Miracle-dz/UniFAR-FTUs huggingface dataset:
Active Trajectory Classification for Motion-based Communication of Robots

Designing cooperative multi-robot systems has gained much attention of researchers in the robotics community. Such multi-robot systems need a communication scheme to appropriately share the information among the team. While wireless electric communication is commonly used, it is not robust to adversarial jamming. One emerging alternative is motion-based communication: the idea that a message from the sender is encoded into its own trajectory and the receiver decodes the message by observing it. Some previous work [1][2] employed control theoretic approach to design a set of distinguishable and energy-optimal trajectories. However, it is also possible to think of a counter problem from the receiver’s perspective; given a codebook of trajectories and the observations of the sender, how can we tune the receiver so that it can correctly distinguish the trajectories and decode the messages? This problem is highly non-trivial especially when the receiver’s observation model is monocular vision without depth perception because the relative attitude between two robots cannot be directly estimated from one observation. Although recent work [1][2][3][4] has explored the emerging field of motion-based communication, the use of monocular vision has yet to be addressed to the best of author’s knowledge. Thus, the present paper addresses a trajectory classification problem for motion-based communication between two robots using monocular vision only. The main controbutions of this study are two fold. First, we formulate the online classification problem in which both of the sender’s message encoded in its trajectory and the receiver’s relative position to it are sequentially estimated as the receiver moves around the sender. We provide a recursive Bayesian estimation algorithm to handle the multimodal distribution over the joint belief state. Gaussian approximation to the belief and model linearization lead to a Multi-hypothesis Extended Kalman Filter approach. Similar algorithms to ours can be found in [5][6][7]. Second, we employ an entropy minimization method to actively control the receiver’s camera pose so that it can optimally move to minimize the expected uncertainty about the message over a one-step horizon. This type of information theoretic control for monocular vision is also studied in [8][9][10]. The rest of the paper is organized as follows. In the next section we formally state the problem and define the robot models. In Section 3 we derive the recursive Bayesian update formula and provide the Multi-hypothesis Extended Kalman Filter algorithm. We also formulate the active control policy of the receiver in Section 4. Simulation results are presented for 3-class classification in Section 5 with a comparison of the random and the active control policies. Conclusion with future direction is discussed in Section 6.
An Alternative Formula for the Constant Growth Model

Purpose The traditional one-stage constant growth formula has two main underlying assumptions: a company will be able to maintain its competitive advantage for completed investments in perpetuity, and each year in the future, it will be able to generate new investment opportunities with the same competitive advantage, which will also remain in perpetuity. The purpose of this paper is to develop a model that limits the duration of the competitive advantage. Design/methodology/approach A new model is developed, and it is used to value a public company. Findings In this study, the author introduces an alternative formula considering the duration of the competitive advantage, imposing a restriction on the fact that extraordinary returns cannot be sustained forever, and also separates the part of the value explained by the current investments from the portion of value created by future investments. Originality/value The traditional one-stage constant growth model used to determine the continuing value of a company has limitations regarding the duration of the competitive advantage. The developed formula corrects the problem limiting the time extraordinary returns will remain over time.
Enzymes involved in the assimilation of one-carbon units by Pseudomonas MS

Pseudomonas MS can grow on methylamine and a number of other compounds containing C1 units as a sole source of carbon and energy. Assimilation of carbon into cell material occurs via the "serine pathway" since enzymes of this pathway are induced after growth on methylamine, but not malate or acetate. A mutant has been isolated which is unable to grow on methylamine or any other related substrate providing C1 units. This mutant is also unable to grow on acetate. Measurment of enzyme activities in cell-free extracts of wild-type cells showed that growth on methylamine caused induction of isocitrate lyase, a key enzyme in the glyoxylate cycle. The mutant organism lacks malate lyase, a key enzyme of the serine pathway, and isocitrate lyase as well. These results suggest that utilization of C1 units by Pseudomonas MS results in the net accumulation of acetate which is then assimilated into cell material via the glyoxylate cycle.
Hybrid Beamforming for Massive MIMO Over-the-Air Computation

