Miracle-dz/UniFAR-FTUs huggingface dataset:
SalientDSO: Bringing Attention to Direct Sparse Odometry

Although cluttered indoor scenes have a lot of useful high-level semantic information which can be used for mapping and localization, most visual odometry (VO) algorithms rely on the usage of geometric features such as points, lines, and planes. Lately, driven by this idea, the joint optimization of semantic labels and estimating odometry has gained popularity in the robotics community. This joint optimization method is accurate but is generally very slow. At the same time, in the vision community, direct and sparse approaches for VO have stricken the right balance between speed and accuracy. We merge the successes of these two communities and present a preprocessing method to incorporate semantic information in the form of visual saliency to direct sparse odometry (DSO)—a highly successful direct sparse VO algorithm. We also present a framework to filter the visual saliency based on scene parsing. Our framework SalientDSO relies on the widely successful deep learning-based approaches for visual saliency and scene parsing, which drives the feature selection for obtaining highly accurate and robust VO even in the presence of as few as 40 point features per frame. We provide an extensive quantitative evaluation of SalientDSO on the ICL-NUIM and the TUM monoVO data sets and show that we outperform DSO and ORB-simultaneous localization and mapping—two very popular state-of-the-art approaches in the literature. We also collect and publicly release a CVL-UMD data set which contains two indoor cluttered sequences on which we show qualitative evaluations. To the best of our knowledge, this is the first paper to use visual saliency and scene parsing to drive the feature selection in direct VO. Note to Practitioners—The algorithm of estimating the camera motion from a set of moving camera frames/images is commonly called VO. This problem has many applications ranging from building a 3-D map of the scene for the robot to navigate, grasp, and so on. Any VO algorithm must be fast, robust, and with low drift (low accumulation in error). These desired functions are generally obtained by selecting “good” features in an image, which, in the computer vision sense, turns out to be “corners. ” However, when we constrain the setting to an indoor scene with a lot of clutter, we have a lot of objects which can be used to obtain “good” features from both a computer vision sense and a conceptual sense. We use this philosophy and present a preprocessing method to select better features as compared to a traditional VO pipeline using only geometric features and improve the robustness of the state-of-the-art VO method: direct sparse odometry, obtaining more accurate and robust results even with the lesser number of features. We evaluate our methods on three different data sets: ICL-NUIM, TUM monoVO, and CVL-UMD. We collected a custom dataset we call CVL-UMD to demonstrate the robustness of our approach, namely, SalientDSO in cluttered indoor scenes.
Optimization of an aqueous-alcohol washing process for production of protein concentrates from air-classified field pea

Air classification is a process used to prepare starch-rich and protein-rich fractions from finely-milled pulse (starchy grain legume) flours, principally those from field pea. The protein fraction obtained by air classification of field pea flour contains 50-55% protein and hence does not qualify as a true concentrate which, by definition, must contain 65% or more of protein on a moisture-free basis. Previous work has shown that products qualifying as true concentrates, and having potentially useful physico-chemical properties, can be prepared from air-classified pea protein by processes such as alkaline extraction, isoelectric washing and aqueous-alcohol washing, processes that are used or have been used in the manufacture of concentrated soy protein products. In this study, protein concentrates were prepared from air-classified pea protein by optimization of an aqueous-alcohol washing process. Both aqueous-ethanol and aqueous- isopropanol were used as solvents. The effects of extraction conditions - alcohol concentration (50- 70%), extraction temperature (20-60°C) and extraction time (5-15 min) - were determined using a Box Behnken response surface experimental design. The effects of these treatments on the yield and protein content of the resultant protein concentrate were determined.
Neuroblast niche position is controlled by Phosphoinositide 3-kinase-dependent DE-Cadherin adhesion

