Miracle-dz/UniFAR-FTUs huggingface dataset:
Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor

The present paper describes the integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains the shape of the surrounding environment to an accuracy of a few centimeters is realized based on input obtained using a scanning laser range sensor. A footstep planner decides the sequence of stepping positions using the obtained terrain shape. A walking controller that can cope with a few centimeters of error in terrain shape measurement is achieved by combining the generation of a 40-ms cycle online walking pattern and a ground reaction force controller with sensor feedback. An operational interface was developed to send commands to the robot. A mixed-reality display was adopted to realize an intuitive interface. The navigation system was implemented on the HRP-2, a full-size humanoid robot. The performance of the proposed system for navigation over unknown rough terrain and the accuracy of the terrain shape measurement were investigated through several experiments.
REJECTION IN LUNG TRANSPLANTATION—AN IMMUNOHISTOCHEMICAL STUDY OF TRANSBRONCHIAL BIOPSIES

The number, distribution, and phenotype of mononuclear cells infiltrating the allograft lung transplant were determined immunohistochemically with monoclonal antibodies directed against cellular antigens (CD3, CD4, CDS, CD22, CD25, CD 16, CD56, CD68, HLA-DR) on frozen sections of transbronchial biopsies. Seventy-two transbronchial biopsies from 21 patients undergoing lung or heart-lung transplantation were evaluated histologically and immunohistologically in a prospective study. Four major results were obtained in the graft lung parenchyma: (1) whatever the histological grading of rejection, T lymphocytes expressing CDS were present and in a significantly higher number than in control subjects (P<0.0005); (2) there was a positive correlation between histological rejection and the number of CD3+, CD8+, CD25+, CD16+ cells (P<0.01); (3) the CD4/CD8 ratio was inverted (0.52 ±0.04), with no correlation with the histological rejection; and (4) the number and
Malignant lymphoma of the lacrimal gland: a nation-based study.

OBJECTIVE To characterize the clinicopathologic features of lacrimal gland lymphoma. METHODS All cases of lacrimal gland lymphoma from January 1, 1975, through December 31, 2009, were retrieved from The Danish Registry of Pathology. Histologic specimens were reevaluated using a panel of monoclonal antibodies. Clinical files from all patients with confirmed lymphoma were collected. RESULTS Twenty-seven patients with lacrimal gland lymphoma were identified. Eight of the patients were men and 19 were women; the median (range) age was 69 (43-87) years. The distribution of lymphoma subtypes was as follows: extranodal marginal zone lymphoma, 10 (37%); follicular lymphoma, 5 (19%); diffuse large B-cell lymphoma, 4 (15%); mantle cell lymphoma, 3 (11%); chronic lymphocytic leukemia/small lymphatic lymphoma, 2 (7%); and unclassified B-cell lymphoma, 3 (11%). Twenty-two patients (81%) had stage I or II lymphoma, 1 patient (4%) had stage III lymphoma, and 4 patients (15%) had stage IV lymphoma. Patients with stage I or II lymphoma were treated with radiotherapy (15 [67%]), chemotherapy (3 [14%]), chemotherapy plus radiotherapy (1 [5%]), and surgery (3 [14%]). Patients presenting with stage III or IV lymphoma were treated with chemotherapy alone. Complete remission was observed in 23 of the patients (85%), although 12 (44%) of these had a relapse, independent of subtype, stage, or treatment. The 5-year overall survival was 70%. CONCLUSIONS Malignant lymphoma of the lacrimal gland is relatively rare and is mostly prevalent in elderly women. The distribution of lacrimal gland lymphoma subtypes resembles that of lymphoma subtypes of the salivary glands. The majority of lacrimal gland lymphomas are low grade, and the prognosis is relatively good.
Training and employee mobility in the British private and public sectors