Over-the-air computation (AirComp) has been recognized as a promising technique in Internet-of-Things (IoT) networks for fast data aggregation from a large number of wireless devices. However, the computation accuracy of AirComp highly depends on the devices with the worst channels condition, which degrades severely when the number of devices becomes large. To address this issue, we exploit the massive multiple-input multiple-output (MIMO) with hybrid beamforming, in order to enhance the computational accuracy of AirComp in a cost-effective manner. In particular, we consider the scenario with a large number of multi-antenna devices simultaneously sending data to an access point (AP) equipped with massive antennas for functional computation over the air. Under this setup, we jointly optimize the transmit digital beamforming at the wireless devices and the receive hybrid beamforming at the AP, with the objective of minimizing the computational mean-squared error (MSE) subject to the individual transmit power constraints at the wireless devices. To solve the non-convex hybrid beamforming design optimization problem, we propose an alternating-optimization-based approach, in which the transmit digital beamforming and the receive analog and digital beamforming are optimized in an alternating manner. In particular, we propose two computationally efficient algorithms to handle the challenging receive analog beamforming problem, by exploiting the techniques of successive convex approximation (SCA) and coordinate descent (CD), respectively. It is shown that for the special case with a fully-digital receiver at the AP, the achieved MSE of the massive MIMO AirComp system is inversely proportional to the number of receive antennas. Furthermore, numerical results show that the proposed hybrid beamforming design substantially enhances the computation MSE performance as compared to other benchmark schemes, while the SCA-based algorithm performs closely to the performance upper bound achieved by the fully-digital beamforming.
Correlation between functional mobility and cognitive performance in older adults with cognitive impairment

ABSTRACT Association between cognitive impairment and gait performance occurs in mild cognitive impairment (MCI) and Alzheimer‘s disease (AD), particularly under “divided attention” conditions, leading to a greater risk of falls. We studied 36 controls, 42 MCI, and 26 mild AD patients, using the Timed Up-and-Go test (TUG) under four conditions: TUG single – TUG1; TUG cognitive – TUG2; TUG manual –TUG3; TUG cognitive and manual – TUG4. Cognition was assessed using the MMSE, SKT, Exit25, and TMT (A and B). We found significant correlations between cognitive scores and TUG2 [r values (MMSE: –0.383, TMT-A: 0.430, TMT-B: 0.386, Exit25: 0.455, SKT: 0.563)] and TUG4 [(MMSE: –0.398, TMT-A: 0.384, TMT-B: 0.352,Exit25: 0.466, SKT: 0.525)] in the AD group, and between all TUG modalities and SKT in MCI and AD. Our results revealed that functional mobility impairment in cognitive dual tasks correlated to cognitive decline in AD patients and to attention and memory impairment in MCI.
Associations between low levels of serum uric acid and cardiometabolic parameters

Abstract Introduction: Elevated serum uric acid (SUA) levels are associated with increased cardiovascular risk. Objective: To evaluate the association between SUA levels and cardiometabolic parameters. Materials and methods: SUA levels and metabolic parameters were evaluated in 139 subjects, divided into low (<5 mg/dl) and high SUA group (≥5 mg/dl). Results: In low SUA group, SUA levels directly correlated with creatinine, body mass index, waist circumference, blood pressure, glucose and insulin levels, triglyceride and C-reactive protein levels. In high SUA group, SUA levels directly correlated with body weight, triglyceride, C-reactive protein, and inversely correlated with HDL-cholesterol concentrations. Discussion and conclusions: High SUA levels were linked with several cardiometabolic parameters, and low SUA levels were linearly correlated with recognized cardiovascular risk factors. Therefore, increasing SUA levels – even at low concentration – could be associated with higher cardiovascular risk. Thus the range of normality for SUA level should be further analysed.
Structural brain changes following peripheral vestibulo-cochlear lesion may indicate multisensory compensation

