Miracle-dz/UniFAR-FTUs huggingface dataset:
Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes

An increasing number of robotic systems feature multiple inertial measurement units (IMUs). Due to competing objectives-either desired vicinity to the center of gravity when used in controls, or an unobstructed field of view when integrated in a sensor setup with an exteroceptive sensor for ego-motion estimation-individual IMUs are often mounted at considerable distance. As a result, they sense different accelerations when the platform is subjected to rotational motions. In this work, we derive a method for spatially calibrating multiple IMUs in a single estimator based on the open-source camera/IMU calibration toolbox kalibr. We further extend the toolbox to determine IMU intrinsics, enabling accurate calibration of low-cost IMUs. The results suggest that the extended estimator is capable of precisely determining these intrinsics and even of localizing individual accelerometer axes inside a commercial grade IMU to millimeter precision.
An expanded population of pathogenic regulatory T cells in giant cell arteritis is abrogated by IL-6 blockade therapy

Objectives Randomised-controlled trials have recently proven the efficacy of the interleukin (IL)-6 receptor antagonist tocilizumab (TCZ) in giant cell arteritis (GCA). However, the mechanism of action of IL-6 blockade in this disease is unknown. Moreover, the role of regulatory T (Treg) cells in the pathogenesis of GCA remains underexplored. Given the plasticity of Tregs and the importance of IL-6 in their biology, we hypothesised that TCZ might modulate the Treg response in GCA. We therefore characterised the Treg compartment of patients with GCA treated with TCZ. Methods We classified 41 patients with GCA into three groups: active disease (aGCA, n=11), disease remission on corticosteroids (rGCA-CS, n=19) and disease remission on TCZ (rGCA-TCZ, n=11). Healthy controls (HCs) were included for comparison. We determined the frequency, phenotype and function of peripheral blood Tregs. Results Patients with aGCA demonstrated a hypoproliferating Treg compartment enriched in IL-17-secreting Tregs (IL-17+Tregs). Tregs in patients with aGCA disproportionally expressed a hypofunctional isoform of Foxp3 that lacks exon 2 (Foxp3Δ2). Foxp3Δ2-expressing Tregs coexpressed CD161, a marker commonly associated with the Th17 linage, significantly more often than full-length Foxp3-expressing Tregs. Compared with those of HCs, GCA-derived Tregs demonstrated impaired suppressor capacity. Treatment with TCZ, in contrast to CS therapy, corrected the Treg abnormalities observed in aGCA. In addition, TCZ treatment increased the numbers of activated Tregs (CD45RA−Foxp3high) and the Treg expression of markers of trafficking (CCR4) and terminal differentiation (CTLA-4). Conclusions TCZ may exert its therapeutic effects in GCA by increasing the proliferation and activation of Tregs, and by reverting the pathogenic Treg phenotype seen during active disease.
Diagnosis of paediatric airway foreign body: is it easy?

Foreign-body aspiration in children results in diagnostic problems, mainly because of nonspecific signs. Therefore, in this study, we placed particular stress on false-positive and -negative predictors. Charts of 139 consecutive paediatric patients aged 6.0 months to 15.5 years who underwent bronchoscopy for a suspected foreign body aspiration were analysed retrospectively. A foreign body was found in 95 cases (68%). The anamnesis was positive in 91%. Cough was the most common clinical symptom (91%) with a sensitivity and specificity of 94% and 23%, respectively. There were no significant correlations between clinical symptoms and the locations of foreign bodies. The majority of focal hyperinflation (24%) and atelectasis (15%) were seen in chest radiographs, with a sensitivity and specificity of 33% and 89% (hyperinflation) and 15% and 82% (atelectasis), respectively. Chest X-rays were normal in 46 cases; however, an object was removed in 25. Persistent infiltrates were present in 14 X-rays, and a foreign body was extracted during bronchoscopy in 4. A highly significant correlation between the type of foreign body and radiological signs was noted (p = 0.00001). Anamnesis, clinical symptoms, and radiological findings are helpful in confirming aspiration, but can be misleading. Chronic or recurrent pneumonia should prompt further bronchoscopic diagnosis.
Overexpression of protease-activated receptor type 1 (PAR-1) in glioblastoma multiforme WHO IV cells and blood vessels revealed by NCAM-assisted glioblastoma border labeling

