Miracle-dz/UniFAR-FTUs huggingface dataset:
Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning

Accurate and complete terrain maps enhance the awareness of autonomous robots and enable safe and optimal path planning. Rocks and topography often create occlusions and lead to missing elevation information in the Digital Elevation Map (DEM). Currently, these occluded areas are either fully avoided during motion planning or the missing values in the elevation map are filled-in using traditional interpolation, diffusion or patch-matching techniques. These methods cannot leverage the high-level terrain characteristics and the geometric constraints of line of sight we humans use intuitively to predict occluded areas. We introduce a self-supervised learning approach capable of training on real-world data without a need for ground-truth information to reconstruct the occluded areas in the DEMs. We accomplish this by adding artificial occlusion to the incomplete elevation maps constructed on a real robot by performing ray casting. We first evaluate a supervised learning approach on synthetic data for which we have the full ground-truth available and subsequently move to several real-world datasets. These real-world datasets were recorded during exploration of both structured and unstructured terrain with a legged robot, and additionally in a planetary scenario on Lunar analogue terrain. We state a significant improvement compared to the baseline methods both on synthetic terrain and for the real-world datasets. Our neural network is able to run in real-time on both CPU and GPU with suitable sampling rates for autonomous ground robots. We motivate the applicability of reconstructing occlusion in elevation maps with preliminary motion planning experiments.
Throughput Maximization for Active Intelligent Reflecting Surface-Aided Wireless Powered Communications

This letter considers an active intelligent reflecting surface (IRS)-aided wireless powered communication network (WPCN), where devices first harvest energy and then transmit information to a hybrid access point (HAP). Different from the existing works on passive IRS-aided WPCNs, this is the first work that introduces the active IRS in WPCNs. To guarantee fairness, the problem is formulated as an amplifying power-limited weighted sum throughput (WST) maximization problem, which is solved by successive convex approximation technique and fractional programming alternatively. To balance the performance and complexity tradeoff, three beamforming setups are considered at the active IRS, namely user-adaptive IRS beamforming, uplink-adaptive IRS beamforming, and static IRS beamforming. Numerical results demonstrate the significant superiority of employing active IRS in WPCNs and the benefits of dynamic IRS beamforming. Specifically, it is found that compared to the passive IRS, the active IRS not only improves the WST greatly, but also is more energy-efficient and can significantly extend the transmission coverage. Moreover, different from the symmetric deployment strategy of passive IRS, it is more preferable to deploy the active IRS near the devices.
Dynamic Topological Data Analysis for Brain Networks via Wasserstein Graph Clustering

We present the novel Wasserstein graph clustering for dynamically changing graphs. The Wasserstein clustering penalizes the topological discrepancy be-tween graphs. The Wasserstein clustering is shown to outperform the widely used 𝑘 -means clustering. The method is applied in more accurate determination of the state spaces of dynamically changing functional brain networks. The software package for performing the method is provided in http://www.stat.wisc.edu/~mchung/ dynamicTDA .
A Systematic Review on Opuntia (Cactaceae; Opuntioideae) Flower-Visiting Insects in the World with Emphasis on Mexico: Implications for Biodiversity Conservation

Opuntia spp. are cacti with high ecological, economic and conservation interest in semiarid environments, particularly in Mexico. We conducted a systematic search of the existing peer-reviewed literature about the state of knowledge of pollination ecology on these plants. We documented the most studied Opuntia species worldwide with an emphasis on Mexico. We found that only 15% of Opuntia species described have been investigated so far, and studies were mainly focused on comprehension of the biology of a single species. Despite the economic and cultural importance of Opuntia, there is a significant lack of knowledge about the flower-visiting insects and their taxonomic identity. We provide a checklist of the insect species associated with Opuntia spp. Through a circular network, we visualize the complex Opuntia flower-visiting insect relationship, and we detected a set of key species constituting the generalist core of the networks constructed. Since pollination is crucial for crop production, a better understanding of ecological interactions would inform management measures to strengthen biodiversity and agriculture sustainability as well as productivity in arid and marginal lands. Further research on pollination ecology is needed to improve the conservation status of the insects associated with Opuntia species.
Crystallization Behavior and Electrical Properties of Nanoparticle-Reinforced Poly(lactic Acid)-Based Films