Background Do central mechanisms account for the variability of clinical recovery following peripheral vestibulo-cochlear lesions? Objective To investigate structural (morphological) plasticity in the human brain following unilateral vestibulo-cochlear lesions which might contribute to central vestibular compensation. Methods The authors compared regional grey matter volume (GMV) changes in patients after surgical removal of unilateral acoustic neuroma with age-matched control subjects, and hypothesised morphometric changes in the vestibular and auditory cortices which may be related to functional disability scores. Patients were examined with a battery of neuro-otological tests and clinical scores to assess vestibular and auditory disability. Results Voxel-based morphometry was used for categorical comparison between patients and age- and gender-matched controls. GMV increase was found bilaterally in primary somatosensory cortices and motion-sensitive areas in the medial temporal gyrus (MT). Simple regression analysis revealed a GMV increase (1) in the contralesional superior temporal gyrus/posterior insula to be correlated with decreasing clinically assessed vestibular deficits; (2) in the contralesional inferior parietal lobe with decreasing functional impairment of daily living activities; and (3) in the contralesional auditory cortex (Heschl gyrus) with decreasing hearing impairment. Conclusions These data may suggest structural cortical plasticity in multisensory vestibular cortex areas of patients with unilateral peripheral vestibulo-cochlear lesion after surgical removal of acoustic neuroma. As changes of GMV were related to vestibular function, structural brain changes may reflect central mechanisms of vestibular compensation.
Protection of brain cells against AMPA‐induced damage by Asiasari radix extracts

We determined whether Asiasari Radix (AR) extracts have protective actions in brain cells. Methanol extracts of Asiasari Radix (fraction 1) have signiﬁcant inhibitory effects on the AMPA‐induced rat cortical depolarization in the grease gap assay. In differentiated PC12 cells, it almost completely protected against AMPA‐induced cell death. In addition, it had some protective actions in C6 glial cells death induced by AMPA. The methanol extracts (fraction 1) of AR were subsequently fractionated into chloroform‐(fraction 2), chloroform/methanol‐(3:1) (fraction 3), methanol‐soluble (fraction 4) and methanol‐insoluble, water‐soluble fractions (fraction 5). Among these, fraction 4 had the strongest inhibitory effects against AMPA‐induced cell death in the PC 12 cells and also dramatically inhibited AMPA‐induced depolarization of rat brain cortex in the grease gap assay. Interestingly, fraction 4 blocked the Zn‐induced oxidative damages in C6 glial cells. Copyright © 2003 John Wiley & Sons, Ltd.
Docosahexaenoic acid disrupts in vitro amyloid β1‐40 fibrillation and concomitantly inhibits amyloid levels in cerebral cortex of Alzheimer’s disease model rats

We have previously reported that dietary docosahexaenoic acid (DHA) improves and/or protects against impairment of cognition ability in amyloid beta1‐40 (Aβ1‐40)‐infused Alzheimer’s disease (AD)‐model rats. Here, after the administration of DHA to AD model rats for 12 weeks, the levels of Aβ1‐40, cholesterol and the composition of fatty acids were investigated in the Triton X100‐insoluble membrane fractions of their cerebral cortex. The effects of DHA on the in vitro formation and kinetics of fibrillation of Aβ1‐40 were also investigated by thioflavin T fluorescence spectroscopy, transmission electron microscopy and fluorescence microscopy. Dietary DHA significantly decreased the levels of Aβ1‐40, cholesterol and saturated fatty acids in the detergent insoluble membrane fractions of AD rats. The formation of Aβ fibrils was also attenuated by their incubation with DHA, as demonstrated by the decreased intensity of thioflavin T‐derived fluorescence and by electron micrography. DHA treatment also decreased the intensity of thioflavin fluorescence in preformed‐fibril Aβ peptides, demonstrating the anti‐amyloidogenic effects of DHA. We then investigated the effects of DHA on the levels of oligomeric amyloid that is generated during its in vitro transformation from monomers to fibrils, by an anti‐oligomer‐specific antibody and non‐reducing Tris‐Glycine gradient (4–20%) gel electrophoresis. DHA concentration‐dependently reduced the levels of oligomeric amyloid species, suggesting that dietary DHA‐induced suppression of in vivo Aβ1‐40 aggregation occurs through the inhibitory effect of DHA on oligomeric amyloid species.
Economic Evaluation of Lifestyle Interventions for Preventing Diabetes and Cardiovascular Diseases

