Miracle-dz/UniFAR-FTUs huggingface dataset:
Robotics and Autonomous Systems

We present a real-time stereo visual-inertial-SLAM system which is able to recover from complicated kidnap scenarios and failures online in realtime. We propose to learn the whole-image-descriptor in a weakly supervised manner based on NetVLAD and decoupled convolutions. We analyze the training difficulties in using standard loss formulations and propose an allpairloss and show its effect through extensive experiments. Compared to standard NetVLAD, our network takes an order of magnitude fewer computations and model parameters, as a result runs about three times faster. We evaluate the representation power of our descriptor on standard datasets with precision–recall. Unlike previous loop detection methods which have been evaluated only on fronto-parallel revisits, we evaluate the performance of our method with competing methods on scenarios involving large viewpoint difference. Finally, we present the fully functional system with relative computation and handling of multiple world co-ordinate system which is able to reduce odometry drift, recover from complicated kidnap scenarios and random odometry failures. We open source our fully functional system as an add-on for the popular VINS-Fusion.
Analysis of Late Paleozoic-Mesozoic brittle faults and fractures in West-Finnmark: geometry, kinematics, fault rocks and the relationship to offshore structures on the Finnmark Platform in the SW Barents Sea

The present work focuses on the onshore/offshore analysis and correlation of brittle faults and fractures on the Porsanger Peninsula area in west-Finnmark, the shelf areas and the immidiate offshore areas (Finnmark Platform and Gjesvær low). Structural field observation, microstructural and SEM analysis provide the basis for the characterization of the geometry, kinematics and fault rocks. This data has been combined with interpreted DEM/bathymetric, aeromagnetic and seismic data to get a better understanding of the regional structural character. This study demonstrates that Porsanger Peninsula area are characterized by two major faultfracture trends: NW-SE and NE-SW, and a subsidary E-W fault-fracture trend. The NW-SE fault trending parallel to the Trollfjord-Komagelv Fault Zone and show dominantly oblique slip and lateral displacement. The NE-SW and E-W faults show mainly normal dip-slip movement and are likely related to the offshore Troms-Finnmark Fault Complex and Måsøya Fault Complex. The relative timing of the the brittle faults-fracture trends are uncertain, but are all possibly related to the WNW-ESE directed extension event that led to the opening of the NE Atlantic Ocean. The observed fault rocks indicate mostly mechanically frictional brittle deformation, and show greenschist and zeolite mineral assemblages indicative of shallow cataclastic fracturation. The juxtaposition of lower amphibolite facies host rock with greenschist facies fracturation and zeolite facies fracturation may indicate that the study area is part of a progressively exhumed margin. Based on the onshore-offshore structural analysis, an evolutionary model is suggested for the structural development of Gjesvær low on the Finnmark Platform. Gjesvær low is possibly a Late DevonianEarly Carboniferous basin that likely initiated during fault linkage of the overlapping fault segments of the major NE-SW to ENE-WSW basin-bounding faults (TromsFinnmark Fault Complex and Måsøya Fault Complex) in late Devonian times. The NW-SE branch fault segment connects Troms-Finnmark Fault Complex and Måsøya Fault Complex in the east end of Gjesvær low. This NW-SE fault appears to be related to the major TrollfjordKomagelv Fault Zone. Fault activity continued along the major basin-bounding faults and the branching NE-SW trending segment. This resulted in further subsidence of Hammerfest Basin and Nordkapp Basin, while Gjesvær low is shallower due to the inactive termination of the Måsøya Fault Complex on the platform. This suggests that the NW-SE trending fault segment acted as transfer faults that decoupled the Gjesvær low from deep-basins such as the Nordkapp and Hammerfest basins.
LISPB - IV. Crustal structure of Northern Britain

Summary. This paper presents those results from the 1974 Lithospheric Seismic Profde in Britain (LISPB) which relate to the compressional velocity structure of the crust and uppermost mantle beneath Northern Britain. A combination of interpretation techniques suitable for modelling laterally inhomogeneous media, including twodimensional ray-tracing and time- term analysis, has resulted in a detailed seismic cross-section across the Caledonian orogenic belt. The main features of this section are a possible horizontal discontinuity in the Pre-Caledonian' basement, a change in the relationship between the lower crust and the uppermost mantle from north to south and a considerable thickening of the crust beneath the Caledonian fold belt. These results place considerable constraints upon tectonic models for the evolution of the Caledonides in particular in their implication of differ- ing crustal structures north and south of the Southern Uplands and their indication of the primary significance of the Southern Uplands Fault.
Changes in Medical Students’ Empathy Level in Different Academic Years: A Trend Analysis

