Miracle-dz/UniFAR-FTUs huggingface dataset:
Hand-eye calibration with a depth camera: 2D or 3D?

Real time 3D imaging applications such as on the fly 3D inspection or 3D reconstruction can be created by rigidly coupling a depth camera with an articulated measurement arm or a robot. For such applications, the “hand-eye transformation” between the depth camera and the measurement arm needs to be known. For depth cameras, the hand-eye transformation can either be estimated using 2D images or the 3D measurements captured by the depth camera. This paper investigates the comparison between 2D image based and 3D measurement based hand-eye-calibration. First, two hand-eye calibration approaches are introduced which differ in the way the camera pose is estimated (either with 2D or with 3D data). The main problem in view of the evaluation is, that the ground truth hand-eye transformation is not available and thus a direct evaluation of the accuracy is not possible. Therefore, we introduce quantitative 2D and 3D error measures that allow for an implicit evaluation of the accuracy of the calibration without explicitly knowing the real ground truth transformation. In view of 3D precision, the 3D calibration approach provides more accurate results on average but requires more manual preparation and much more computation time than the 2D approach.
Dynamics of dissipative gravitational collapse

The Misner and Sharp approach to the study of gravitational collapse is extended to the dissipative case in, both, the streaming out and the diffusion approximations. The role of different terms in the dynamical equation are analyzed in detail. The dynamical equation is then coupled to a causal transport equation in the context of Israel-Stewart theory. The decreasing of the inertial mass density of the fluid, by a factor which depends on its internal thermodynamics state, is reobtained, at any time scale. In accordance with the equivalence principle, the same decreasing factor is obtained for the gravitational force term. Prospective applications of this result to some astrophysical scenarios are discussed.
A history of the Asian monsoon and its interactions with solid Earth tectonics in Cenozoic South Asia

Abstract Although there is some evidence for an Eocene monsoon, the most important intensification of rainfall appears to start at c. 24 Ma in the Early Miocene. Many palaeoceanographical proxies for monsoon intensity are linked to wind and do not correlate well with humidity of the continental climate over tectonic timescales. Rainfall peaked in the middle Miocene (c. 15 Ma) with strong drying after 8 Ma. This timing does not correlate well with either initial uplift of the Tibetan Plateau or with the retreat of shallow seas from central Asia. The c. 24 Ma onset of strengthening rainfall is associated with the initiation of rapid erosion and cooling of Himalayan metamorphic rocks. The progressive detachment of the subducting Indian lithosphere from the eastern and western syntaxes at c. 25 Ma to the east-central Himalaya at c. 13–11 Ma would have produced corresponding propagation of rising Himalayan topography following release of the weight of the detached slab. Rapid uplift of the Himalayan barrier, blocking moisture-laden winds, is considered the most likely trigger for a stronger summer monsoon in South Asia, which in turn allowed faster erosion and exhumation of the Greater Himalaya after 24 Ma.
Integrated probabilistic approach to environmental perception with self-diagnosis capability for advanced driver assistance systems

In this article, a general probabilistic approach to multisensorial environmental perception of advanced driver assistance systems (ADAS) is presented. This approach incorporates sensor data fusion with self-diagnosis capability and maneuver level intent estimation of detected objects. Thus, the quality of environmental perception is continuously monitored and the intents of the traffic participants are predicted. The resulting probabilities are uniform and consistent basis and reflect the reliability of the results. This knowledge is an important prerequisite for the development of future complex and robust driver assistance systems. The presented approach is based on Bayesian networks (BN), an intuitive and simultaneously powerful form of the probability theory. This approach was demonstrated by means of an Integrated Lateral Assistance System within the German research initiative AKTIV.
Gene Expression in Obliterative Bronchiolitis-Like Lesions in 2,3-Pentanedione-Exposed Rats