Correct positioning of stem cells within their niche is essential for tissue morphogenesis and homeostasis. How stem cells acquire and maintain niche position remains largely unknown. Here, we show that a subset of brain neuroblasts (NBs) in Drosophila utilize Phosphoinositide 3-kinase (PI3-kinase) and DE-cadherin to build adhesive contact for NB niche positioning. NBs remain within their native microenvironment when levels of PI3-kinase activity and DE-cadherin are elevated in NBs. This occurs through PI3-kinase-dependent regulation of DE-Cadherin-mediated cell adhesion between NBs and neighboring cortex glia, and between NBs and their ganglion mother cell daughters. When levels of PI3-kinase activity and/or DE-Cadherin are reduced in NBs, NBs lose niche position and relocate to a non-native brain region that is rich in neurosecretory neurons, including those that secrete some of the Drosophila insulin-like peptides. Linking levels of PI3-kinase activity to the strength of adhesive attachment could provide cancer stem cells and hematopoietic stem cells with a means to cycle from trophic-poor to trophic-rich microenvironments. Summary: PI3-kinase-dependent regulation of DE-cadherin controls cell adhesion between Drosophila neuroblasts and neighboring cortex glia, and between neuroblasts and their daughter cells.
Effect of storage condition on bone breaking strength and bone ash in laying hens at different stages in production cycles.

This study was conducted to determine the effects of refrigeration and frozen storage on tibia breaking strength (kg/g) and tibia ash (%) in bones obtained from hens of different ages. A total of 75 Single Comb White Leghorn hens were divided into three equal groups according to age (72, 80, and 92 wk of age). Both tibias of each hen were harvested and immediately defleshed. The tibias from each hen were randomly assigned to either 1 d of refrigeration or 7 d of frozen storage. Tibia breaking strengths were determined using an Instron Universal Testing Machine with 50-kg-load cell at 50-kg-load range with a crosshead speed of 50 mm/min. Tibia ash weights were determined by ashing for 24 h at 615 degrees C. Bone breaking strength in 72 wk of age hens was significantly (P < 0.05) higher in refrigerated tibias (2.48 kg/g) than those in frozen storage (1.75 kg/g). However, there was no difference (P > 0.05) for bone ash (percentage of tibia ash) in all three groups between refrigerated storage (72 wk: 38.840%, 80 wk: 46.40%, 92 wk: 46.99%) and frozen storage (72 wk: 39.12%, 80 wk: 44.88%, 92 wk: 45.35%). This study indicated that frozen storage only influenced assessment of bone strength in 72-wk-old laying hens but could be used for sample storage of bones from older hens.
Stochastic Simulation of Biomolecular Networks in Dynamic Environments

Simulation of biomolecular networks is now indispensable for studying biological systems, from small reaction networks to large ensembles of cells. Here we present a novel approach for stochastic simulation of networks embedded in the dynamic environment of the cell and its surroundings. We thus sample trajectories of the stochastic process described by the chemical master equation with time-varying propensities. A comparative analysis shows that existing approaches can either fail dramatically, or else can impose impractical computational burdens due to numerical integration of reaction propensities, especially when cell ensembles are studied. Here we introduce the Extrande method which, given a simulated time course of dynamic network inputs, provides a conditionally exact and several orders-of-magnitude faster simulation solution. The new approach makes it feasible to demonstrate—using decision-making by a large population of quorum sensing bacteria—that robustness to fluctuations from upstream signaling places strong constraints on the design of networks determining cell fate. Our approach has the potential to significantly advance both understanding of molecular systems biology and design of synthetic circuits.
The Biomechanics of Zygomatic Arch Shape