Graphene oxide (GO) and multiwalled carbon nanotubes with silver particles (MWNT-Ag) of different concentrations were used as nanofillers to prepare poly(lactic acid) (PLA) nanoparticle films through the solvent casting method. In this study, the effects of nanoparticles on the crystallization behavior, relationships between the dispersion and electrical properties, and hydrolytic degradation behaviors were investigated for the PLA/MWNT-Ag and PLA/rGO films. Differential scanning calorimetry was used to evaluate the crystallization behaviors of the PLA/MWNT-Ag and PLA/reduced GO (rGO) films. Electron probe microanalysis was performed to characterize the dispersion of MWNT-Ag, and X-ray diffraction and Raman spectroscopy were used to determine the degree of dispersion of rGO in the PLA matrix. The results showed that nanoparticles enhanced the crystallization kinetics of PLA as well as the hydrolytic degradation rate. From the measurement of electrical properties, the electrical conductivity of PLA/MWNT-Ag 1.0 wt% was much higher than that of the pure PLA and PLA/rGO films, showing that MANT and Ag nanoparticles contribute greatly to enhancing the electrical conductivity of the PLA/MWNT-Ag films.
Selective Recognition of Gallic Acid Using Hollow Magnetic Molecularly Imprinted Polymers with Double Imprinting Surfaces

Gallic acid is widely used in the field of food and medicine due to its diversified bioactivities. The extraction method with higher specificity and efficiency is the key to separate and purify gallic acid from complex biological matrix. Herein, using self-made core-shell magnetic molecularly imprinted polymers (MMIP) with gallic acid as template, a hollow magnetic molecularly imprinted polymer (HMMIP) with double imprinting/adsorption surfaces was prepared by etching the mesoporous silica intermediate layer of MMIP. The characterization and adsorption research showed that the HMMIP had larger specific surface area, higher magnetic response strength and a more stable structure, and the selectivity and saturated adsorption capacity (2.815 mmol/g at 318 K) of gallic acid on HMMIP were better than those of MMIP. Thus, in addition to MMIP, the improved HMMIP had excellent separation and purification ability to selectively extract gallic acid from complex matrix with higher specificity and efficiency.
Saline Compared to Balanced Crystalloid in Patients With Diabetic Ketoacidosis: A Systematic Review and Meta-Analysis of Randomized Controlled Trials

Supplemental Digital Content is available in the text. OBJECTIVES: This systematic review and meta-analysis compared the use of saline to balanced crystalloid for fluid resuscitation in patients with diabetic ketoacidosis (DKA). DATA SOURCES: We searched databases including Medline, Embase, and the Cochrane registry. STUDY SELECTION: We included randomized controlled trials (RCTs) that compared saline to balanced crystalloid in patients with DKA. DATA EXTRACTION: We pooled estimates of effect using relative risk for dichotomous outcomes and mean differences (MDs) for continuous outcomes, both with 95% CIs. We assessed risk of bias for included RCTs using the modified Cochrane tool and certainty of evidence using Grading of Recommendations, Assessment, Development, and Evaluation methodology. DATA SYNTHESIS: We included eight RCTs (n = 482 patients). Both time to DKA resolution (MD, 3.51 hr longer; 95% CI, 0.90 longer to 6.12 longer; moderate certainty) and length of hospital stay (MD, 0.89 d longer in saline group; 95% CI, 0.34 longer to 1.43 d longer; moderate certainty) are probably longer in the saline group compared with the balanced crystalloid group, although for the latter, the absolute difference (under 1 d) is small. Post-resuscitation serum chloride level may be higher (MD, 1.62 mmol/L higher; 95% CI, 0.40 lower to 3.64 higher; low certainty), and post-resuscitation serum bicarbonate is probably lower (MD, 1.50 mmol/L; 95% CI, 2.33 lower to 0.67 lower; moderate certainty) in those receiving saline. CONCLUSIONS: In patients with DKA, the use of saline may be associated with longer time to DKA resolution, higher post-resuscitation serum chloride levels, lower post-resuscitation serum bicarbonate levels, and longer hospital stay compared with balanced crystalloids. Pending further data, low to moderate certainty data support using balanced crystalloid over saline for fluid resuscitation in patients with DKA.
Timely initiation of antenatal care and its associated factors among pregnant women in sub-Saharan Africa: A multicountry analysis of Demographic and Health Surveys

