and liver-related mortality. Design: Cohort study. Setting: Patients with HCV infection attending secondary care within the Trent region of England. Patients: 2285 patients with hepatitis C, followed for 1 year or more. Main outcome measures: The death rate in the cohort was compared to that seen in an age- and sex-matched English population. We performed Cox regression analyses to identify factors predictive of all-cause mortality and deaths from liver disease. Results: Standardised mortality ratios in the cohort were three times higher than those expected in the general population of England. The excess deaths were due to liver-related causes and those associated with a drug-using lifestyle. Significant independent predictors of all-cause mortality were age, sex, treatment (protective) and liver biopsy fibrosis. Age, treatment, liver biopsy fibrosis and mean alcohol consumption were predictors of liver-related mortality. HCV was mentioned on 23% of death certificates overall, and on 52% of those of patients dying from a liver-related cause. Conclusions: Our findings demonstrate that the death rate in patients infected with hepatitis C is three times higher than expected. Severity of disease is associated with a worse prognosis, whilst treatment improves outcome, particularly in those who respond. Use of death certificate data on HCV infection for planning purposes will result in considerable under-estimation of the HCV-related disease burden.
Dysbiosis of the Faecal Microbiota in Patients with Crohn's Disease and Their Unaffected Relatives (Gut 2011;60:631-637)

접수:2011년 7월 18일 승인:2011년 7월 29일 ∙연락처:임종필, 서울시 종로구 연건동 28 (110-744) 서울대학교 의과대학 내과학교실, 간연구소 Tel: 02) 740-8112, Fax: 02) 743-6701 E-mail : jp-im@hanmail.net Received July 18, 2011. Accepted July 29, 2011. ∙Correspondence to:Jong Pil Im, M.D., Department of Internal Medicine, Liver Research Institute, Seoul National University College of Medicine, 28 Yongon-dong, Chongnogu, Seoul 110-744, Korea Tel: +82-2-740-8112, Fax: 82-2-743-6701 E-mail: jp-im@hanmail.net 요 약
Influence of team composition and knowledge sharing on the ability to innovate in patient-centered healthcare teams for rare diseases

Abstract This paper presents a study that investigated the relationship between the composition of interdisciplinary healthcare teams and the intra-team knowledge sharing processes, as well as their joint influence on the generation of new, individualized solutions. Innovative behavior is essential, especially for healthcare professionals treating patients with rare diseases when they are faced with an uncertain, unpredictable care environment and the challenge of creating individualized patient treatment options. Four theoretically derived hypotheses were tested by survey data collected from 81 patient-centered healthcare teams. Additionally, in a pre-phase, 26 semi-structured interviews were conducted to obtain a deeper understanding of potential barriers to intra-team communication that cause diminished innovative behavior. The results demonstrated that a high level of fluctuation within interdisciplinary teams diminishes knowledge sharing activities and innovative behavior. Furthermore, intrateam communication is a significant predictor of team members' innovative behavior. Due to a lack of standardized processes and procedures in uncertain environments, the generation of new knowledge is vital to the generation and implementation of innovative care solutions. It is crucial that all healthcare professionals involved, such as general practitioners, physicians, nurses, and therapists, for example, develop a common understanding of the necessity for innovative processes, especially in the context of rare diseases, to maximize efficiency in the provision of health services.
Idelalisib given front-line for treatment of chronic lymphocytic leukemia causes frequent immune-mediated hepatotoxicity.

Idelalisib is a small-molecule inhibitor of PI3Kδ with demonstrated efficacy for the treatment of relapsed/refractory chronic lymphocytic leukemia (CLL). To evaluate idelalisib as front-line therapy, we enrolled 24 subjects in a phase 2 study consisting of 2 months of idelalisib monotherapy followed by 6 months of combination therapy with idelalisib and the anti-CD20 antibody ofatumumab. After a median follow-up period of 14.7 months, hepatotoxicity was found to be a frequent and often severe adverse event. A total of 19 subjects (79%) experienced either grade ≥1 ALT or AST elevation during the study, and 13 subjects (54%) experienced grade ≥3 transaminitis. The median time to development of transaminitis was 28 days, occurring before ofatumumab introduction. Younger age and mutated immunoglobulin heavy chain status were significant risk factors for the development of hepatotoxicity. Multiple lines of evidence suggest that this hepatotoxicity was immune mediated. A lymphocytic infiltrate was seen on liver biopsy specimens taken from 2 subjects with transaminitis, and levels of the proinflammatory cytokines CCL-3 and CCL-4 were higher in subjects experiencing hepatotoxicity. All cases of transaminitis resolved either by holding the drug, initiating immunosuppressants, or both, and rates of recurrent toxicity were lower in patients taking steroids when idelalisib was reinitiated. A decrease in peripheral blood regulatory T cells was seen in patients experiencing toxicity on therapy, which is consistent with an immune-mediated mechanism. These results suggest that caution should be taken as drugs within this class are developed for CLL, particularly in younger patients who have not received prior disease-specific therapy. This study was registered at www.clinicaltrials. gov as #NCT02135133.
Positive-bias temperature instability (PBTI) of GaN MOSFETs