Mammalian zygomatic arch shape is remarkably variable, ranging from nearly cylindrical to blade‐like in cross section. Based on geometry, the arch can be hypothesized to be a sub‐structural beam whose ability to resist deformation is related to cross sectional shape. We expect zygomatic arches with different cross sectional shapes to vary in the degree to which they resist local bending and torsion due to the contraction of the masseter muscle. A stiffer arch may lead to an increase in the relative proportion of applied muscle load being transmitted through the arch to other cranial regions, resulting in elevated cranial stress (and thus, strain). Here, we examine the mechanics of the zygomatic arch using a series of finite element modeling experiments in which the cross section of the arch of Pan troglodytes has been modified to conform to idealized shapes (cylindrical, elliptical, blade‐like). We find that the shape of the zygomatic arch has local effects on stain that do not conform to beam theory. One exception is that possessing a blade‐like arch leads to elevated strains at the postorbital zygomatic junction and just below the orbits. Furthermore, although modeling the arch as solid cortical bone did not have the effect of elevating strains in other parts of the face, as had been expected, it does have a small effect on stress associated with masseter contraction. These results are counterintuitive. Even though the arch has simple beam‐like geometry, we fail to find a simple mechanical explanation for the diversity of arch shape. Anat Rec, 299:1734–1752, 2016. © 2016 Wiley Periodicals, Inc.
Decomposition and construction of object based on law of closure in Gestalt psychology

People can easily perceive object with incompletion boundary or combination of discontinuous edges. However, common approaches are difficult to segment an entire object without referring to completion contour. This paper introduces a scheme to reify an object based on law of closure in Gestalt psychology. The proposed scheme acquires initial boundaries and edges in advance, and then divides boundary into small edges according to key vertices on boundaries. Applying approximate line and approximate ellipse/circle to two edges, it determines whether two edges are highly related to each other or not. Consequently, path searching is implemented on all edges to find closed loop as well as to construct object with completion contour.
Rasch Analysis of the Standard Patient Evaluation of Eye Dryness Questionnaire

Background: This study sought to investigate, if the Standard Patient Evaluation of Eye Dryness (SPEED) questionnaire acts as a measure of dry eye severity and whether it is unidimensional using Rasch analysis. Methods: This is a hospital-based cross-sectional study. The study included 127 patients with glaucoma with either a clinical diagnosis of dry eye or an Ocular Surface Disease Index score of ≥13. Participants completed questionnaires (SPEED) delivered directly to them. Results: A total of 127 participants met the inclusion criteria and were included in the analysis. Category response analysis revealed that the average logit measures for the response category increased with higher response category from −4.93 to +5.41 logit. Item infit mean square statistics of the individual items ranged from 0.57 to 1.33, with a mean of 0.99±0.2. The individual item outfit mean square ranged from 0.58 to 1.36, with a mean of 1.02±0.0. The person separation index (PSI) and separation reliability of the SPEED were 2.23 and 0.83, respectively. Principal component analysis (PCA) of the standardized model residuals revealed evidence of multidimensionality, with first contrast eigenvalue of 2.5 and the second contrast eigenvalue of 1.7. Because fit statistics of all items were within 0.5 to 1.7 and considered adequate for clinical observations, no item was removed. However, the six items of the SPEED that asked about the commonest dry eye symptoms as reported by patients with dry eye were analyzed separately to determine how they behaved. The item fit statistics of these six items were within the range of 0.6 to 1.4. The outfit statistics range from 0.62 to 1.26, with a mean of 1.00±0.1. The infit statistics range from 0.61 to 1.24, with a mean of 0.99±0.2. The PSI and reliability were 2.2 and 0.83, respectively. Finally, PCA of the standardized model residuals revealed no evidence of multidimensionality, with first contrast eigenvalue of 2.0. Conclusion: In summary, this study showed that the SPEED had an ordered response category and was a measure of dry eye severity. However, PCA of the standardized model residuals revealed evidence of multidimensionality. A proposed six-item SPEED was unidimensional and was also a measure of disease severity. Hence, the SPEED questionnaire score may be used as a measure of dry eye severity in clinical practice and epidemiological studies.
Al-Based Energetic Nanomaterials: Design, Manufacturing, Properties and Applications

