Miracle-dz/UniFAR-FTUs huggingface dataset:
TEASER: Fast and Certifiable Point Cloud Registration

We propose the first fast and certifiable algorithm for the registration of two sets of three-dimensional (3-D) points in the presence of large amounts of outlier correspondences. A certifiable algorithm is one that attempts to solve an intractable optimization problem (e.g., robust estimation with outliers) and provides readily checkable conditions to verify if the returned solution is optimal (e.g., if the algorithm produced the most accurate estimate in the face of outliers) or bound its suboptimality or accuracy. Toward this goal, we first reformulate the registration problem using a truncated least squares (TLS) cost that makes the estimation insensitive to a large fraction of spurious correspondences. Then, we provide a general graph-theoretic framework to decouple scale, rotation, and translation estimation, which allows solving in cascade for the three transformations. Despite the fact that each subproblem (scale, rotation, and translation estimation) is still nonconvex and combinatorial in nature, we show that 1) TLS scale and (component-wise) translation estimation can be solved in polynomial time via an adaptive voting scheme, 2) TLS rotation estimation can be relaxed to a semidefinite program (SDP) and the relaxation is tight, even in the presence of extreme outlier rates, and 3) the graph-theoretic framework allows drastic pruning of outliers by finding the maximum clique. We name the resulting algorithm TEASER (Truncated least squares Estimation And SEmidefinite Relaxation). While solving large SDP relaxations is typically slow, we develop a second fast and certifiable algorithm, named TEASER++, that uses graduated nonconvexity to solve the rotation subproblem and leverages Douglas-Rachford Splitting to efficiently certify global optimality. For both algorithms, we provide theoretical bounds on the estimation errors, which are the first of their kind for robust registration problems. Moreover, we test their performance on standard benchmarks, object detection datasets, and the 3DMatch scan matching dataset, and show that 1) both algorithms dominate the state-of-the-art (e.g., RANSAC, branch-&-bound, heuristics) and are robust to more than $\text{99}\%$ outliers when the scale is known, 2) TEASER++ can run in milliseconds and it is currently the fastest robust registration algorithm, and 3) TEASER++ is so robust it can also solve problems without correspondences (e.g., hypothesizing all-to-all correspondences), where it largely outperforms ICP and it is more accurate than Go-ICP while being orders of magnitude faster. We release a fast open-source C++ implementation of TEASER++.
Efficacy of icotinib hydrochloride in the treatment of 31 patients with advanced squamous cell lung carcinoma

Objective:To evaluate the efficacy and safety of icotinib hydrochloride in the treatment of patients with advanced squamous cell lung carcinoma.Methods:We retrospectively reviewed medical records of 31 patients with advanced squamous cell lung carcinoma receiving icotinib hydrochloride therapy from August 1,2011 to August 30,2012 in Zhejiang Cancer Hospital.The efficacy was analyzed based on the Kaplan-Meier method and Cox proportional-hazards model.Results:The objective response rate(ORR) was 6.5%(2 patients),the disease control rate(DCR) was 38.7%(12 patients),the median progression-free survival(mPFS) was 2.1 months,and the median overall survival(mOS) was 21.8 months.The main toxic reactions were skin rash(38.7%),diarrhea(16.1%),and elevated transaminase level(6.5%);most of them were Grade I to Grade II,and 3.2% appeared skin rash with Grade III.Conclusion:Icotinib hydrochloride is effective for treating patients with advanced squamous cell lung carcinoma,and its toxicity can be tolerated.
On Simple Reactive Neural Networks for Behaviour-Based Reinforcement Learning