Abstract Glioblastomas are neuroepithelial tumors with lost cellular differentiation and tenfold increased growth rates compared to low-grade gliomas. Despite of very aggressive treatment options based on surgery, irradiation, and chemotherapy, the prognosis of affected patients has remained poor and showed only slight improvements during the last 30 years. Research on glioblastoma border zone was hindered by the tumor’s intense invasion into the brain parenchyma and the lack of suitable tumor cell markers. Nevertheless, the compact tumor mass and tumor invasion zone are composed of distinct cell types that need to be distinguished from each other to be addressed selectively. As the isoform 140 of the neural cell adhesion molecule (NCAM-140) was recently demonstrated to be lost in human gliomas with rising WHO grade, human multiform glioblastomas were characterized as a NCAM-140 negative entity displaying three main distinct invasion patterns. Evaluation of putative therapy targets within the tumor tissue and tumor invasion zone has been made possible through NCAM-140 negativity. In the present study, brain tissue controls and human glioblastoma samples with compact tumor mass and invasion areas were analyzed for their vascularization at the tumor border and the expression of thrombin receptor protease-activated receptor type 1 (PAR-1) within tumor tissue and vascular vessel walls. Use of NCAM-140 enabled the identification of the tumor invasion zone and its experimental investigation. Tissue vascularization was found to be significantly increased in the compact tumor mass of glioblastomas compared to their invasion zone and tumor-free controls with a significantly high and specific overexpression of PAR-1 within tumor cells and within tumor blood vessels depending upon the tumor area. This suggests thereby a functional role of the thrombin receptor PAR-1 in glioma cell malignancy and glioblastoma neoangiogenesis.
The Family Map: Structured Family Interview to Identify Risks and Strengths in Head Start Families

The Family Map is a semistructured interview developed to assess important aspects of the family and home environment associated with well-being in 3- to 5-year old children. The measure is designed so that it can be used during home visits with Head Start families. Accordingly, it was developed in collaboration with Head Start providers and families. The Family Map systematically identifies areas of concern and strength so that providers can design interventions to reduce risk factors (e.g., food insecurity, physical safety issues, family conflict, harsh parenting practices, parental depression) or enhance factors associated with healthy development (e.g., availability of learning materials in the home, good monitoring and supervision, or home safety). The areas assessed by the Family Map are targeted by Head Start performance standards. The Family Map has been successfully implemented in Head Start agencies and is also being adopted in non-Head Start early childcare settings.
SemanticFusion: Dense 3D semantic mapping with convolutional neural networks

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps need to extend beyond geometry and appearance — they need to contain semantics. We address this challenge by combining Convolutional Neural Networks (CNNs) and a state-of-the-art dense Simultaneous Localization and Mapping (SLAM) system, ElasticFusion, which provides long-term dense correspondences between frames of indoor RGB-D video even during loopy scanning trajectories. These correspondences allow the CNN's semantic predictions from multiple view points to be probabilistically fused into a map. This not only produces a useful semantic 3D map, but we also show on the NYUv2 dataset that fusing multiple predictions leads to an improvement even in the 2D semantic labelling over baseline single frame predictions. We also show that for a smaller reconstruction dataset with larger variation in prediction viewpoint, the improvement over single frame segmentation increases. Our system is efficient enough to allow real-time interactive use at frame-rates of ≈25Hz.
Increased risk of rheumatoid arthritis among mothers with children who carry DRB1 risk-associated alleles