Obliterative bronchiolitis (OB) is an irreversible lung disease characterized by progressive fibrosis in the small airways with eventual occlusion of the airway lumens. OB is most commonly associated with lung transplant rejection; however, OB has also been diagnosed in workers exposed to artificial butter flavoring (ABF) vapors. Research has been limited by the lack of an adequate animal model of OB, and as a result the mechanism(s) is unclear and there are no effective treatments for this condition. Exposure of rats to the ABF component, 2,3-pentanedione (PD) results in airway lesions that are histopathologically similar to those in human OB. We used this animal model to evaluate changes in gene expression in the distal bronchi of rats with PD-induced OB. Male Wistar Han rats were exposed to 200 ppm PD or air 6 h/d, 5 d/wk for 2-wks. Bronchial tissues were laser microdissected from serial sections of frozen lung. In exposed lungs, both fibrotic and non-fibrotic airways were collected. Following RNA extraction and microarray analysis, differential gene expression was evaluated. In non-fibrotic bronchi of exposed rats, 4683 genes were significantly altered relative to air-exposed controls with notable down-regulation of many inflammatory cytokines and chemokines. In contrast, in fibrotic bronchi, 3807 genes were significantly altered with a majority of genes being up-regulated in affected pathways. Tgf-β2 and downstream genes implicated in fibrosis were significantly up-regulated in fibrotic lesions. Genes for collagens and extracellular matrix proteins were highly up-regulated. In addition, expression of genes for peptidases and peptidase inhibitors were significantly altered, indicative of the tissue remodeling that occurs during airway fibrosis. Our data provide new insights into the molecular mechanisms of OB. This new information is of potential significance with regard to future therapeutic targets for treatment.
Title Pathological Features of New Animal Models for Primary Biliary Cirrhosis

*KURAに登録されているコンテンツの利用については,著作権法に規定されている私的使用や引用などの範囲内で行ってください。 *著作権法に規定されている私的使用や引用などの範囲を超える利用を行う場合には,著作権者の許諾を得てください。 ただし,著作権者 から著作権等管理事業者(学術著作権協会,日本著作出版権管理システムなど)に権利委託されているコンテンツの利用手続については ,各著作権等管理事業者に確認してください。 Title Pathological Features of New Animal Models for Primary Biliary Cirrhosis Author(s) Tsuneyama, Koichi; Moritoki, Yuki; Kikuchi, Kentaro; Nakanuma, Yasuni Citation International Journal of Hepatology, 2012: 403954 Issue Date 2012 Type Journal Article Text version publisher URL http://hdl.handle. net/2297/31482 Right
Predictors of tuberculosis knowledge, attitudes and practices in urban slums in Nigeria: a cross-sectional study

Introduction Nigeria is among six countries responsible for the majority of tuberculosis (TB) cases in the world. The Nigerian government has emphasized community-based case finding to increase detection of TB. This process requires efforts to improve knowledge, attitudes and practices (KAP) of TB, particularly in the poorest of communities. This study presents data from a KAP survey administered in two underserved Nigerian communities. Methods a structured survey was administered by trained interviewers among adult residents in two slum communities in Lagos, Nigeria. Participants were selected through multistage random sampling. KAP scores were computed and the predictors of higher scores were assessed. Results a total of 504 respondents were surveyed. The mean KAP scores were relatively low: 9.8 ± 7.1 for knowledge (out of a maximum 34), 5.3 ± 3.4 for attitude (maximum = 10), and 5.2 ± 1.5 for practice (maximum = 7). The predictors of good knowledge were increasing age, post secondary education and professional occupation. The predictors of positive attitude were post secondary education and good TB knowledge. Good knowledge was a predictor of good practice Conclusion our findings underscore the need to improve the education about TB in underserved communities. Improving KAP scores will ultimately lead to higher rates of TB detection and treatment.
A Semidefinite Programming Approach to Min-max Estimation of the Common Part of Acoustic Feedback Paths in Hearing Aids

