Miracle-dz/UniFAR-FTUs huggingface dataset:
A continuously learning feature-based map using a bernoulli filtering approach

One of the huge challenges of map-based localization is a rapidly changing environment. The present contribution addresses this problem by first constructing a new framework for feature-based long-term mapping using a Bernoulli filter. This framework is then applied to construct a continuously learning map. It is based on Simultaneous Localization and Mapping (SLAM) to create a short-term map which provides a momentary image of the environment during one mapping run. The proposed fusion algorithm then estimates the landmark map on a long-term basis by incorporating those short-term maps. Landmarks in the long-term map that reach a negligible spatial uncertainty can then be used again as a prior for the short-term mapping process. Since a Bernoulli filter can only handle a single object, independent groups of landmarks are constructed where only those with exactly one landmark are updated. As a result, landmarks that are part of the long-term map are quite distinct. By incorporating additional but probably outdated a priori information, the proposed method is able to restrict the inevitable error propagation of SLAM algorithms. The long-term mapping process is further distributable to several agents: every agent simultaneously localizes itself while it generates a new snapshot that is fused into the long-term map afterwards. An evaluation using real-world data completes this contribution.
A Modern Resource Based Approach to Unrelated Diversification

For over three decades, the questions of how and why an organization diversifies into related and unrelated businesses have drawn the attention of strategy scholars. However, explanations of unrelated diversification have been less than clear. A conceptual model of unrelated diversification is thus proposed. In drawing on Penrose's (1959) resource based approach, unrelated diversification is explained by an organization's 'three pillars', which consist of its strength of dynamic capabilities, absorptive capacity, and weak ties. The role of the three pillars is to discover new resource applications or uses in conditions of market failure that are characterized by 'incomplete' markets. A novel feature of this model is that an organization can diversify more broadly than predicted by Penrose (1959) and other modern resource-based approaches (Teece et al., 1997). Furthermore, unrelated diversification can be beneficial. This study also offers suggestions to measure the three pillars; its contributions and implications are discussed as well. Copyright Blackwell Publishing Ltd 2007.
Anatomy of Financial Distress: An Examination of Junk-Bond Issuers

This paper examines the events following the onset of financial distress for 102 public junk bond issuers. We find that out-of-court debt relief mainly comes from junk bond - holders; banks almost never forgive principal, though they do defer payments and waive debt covenants. Asset sales are an important means of avoiding Chapter 11 reorganization; however, they may be limited by industry factors. If a company simply restructures its bank debt, but either does not restructure its public debt or does not sell major assets or merge, the company goes bankrupt. The structure of a company's liabilities affects the likelihood that it goes bankrupt; companies whose bank and private debt are secured as well as companies with complex public debt structures are more prone to go bankrupt. Finally, there is no evidence that more profitable distressed companies are more successful in dealing with financial distress; they are not less likely to go bankrupt, sell assets, or reduce capital expenditures.
The capital asset pricing model in economic perspective

The capital asset pricing model (CAPM) is theoretically incomplete in its demand-side focus, risk-averse investors and internally inconsistent homogeneous beliefs; is not conclusively supported empirically; and yet it legitimizes a notion that investors can earn higher returns by bearing undiversifiable risk. Our article does not merely extend the CAPM with more realistic assumptions, it completes its original framework by including (1) risk-taking investors in the investor population, (2) investors who can have heterogeneous expectations or beliefs – an overlooked but required condition for the CAPM to be an internally consistent and meaningful model of competitive financial asset pricing under uncertainty and (3) a positive-sloped short-run supply curve based on a reasonable interpretation of the nature of financial asset trade. Upon a complete economic interpretation, it is shown that the equilibrium (systematic) risk-rate of return relationship depends on whose aggregate trading activity dominates, risk-averse or risk-taking investors’. There is no universal, or even general, positive relationship between systematic risk and rate of return. This has far-reaching implications for investors and investment advisors who serve them.
Public Investment, Tax Evasion, and the Welfare Effects of a Tariff Reform

Contrary to the case considered in literature, the experience of developing countries indicates that the tariff reforms have not been revenue neutral due to the heavy dependence of developing countries on trade taxes and pervasive tax evasion. In contrast to the plausibility of a welfare loss shown by the current literature, when the adverse effect of the loss of tariff revenue on public investment is factored in, the welfare outcome of the tariff reforms of past few decades turns out to be much more pessimistic. The constraints imposed by tariff dependence and tax evasion imply that future tariff reforms in these countries should be undertaken after strengthening their domestic tax system and augmenting the ability of their governments to fight tax evasion. For countries of sub-Saharan Africa, where such reforms are likely to be concentrated, this would need planning and capacity building over a longer time horizon.
Occupational stress and burnout in anaesthesia.