Lifestyle interventions (i.e., diet and/or physical activity) are effective in delaying or preventing the onset of diabetes and cardiovascular disease. However, policymakers must know the cost-effectiveness of such interventions before implementing them at the large-scale population level. This review discusses various issues (e.g., characteristics, modeling, and long-term effectiveness) in the economic evaluation of lifestyle interventions for the primary and secondary prevention of diabetes and cardiovascular disease. The diverse nature of lifestyle interventions, i.e., type of intervention, means of provision, target groups, setting, and methodology, are the main obstacles to comparing evaluation results. However, most lifestyle interventions are among the intervention options usually regarded as cost-effective. Diabetes prevention programs, such as interventions starting with targeted or universal screening, childhood obesity prevention, and community-based interventions, have reported favorable cost-effectiveness ratios.
Objective, subjective, and self-assessment of preadolescent orthodontic treatment need--a function of age, gender, and ethnic/racial background?

UNLABELLED Children from socioeconomically disadvantaged and/or underrepresented minority backgrounds in the United States have limited or no access to orthodontic treatment. OBJECTIVES To determine whether preadolescents' (a) objectively assessed orthodontic treatment need; (b) subjectively assessed orthodontic treatment need; and (c) self-perceptions of the psychologic aspects of their oral health-related quality of life and desire to have braces vary as a function of age, gender, ethnicity/race, and socioeconomic status (SES). METHODS Data were collected from 1,566 preadolescents (age range: 8 to 11 years; 47.3 percent male/52.7 percent female; 55.7 percent African-American/39.7 percent White/2.9 percent Hispanic) in oral exams and in face to face interviews. Malocclusion was determined with the Index of Orthodontic Treatment Need. RESULTS Children (17.2 percent) had definite treatment need, 33.7 percent were borderline, and 49.1 percent had little or no need. Objectively and subjectively assessed treatment need was not affected by the children's age or gender. However, girls were more critical of their smiles and wanted braces more than boys. The older the children were, the more critical they were and the more they wanted braces. African-American children and children in schools with higher percentages of children on free school lunches had less treatment need than White children and children in schools with lower percentages of students with free school lunches. While the provider-assessed treatment need was higher for White children than for Black children, Black children were less happy with their smiles than White children, and wanted braces more than White children. SES did not affect the children's self-perceptions. CONCLUSIONS Findings showed that substantial percentages of the preadolescents have an orthodontic treatment need. Orthodontic need and child self-perceptions varied as a function of the children's age, gender, ethnicity/race, and SES.
Subcritical water extraction (SWE) of Zingiber zerumbet using two level full factorial design

Zingiber zerumbet was reported to has chemo preventive effects and was suggested as one of the therapeutic treatments for cancer. In this study, Z. zerumbet was extracted using subcritical water extraction (SWE) by employing two level full factorial design. 2 k full factorial design was employed using 18 runs with 10 repeats in central points. The independent variables factors were temperature (100-150°C), time (10-30 minutes) and material ratio (1:10 and 1:20 g/ml) for the evaluation of highest zerumbone concentration and overall yield of extracted Z. zerumbet. Effects of extraction temperature and time were found to be significant on all responses with p-value <0.05. However, the material ratio only gave significant effect on the zerumbone concentration and less significant on the yield. In addition, the value of curvature was found to be significant, thus indicating the relation between the independent variables and the response was linear. Therefore, it was found that the concentration of zerumbone and yield from Z. zerumbet extracted by SWE were significantly affected by temperature and time of extraction.
Heavy photons at coupled-cavity waveguide band edges in a three-dimensional photonic crystal