The convergence speed and the computational complexity of adaptive feedback cancellation algorithms both depend on the number of adaptive parameters used to model the acoustic feedback paths. To reduce the number of adaptive parameters it has been proposed to decompose the acoustic feedback paths as the convolution of a time-invariant common part and time-varying variable parts. Instead of estimating all parameters of the common and variable parts by minimizing the misalignment using a least-squares cost function, in this paper we propose to formulate the parameter estimation problem as a min-max optimization problem aiming to maximize the maximum stable gain (MSG). We formulate the min-max optimization problem as a semidefinite program and use a constraint based on Lyapunov theory to guarantee stability of the estimated common pole-zero filter. Experimental results using measured acoustic feedback paths show that the proposed min-max optimization outperforms least-squares optimization in terms of the MSG. Furthermore, the results indicate that the proposed common part decomposition is able to increase the MSG and reduce the number of variable part parameters even for unknown feedback paths that were not included in the optimization. Simulation results using an adaptive feedback cancellation algorithm based on the prediction-error-method show that the convergence speed can be increased by using the proposed feedback path decomposition.
Focused Plenoptic Camera and Rendering Focused Plenoptic Camera and Rendering

Plenoptic cameras, constructed with internal microlens arrays, capture both spatial and angular information, i.e., the full four-dimensional radiance, of a scene. The design of traditional plenoptic cameras assumes that each microlens image is completely defocused with respect to the image created by the main camera lens. As a result, only a single pixel in the final image is rendered from each microlens image, resulting in disappointingly low resolution. A recently developed alternative approach based on the focused plenoptic camera uses the microlens array as an imaging system focused on the image plane of the main camera lens. The flexible spatio-angular tradeoff that becomes available with this design enables rendering of final images with significantly higher resolution than those from traditional plenoptic cameras. In this paper we analyze the focused plenoptic camera in optical phase space and present a series of rendering algorithms for producing high-quality high-resolution images. We also present our GPU-based implementations of these algorithms, which are able to render full screen refocused images in real time.
Foil-based atom chip for Bose-Einstein condensates

We describe a novel method of fabricating atom chips that are well suited to the production and manipulation of atomic Bose–Einstein condensates. Our chip was created using a silver foil and simple micro-cutting techniques without the need for photolithography. It can sustain larger currents than conventional chips, and is compatible with the patterning of complex trapping potentials. A near pure Bose–Einstein condensate of 4 × 104 87Rb atoms has been created in a magnetic microtrap formed by currents through wires on the chip. We have observed the fragmentation of atom clouds in close proximity to the silver conductors. The fragmentation has different characteristic features to those seen with copper conductors.
Randomised Double-Blind Comparison of Placebo and Active Drugs for Effects on Risks Associated with Blood Pressure Variability in the Systolic Hypertension in Europe Trial

Background In the Systolic Hypertension in Europe trial (NCT02088450), we investigated whether systolic blood pressure variability determines prognosis over and beyond level. Methods Using a computerised random function and a double-blind design, we randomly allocated 4695 patients (≥60 years) with isolated systolic hypertension (160–219/<95 mm Hg) to active treatment or matching placebo. Active treatment consisted of nitrendipine (10–40 mg/day) with possible addition of enalapril (5–20 mg/day) and/or hydrochlorothiazide (12.5–25.0 mg/day). We assessed whether on-treatment systolic blood pressure level (SBP), visit-to-visit variability independent of the mean (VIM) or within-visit variability (WVV) predicted total (n = 286) or cardiovascular (n = 150) mortality or cardiovascular (n = 347), cerebrovascular (n = 133) or cardiac (n = 217) endpoints. Findings At 2 years, mean between-group differences were 10.5 mm Hg (p<0.0001) for SBP, 0.29 units (p = 0.20) for VIM, and 0.07 mm Hg (p = 0.47) for WVV. Active treatment reduced (p≤0.048) cardiovascular (−28%), cerebrovascular (−40%) and cardiac (−24%) endpoints. In analyses dichotomised by the median, patients with low vs. high VIM had similar event rates (p≥0.14). Low vs. high WVV was not associated with event rates (p≥0.095), except for total and cardiovascular mortality on active treatment, which were higher with low WVV (p≤0.0003). In multivariable-adjusted Cox models, SBP predicted all endpoints (p≤0.0043), whereas VIM did not predict any (p≥0.058). Except for an inverse association with total mortality (p = 0.042), WVV was not predictive (p≥0.15). Sensitivity analyses, from which we excluded blood pressure readings within 6 months after randomisation, 6 months prior to an event or both were confirmatory. Conclusions The double-blind placebo-controlled Syst-Eur trial demonstrated that blood-pressure lowering treatment reduces cardiovascular complications by decreasing level but not variability of SBP. Higher blood pressure level, but not higher variability, predicted risk. Trial Registration ClinicalTrials.gov NCT02088450
How frequency affects recency judgments: a model for recency discrimination.