Background Timely initiation of antenatal care (ANC) is an important component of ANC services that improve the health of the mother and the newborn. Mothers who begin attending ANC in a timely manner, can fully benefit from preventive and curative services. However, evidence in sub-Saharan Africa (sSA) indicated that the majority of pregnant mothers did not start their first visit timely. As our search concerned, there is no study that incorporates a large number of sub-Saharan Africa countries. Thus, the objective of this study was to assess the prevalence of timely initiation of ANC and its associated factors in 36 sSA countries. Methods The Demographic and Health Survey (DHS) of 36 sSA countries were used for the analysis. The total weighted sample of 233,349 women aged 15–49 years who gave birth in the five years preceding the survey and who had ANC visit for their last child were included. A multi-level logistic regression model was used to examine the individual and community-level factors that influence the timely initiation of ANC. Results were presented using adjusted odds ratio (AOR) with 95% confidence interval (CI). Results In this study, overall timely initiation of ANC visit was 38.0% (95% CI: 37.8–38.2), ranging from 14.5% in Mozambique to 68.6% in Liberia. In the final multilevel logistic regression model:- women with secondary education (AOR = 1.08; 95% CI: 1.06, 1.11), higher education (AOR = 1.43; 95% CI: 1.36, 1.51), women aged 25–34 years (AOR = 1.20; 95% CI: 1.17, 1.23), ≥35 years (AOR = 1.30; 95% CI: 1.26, 1.35), women from richest household (AOR = 1.19; 95% CI: 1.14, 1.22), women perceiving distance from the health facility as not a big problem (AOR = 1.05; 95%CI: 1.03, 1.07), women exposed to media (AOR = 1.29; 95%CI: 1.26, 1.32), women living in communities with medium percentage of literacy (AOR = 1.51; 95%CI: 1.40, 1.63), and women living in communities with high percentage of literacy (AOR = 1.56; 95%CI: 1.38, 1.76) were more likely to initiate ANC timely. However, women who wanted their pregnancy later (AOR = 0.84; 95%CI: 0.82, 0.86), wanted no more pregnancy (AOR = 0.80; 95%CI: 0.77, 0.83), and women residing in the rural area (AOR = 0.90; 95%CI: 0.87, 0.92) were less likely to initiate ANC timely. Conclusion Even though the WHO recommends all women initiate ANC within 12 weeks of gestation, sSA recorded a low overall prevalence of timely initiation of ANC. Maternal education, pregnancy intention, residence, age, wealth status, media exposure, distance from health facility, and community-level literacy were significantly associated with timely initiation of ANC. Therefore, intervention efforts should focus on the identified factors in order to improve timely initiation of ANC in sSA. This can be done through the providing information and education to the community on the timing and importance of attending antenatal care and family planning to prevent unwanted pregnancy, especially in rural settings.
Oral Health Status of Children Living with Type 1 Diabetes Mellitus