ABSTRACT The realization of the value of training for employees can take time as the training contributes dynamically to an extended development process. This research examines the empirical returns to training in three post-training situations: when the employee remains in the same job and with the same employer; when the employee transfers to a different job but remains with the same employer (internal mobility); and when the employee moves to a different employer (external mobility). Panel data and fixed effects (FE) methodology are used to quantify the joint effects of in-job training and mobility, while minimizing the potentially biasing effect of unobserved ability. In a period when public sector employment in Britain was contracting sharply, the short-term returns to training are nonetheless greater in the public sector, while the medium-term returns for both public sector and private sector employees depend on remaining within sector. The general/specific training mix, institutional influences, adverse selection, and the concept of ‘transferable’ training, all contribute to interpretation.
Wideband Impedance Model for Coaxial Through-Silicon Vias in 3-D Integration

Coaxial through-silicon via (TSV) is a promising 3-D integration solution, which can offer lower coupling with its surrounding environment and achieve better electromagnetic compatibility and signal integrity than other TSV structures. In this paper, an analytical wideband equivalent circuit model is proposed for the impedance modeling of coaxial TSVs in 3-D integration. Closed-form formulas for calculations of the per-unit-length resistance and the inductance of both the isolation dielectric filled and silicon filled coaxial TSVs are derived from the theory of quasi-magnetostatic fields. These formulas appropriately capture the skin effect in metal as well as the eddy current effect in silicon. Therefore, they yield accurate results comparable with the full-wave solutions in a wideband frequency range.
The Effect of Trade Liberalization on Tax Structure of Pakistan

This study empirically investigates the effect of trade liberalization on tax structure in Pakistan. Autoregressive Distributed Lag approach has been used for examining the cointegration among the variables of the model and Vector Error-Correction method is used for short-run dynamics of the variables. The empirical results show that trade liberalization and trade tax revenue have a negative impact on tax structure in both short and long run. While other control variables, such as budget deficit and external debt servicing is negatively associated with tax structure. The size of the underground economy is used as a proxy for administration capacity, the level of corruption and tax evasion. The empirical results show that the underground economy has also significant negative impact on tax structure. While, real per capita growth, the urban share of population and political stability has a positive impact on tax structure.
Laboratory Evaluation of Thermophilic‐Anaerobic Digestion to Produce Class A Biosolids. 2. Inactivation of Pathogens and Indicator Organisms in a Continuous‐Flow Reactor Followed by Batch Treatment

Thermophilic‐anaerobic digestion in a single‐stage, mixed, continuous‐flow reactor is not approved in the United States as a process capable of producing Class A biosolids for land application. This study was designed to evaluate the inactivation of pathogens and indicator organisms in such a reactor followed by batch treatment in a smaller reactor. The combined process was evaluated at 53°C with sludges from three different sources and at 51 and 55°C with sludge from one of the sources. Feed sludge to the continuous‐flow reactor was spiked with the pathogen surrogates Ascaris suum and vaccine‐strain poliovirus. Feed and effluent were analyzed for these organisms and for indigenous Salmonella spp. , fecal coliforms, Clostridium perfringens spores, and somatic and male‐specific coliphages. No viable Ascaris eggs were observed in the effluent from the continuous reactor at 53 or 55°C, with greater than 2‐log removals across the digester in all cases. Approximately 2‐log removal was observed at 51°C, but all samples of effluent biosolids contained at least one viable Ascaris egg at 51°C. No viable poliovirus was found in the digester effluent at any of the operating conditions, and viable Salmonella spp. were measured in the digester effluent in only one sample throughout the study. The ability of the continuous reactor to remove fecal coliforms to below the Class A monitoring limit depended on the concentration in the feed sludge. There was no significant removal of Clostridium perfringens across the continuous reactor under any condition, and there also was limited removal of somatic coliphages. The removal of male‐specific coliphages across the continuous reactor appeared to be related to temperature. Overall, at least one of the Class A pathogen criteria or the fecal coliform limit was exceeded in at least one sample in the continuous‐reactor effluent at each temperature. Over the range of temperatures evaluated, the maximum time required to meet the Class A criteria by batch treatment of the continuous‐reactor effluent was 1 hour for Ascaris suum and Salmonella spp. and 2 hours for fecal coliforms.
Transdifferentiated circulating monocytes release exosomes containing 14‐3‐3 proteins with matrix metalloproteinase‐1 stimulating effect for dermal fibroblasts