Previous evidence that repetition of an item in a list enhances that item's recency relative to other items has been interpreted as favoring a memory strength theory of recency discrimination. However, serious doubt has been cast upon the validity of the strength theory by experiments such as that of Hintzman and Block, which instead favor a multitrace representation for repetitions of an item. The present experiments test two plausible interpretations of the effect of frequency on relative recency judgments. The first, that low frequencies result in poor recognition memory, hence poorer recency discrimination, is discounted in Experiment I, which still found sizeable frequency effects on relative recency judgments even when considering only recognized items. A multiple-trace theory of contextual time tagging was then proposed to account for the effects of event frequency on subjective recency. Experiment II, which collected event frequency as well as relative recency judgments, yielded data which were fit quantitatively by the multiple-trace time tagging theory. It was found, too, that relative "distance" judgments were not psychologically symmetric to relative recency judgments—a result not predicted by the time tagging model.
Multimodal information presentation for high-load human computer interaction

This dissertation addresses the question: given an application and an interaction context, how can interfaces present information to users in a way that improves the quality of interaction (e.g. a better user performance, a lower cognitive demand and a greater user satisfaction)? Information presentation is critical to the quality of interaction because it guides, constrains and even determines cognitive behavior. A good presentation is particularly desired in high-load human computer interactions, such as when users are under time pressure, stress, or are multi-tasking. Under a high mental workload, users may not have the spared cognitive capacity to cope with the unnecessary workload induced by a bad presentation. In this dissertation work, the major presentation factor of interest is modality. We have conducted theoretical studies in the cognitive psychology domain, in order to understand the role of presentation modality in different stages of human information processing. Based on the theoretical guidance, we have conducted a series of user studies investigating the effect of information presentation (modality and other factors) in several high-load task settings. The two task domains are crisis management and driving. Using crisis scenario, we investigated how to presentation information to facilitate time-limited visual search and time-limited decision making. In the driving domain, we investigated how to present highly-urgent danger warnings and how to present informative cues that help drivers manage their attention between multiple tasks. The outcomes of this dissertation work have useful implications to the design of cognitively-compatible user interfaces, and are not limited to high-load applications.
Multi-similarity matrices of eye movement data

We describe a matrix-based visualization technique for algorithmically and visually comparing metrics in eye movement data. To reach this goal, a set of scanpath trajectories is ﬁrst preprocessed andtransformedintoasetofmetricsdescribingcommonalitiesand differences of eye movement trajectories. To keep the generated diagrams simple, understandable, and free of visual clutter we visuallyencodethegenerateddatasetintothecellsofamatrix. Apart from just incorporating one individual metric of the dataset into a matrixcell,weextendthisstandardvisualizationbyadimensionalstackingapproachsupportingthedisplayofseveralofthosemetrics integrated into one matrix cell. To further improve the readability and pattern ﬁnding among those values, our approach supports a metric-based clustering and further interaction techniques to manipulate the data and to navigate in it. To illustrate the usefulness of the system, we applied it to an eye movement dataset about the readingbehaviorofmetromaps. Finally,wediscusslimitationsand scalability issues of the approach.
Scaling MPE Inference for Constrained Continuous Markov Random Fields with Consensus Optimization