Empathy is an essential attribute that enables physicians to comprehend the condition and emotions of their patients, facilitating accurate responses. Consequently, empathy has been linked to improved diagnoses and enhanced clinical outcomes. This study aimed to assess the changing patterns of empathy levels among medical students during their academic tenure in medical school. A descriptive study was conducted using convenience sampling, involving 361 medical students in Ahvaz, Iran, between September and December 2021. Empathy levels were assessed using the Persian adaptation of the Jefferson Scale of Empathy (student version) (JSE-S). Statistical analyses were conducted using the t-test and variance analysis (ANOVA). Based on the empathy scale (ranging from 20 to 140), the mean empathy score among medical students was found to be 106.42±14.8, exhibiting variations based on study year, gender, and grade point average (GPA) (p < 0.01). Notably, a significant decline in empathy scores was observed in final-year students compared to their counterparts in the first year (113.39 vs. 97.05; p < 0.001). Female students and those with higher GPAs demonstrated a higher level of empathy (p < 0.001). The results of the present study revealed that medical students in Iran exhibit a moderate level of empathy compared to findings from local studies. Furthermore, the findings suggest a decline in empathy levels as students progress through their years in medical school. Based on these findings, it is strongly recommended to integrate empathy training into the medical curriculum. Such an approach would enhance student learning and contribute to positive patient care outcomes.
Near-surface Qs estimations using multichannel analysis of surface waves (MASW) and the effect of nonfundamental mode energy on Q estimation: An example from Yuma proving ground, Arizona

Surface-wave data were collected at the Yuma Proving Ground (YPG) test facility to estimate shear wave velocity using multi-channel analysis of surface waves (MASW). Rayleigh-wave attenuation versus frequency curves were calculated and inverted for shear wave quality factor, Qs. During processing, certain stations created instabilities in the Q-inversion, or produced values that were unrealistic (i.e. minimal or zero attenuation). Therefore, the initial shot gathers were transformed into the FK domain and filtered using higher mode dispersion curves (removing/attenuating the higher-mode energy) to create another set of Qs estimates. The filtered data successfully produced lower Qs estimates without inversion instabilities. The comparison of these results suggest that attenuating higher mode surface wave energy can produce more reliable Qs estimates.
Balance assessment in students with hearing impairment

Balance is the ability to maintain body position when moving or standing still. Therefore, children must have this ability to move correctly. Children with hearing loss have problems in their vestibular system, consequently disturbing their daily activity concerning balance condition. This study aimed to evaluate the balance of students with hearing impairment in Karanganyar, Central Java. The present survey study used the Balance Test to measure 59 (male = 31, female = 28) hearing-impaired students’ balance. Descriptive statistics analysis was used to calculate the mean of all participants and every gender group. The result revealed that the average balance score of all students was 1,136, the highest score was 4, and the lowest was 1. Concerning gender, females performed slightly better than males on the balance test, with scores of 1,143 and 1,129, respectively. Of the 59 students, more than 90% of females and males were categorized as poor, and more than 3% were classified as moderate and very good. The study suggests that the balance score of hearing-impaired students was low.
Corn Residue Use by Livestock in the United States

USDA‐ERS surveyed 2250 producers from 19 states on corn residue grazing and mechanical harvests in 2010. Approximately 4.06 million ha was grazed by 11.7 million head of livestock. Approximately 0.81 million ha of corn residue was mechanically harvested in 2010. Corn residue is a significant resource for integrated crop–livestock systems in the western Corn Belt.
Effect of a Structured Simulation-Based Training on Oncology Nurses' Performance Regarding Port A Catheter Devices

Background: The Port-A-Catheter is a reliable vascular access device used for long-term chemotherapy treatment at oncology centers. Recent research has shown that oncology nurses have inadequate knowledge and practice regarding Port-A-Catheter care. Therefore, improving nurses' knowledge and practice is crucial for compliance and minimizing complications. Using a simulation-based approach is one of the most effective methods of teaching because it enhances learning outcomes and nurses' performance. Aim: to evaluate the effect of a structured simulation-based training on oncology nurses' performance regarding Port-A-Catheter devices. Methods: A quasi-experimental design with one group pretest-posttest was utilized. A convenience sample was composed of 50 nurses in the oncology center at Mansoura University in Egypt. Tools : Port-A-Catheter Nurses‟ Knowledge Questionnaire and Accessing and De-Accessing Implanted Venous Port Checklist were used for data collection. Results: The total mean scores of nurses' knowledge regarding port-a-catheter were improved significantly immediately post-training and at follow-up, from 21.07 ±7.51 to 42.67 ±9.54 and 38.51 ±10.17, respectively. Moreover, the total mean practice scores post-training and at follow-up (141.57 ±17.09 and 136.51 ±23.99), respectively, were significantly higher than pre-training (76.92 ±29.35) (P < 0.001). Conclusion: The findings of the present study concluded that simulation-based training was an effective approach, improving nurses‟ knowledge and practice regarding Port-A-Catheter care. Recommendations: In-service training programs and continuing education are recommended for all staff nurses in different specialties, using simulation-based training to improve their attitude, knowledge, and performance regarding Port-A-Cath care.
The Alzheimer’s Disease Metabolome: Effects of Sex and APOE ε4 genotype