Objective To investigate whether a child’s genotype affects a mother’s risk of rheumatoid arthritis (RA) beyond the risk associated with her genotype and to test whether exposure to fetal alleles inherited from the father increases risk of RA among mothers without risk alleles. Methods A case–control study was conducted among 1165 mothers (170 cases/995 controls) and their respective 1482 children. We tested the association between having any child with alleles encoding amino acids (AAs) associated with RA including the ‘shared epitope’ (SE) and DERAA AA sequences at positions 70–74; AA valine, lysine and alanine at positions 11, 71 and 74 of HLA-DRB1; aspartic acid at position 9 of HLA-B and phenylalanine at position 9 of DPB1. We used logistic regression models to estimate OR and 95% CI for each group of alleles, adjusting for maternal genotype and number of live births. Results We found increased risk of RA among mothers who had any child with SE (OR 3.0; 95% CI 2.0 to 4.6); DERAA (OR 1.7; 95% CI 1.1 to 2.6); or valine (OR 2.3; 95% CI 1.6 to 3.5), lysine (OR 2.3; 95% CI 1.5 to 3.4) and alanine (OR 2.8; 95% CI 1.2 to 6.4) at DRB1 positions 11, 71 and 74, respectively. Among non-carrier mothers, increased risk of RA was associated with having children who carried DERAA (OR 1.7; 95% CI 1.0 to 2.7) and alleles encoding lysine at DRB1 position 71 (OR 2.3; 95% CI 1.5 to 4.8). Conclusion Findings support the hypothesis that a child’s genotype can contribute independently to risk of RA among mothers.
Virtual reality spine surgery simulation: an empirical study of its usefulness

Abstract Objective: This study explores the usefulness of virtual simulation training for learning to place pedicle screws in the lumbar spine. Methods: Twenty-six senior medical students anonymously participated and were randomized into two groups (A = no simulation; B = simulation). Both groups were given 15 minutes to place two pedicle screws in a sawbones model. Students in Group A underwent traditional visual/verbal instruction whereas students in Group B underwent training on pedicle screw placement in the ImmersiveTouch® simulator. The students in both groups then placed two pedicle screws each in a lumbar sawbones models that underwent triplanar thin slice computerized tomography and subsequent analysis based on coronal entry point, axial and sagittal deviations, length error, and pedicle breach. The average number of errors per screw was calculated for each group. Semi-parametric regression analysis for clustered data was used with generalized estimating equations accommodating a negative binomial distribution to determine any statistical difference of significance. Results: A total of 52 pedicle screws were analyzed. The reduction in the average number of errors per screw after a single session of simulation training was 53·7% (P = 0·0067). The average number of errors per screw in the simulation group was 0·96 versus 2·08 in the non-simulation group. The simulation group outperformed the non-simulation group in all variables measured. The three most benefited measured variables were length error (86·7%), coronal error (71·4%), and pedicle breach (66·7%). Conclusions: Computer-based simulation appears to be a valuable teaching tool for non-experts in a highly technical procedural task such as pedicle screw placement that involves sequential learning, depth perception, and understanding triplanar anatomy.
A General Pipeline for 3D Detection of Vehicles

Autonomous driving requires 3D perception of vehicles and other objects in the in environment. Much of the current methods support 2D vehicle detection. This paper proposes a flexible pipeline to adopt any 2D detection network and fuse it with a 3D point cloud to generate 3D information with minimum changes of the 2D detection networks. To identify the 3D box, an effective model fitting algorithm is developed based on generalised car models and score maps. A two-stage convolutional neural network (CNN) is proposed to refine the detected 3D box. This pipeline is tested on the KITTI dataset using two different 2D detection networks. The 3D detection results based on these two networks are similar, demonstrating the flexibility of the proposed pipeline. The results rank second among the 3D detection algorithms, indicating its competencies in 3D detection.
Increase of isoprostane 8-epi-PGF2 αafter restarting smoking