Department of Physics, Bilkent University, Bilkent, 06533 Ankara, Turkey~Received 10 April 2000! We report on measurements of delay time corresponding to evanescent coupled-cavity modes in three-dimensional photonic crystals. By creating a defect inside the crystal, photons are conﬁned within a boxlikecavity of volume ;(l/2)
Sgr A* near-infrared flares from reconnection events in a magnetically arrested disc

Large-amplitude Sgr A* near-infrared flares result from energy injection into electrons near the black hole event horizon. Astrometry data show continuous rotation of the emission region during bright flares, and corresponding rotation of the linear polarization angle. One broad class of physical flare models invokes magnetic reconnection. Here we show that such a scenario can arise in a general relativistic magnetohydrodynamic simulation of a magnetically arrested disc. Saturation of magnetic flux triggers eruption events, where magnetically dominated plasma is expelled from near the horizon and forms a rotating, spiral structure. Dissipation occurs via reconnection at the interface of the magnetically dominated plasma and surrounding fluid. This dissipation is associated with large increases in near-infrared emission in models of Sgr A*, with durations and amplitudes consistent with the observed flares. Such events occur at roughly the timescale to re-accumulate the magnetic flux from the inner accretion disc, 10h for Sgr A*. We study near-infrared observables from one sample event to show that the emission morphology tracks the boundary of the magnetically dominated region. As the region rotates around the black hole, the near-infrared centroid and linear polarization angle both undergo continuous rotation, similar to the behavior seen in Sgr A* flares.
Neural Networks Out-of-Distribution Detection: Hyperparameter-Free Isotropic Maximization Loss, The Principle of Maximum Entropy, Cold Training, and Branched Inferences

Current out-of-distribution detection (ODD) approaches present severe drawbacks that make impracticable their large scale adoption in real-world applications. In this paper, we propose a novel loss called Hyperparameter-Free IsoMax that overcomes these limitations. We modified the original IsoMax loss to improve ODD performance while maintaining benefits such as high classification accuracy, fast and energy-efficient inference, and scalability. The global hyperparameter is replaced by learnable parameters to increase performance. Additionally, a theoretical motivation to explain the high ODD performance of the proposed loss is presented. Finally, to keep high classification performance, slightly different inference mathematical expressions for classification and ODD are developed. No access to out-of-distribution samples is required, as there is no hyperparameter to tune. Our solution works as a straightforward SoftMax loss drop-in replacement that can be incorporated without relying on adversarial training or validation, model structure chances, ensembles methods, or generative approaches. The experiments showed that our approach is competitive against state-of-the-art solutions while avoiding their additional requirements and undesired side effects.
Dengue virus serotype 3 (genotype III) from Colombia: A perspective of its pathogenic potential

The introduction of DENV-3 genotype III in Latin American countries has been associated with dengue outbreaks, and the role of the virus with respect to the occurrence of dengue haemorrhagic fever (DHF) has been different depending on the country. We have conducted research on the relative abundance of DENV-3 in relation to the incidence of DHF in a Colombian endemic area. Additionally, it was explored using phylogenetic analyses whether or not viruses are genetically distinct in relation to the severity of dengue. Viral isolation was made from serum samples collected during the period from January 2007 to October 2008. Sequences from the envelope gene of viruses from Colombia and Latin American countries isolated from DF and DHF patients and submitted to GenBank were compared. We found that in 2007–2008 the predominance of DENV-3 declined as compared to 2002–2004 (28.3% versus 87.8%), whereas the DENV-1 and DENV-2 predominance increased (54.7% versus 2.7% and 16.9% versus 5.4%, respectively). This relative abundance of serotypes coincided with an increase of DHF compared with the period of the highest DENV-3 dominance (25.9% versus 4.6%). Phylogenetic analyses showed that: (i) there is no relationship between DENV-3 clades and the severity of the disease; and (ii) Colombian viruses clustered apart from those coming from countries where DENV-3 has caused severe dengue. The results suggest that DENV-3 could not play any important role in the occurrence of DHF in Colombia, and that local viruses are genetically distinct from Latin American viruses associated with epidemics of DHF.