Fibroblasts are major cellular components of healing wounds. In this regard, it remains to be fully understood how different paracrine signals may influence the final collagen/matrix metalloproteinase (MMP) balance in resident fibroblasts. Our previous reports have demonstrated that circulating stem cells and monocytes can be transdifferentiated into “keratinocyte‐like cells” under certain culture conditions. These transformed cells are able to stimulate MMP‐1 expression in dermal fibroblasts. However, the underlying mechanism of this cell‐to‐cell interaction is unknown. This study describes exosomes as a major delivery system that keratinocyte‐like cells use to release proteins into the conditioned media. The exosomes exhibited distinctive size, density, and saucer‐like morphology. Using PKH‐26 and GFP‐adenovirus infection, we demonstrated that exosomes are able to fuse and then release their protein content into dermal fibroblasts. Mass spectrometry and Western blotting identified five 14‐3‐3 isoforms (β, γ, ɛ, τ, and ζ) as MMP‐1 stimulating factors for dermal fibroblasts. Immunoprecipation assays confirmed that these 14‐3‐3 isoforms account for almost the entire MMP‐1 up‐regulation induced by exosomes. In summary, our results demonstrated that circulating monocytes stimulated to be transformed into “keratinocyte‐like cells” could promote an anti‐fibrogenic commitment of dermal fibroblasts via exosomal 14‐3‐3 proteins.
Near‐field radiation of bow‐tie antennas and apertures at optical frequencies

We investigate the ability of the bow‐tie slot antenna to generate intense optical spots below the diffraction limit. A commercially available finite‐difference time‐domain electromagnetic modelling software is used in the numerical simulations. The finite‐difference time‐domain software is first compared to analytical results at optical frequencies to verify its accuracy. We then present numerical simulations for various geometries involving apertures on thin films and the bow‐tie antenna. The transmission efficiency and optical spot size of the bow‐tie antenna are compared with those of rectangular and circular apertures on thin metal films. We also investigate the effects of material composition, frequency, and antenna geometry on the near‐field radiation pattern using numerical simulations.
Selenium‐induced inhibition of angiogenesis in mammary cancer at chemopreventive levels of intake

The trace element nutrient selenium (Se) has been shown to possess cancer‐preventive activity in both animal models and humans, but the mechanisms by which this occurs remain to be elucidated. Because angiogenesis is obligatory for the genesis and growth of solid cancers, we investigated, in the study presented here, the hypothesis that Se may exert its cancer‐preventive activity, at least in part, by inhibiting cancer‐associated angiogenesis. The effects of chemopreventive levels of Se on the intra‐tumoral microvessel density and the expression of vascular endothelial growth factor in 1‐methyl‐1‐nitrosourea–induced rat mammary carcinomas and on the proliferation and survival and matrix metalloproteinase activity of human umbilical vein endothelial cells in vitro were examined. Increased Se intake as Se‐enriched garlic, sodium selenite, or Se‐methylselenocysteine led to a significant reduction of intra‐tumoral microvessel density in mammary carcinomas, irrespective of the manner by which Se was provided: continuous exposure (7‐wk feeding) with a chemoprevention protocol or acute bolus exposure (3 d) after carcinomas had established. Compared with the untreated controls, significantly lower levels of vascular endothelial growth factor expression were observed in a sizeable proportion of the Se‐treated carcinomas. In contrast to the mammary carcinomas, the microvessel density of the uninvolved mammary glands was not altered by Se treatment. In cell culture, direct exposure of human umbilical vein endothelial cells to Se induced cell death predominantly through apoptosis, decreased the gelatinolytic activities of matrix metalloproteinase‐2, or both. These results indicate a potential for Se metabolites to inhibit key attributes (proliferation, survival, and matrix degradation) of endothelial cells critical for angiogenic sprouting. Therefore, inhibition of angiogenesis associated with cancer may be a novel mechanism for the anticancer activity of Se in vivo, and multiple mechanisms are probably involved in mediating the anti‐angiogenic activity. Mol. Carcinog. 26:213–226, 1999. © 1999 Wiley‐Liss, Inc.
Variation in rates of caesarean section among English NHS trusts after accounting for maternal and clinical risk: cross sectional study