We have investigated the stability of the gate stack of GaN n-MOSFETs under positive gate stress. Devices with a gate dielectric that consists of pure SiO<sub>2</sub> or a composite SiO<sub>2</sub>/Al<sub>2</sub>O<sub>3</sub> bilayer were studied. Our research has targeted the evolution of threshold voltage (V<sub>T</sub>), subthreshold swing (S) and transconductance (g<sub>m</sub>) after positive gate voltage stress of different duration at different voltages and temperatures. We have also examined the recovery process after the stress is removed. We have observed positive V<sub>T</sub> shift (ΔV<sub>T</sub>) in both gate dielectrics under positive gate stress. In devices with a SiO<sub>2</sub> gate oxide, we have found that ΔV<sub>T</sub> is caused by a combination of electron trapping in pre-existing oxide traps and interface trap generation. In devices with a composite SiO<sub>2</sub>/Al<sub>2</sub>O<sub>3</sub> gate oxide, on the other hand, ΔV<sub>T</sub> is due to electron trapping in pre-existing oxide traps and generation of near interface oxide traps.
Corticosteroids compared with intravenous immunoglobulin for the treatment of immune thrombocytopenia in pregnancy.

Treatment options for immune thrombocytopenia (ITP) in pregnancy are limited, and evidence to guide management decisions is lacking. This retrospective study of singleton pregnancies from 2 tertiary centers compared the effectiveness of intravenous immunoglobulin (IVIg) and corticosteroids in treatment of ITP. Data from 195 women who had 235 pregnancies were reviewed. Treatment was not required in 137 pregnancies (58%). Of the remaining 98 pregnancies in 91 women, 47 (48%) were treated with IVIg and 51 were treated with corticosteroids as the initial intervention. Mean maternal platelet count at birth did not differ between groups (IVIg 69 × 10(9)/L vs corticosteroids 77 × 10(9)/L; P = . 71) nor did the proportion of mothers who achieved a platelet count response (IVIg 38% vs corticosteroids 39%; P = .85). There were no fatal or severe maternal, fetal, or neonatal hemorrhages. Of 203 neonates in whom platelet counts were available, 56 (28%) had a birth platelet count <150 × 10(9)/L and 18 (9%) had platelet counts <50 × 10(9)/L. Nadir platelet counts for most affected neonates occurred at birth, although for some neonates, nadir platelet counts occurred up to 6 days postnatally. Intracranial hemorrhage was noted in 2 neonates (nadir platelet counts were 135 and 18 × 10(9)/L). There were no neonatal deaths. The majority of pregnant women with a history of ITP did not require treatment, and neonatal outcomes were comparable for mothers who received IVIg or corticosteroids for treatment of maternal ITP.
Anterior Transpetrosal Approach for Pontine Cavernous Angioma

A 58-year-old male patient presented with headache and unsteady gait. Magnetic resonance imaging revealed hemorrhage from a pontine cavernous angioma. The patient experienced stepwise aggravation of symptoms due to repeated hemorrhages. We decided to surgically remove the pontine cavernous angioma through an anterior transpetrosal approach, since the angioma and hematoma were located near the ventrolateral surface of the pons. The brain stem was incised at a site caudal to the trigeminal nerve and the hematoma and angioma were totally removed. No additional neurological deficits were observed following surgery. Brain stem cavernous angiomas are usually removed via a trans-fourth ventricle or lateral suboccipital approach. However, these approaches may not be appropriate if the angioma is located ventrally to the pons. We propose that the anterior transpetrosal approach is the method of choice for ventrally located pontine cavernous angioma.
PRODUCTION AND STUDY OF CARDIAC FAILURE IN THIAMINE-DEFICIENT PIGEONS

Although cardiac failure occurs frequently in thiamine-deficient human beings (beriberi 1 ), it is rarely encountered in animals with experimental thiamine deficiency. MacCarrison 2 and Findlay 3 observed hydropericardium in an occasional pigeon allowed to eat a thiamine-deficient ration ad libitum. Other indications of cardiac failure were lacking, however, and these experiments were done so early that it was impossible to exclude other contributing nutritional causes. More recently, signs and symptoms of cardiac failure have been produced in thiamine-deficient dogs. 4 Bradycardia has been noted in thiamine-deficient pigeons, 5 with and without abnormal electrocardiograms, whereas tachycardia has been observed in thiamine-deficient dogs. 6 In rats bradycardia has been observed by some investigators, 7 but others 8 have expressed the opinion that this might be due to concomitant starvation. In a recent paper 9 we have pointed out that the symptoms of experimental thiamine-deficiency in pigeons vary greatly depending on the form of the deficiency. In pigeons that are