We present a behaviour-based reinforcement learning approach, inspired by Brook’s subsumption architecture, in which simple fully connected networks are trained as reactive behaviours. Our working assumption is that a pick and place robotic task can be simplified by leveraging domain knowledge of a robotics developer to decompose and train reactive behaviours; namely, approach, grasp, and retract. Then the robot autonomously learns how to combine reactive behaviours via an Actor-Critic architecture. We use an Actor-Critic policy to determine the activation and inhibition mechanisms of the reactive behaviours in a particular temporal sequence. We validate our approach in a simulated robot environment where the task is about picking a block and taking it to a target position while orienting the gripper from a top grasp. The latter represents an extra degree-of-freedom of which current end-to-end reinforcement learning approaches fail to generalise. Our findings suggest that robotic learning can be more effective if each behaviour is learnt in isolation and then combined them to accomplish the task. That is, our approach learns the pick and place task in 8,000 episodes, which represents a drastic reduction in the number of training episodes required by an end-to-end approach ( 95,000 episodes) and existing state-of-the-art algorithms.
Convergence to quasi-stationarity through Poincaré inequalities and Bakry-Émery criteria

This paper aims to provide some tools coming from functional inequalities to deal with quasi-stationarity for absorbed Markov processes. First, it is shown how a Poincare inequality related to a suitable Doob transform entails exponential convergence of conditioned distributions to a quasi-stationary distribution in total variation and in 1-Wasserstein distance. A special attention is paid to multi-dimensional diffusion processes, for which the aforementioned Poincare inequality is implied by an easier-to-check Bakry-Emery condition depending on the right eigenvector for the sub-Markovian generator, which is not always known. Under additional assumptions on the potential, it is possible to bypass this lack of knowledge showing that exponential quasi-ergodicity is entailed by the classical Bakry-Emery condition.
Anomaly detection in chest radiographs with a weakly supervised flow-based deep learning method

Preventing the oversight of anomalies in chest X-ray radiographs (CXRs) during diagnosis is a crucial issue. Deep learning (DL)-based anomaly detection methods are rapidly growing in popularity, and provide effective solutions to the problem, but the workload in labeling CXRs during the training procedure remains heavy. To reduce the workload, a novel anomaly detection method for CXRs based on weakly supervised DL is presented in this study. The DL is based on a flow-based deep neural network (DNN) framework with which two normality metrics (logarithm likelihood and logarithm likelihood ratio) can be calculated. With this method, only one set of normal CXRs requires labeling to train the DNN, then the normality of any unknown CXR can be evaluated. The area under the receiver operation characteristic curve acquired with the logarithm likelihood ratio metric ($\approx0.783$) was greater than that obtained with the logarithm likelihood metric, and was a value comparable to those in previous studies where other weakly supervised DNNs were implemented.
Relativistic hypernuclear compact stars with calibrated equations of state

Within the covariant density functional theory of hypernuclear matter we build a series of equations of state for hypernuclear compact stars, by calibrating the coupling constants of the $\Xi$-hyperon to the experimental binding energy of the single-$\Xi$ hypernuclei $^{15}_{\Xi^-}$C and $^{12}_{\Xi^-}$Be. Coupling constants of the $\Lambda$-hyperon to nucleons have been calibrated on a vast collection of experimental data on single $\Lambda$ hypernuclei in Fortin et al. 2017, 2018 and Providencia et al. 2019, and we employ those values. Uncertainties on the couplings of the $\Sigma$-hyperon to nuclear matter, due to lack of experimental data, are accounted for by allowing for a wide variation of the well depth of $\Sigma$ at rest in symmetric saturated nuclear matter. To account for uncertainties in the nucleonic sector at densities much larger than the saturation density, a rich collection of parameterizations is employed, some of them in agreement with existing constraints from nuclear physics and astrophysics. Neutron star properties are investigated with all these calibrated equations of state. The effects of the presence of hyperons on the radius, on the tidal deformability, on the moment of inertia, and on the nucleonic direct Urca process are discussed. The sensitivity of the hyperonic direct Urca processes to uncertainties in the nucleonic and hyperonic sectors is also addressed. It is shown that the relative variations of the radius, tidal deformability and moment of inertia from the values that characterize purely nucleonic stars are linearly correlated with the strangeness fraction. The maximum radius deviation, obtained for most massive neutron stars, are $\approx 10\%$. The reduction of the maximum mass, triggered by nucleation of strangeness, is estimated at $\approx 15 - 20\%$, out of which $5\%$ comes from insufficient information on the $\Sigma$-hyperon interactions.
Invstigation and Analysis of the Effects of National Essential Drug System on Medical Expenses in Different Levels of Medical Institutions