Objective To determine whether the variation in unadjusted rates of caesarean section derived from routine data in NHS trusts in England can be explained by maternal characteristics and clinical risk factors. Design A cross sectional analysis using routinely collected hospital episode statistics was performed. A multiple logistic regression model was used to estimate the likelihood of women having a caesarean section given their maternal characteristics (age, ethnicity, parity, and socioeconomic deprivation) and clinical risk factors (previous caesarean section, breech presentation, and fetal distress). Adjusted rates of caesarean section for each NHS trust were produced from this model. Setting 146 English NHS trusts. Population Women aged between 15 and 44 years with a singleton birth between 1 January and 31 December 2008. Main outcome measure Rate of caesarean sections per 100 births (live or stillborn). Results Among 620 604 singleton births, 147 726 (23.8%) were delivered by caesarean section. Women were more likely to have a caesarean section if they had had one previously (70.8%) or had a baby with breech presentation (89.8%). Unadjusted rates of caesarean section among the NHS trusts ranged from 13.6% to 31.9%. Trusts differed in their patient populations, but adjusted rates still ranged from 14.9% to 32.1%. Rates of emergency caesarean section varied between trusts more than rates of elective caesarean section. Conclusion Characteristics of women delivering at NHS trusts differ, and comparing unadjusted rates of caesarean section should be avoided. Adjusted rates of caesarean section still vary considerably and attempts to reduce this variation should examine issues linked to emergency caesarean section.
Development of Optical Metasurfaces: Emerging Concepts and New Materials

The development of optical metamaterials enabled new light-matter interaction effects based on nano-structural engineering rather than the natural properties of the constituent materials. This facilitated applications unachievable with natural materials; however, practical applications of the proposed three-dimensional devices are limited by costly and complicated fabrication. In addition, many experimental realizations of metamaterial-based devices suffer from large losses due to metal inclusions. Recent research approaches have evolved to deal with these challenges on both the structural and the material levels. The rise of optical metasurfaces and the inclusion of alternative plasmonic materials compose two complementary approaches that have recently emerged to improve metamaterial devices, or metadevices. Metasurfaces have enabled a whole new family of planar optical devices through wavefront engineering of light. They are easily assembled and more suitable for on-chip fabrication. Simultaneously, other plasmonic materials including highly doped semiconductor oxides and metal nitrides have extended the spectral performance of plasmonic structures and have realized novel concepts such as epsilon-near-zero operation. They can also meet application-specific challenges associated with high power signals and local heating. In addition, their tunable optical properties enabled by free carrier modulation provide a strong avenue to build active metasurfaces and metadevices.
Development of a 6GHz resonator by using an AlN diamond structure

We have developed a diamond SAW resonator capable of over 3 GHz using a SiO2/IDT/AlN/diamond structure. The structure enables a thicker Al-IDT and a lower series resistance for the SAW resonator based on FEM calculation results. These attributes lead to low insertion loss for SAW devices over 3 GHz compared to SiO2/IDT/ZnO/diamond structures. A 2port 6.4 GHz resonator was fabricated and has successfully achieved a low insertion loss at 6.6 dB, a Q value of 450, and a low TCF. It was also found that the low propagation loss of SAW, 0.03 dB/wavelength, was achieved at 6 GHz using the AlN thin film as a piezoelectric material instead of the ZnO thin film.
Asymmetric impact of relative price shocks in presence of trend inflation

ABSTRACT This study examines whether skewness of cross-sectional distribution of relative price shocks has asymmetric impact on aggregate inflation. The empirical evidence from major economies suggests that the positively skewed shocks have different impact from that of negatively skewed shocks on aggregate inflation. In particular, the empirical results indicate that this asymmetry in the impact of relative price shocks mainly depends on the nature of trend that inflation exhibits for a given period. The crucial inference that emerges from the empirical findings is that the traditional approach of using a simple linear regression model, to examine the relationship between inflation and skewness in presence of trend inflation, is not appropriate as it may lead to misleading conclusions.
Rickettsia prowazekii requires host cell serine and glycine for growth