BACKGROUND Formal studies on stress in anaesthetists have usually measured stress through mental or physiological indicators. When using this approach, one must be careful not to confuse the effects of stress or outcome variables and the sources of stress or antecedent variables. To date, it seems from the literature that there is no clear evidence of a common pattern of physiological effects of stress for all the sources of stress. Furthermore, work characteristics such as job satisfaction, job control and job support may moderate the effects of stress. METHODS We measured the effects of stress together with the sources of stress and job characteristics, using self-reported questionnaires rather than physiological indicators in order to better diagnose stress in anaesthetists. RESULTS The mean stress level in anaesthetists was 50.6 which is no higher than we found in other working populations. The three main sources of stress reported were a lack of control over time management, work planning and risks. Anaesthetists reported high empowerment, high work commitment, high job challenge and high satisfaction. However, 40.4% of the group were suffering from high emotional exhaustion (burnout); the highest rate was in young trainees under 30 years of age. CONCLUSIONS Remedial actions are discussed at the end of the paper.
Beyond Malthus and Ricardo: Economic Growth, Land Concentration, and Income Distribution in Early Twentieth-Century Rural China

The article reexamines the connection between rural landownership and income distribution in light of recent evidence suggesting economic growth in China in the early twentieth century. The study utilizes a government-organized national survey of landholding and income-earning in 1930s’ China and three household-level village surveys conducted by Japanese researchers in the 1930s. Our investigations produce evidence contrary to the currently held view of substantial (and increasing) income inequality. We suggest an alternative scenario of economic opportunities.
A Pilot Study Investigating Tumor Necrosis Factor-&agr; as a Potential Intervening Variable of Atypical Antipsychotic–Associated Metabolic Syndrome in Bipolar Disorder

Background: Strong associations exist between tumor necrosis factor-&agr; (TNF-&agr;) and metabolic syndrome (MetS). Although TNF-&agr; is associated with bipolar depression (BD), its role in atypical antipsychotic (AAP)–associated MetS in BD is unclear. Here, we investigate the potential intervening role of TNF-&agr; in the indirect relationship between AAP treatment and MetS in BD. Materials and Methods: Using a cross-sectional design, 99 euthymic BD volunteers were stratified by the presence or the absence of MetS (National Cholesterol Education Program Adult Treatment Panel III). Serum TNF-&agr; concentration, determined via chemiluminescent immunometric assays, was compared between groups (ie, MetS or no MetS). We investigated the intervening effect of TNF-&agr; on the relation between AAP treatment and MetS in BD using regression techniques. Results: Treatment with those antipsychotics believed associated with a higher risk for MetS (ie, AAPs: olanzapine, quetiapine, risperidone, paliperidone, clozapine) was found to be associated with significantly greater TNF-&agr; (F1,88 = 11.2, P = 0.001, mean difference of 1.7 ± 0.51) and a higher likelihood of MetS (F1,88 = 4.5, P = 0.036) than in those not receiving treatment with an AAP. Additionally, TNF-&agr; was greater (trending toward significance; T52 = 2.0, P = 0.05) in BD volunteers with MetS and was found to have a statistically significant effect on the indirect relationship between AAP treatment and elevated waist circumference in these BD volunteers. Discussion: These results identify TNF-&agr; as a potential intervening variable of AAP-associated MetS in BD, not previously identified in this population. Future prospective studies could assess the predictive potential of TNF-&agr; in determining risk of AAP-associated MetS in BD. Given previous evidence relating TNF-&agr; and mood state in BD, this study increases the importance in understanding the role of TNF-&agr; in “mind–body” interactions and renews discussions of the utility of research into the clinical efficacy of TNF-&agr; antagonist treatment in mood disorders.
The Agency Structure of Loan Syndicates

Leaders of loan syndicates often delegate some administrative tasks to banks known as co-agents. One reason is that co-agents are specialized banks that help split the costs of managing the syndicate. Another reason is that co-agents monitor the leader on behalf of syndicate members to mitigate informational asymmetry problems. Large sample tests on the Dealscan database provide support for both arguments. Evidence of repeated contracting between the same banks explains the moderate magnitude of monitoring effects.
Influence of walking speed on gait parameters of bipedal locomotion in rhesus monkeys

The primate model of bipedal locomotion has been extensively used to study human evolution and played a critical role in exploring the pathological mechanisms of human neurologic disease and spinal cord injury. Speed has great influence on both walking posture and gait parameters in human walking; however, how speed changes the gait pattern of bipedal locomotion in primates remains unclear.
Structure of the active core of human stem cell factor and analysis of binding to its receptor Kit