Probabilistic graphical models are powerful tools for analyzing constrained, continuous domains. However, finding most-probable explanations (MPEs) in these models can be computationally expensive. In this paper, we improve the scalability of MPE inference in a class of graphical models with piecewise-linear and piecewise-quadratic dependencies and linear constraints over continuous domains. We derive algorithms based on a consensus-optimization framework and demonstrate their superior performance over state of the art. We show empirically that in a large-scale voter-preference modeling problem our algorithms scale linearly in the number of dependencies and constraints.
Utilizing Computational Intelligence to Assist in Software Release Decision

Defect tracking using computational intelligence methods is used to predict software readiness in this study. By comparing predicted number of faults and number of faults discovered in testing, software managers can decide whether the software are ready to be released or not. Our predictive models can predict: (i) the number of faults (defects), (ii) the amount of code changes required to correct a fault and (iii) the amount of time (in minutes) to make the changes in respective object classes using software metrics as independent variables. The use of neural network model with a genetic training strategy is introduced to improve prediction results for estimating software readiness in this study. Our prediction model is divided into three parts: (1) prediction model for Presentation Logic Tier software components (2) prediction model for Business Tier software components and (3) prediction model for Data Access Tier software components. Existing object-oriented metrics and complexity software metrics are used in the Business Tier neural network based prediction model. New sets of metrics have been defined for the Presentation Logic Tier and Data Access Tier. These metrics are validated using two sets of real world application data, one set was collected from a warehouse management system and another set was collected from a corporate information system.
A Secure and Lightweight User Authentication Scheme with Anonymity for the Global Mobility Network

Designing a user authentication protocol with anonymity for the global mobility network (GLOMONET) is a difficult task because wireless networks are more susceptible to attacks and each user has limited energy, processing and storage resources. Recently, some authentication schemes with user anonymity for the GLOMONET have been proposed. This paper shows some weaknesses in those schemes. As the main contribution of this paper, a secure and lightweight user authentication scheme with anonymity is presented. It mainly uses low-cost functions such as one-way hash functions and exclusive-OR operations to achieve security. Having these features, it is more suitable for the energy-limited mobile devices. In addition, the home agent only needs to receive one message and send one message to authenticate the mobile user. Therefore, this protocol enjoys both computation and communication efficiency as compared to the well-known authentication schemes. Besides, it is demonstrated that the proposed scheme enjoys important security attributes such as preventing the various kinds of attacks, single registration, user anonymity, user friendly, no password/verifier table, no synchronized time mechanisms, high efficiency in password authentication, use of one-time session key between mobile user and foreign agent, etc. Furthermore, one of the new features in our proposal is: it is secure in the case that the information stored in the smart card is disclosed but the user password of the smart card owner is unknown to the adversary.
Development of a PCR assay for rapid diagnosis of Mycobacterium ulcerans infection

The diagnosis of Mycobacterium ulcerans infection is hampered by the slow growth of the bacterium in culture, resulting in a delay of several months before a specific diagnosis can be obtained. In addition, M. ulcerans cannot be isolated from water even when there is convincing epidemiological evidence implicating this as the source of infection. The aim of the present study was to develop a PCR assay to circumvent the problems of delayed diagnosis and insensitivity of standard bacterial culture for M. ulcerans. For the PCR, we isolated an M. ulcerans-specific DNA fragment, 1,109 bp long, which is repeated at least 50 times throughout the genome. Use of this sequence as a target for PCR allowed us to detect as few as 2 molecules of genomic DNA in vitro. The PCR was used to detect M. ulcerans DNA in fresh tissue and paraffin-embedded sections from all seven patients with culture-confirmed cases of infection.