Abstract Isoprostanes are known as reliable markers of in vivo oxidation injury. Cigarette smoking has been shown to be associated with a significant increase in 8-epi-PGF 2 α , a major member of this family of compounds. Quitting smoking reduces 8-epi-PGF 2 α values to normal within a couple of weeks only. In this follow-up we checked the 8-epi-PGF 2 α , values in plasma, serum and urine in 28 people who restarted smoking after a quitting attempt of various duration. 8-epi-PGF 2 α shows a certain increase after restarting smoking reaching a maximum after already 1 week. Continuation of smoking does not significantly further increase 8-epi-PGF 2 α These data indicate a fast response of restarting as on quitting smoking on in vivo oxidation injury. The oxidation injury reflected by 8-epi-PGF 2 α may be a key pathogenetic mechanism in smoking-induced vascular injury.
Baseline ultrasound examination as possible predictor of relapse in patients affected by juvenile idiopathic arthritis (JIA)

Objectives To define the correlation between joint ultrasonography and clinical examination in patients with juvenile idiopathic arthritis (JIA) and to assess whether synovitis detected by ultrasonography in clinically inactive patients predicts arthritis flares. Methods 88 consecutive patients with JIA—46 (52%) with persistent oligoarthritis, 15 (17%) with extended oligoarthritis, 15 (17%) with rheumatoid factor-negative polyarthritis and 12 (14%) with other forms of JIA, all clinically inactive for a minimum of 3 months—underwent ultrasound (US) assessment of 44 joints. Joints were scanned at study entry for synovial hyperplasia, joint effusion and power Doppler (PD) signal. Patients were followed clinically for 4 years. Results US was abnormal in 20/88 (22.7%) patients and in 38/3872 (0.98%) joints. Extended oligoarthritis and rheumatoid factor-negative polyarthritis were more frequent in US-positive than in US-negative patients (35.0% vs 11.8% and 30.0% vs 13.2%, respectively; P=0.005). During 4 years of follow-up, 41/88 (46.6%) patients displayed a flare; 26/68 (38.2%) were US-negative and 15/20 (75%) were US-positive at baseline. Abnormality on US examination, after correction for therapy modification, significantly increased the risk of flare (OR=3.8, 95% CI 1.2 to 11.5). The combination of grey scale and PD abnormalities displayed a much higher predictive value of relapse (65%, 13/20) than grey scale alone (33%, 6/18). Conclusions US abnormalities are a strong predictor of relapse at individual patient level. Irrespective of treatment, the risk of flare in US-positive versus US-negative patients was almost four times higher. In case of US abnormalities, patients should be carefully followed regardless of both the International League of Associations for Rheumatology and Wallace categories.
Recursive Phase Estimation for Asymmetric M-PSK TCM Schemes in Fading Channels

In this paper, we investigate the effect of the carrier phase offset on the performance of asymmetric M-ary shift keying (M-PSK) trellis coded modulation (TCM) over Rayleigh flat fading channel. For the purpose of comparison, the symmetric case is also discussed. A reliable low complexity non-data-aided (NDA) carrier phase recovery algorithm suited for general TCM schemes is designed here. We propose a recursive phase synchronization technique that dynamically tracks the fading channel variations and also exhibits an absolute minimum at the carrier phase offset. Simulation results show the efficiency of the resulting blind carrier phase synchronizer for symmetric and asymmetric 8-PSK TCM against blind phase estimators described in the literature. Also, it has negligible Bit Error Rate (BER) performance degradation as compared to the coherent system.
Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning

Model-free deep reinforcement learning algorithms have been shown to be capable of learning a wide range of robotic skills, but typically require a very large number of samples to achieve good performance. Model-based algorithms, in principle, can provide for much more efficient learning, but have proven difficult to extend to expressive, high-capacity models such as deep neural networks. In this work, we demonstrate that neural network dynamics models can in fact be combined with model predictive control (MPC) to achieve excellent sample complexity in a model-based reinforcement learning algorithm, producing stable and plausible gaits that accomplish various complex locomotion tasks. We further propose using deep neural network dynamics models to initialize a model-free learner, in order to combine the sample efficiency of model-based approaches with the high task-specific performance of model-free methods. We empirically demonstrate on MuJoCo locomotion tasks that our pure model-based approach trained on just random action data can follow arbitrary trajectories with excellent sample efficiency, and that our hybrid algorithm can accelerate model-free learning on high-speed benchmark tasks, achieving sample efficiency gains of $3-5\times$ on swimmer, cheetah, hopper, and ant agents. Videos can be found at https://sites.google. com/view/mbmf
Safety of intravenous immunoglobulin and plasma exchange in critically ill patients