OBJECTIVE:To provide reference for the implementation of the national essential drug system.METHODS:In 6 township health centers and 6 hospitals of county level or above,medical expenses and drug expenses per capita were investigated and analyzed statistically within 1 year before and after implementation of national essential drug system.RESULTS:Compared with before the implementation of national essential drug system,drug expenses per capita of outpatient and inpatient dropped by 17.91% and 11.63% respectively and medical expenses per capita dropped by 14.01% and 8.99% respectively in 6 township health centers;drug expenses per capita of outpatient and inpatient increased by 12.17% and 4.75% respectively and medical expenses per capita increased by 18.46% and 3.74% respectively in 6 hospitals of county level or above.CONCLUSION:The implementation of national essential drug system effectively controls medical expense of patients in primary medical institutions,and relieves the situation of "high cost of getting medical service" for the public.But,it has little effect on the medical expenses in the primary medical institutions of second level or above.
Motivational Interviewing Education for Nurse Practitioners Providing Obesity Management

Purpose: This project examined the effectiveness of an online educational module on basic Motivational Interviewing (MI) techniques for Nurse Practitioners (NPs) providing obesity management to middle-aged women. Background: Middle-aged women experience distinct physiological and psychosocial factors that contribute to weight gain and make obesity management especially challenging. The evidence supports the use of motivational interviewing (MI) interventions as a highly effective approach to obesity management in combination with standard medical weight loss programs. Educating NPs that provide medical weight loss on basic MI counseling techniques sis necessary to facilitate the use of this intervention. Methods: NP providers at a group of seven medical weight loss clinics in the southwestern United States completed an online MI educational module that was developed for this project. The module content covered basic MI counseling techniques. MI knowledge was assessed using a 6-item pre/post-test. Participants completed an 8-item course evaluation to provide additional feedback. Results: Ten of the 13 NPs eligible participated in the project. The overall response to the project was positive as demonstrated by high scores on the course evaluation. The average posttest knowledge scores increased after completion of the module, however no statistical significance was noted. Conclusions: The basic MI education module was beneficial for NPs providing obesity management and future research should focus on developing standardized MI weight loss interventions.
GhostImage: Perception Domain Attacks against Vision-based Object Classification Systems

In vision-based object classification systems, imaging sensors perceive the environment and then objects are detected and classified for decision-making purposes. Vulnerabilities in the perception domain enable an attacker to inject false data into the sensor which could lead to unsafe consequences. In this work, we focus on camera-based systems and propose GhostImage attacks, with the goal of either creating a fake perceived object or obfuscating the object's image that leads to wrong classification results. This is achieved by remotely projecting adversarial patterns into camera-perceived images, exploiting two common effects in optical imaging systems, namely lens flare/ghost effects, and auto-exposure control. To improve the robustness of the attack to channel perturbations, we generate optimal input patterns by integrating adversarial machine learning techniques with a trained end-to-end channel model. We realize GhostImage attacks with a projector, and conducted comprehensive experiments, using three different image datasets, in indoor and outdoor environments, and three different cameras. We demonstrate that GhostImage attacks are applicable to both autonomous driving and security surveillance scenarios. Experiment results show that, depending on the projector-camera distance, attack success rates can reach as high as 100%.
Vulnerabilidade na adolescência: a experiência e expressão do adolescente Vulnerabilidad en la adolescencia: la experiencia y expresión del adolescente Vulnerability in adolescence: the experience and expression of the adolescent

Estudo transversal, quantitativo, cujo objetivo foi identificar situacoes de vulnerabilidade vivenciadas pelos adolescentes do ensino medio da rede publica de Cuiaba, Mato Grosso, no segundo semestre de 2009. Utilizou-se questionario fechado. Os resultados revelaram que 10,5% dos meninos e 5,8% das meninas ja fizeram uso de drogas ilicitas, aos 15 anos, sendo a cocaina (28,9%) e a maconha (15,7%) as mais relatadas; 45,2% dos meninos e 52,4% das meninas consomem bebidas alcoolicas, sendo a cerveja a mais comum. Entre os que se declararam fumantes (16,0%), a maioria iniciou o consumo aos 15 anos. Houve relato de violencia sexual, dos quais somente 33,3% dos meninos e 25,0% das meninas procuraram ajuda. Entre os que nao procuraram ajuda, o motivo relatado foi medo e vergonha. Destaca-se a necessidade de servicos especificos para prevencao e tratamento de adolescentes em situacoes de vulnerabilidade, tendo em vista a ocorrencia e consequencias destes agravos.
National trends in total hip arthroplasty for traumatic hip fractures: An analysis of a nationwide all-payer database