Stem cell factor (SCF) is an early‐acting hematopoietic cytokine that elicits multiple biological effects. SCF is dimeric and occurs in soluble and membrane‐bound forms. It transduces signals by ligand‐ mediated dimerization of its receptor, Kit, which is a receptor tyrosine kinase related to the receptors for platelet‐derived growth factor (PDGF), macrophage colony‐stimulating factor, Flt‐3 ligand and vascular endothelial growth factor (VEGF). All of these have extracellular ligand‐binding portions composed of immunoglobulin‐like repeats. We have determined the crystal structure of selenomethionyl soluble human SCF at 2.2 Å resolution by multiwavelength anomalous diffraction phasing. SCF has the characteristic helical cytokine topology, but the structure is unique apart from core portions. The SCF dimer has a symmetric ‘head‐to‐head’ association. Using various prior observations, we have located potential Kit‐binding sites on the SCF dimer. A superimposition of this dimer onto VEGF in its complex with the receptor Flt‐1 places the binding sites on SCF in positions of topographical and electrostatic complementarity with the Kit counterparts of Flt‐1, and a similar model can be made for the complex of PDGF with its receptor.
Plant poisonings in children in the Czech Republic, 1996-2001

Ingestion of or exposure to potentially poisonous plants is a relatively common presenting complaint in hospital paediatric departments, especially amongst toddlers. We present a retrospective study conducted to review the hospital admissions following acute childhood poisoning with plants in the Czech Republic over a 6-year period from 1996 to 2001. Six university hospital paediatric departments and two local hospital paediatric departments were involved in the study. Information and complete data on the cases were collected on the basis of all hospital medical records and internal hospital database outcomes. A total of 174 plant exposures were analysed to tabulate the list of top species involved in plant poisonings. The aims were to provide classification according to agent frequency, clinical presentations, severity of symptoms expressed, affected age groups and gender of patients and to evaluate the treatment according to patient outcome. The most frequent ingestions were of thorn apple seeds (14.9%), followed by dumb cane exposures (11.5%) and common yew (9.8%). Thorn apple, dumb cane, golden chain and raw beans caused the most serious symptoms. There were no fatalities reported out of the reviewed medical records. Complete data on plant poisoning in children from all over the territory of the Czech Republic are not available; however, we believe that the frequency of causes and the rank of plant species commonly involved are properly reflected in our study.
TQM Practices and Organisational Performances in the Manufacturing Sector: Evidence From A Developing Nation

This paper examines and compares the Total Quality Management (TQM) practices and performances of the manufacturing sector in Malaysia. Empirical research is used to determine the difference, if any, in the issues related to TQM implementation and organisational performances. Results based on testing the mean differences between firms having ISO 9000 certification, and those that are not certified indicate that there are significant differences in performances between firms having ISO 9000 certification and those that are not. This supports the hypothesis that ISO 9000 certification contributes to a higher organisational performance. Other findings based on the impact of length of operation on performance are also reported and the implications are discussed. Future research directions are also suggested.
Implementing Market Segmentation Strategies in UK Personal Financial Services: Problems and Progress

Most academic research into segmentation in the financial services industry has focused on alternative analytical approaches and base variables; relatively little attention has been paid to implementation issues, despite managementS concerns about the practicality and usefulness of segmentation. Some significant barriers to effective implementation of segmentation have been encountered by major financial services firms. This paper reviews these barriers, and finds that weaknesses in customer data, and the importance of a good fit with the company'S distribution channels, can limit the range of segmentation approaches that a company can adopt, while the organisational context, structure and strategic positioning canfail to support effective segmentation. The paper also considers some of the newer entrants to the financial services industry, and finds that they are making progress in all of these areas.
Clinical Database Development: Characterization of EEG Phenotypes

We propose development of evidence-based methods to guide clinical intervention in neurobehavioral syndromes based on categorization of individuals using both behavioral measures and quantification of the EEG (qEEG). Review of a large number of clinical EEG and qEEG studies suggests that it is plausible to identify a limited set of individual profiles that characterize the majority of the population. Statistical analysis has already been used to document “clusters” of qEEG features seen in populations of psychiatric patients. 1 These clusters are considered here as intermediate phenotypes, based on genetics, and are reliable indices of brain function, not isomorphic with DSM categories, and carry implications for therapeutic intervention. We call for statistical analysis methods to be applied to a broad clinical database of individuals diagnosed with neurobehavioral disorders in order to empirically define clusters of individuals who may be responsive to specific neurophysiologically based treatment interventions, namely administration of psychoactive medication and/or EEG neurofeedback. A tentative set of qEEG profiles is proposed based on clinical observation and experience. Implication for intervention with medication and neurofeedback for individuals with these neurophysiological profiles and specific qEEG patterns is presented.
Regulation Fair Disclosure and Earnings Information: Market, Analyst, and Corporate Responses