This book has a bottom-up structure, from nanomaterials synthesis to the application fields. Starting from aluminum nanoparticles synthesis for fuel application, it proposes a detailed state-of-the art of the different methods of preparation of aluminum-based reactive nanomaterials. It describes the techniques developed for their characterization and, when available, a description of the fundamental mechanisms responsible for their ignition and combustion. This book also presents the possibilities and limitations of different energetic nanomaterials and related structures as well as the analysis of their chemical and thermal properties. The whole is rounded off with a look at the performances of reactive materials in terms of heat of reaction and reactivity mainly characterized as the self-sustained combustion velocity. The book ends up with a description of current reactive nanomaterials applications underlying the promising integration of aluminum-based reactive nanomaterial into micro electromechanical systems.
Sequelae of multidrug-resistant tuberculosis: protocol for a systematic review and meta-analysis

Introduction The sequelae of multidrug-resistant tuberculosis (MDR-TB) are poorly understood and inconsistently reported. We will aim to assess the existing evidence for the clinical, psychological, social and economic sequelae of MDR-TB and to assess the health-related quality of life in patients with MDR-TB. Methods and analysis We will perform a systematic review and meta-analysis of published studies reporting sequelae of MDR-TB. We will search PubMed, SCOPUS, ProQuest, Web of Science and PsychINFO databases up to 5 September 2017. MDR-TB sequelae will include any clinical, psychological, social and economic effects as well as health-related quality of life that occur after MDR-TB treatment or illness. Two researchers will screen the titles and abstracts of all citations identified in our search, extract data, and assess the scientific quality using standardised formats. Providing there is appropriate comparability in the studies, we will use a random-effects meta-analysis model to produce pooled estimates of MDR-TB sequelae from the included studies. We will stratify the analyses based on treatment regimen, comorbidities (such as HIV status and diabetes mellitus), previous TB treatment history and study setting. Ethics and dissemination As this study will be based on published data, ethical approval is not required. The final report will be disseminated through publication in a peer-reviewed scientific journal and will also be presented at relevant conferences. PROSPERO registration number CRD42017073182.
Synthesis, characterization and morphology of reduced graphene oxide–metal–TCNQ nanocomposites

A simple method has been developed to synthesize reduced graphene oxide (rGO)–AgTCNQ and rGO–copper–TCNQ nanocomposite films (TCNQ = 7,7,8,8-tetracyanoquinodimethane) from electrodeposited rGO–Ag and rGO–Cu films. The method is based on voltammetric co-reduction of a dispersion containing graphene oxide and a silver or copper metal cation precursor followed by reaction of the rGO–metal films with TCNQ. The morphologies of the organic charge transfer nanomaterials, AgTCNQ and copper–TCNQ, are reaction time dependent. Introduction of the metal–TCNQ nanostructures leads to p-doping of reduced graphene oxide. Pure phase II AgTCNQ nanorods/nanocubes were generated in the reduced graphene oxide film whereas pure phase I copper–TCNQ micro/nanorods grew along the reduced graphene oxide structure. In the Cu case, the bulk material was fully consistent with formation of microcrystalline CuTCNQ but evidence for an underlying film which includes nanocrystalline CuTCNQ (1.3 : 1 Cu : TCNQ ratio) and Cu2+ species was also obtained. The achievement of semiconducting phase II AgTCNQ or phase I CuTCNQ in the reduced graphene oxide structure may provide a route for the development of electronic switching devices.
Flt3 Ligand Treatment Attenuates T Cell Dysfunction and Improves Survival in a Murine Model of Burn Wound Sepsis