Background: Diabetes is a well-known predisposing factor for oral diseases, so prevention in an early age is mandatory. Objective: To provide oral screening for children living with type 1 diabetes. We aimed to investigate the oral and general health indexes of T1DM children and compare these data to healthy siblings and controls. Methods: In this cross-sectional study, 120 DM patients and 78 siblings, thereafter 80 DM children and 95 controls, took part. A detailed questionnaire, panoramic radiographs, and lateral cephalograms were obtained in every orthodontic consultation. We used Pearson’s chi-square test for statistical analysis and compared the data of the study and control groups. Results: The oral health values of DM children were significantly better (DMF-T 0.83–1.3) than the national average (3.8–4.5). A total of 75% (n = 60) of the children needed orthodontic treatment for orthodontic or skeletal anomalies. The prevalence of skeletal anomalies was significantly (p < 0.05) higher among patients with diabetes mellitus (DM) than in the control group. The frequency of coeliac disease was significantly elevated compared to any literature data (1–3.5%) in the study (15%) and in the control sibling group (13%). Conclusions: Co-morbidities such as CD should get more attention as a prognostic factor for a future higher incidence of diabetes. T1DM children can be motivated and health-conscious patients with excellent oral hygiene and dental status. Orthodontic treatment can help eliminate the oral complications of DM. Special diabetes ambulances may help provide oral care for patients with DM.
Association between hyperuricemia and glycated hemoglobin in type 2 diabetes at the District Hospital of Dschang

Introduction given the difficulty to obtain glycemic control in type 2 diabetes, the exploration of others pathophysiological hypotheses could improve the understanding of this phenomenon. We conducted this study to search for an association between uric acid and uncontrolled diabetes. Methods it was a cross-sectional study in a population of type 2 diabetes with normal postprandial and fast blood sugar for the last three months at the District Hospital of Dschang. Chi square test were used to analyzed categorical variables and Pearson correlation coefficient to evaluate the relationship between uric acid level and HbA1c. Means were compared using Kruskal-Walli’s or Student's test. Results our study of 80 patients found that, female sex and central obesity were risk factors for hyperuricemia. Prevalence of hyperuricemia and uncontrolled diabetes was respectively 27.5% and 33.8%. The proportion of women with hyperuricemia was significantly higher than that of men (59.1% versus 40.9%, p=0.021) and this inequality of proportion was more marked particularly after 45 years (40% versus 18.8%, p=0.022). Hyperuricemia was not significantly associated to uncontrolled diabetes (OR=2.01 IC (0.73-5.52), p=0.095). Serum uric acid was positively and significantly correlated to glycated hemoglobin (r=0.318, p=0.002) and hyperuricemia was significantly correlated to uncontrolled diabetes (r=0.712, p=0.035). The mean of glycated hemoglobin is abnormal (7.14%) when uric acid level is around 5.75 mg/dl without sex distinction. Conclusion these results suggest that the rate of glycated hemoglobin is associated to serum uric acid variations during type 2 diabetes.
Galectins in Early Pregnancy and Pregnancy-Associated Pathologies

Galectins are a family of conserved soluble proteins defined by an affinity for β-galactoside structures present on various glycoconjugates. Over the past few decades, galectins have been recognized as important factors for successful implantation and maintenance of pregnancy. An increasing number of studies have demonstrated their involvement in trophoblast cell function and placental development. In addition, several lines of evidence suggest their important roles in feto-maternal immune tolerance regulation and angiogenesis. Changed or dysregulated galectin expression is also described in pregnancy-related disorders. Although the data regarding galectins’ clinical relevance are still at an early stage, evidence suggests that some galectin family members are promising candidates for better understanding pregnancy-related pathologies, as well as predicting biomarkers. In this review, we aim to summarize current knowledge of galectins in early pregnancy as well as in pregnancy-related pathologies.
Comparison of Experimental Strategies to Study l-Type Amino Acid Transporter 1 (LAT1) Utilization by Ligands

l-Type amino acid transporter 1 (LAT1), expressed abundantly in the brain and placenta and overexpressed in several cancer cell types, has gained a lot of interest in drug research and development, as it can be utilized for brain-targeted drug delivery, as well as inhibiting the essential amino acid supply to cancer cells. The structure of LAT1 is today very well-known and the interactions of ligands at the binding site of LAT1 can be modeled and explained. However, less is known of LAT1′s life cycle within the cells. Moreover, the functionality of LAT1 can be measured by several different methods, which may vary between the laboratories and make the comparison of the results challenging. In the present study, the usefulness of indirect cis-inhibition methods and direct cellular uptake methods and their variations to interpret the interactions of LAT1-ligands were evaluated. Moreover, this study also highlights the importance of understanding the intracellular kinetics of LAT1-ligands, and how they can affect the regular function of LAT1 in critical tissues, such as the brain. Hence, it is discussed herein how the selected methodology influences the outcome and created knowledge of LAT1-utilizing compounds.
The effects of fatalism and denial on earthquake preparedness levels