With the adoption of Regulation Fair Disclosure (Reg FD), market behavior around earnings releases displays no significant change in return volatility (after controlling for decimalization of stock trading) but significant increases in trading volume due to difference in opinion. Analyst forecast dispersion increases, and increases in other measures of disagreement and difference of opinion suggest greater difficulty in forming forecasts beyond the current quarter. Corporations increase the quantity of voluntary disclosures, but only for current quarter earnings. Thus, Reg FD seems to increase the quantity of information available to the public while imposing greater demands on investment professionals. Copyright 2003 by the American Finance Association.
Democratic Governance and Multinational Corporations: Political Regimes and Inflows of Foreign Direct Investment

Foreign direct investment (FDI) is an important element of the global economy and a central component of economic development strategies of both developed and developing countries. Numerous scholars theorize that the economic benefits of attracting multinational corporations come at tremendous political costs, arguing that democratic political systems attract lower levels of international investment than their authoritarian counterparts. Using both cross-sectional and time-series cross-sectional tests of the determinants of FDI for more than 100 countries, I generate results that are inconsistent with these dire predictions. Democratic political systems attract higher levels of FDI inflows both across countries and within countries over time. Democratic countries are predicted to attract as much as 70 percent more FDI than their authoritarian counterparts. In a final empirical test, I examine how democratic institutions affect country credibility by empirically analyzing the link between democracy and sovereign debt risk for about eighty countries from 1980 to 1998. These empirical tests challenge the conventional wisdom on the preferences of multinationals for authoritarian regimes.
Disproportionate fetal growth and raised IgE concentration in adult life

Summary. A follow‐up study was carried out to determine whether either impaired or disproportionate fetal growth are associated with a raised total serum IgE concentration in men and women aged 50 years. The serum IgE concentration was measured in 146 men and 134 women born in Preston (Lancashire, UK) between 1935 and 1943, whose size at birth had been measured in detail.
Endothelial Hypoxia-Inducible Factor-1&agr; Promotes Atherosclerosis and Monocyte Recruitment by Upregulating MicroRNA-19a

Chemokines mediate monocyte adhesion to dysfunctional endothelial cells (ECs) and promote arterial inflammation during atherosclerosis. Hypoxia-inducible factor (HIF)-1&agr; is expressed in various cell types of atherosclerotic lesions and is associated with lesional inflammation. However, the impact of endothelial HIF-1&agr; in atherosclerosis is unclear. HIF-1&agr; was detectable in the nucleus of ECs covering murine and human atherosclerotic lesions. To study the role of endothelial HIF-1&agr; in atherosclerosis, deletion of the Hif1a gene was induced in ECs from apolipoprotein E knockout mice (EC-Hif1a−/−) by Tamoxifen injection. The formation of atherosclerotic lesions, the lesional macrophage accumulation, and the expression of CXCL1 in ECs were reduced after partial carotid ligation in EC-Hif1a−/− compared with control mice. Moreover, the lesion area and the lesional macrophage accumulation were decreased in the aortas of EC-Hif1a−/− mice compared with control mice during diet-induced atherosclerosis. In vitro, mildly oxidized low-density lipoprotein or lysophosphatidic acid 20:4 increased endothelial CXCL1 expression and monocyte adhesion by inducing HIF-1&agr; expression. Moreover, endothelial Hif1a deficiency resulted in downregulation of miR-19a in atherosclerotic arteries determined by microRNA profiling. In vitro, HIF-1&agr;–induced miR-19a expression mediated the upregulation of CXCL1 in mildly oxidized low-density lipoprotein–stimulated ECs. These results indicate that hyperlipidemia upregulates HIF-1&agr; expression in ECs by mildly oxidized low-density lipoprotein–derived unsaturated lysophosphatidic acid. Endothelial HIF-1&agr; promoted atherosclerosis by triggering miR-19a–mediated CXCL1 expression and monocyte adhesion, indicating that inhibition of the endothelial HIF-1&agr;/miR-19a pathway may be a therapeutic option against atherosclerosis.
The Debt-Equity Choice

Abstract When firms adjust their capital structures, they tend to move toward a target debt ratio that is consistent with theories based on tradeoffs between the costs and benefits of debt. In contrast to previous empirical work, out tests explicitly account for the fact that firms may face impediments to movements toward their target ratio, and that the target ratio may change over time as the firm's profitability and stock price change. A separate analysis of the size of the issue and repurchase transactions suggests that the deviation between the actual and the target ratios plays a more important role in the repurchase decision than in the issuance decision.