Recent studies have provided evidence that late-onset Alzheimer’s disease (AD), the major cause of dementia in the elderly, can, at least in part, be considered a metabolic disease. Besides age, female sex and APOE ε4 genotype represent strong risk factors for AD. At the same time, they both give rise to large metabolic differences, suggesting that metabolic aspects of AD pathogenesis may differ between males and females and APOE ε4 carriers and non-carriers, respectively. Here, we systematically investigated group-specific metabolic alterations by conducting stratified association analyses of 140 metabolites measured in serum samples of 1,517 individuals from the AD neuroimaging initiative with AD biomarkers for Aβ and tau pathology, as well as neurodegeneration. We observed substantial sex differences in effects of 15 metabolites on AD biomarkers with partially overlapping differences for APOE ε4 status groups. These metabolites highlighted several group-specific alterations that were not observed in unstratified analyses using sex and APOE ε4 as covariates. Combined stratification by both variables uncovered further subgroup-specific metabolic effects limited to the group with presumably highest AD risk, i.e. APOE ε4+ females. Pathways linked to the observed metabolic alterations suggest that females experience more expressed impairment of mitochondrial energy production in AD than males. These findings indicate that dissecting metabolic heterogeneity in AD pathogenesis may allow for grading the biomedical relevance of specific pathways for specific subgroups. Extending our approach beyond simple one or two-fold stratification may thus guide the way to personalized medicine.
Fermentation Characteristics (In Vitro) of Palm Oil Trunk Waste as Feed for Lactating Dairy Cow

This study aimed to evaluate the applicability of palm oil trunk waste utilization as a feed source for lactating dairy cows using an in vitro approach. This study used a randomized complete block design with 4 treatments and 3 groups. Treatment consisted of P0 (control diet), P1 (control diet supplemented with 12.5% palm oil trunk), P2 (control diet supplemented with 25% palm oil trunk), P3 (control diet with commercial concentrate). The parameters observed were rumen pH, NH3 concentration, total VFA concentration, and in vitro dry matter and organic matter digestibility (IVDMD and IVOMD) coefficients. The findings of this study showed a significant 41.73% in NH3 concentration, 24.96% in total VFA concentration, 10.47% in IVDMD, and 10.91% in IVOMD, upon introducing 25% palm oil trunk waste into the ration (p<0.05), except for rumen pH. It can be concluded that palm oil trunk waste can be used at a level of up to 25% in the diet of lactating dairy cows. Keywords: digestibility, fermentation, in vitro, palm oil trunk, unconventional feed
Clinicopathological Reclassification of Idiopathic Inflammatory Myopathy to Match the Serological Results of Myositis-Specific Antibodies

Background and Purpose Advances in serological tests are transforming the classification of idiopathic inflammatory myopathy (IIM). The new criteria suggested by the 119th European Neuromuscular Center international workshop divide IIM cases into four main diseases according to clinical and pathological findings, adding immune-mediated necrotizing myositis and nonspecific myositis to the classic categories of polymyositis and dermatomyositis. Methods Seventy one cases of IIM with sufficient available clinical and pathological data were reviewed to be reclassified according to the new criteria. Results Most of the cases previously classified as polymyositis (77.8%, 35/45) were reclassified as immune-mediated necrotizing myopathy. The results of myositis-specific antibodies matched well with the new clinicopathological classification. Conclusions This new clinicopathological classification for IIM in combination with serological test results could be applied to our previous case series. Adoption of the new criteria will lead to a better understanding of the disease and hence new therapeutic insights.
Biomarkers in Alzheimer’s Disease: Are Olfactory Neuronal Precursors Useful for Antemortem Biomarker Research?