BACKGROUND Hemiarthroplasty (HA) has traditionally been the treatment of choice for elderly patients with displaced femoral neck fractures. Ideal treatment for younger, ambulatory patients is not as clear. Total hip arthroplasty (THA) has been increasingly utilized in this population however the factors associated with undergoing HA or THA have not been fully elucidated. AIM To examine what patient characteristics are associated with undergoing THA or HA. To determine if outcomes differ between the groups. METHODS We queried the Nationwide Inpatient Sample (NIS) for patients that underwent HA or THA for a femoral neck fracture between 2005 and 2014. The NIS comprises a large representative sample of inpatient hospitalizations in the United States. International Classifications of Disease, Ninth Edition (ICD-9) codes were used to identify patients in our sample. Demographic variables, hospital characteristics, payer status, medical comorbidities and mortality rates were compared between the two procedures. Multivariate logistic regression analysis was then performed to identify independent risk factors of treatment utilized. RESULTS Of the total 502060 patients who were treated for femoral neck fracture, 51568 (10.3%) underwent THA and the incidence of THA rose from 8.3% to 13.7%. Private insurance accounted for a higher percentage of THA than hemiarthroplasty. THA increased most in urban teaching hospitals relative to urban non-teaching hospitals. Mean length of stay (LOS) was longer for HA. The mean charges were less for HA, however charges decreased steadily for both groups. HA had a higher mortality rate, however, after adjusting for age and comorbidities HA was not an independent risk factor for mortality. Interestingly, private insurance was an independent predictor for treatment with THA. CONLUSION There has been an increase in the use of THA for the treatment of femoral neck fractures in the United States, most notably in urban hospitals. HA and THA are decreasing in total charges and LOS.
Patient-defined outcomes for pain, fatigue, emotional distress, and interference with activities did not differ by age for individuals with musculoskeletal pain

Abstract Introduction: Age impacts the prevalence and experience of musculoskeletal pain; however, it is unknown whether this factor impacts patient's anticipated outcomes after treatment. Objective: Using the Patient-Centered Outcomes Questionnaire (PCOQ), the primary purpose was to determine whether there are age-related differences in desired, successful, expected levels, and importance of improvement in pain, fatigue, emotional distress, and interference with daily activities. As a secondary purpose, anatomical location and sex were then included in the model to examine for interaction effects. Methods: A secondary analysis of the Optimal Screening for Prediction of Referral and Outcome cross-sectional and longitudinal cohorts was conducted. Included in this analysis were 572 individuals seeking physical therapy for nonsurgical neck, low back, shoulder, and knee pain who completed the PCOQ at the initial evaluation. A three-way analysis of variance examined PCOQ domains by age categories, sex, and anatomical location. Results: Interaction effects were not observed for any of the domains of interest (P > 0.01). Significant main effects were also not observed for age, sex, and anatomical location (P > 0.01). Conclusion: Musculoskeletal pain prevalence may differ across age categories but, in this cohort, neither age, nor sex, nor anatomical location impacted patient-defined outcomes for intensity, fatigue, emotional distress, and interference with daily activities.
Efficacy of Chamomile in the Treatment of Premenstrual Syndrome: A Systematic Review