Abstract Objective: To assess the safety profile of intravenous immunoglobulin (IVIG) and plasma exchange (PLEX) when used to treat critically ill patients. Methods: We performed a retrospective analysis of consecutive patients who received IVIG or PLEX while admitted to our medical intensive care unit (ICU), neuroscience ICU or haematologic/oncologic ICU between 2007 and 2011.Patients who were transferred into an ICU while receiving therapy or who continued therapy after discharge from the ICU were included in the analysis. Results: A total of 118 consecutive patients were included in the study. Fifty-nine patients received IVIG. Twenty of these patients (34%) developed renal failure during the hospitalisation, including 15 (25.4%) in whom renal function worsened during or shortly after IVIG administration and 4 (6.8%) in whom IVIG was considered a possible cause. Transfusion reactions occurred in five patients (8%). Seven patients (12%) did not receive the full intended course of IVIG. Thirty-four patients (58%) who received IVIG died during their hospitalisation. Fifty-nine patients received PLEX. Hypotension requiring an intervention was noted with 39 sessions (8.5%) and led to discontinuation of the session in 11 (2.4%). Other adverse events included line-related infections (n = 4), pneumothorax (n = 4) and electrolyte abnormalities and transfusion reactions (n = 10). Six patients (10%) did not receive full intended treatment course of PLEX. Nineteen patients (32%) treated with PLEX died during their hospitalisation. Discussion: Intravenous immunoglobulin and PLEX are generally well tolerated by critically ill patients. Intravenous immunoglobulin was associated with worsening renal function in one-quarter of patients.
A Throughput Study of White-Fi Networks in Rural Environment under Realistic Conditions and Mobility

The regulatory framework for secondary utilization of TV white spaces (TVWS) is well underway in the United Kingdom, while important steps in this direction are taken within the European Union and elsewhere. Mobile network operators are interested in the use of TVWS for cellular extension and rural access, where TVWS is seen as a significant new opportunity for operators to provide new wireless services. The government's plan to close the digital divide between the urban and rural communities has motivated the efforts to develop Wi-Fi like operation in TVWS for better coverage in rural areas. The IEEE currently has a working group developing 802.11af amendment which will allow for WLAN operations in the TVWS. This paper presents a quantitative analysis of downlink throughput performance of IEEE802.11af, also known as White-Fi in a rural environment while taking into account realistic modelling of TV channel availability, wireless channel, AP density, and the effect of co-channel interference caused by secondary APs and DVB-T transmitters. The paper shows that the low operating frequency of White-Fi offers a wide coverage in a rural environment, where there is limited cellular coverage due to the cost-inefficiency of base stations deployment. The presented results also show that there are more available TVWS channels and less co-channel interferers in a rural environment, resulting in a significant throughput performance even in high mobility if suitable channel estimation is considered, making it ideal for vehicular communications with White-Fi.
Containerized Development and Microservices for Self-Driving Vehicles: Experiences & Best Practices

In this paper, experiences and best practices from using containerized software microservices for self-driving vehicles are shared. We applied the containerized software paradigm successfully to both the software development and deployment to turn our software architecture in the vehicles following the idea of microservices. Key enabling elements include onboarding of new developers, both researchers and students, traceable development and packaging, convenient and bare-bone deployment, and traceably archiving binary distributions of our quickly evolving software environment. In this paper, we share our experience from working one year with containerized development and deployment for our self-driving vehicles highlighting our reflections and application-specific shortcomings, our approach uses several components from the widely used Docker ecosystem, but the discussion in this paper generalizes these concepts. We conclude that the growingly complex automotive software systems in combination with their computational platforms should be rather understood as data centers on wheels to design both, (a) the software development and deployment processes, and (b) the software architecture in such a way to enable continuous integration, continuous deployment, and continuous experimentation.