The growth requirement of Rickettsia prowazekii for the amino acids serine and glycine was assessed in both wild-type cell lines and a mutant cell line. X-irradiated L929 cells supported the growth of R. prowazekii when the cells were incubated in Eagle minimal essential medium supplemented with serum. In contrast, in this medium, X-irradiated Vero cells did not support the growth of rickettsiae unless cycloheximide, serine, or glycine was added. Other nonessential amino acids, additional glucose, and potential products of host cell metabolism of serine and glycine were nonstimulatory. The concentration of serine or glycine required to support rickettsial growth had no effect on the doubling time of uninfected, unirradiated Vero cells. A comparison of intracellular amino acid pools indicated that the serine and glycine concentrations in mock-infected Vero cells were approximately 31 and 14% of the respective concentrations in mock-infected L929 cells. The pools of both amino acids in Vero cells increased markedly upon treatment of the cells with cycloheximide. Interconversion of serine and glycine catalyzed by serine hydroxymethyltransferase was detected in cell-free extracts of purified rickettsiae. However, this enzymatic activity did not permit rickettsial growth in a glycine-requiring clone (772-56d) of the Chinese hamster ovary cell CHO-K1 in the absence of glycine supplementation. These data indicate that R. prowazekii depends on the host cell for serine or glycine.
Field Programmable Gate Array Implementation of Neuronal Ion Channel Dynamics

Neuron-machine interfaces such as dynamic clamp and brain-implantable neuro-prosthetic devices require real-time simulations of neuronal ion channel dynamics. Field programmable gate array (FPGA) has emerged as a high-speed digital platform for application-specific computation devices. Here, we present an FPGA design of a neuromorphic Hebbian synapse which mimics the NMDA and non-NMDA ion channel dynamics observed experimentally in hippocampal neurons. The proposed design can be readily extended to high-speed implementations of dynamic clamp and neuroprosthetics as replacements for damaged neurons in the brain
A New Reconstruction Approach to Compressed Sensing

Compressed sensing is a new concept in signal processing where one seeks to minimize the number of measurements to be taken from signals while still retaining the information necessary to approximate them well. Nonlinear algorithms, such as l1 norm optimization problem, are used to reconstruct the signal from the measured data. This paper proposes a maximum entropy function method which intimately relates to homotopy method as a computational approach to solve the l1 optimization problem. Maximum entropy function method makes it possible to design random measurements which contain the information necessary to reconstruct signal with accuracy. Both the theoretical evidences and the extensive experiments show that it is an effective technique for signal reconstruction. This approach offers several advantages over other methods, including scalability and robustness.
The Influence of Initial Management and Family Stress on Metabolic Control in Children with Type 1 Diabetes

The aim was to assess whether temporal changes in the initial management for children diagnosed with type 1 diabetes over a ten year period affected metabolic control two years after diagnosis. A further aim was to investigate if social factors, registered at diagnosis, had an impact on metabolic control two years after diagnosis. During the years 1997-2006, 247 children and adolescents were diagnosed with type 1 diabetes at a University Hospital in Sweden. The analysed data included HbA1c, pH at diagnosis, initial intravenous insulin infusion and length of hospital stay at diagnosis, subcutaneous insulin type, number of diabetes check-up visits, emergency visits, re-admissions and social factors. Length of hospital stay decreased significantly over the ten year period. Neither hospital stay nor differences in insulin treatment was significantly correlated with children's metabolic control over time. Length of hospital stay was not related with families' social stress situation. However, girls in families with more family stress at the time of diagnosis had higher HbA1c during follow-up than girls with less family stress or boys. Factors of importance for the child's long-term metabolic control need to be further investigated so the initial management can be tailored to each individual family's needs. This would imply an effective utilization of both families' and health care resources.