Premenstrual syndrome (PMS) encompasses a vast array of physical and psychological symptoms. Of the herbal supplements mentioned for remedy PMS symptoms, chamomile used as an effective herbal medicine. The overall purpose of this review was to determine the efficacy of chamomile on the treatment PMS. An extensive research review using Web of Science, the Cochrane Controlled Trials Register database, PubMed, Chinese Biomedical Database (CBM), CINAHL, China National Knowledge Infrastructure (CNKI), Psych INFO, Social Science Research Network, SID, Google Scholar, Iran Doc, Magiran and Iran Medex. Eligible studies were identified from English and Persian databases, published between 1990 and 2019. Studies were screened independently by two researchers who performed the data extraction. Of Twenty-seven studies identified, Eight RCTs met our inclusion criteria. Chamomile has been used to treat PMS relief because of therapeutic properties such as anti-inflammatory effects (Chamazulene and α-Bisabolol); anti-spasmodic effects (Apigenin, Quercetin, and Luteolin, Metoxicomarin, Matrisin, and Phytoestrogens); anti-anxiety effects (Glycine, Flavonoid). The results of this review show that Chamomile is effective for the treatment of PMS. Based on these results, we believe that Chamomile can be used as good herbal medicine to treat in women with PMS.
Standardization of measurement of cervical elastography, its reproducibility, and analysis of baseline clinical factors affecting elastographic parameters

Objective To provide a standardized protocol for the measurement of cervical strain elastography, present its reproducibility, and analyze baseline clinical factors affecting the measurement of elastographic parameters. Methods This study was performed by the Korean Research Group of Cervical Elastography. We enrolled pregnant women according to our study protocol. After measuring the cervical length, elastography was performed using the E-Cervix™ quantification tool to measure the strain of the cervix using intrinsic compression. We evaluated 5 elastographic parameters, namely, the strain of the internal os of the cervix (IOS), strain of the external os of the cervix (EOS), ratio of the strain of IOS and EOS, elasticity contrast index, and hardness ratio. For baseline clinical factors, we examined the maternal body mass index, blood pressure, heart rate, uterine artery Doppler indices, and fetal presentation. Results We established a specific protocol for the measurement of cervical elastography using the E cervix program. For all elastographic parameters, the intra-observer intraclass correlation coefficient (ICC) ranged from 0.633 to 0.723 for single measures and from 0.838 to 0.887 for average measures, and the inter-observer ICC ranged from 0.814 to 0.977 for single measures and from 0.901 to 0.988 for average measures. Regression analysis showed that the measurement of the elastographic parameter was not affected by baseline clinical factors. Conclusion We present a standardized protocol for the measurement of cervical elastography using intrinsic compression. According to this protocol, reproducibility was acceptable and the measurement of elastographic parameters was not affected by the baseline clinical factors studied.
Exercise therapy for muscle and lower motor neuron diseases

Muscle and lower motor neuron diseases share a common denominator of perturbed muscle function, most often related to wasting and weakness of muscles. This leads to a number of challenges, such as restricted mobility and respiratory difficulties. Currently there is no cure for these diseases. The purpose of this review is to present research that examines the effects of exercise in muscle and lower motor neuron diseases. Evidence indicates that moderate intensity aerobic- and strength exercise is advantageous for patients with muscle diseases, without causing harmful exercise-induced muscle damage. On the contrary, motor neuron diseases show a rather blunted response from exercise training. High-intensity training is a modality that seems safe and a promising exercise method, which may circumvent neural fatigue and provide effect to patients with motor neuron disease. Although we have come far in changing the view on exercise therapy in neuromuscular diseases to a positive one, much knowledge is still needed on what dose of time, intensity and duration should be implemented for different disease and how we should provide exercise therapy to very weak, non-ambulatory and wheelchair bound patients.
Tracking the important role of JUNB in hepatocellular carcinoma by single-cell sequencing analysis

Hepatocellular carcinoma (HCC) is the most commonly diagnosed liver cancer, accounting for ~90% of all primary malignancy of the liver. Although various medical treatments have been used as systemic therapies, patient survival time may be extended by only a few months. Moreover, the underlying mechanisms of HCC development and progression remain poorly understood. In the present study, the single-cell transcriptome of one in vivo HCC tumor sample, two in vitro HCC cell lines and normal peripheral blood mononuclear cells were analysed in order to identify the potential mechanism underlying the development and progression of HCC. Interestingly, JunB proto-oncogene was identified to serve a role in the immune response and in development and progression of HCC, potentially contributing to the development of novel therapeutics for HCC patients.