Purpose – The purpose of this paper is to investigate the effects of awareness and beliefs on college students’ preparedness for earthquake risks in Lebanon. Design/methodology/approach – A questionnaire was used to investigate Lebanese college students’ (n=901) perceptions and preparedness for earthquake hazards. Three factors were assessed to determine students’ disaster preparedness (DP): hazard and vulnerability awareness (HVA), fatalistic beliefs (FB) and denial beliefs (DB). Findings – The findings indicate an above average level of earthquake HVA among college students. Although the results do not reflect a high tendency towards DB, participants showed some inclinations to FB. Multiple regression showed that earthquake HVA plays the most important role in determining earthquake preparedness while denial and FB have a negative effect on DP. Fatalism is embedded in Middle Eastern societies, so higher education institutions are urged to increase the preparation knowledge of college students. Originali.
Extreme Birth Weight and Metabolic Syndrome in Children

Small and large birth weights (BWs) for gestational age (GA) represent extremes, but the correlation between extreme BW and metabolic syndrome (MetS) has not been fully elucidated. In this study, we examined this correlation in obese children based on changes in their metabolic profile from childhood to adolescence. A retrospective observational study was performed on 535 obese patients aged 0–18 years in the Clinical and Emergency Hospital for Children “Louis Turcanu” in Timisoara, Romania, based on clinical and biological data from January 2015 to December 2019. We emphasized the links between extreme BW and obesity, extreme BW and cardiometabolic risk, obesity and cardiometabolic risk, and extreme BW, obesity and MetS. Children born large for gestational age (LGA) predominated over those born small for gestational age (SGA). Our findings showed that BW has an independent effect on triglycerides and insulin resistance, whereas obesity had a direct influence on hypertension, impaired glucose metabolism and hypertriglyceridemia. The influences of BW and obesity on the development of MetS and its components are difficult to separate; therefore, large prospective studies in normal-weight patients are needed.
Hypothyroidism risk associated with rheumatoid arthritis

Abstract Studies on the thyroid disease risk in patients with rheumatoid arthritis (RA) associated with comorbidities are limited. This population-based retrospective cohort study investigated the hypothyroidism risk in patients with RA and the role of comorbidities. We used Taiwan National Health Insurance Research Database to identify 16,714 RA patients newly diagnosed in 2000 to 2008 and 66,856 control persons without RA, frequency matched by sex, age, and index year. Incidence and the RA group to controls hazard ratio of hypothyroidism were estimated. The hypothyroidism incidence was 1.74-fold higher in the RA group than in controls (16.6 vs 9.52 per 10,000 person–years), with the Cox method estimated adjusted hazard ratio of 1.67 (95% confidence interval = 1.39–2.00) after controlling for covariates. Near 75% of the study population were women, with the incidence 3.6-time higher than men in both groups. The hypothyroidism incidence increased with age, from 12.1 per 1000 person–years in 20 to 39 years to 20.0 per 1000 person–years in 60+ years in RA patients, higher than that in controls (7.17 vs 10.0 per 1000 person–years, respectively by age). Each comorbidity was related to an increased incidence and higher in the RA group than in controls. Among all comorbidities, stroke exerted the greatest impact in the RA group with an adjusted hazard ratio of 3.85 (95% confidence interval = 1.24–12.0). RA patients have an increased risk of developing hypothyroidism; this risk was pronounced in women and the elderly. RA patients should be closely monitored to prevent the development of hypothyroidism.