Alzheimer’s disease (AD), as the main cause of dementia, affects millions of people around the world, whose diagnosis is based mainly on clinical criteria. Unfortunately, the diagnosis is obtained very late, when the neurodegenerative damage is significant for most patients. Therefore, the exhaustive study of biomarkers is indispensable for diagnostic, prognostic, and even follow-up support. AD is a multifactorial disease, and knowing its underlying pathological mechanisms is crucial to propose new and valuable biomarkers. In this review, we summarize some of the main biomarkers described in AD, which have been evaluated mainly by imaging studies in cerebrospinal fluid and blood samples. Furthermore, we describe and propose neuronal precursors derived from the olfactory neuroepithelium as a potential resource to evaluate some of the widely known biomarkers of AD and to gear toward searching for new biomarkers. These neuronal lineage cells, which can be obtained directly from patients through a non-invasive and outpatient procedure, display several characteristics that validate them as a surrogate model to study the central nervous system, allowing the analysis of AD pathophysiological processes. Moreover, the ease of obtaining and harvesting endows them as an accessible and powerful resource to evaluate biomarkers in clinical practice.
Plasmon Resonance in a System of Bi Nanoparticles Embedded into (Al,Ga)As Matrix

We reveal the feasibility of the localized surface plasmon resonance in a system of Bi nanoparticles embedded into an AlxGa1−xAs semiconductor matrix. With an ab initio determined dielectric function for bismuth and well-known dielectric properties of AlxGa1−xAs solid solution, we performed calculations of the optical extinction spectra for such metamaterial using Mie’s theory. The calculations demonstrate a strong band of the optical extinction using the localized surface plasmons near a photon energy of 2.5 eV. For the semiconducting matrices with a high aluminum content x>0.7, the extinction by plasmonic nanoparticles plays the dominant role in the optical properties of the medium near the resonance photon energy.
Transfer function noise modelling of groundwater level fluctuation using threshold rainfall-based binary-weighted parameter estimation approach

ABSTRACT Considerable uncertainty occurs in the parameter estimates of traditional rainfall–water level transfer function noise (TFN) models, especially with the models built using monthly time step datasets. This is due to the equal weights assigned for rainfall occurring during both water level rise and water level drop events while estimating the TFN model parameters using the least square technique. As an alternative to this approach, a threshold rainfall-based binary-weighted least square method was adopted to estimate the TFN model parameters. The efficacy of this binary-weighted approach in estimating the TFN model parameters was tested on 26 observation wells distributed across the Adyar River basin in Southern India. Model performance indices such as mean absolute error and coefficient of determination values showed that the proposed binary-weighted approach of fitting independent threshold-based TFN models for water level rise and water level drop scenarios considerably improves the model accuracy over other traditional TFN models. EDITOR D. Koutsoyiannis ASSOCIATE EDITOR A. Fiori
THE BEHAVIOR OF SOYBEAN VARIETIES AT DIFFERENT SOWING SEASON

Soybean (Glycine max (L.) Merrill) it is one of the most important cultivated plants, and due to the beneficial properties it represents, it can bring considerable benefits to farm management. Thus, the growth and development of the soybean crop depends a lot on biotic and abiotic factors. In the present study, 5 soybean varieties created at SCDA Turda were analyzed during two experimental years 2021 and 2022 sown when in the soil are recorded for three consecutive days 5ºC and sowing season II - when the temperature of 7ºC is reached in the soil. Of the two experimental years, the year 2022 was less favorable for soybean cultivation compared to 2021. The obtained results were interpreted according to known statistical mathematical methods.
Development of Learning Videos Using YouTube Integrated Video Prezi Applications on Fuel Injection Systems in Vocational Schools

The development of information and communication technology has touched various aspects of life, one of which is the world of education. Education cannot be separated from the development of IT. The Prezi video application can be used to create interesting learning video media for students. This research is a Research and Development (RD) research through a 4D development model, which consists of 4 stages, namely: (a) Define, (b) Design, (c) Develop, and (d) Disseminate. This study aims to develop material on the basic competence of gasoline injection systems for class XI Automotive Light Vehicle Engine Maintenance. Subject Automotive Light Vehicle Engineering ( TKRO) expertise program at a state vocational high school in Serang City. This research is limited to the development of media, which is validated by media experts, material experts, and student response trials. This is due to the limited research time. Data analysis techniques were obtained for product feasibility with a Likert scale. From the results of the stages carried out through this method, it can be concluded that the material expert validation was obtained by 87% with the very feasible category and the average media expert validation was obtained by 90% with the very feasible category to be used as an alternative learning video media to make it easier for students to understand material about Electronic Fuel Injection (EFI) Gasoline Injection system. Based on product trials conducted by 30 students, 87% of results were obtained in the very good category, or students were very interested in the learning videos that the researchers made.