Introduction: Sepsis is a leading cause of death among severely burned patients. Burn injury disrupts the protective skin barrier and causes immunological dysfunction. In our previous studies, we found that burn injury and wound infection causes a significant decline in lymphocyte populations, implying adaptive immune system dysfunction. In the present study, we examined the effect of treatment with Fms-like tyrosine kinase-3 Ligand (Flt3L) on T cell phenotype and function in a model of burn wound sepsis. FLt3L is an essential cytokine required for hematopoietic progenitor cell development and expansion of both myeloid and lymphoid lineages. Flt3L has been shown to potentiate innate immune functions of dendritic cells and neutrophils during burn wound sepsis. However, the ability of Flt3L to improve T cell function during burn wound sepsis has not been previously evaluated. Methods: Mice underwent 35% total body surface area scald burn and were treated with Flt3L (10 &mgr;g) or vehicle daily via the intraperitoneal route starting 1 day after burn injury. On day 4 after burn injury, Pseudomonas aeruginosa was used to induce wound infection. Leukocytes in spleen and wound draining lymph nodes were characterized using flow cytometry. Bacterial clearance, organ injury, and survival were also assessed. Results: Flt3L treatment prevented the decline in splenic CD4+ and CD8+ T cells caused by burn injury and infection. Flt3L treatment also attenuated the decline in CD28 expression on CD4+ and CD8+ T cells and IFN&ggr; production by CD8+ T cells in the spleen and wound draining lymph nodes. Furthermore, Flt3L decreased the levels of programmed death ligand 1 expression on splenic dendritic cells and macrophages. Flt3 treatment improved systemic bacterial clearance, decreased liver and kidney injury, and significantly improved survival in mice with burn wound sepsis. Conclusion: Burn injury and associated sepsis causes significant loss of T cells and evidence of T cell dysfunction. Flt3L attenuates T cell dysfunction and improves host resistance to burn wound sepsis in mice.
Design exploration of efficient implementation on SoC heterogeneous platform: HEVC intra prediction application

The relationship between CPU and hardware accelerator is critical especially in some systems that require intensive tasks and large amount of data to deal with such as video coding systems. This cooperation provides significant improvements in run‐time speed and power consumption. As software (SW) and hardware (HW) solutions provide better flexibility and performance, HW/SW implementation has emerged as a more efficient and desirable methodology for real‐time implementation. In order to evaluate different implementation methods (SW) and (HW/SW) in terms of power consumption, run‐time and area cost, we choose the Xilinx Zynq‐based FPGA as a target to perform some hardware acceleration tasks. In this case, we choose to accelerate the intra prediction block because it is one of the most complex modules defined in the high efficiency video coding decoder chain. Experimental results show that HW/SW accelerations are more than 50% improved in term of run‐time speed relative to SW modules. Moreover, the power consumption of HW/SW designs is saved by nearly 80% compared with SW cases. Copyright © 2016 John Wiley & Sons, Ltd.
Innovative Flexible Metal Forming Processes based on Hybrid Thermo‐Mechanical Interaction

A new approach towards functional gradation of structural parts is presented. This approach is based on the utilization of locally varying thermo‐mechanically coupled effects applied to different initial workpiece geometries. The possible degree of freedom for the gradation of material properties and geometrical shape for sheet metal forming applications as well as for parts produced by bulk metal forming is characterized by the results of metallographic investigations, by mechanical testing and by an indication of the remaining residual stress state. On the basis of experimental results and process simulations, it could be revealed that the ability to exactly control the dynamic microstructural evolution by thermal and mechanical process parameters combined with predefined material design parameters constitutes a key towards the adjustment of flexible material property profiles even for parts with complex three‐dimensional geometry. Beyond that, the integrative aspect of thermal and mechanical treatment already implies the high level of obtainable efficiency resulting from shortening of process chains. However, it is not only the ability to integrate shape generation and property gradation, but also the automatically included positive effect of tailoring process behaviour by a gradation of formability finally allowing to improve process efficiency e.g. by a reduction of forming steps or reduction of (local) tool load.
Nano-proximity direct ion beam writing

Abstract Focused ion beam (FIB) milling with a 10 nm resolution is used to directly write metallic metasurfaces and micro-optical elements capable to create structured light fields. Surface density of fabricated nano-features, their edge steepness as well as ion implantation extension around the cut line depend on the ion beam intensity profile. The FIB beam intensity cross section was evaluated using atomic force microscopy (AFM) scans of milled line arrays on a thin Pt film. Approximation of two Gaussian intensity distributions describes the actual beam profile composed of central high intensity part and peripheral wings. FIB fabrication reaching aspect ratio of 10 in gold film is demonstrated.