Miracle-dz/UniFAR-FTUs huggingface dataset:
HIGH-ACCURACY VEHICLE LOCALIZATION USING A PRE-BUILT PROBABILITY MAP

One of the significant challenges to achieving fully autonomous driving is reliable and accurate vehicle localization, based on multiple sensors on board. However, the accuracy and robustness required by autonomous vehicles cannot be fulfilled with traditional GPS(GNSS)-Inertial Navigation Systems (GPS/INS), especially in large-scale urban settings. Researchers have investigated this problem and proposed different solutions. In this paper, we propose a high-accuracy vehicle localization framework using a pre-built probability map. We firstly obtain an optimized pose (position and orientation) by combining GPS/INS solution, LiDAR scan matching and visual odometry. Then, the pose and the LiDAR scan measurements are utilized to build a two-dimensional (2D) probability map. This is a grid map, in which two values are calculated to represent each cell based on all of the LiDAR points enclosed in that cell: the mean and the variance of the reflectance intensity values. Finally, we implement a histogram filter method to localize the vehicle using the pre-built map. Experiments on the Oxford Robot Car datasets demonstrate that our framework have obtained competitive accuracy.
Gastric inhibitory polypeptide receptor antagonist, SKL‐14959, suppressed body weight gain on diet‐induced obesity mice

Gastric inhibitory polypeptide plays a role in glucose and lipid metabolism and is associated with obesity and insulin resistance. The objective of this study is to confirm the anti‐obesity effects of the gastric inhibitory polypeptide receptor antagonist, SKL‐14959, on diet‐induced obesity mice.
Forearm motion discrimination technique using real-time EMG signals

The objective of this study is to develop a method of discriminating real-time motion from electromyogram (EMG) signals. We previously proposed a motion discrimination method. This method could discriminate five motions (hand opening, hand closing, hand chucking, wrist extension, and wrist flexion) at a rate of above 90 percent from four channel EMG signals in the forearm. The method prevents elbow motions from interfering with hand motion discrimination. However, discrimination processing time of this method is more than 300 ms, and the shortest delay time that is perceivable by the user is generally regarded to be roughly 300 ms. Furthermore, a robot hand has a mechanical delay time. Thus, the discrimination time should be less than 300 ms. Here, we propose a real-time motion discrimination method using a hyper-sphere model. In comparison with the old model, the hyper-sphere models can make more complex decision regions which can discriminate at the state of the motion. Furthermore, this model can learn EMG signals in real-time. We experimentally verified that the discrimination accuracies of this method were above 90 percent. Moreover, elbow motions did not interfere with the hand motion discrimination. The discrimination processing time was less than 300 ms, and was about 30 percent shorter than that of the old method.
Carbohydrate Replacement of Rice or Potato with Lentils Reduces the Postprandial Glycemic Response in Healthy Adults in an Acute, Randomized, Crossover Trial.

Background The postprandial blood glucose response (PBGR) following carbohydrate replacement of high-glycemic index (GI) foods with pulses, in a mixed meal, has not been accurately defined. Objective We aimed to determine the extent to which PBGR and relative glycemic response (RGR) are lowered when half of the available carbohydrate (AC) from rice or potato is replaced with cooked lentils. Methods Using a crossover design, 2 groups of 24 healthy adults randomly consumed 50 g AC from control white rice alone [mean ± SD body mass index (BMI, in kg/m2): 24.3 ± 0.5; mean ± SD age: 27.7 ± 1.2 y], instant potato alone (BMI: 24.0 ± 0.5; age: 27.4 ± 1.2 y), or the same starch source in a 50:50 AC combination with each of 3 types of commercially available lentils (large green, small green, split red). Fasting and postprandial blood samples were analyzed for glucose and insulin, and used to derive incremental area under the curve (iAUC), RGR, and maximum concentration (Cmax). Treatment effects were assessed with the use of repeated-measures ANOVA within the rice and potato treatments. Results In comparison to rice alone, blood glucose iAUC and Cmax (P < 0.001) were lowered after consumption of rice with large green (P = 0.057), small green (P = 0.002), and split red (P = 0.006) lentils. Blood glucose iAUC and Cmax were also significantly lowered (P < 0.0001) after consumption of potato combined with each lentil, compared to potato alone. Plasma insulin iAUC and Cmax were significantly (P < 0.001) decreased when lentils were combined with potato, but not with rice. The RGRs of rice and potato were lowered by ∼20% and 35%, respectively, when half of their AC was replaced with lentils. Conclusions Replacing half of the AC from high-GI foods with lentils significantly attenuates PBGR in healthy adults; this can contribute to defining a health claim for pulses and blood glucose lowering. This trial was registered at clinicaltrials.gov as NCT02426606.
Motion Planning for a Deformable Linear Object

We present a motion planning algorithm for quasi-static Kirchhoff elastic rod in complex environments. By considering the set of quasi-static deformations which forms a finite dimensional manifold that can be parameterized by a single chart, the configuration space formulation extends nicely to this deformation space. As this parameterization is computationally expensive, our algorithm takes advantage of its smooth structure to approximate fast its neighborhood. Our approach enables motion planning for physically realistic deformable models for rods and our algorithm gives a significant performance improvement over classical motion planning approaches. We demonstrate the effectiveness of our approach on various academic and industrial scenarios, including difficulties such as narrow passages and high number of primitives.
A Practical Morphological Analyzer Based on Penn Chinese Treebank Standard

Till date, a freely usable Chinese morphological analysis system is still not widely available. Furthermore, since there is no single segmentation standard for all tagged corpora provided by different institution, some systems are available which are developed by the corpora providers, according to their segmentation standard. As far as we know, there is still no system (freely) available for Penn Chinese Treebank (hereafter CTB) standard. Since this treebank is widely used by a lot of researches that do parsing, probably it is a good idea to build a practical morphological analyzer for CTB standard. The initial system that we built for CTB contains only 33,438 entries in the system dictionary. To build a practical system, this number is far from realization. Therefore, we tried to enlarge the system dictionary using unknown word extraction methods. We intend to extract a large amount of unknown words from a huge raw text corpus. Based on our methods, we have successfully increased the system dictionary to 120,769 entries. Although this number is good enough for a practical system but we still hope to add more in the future.
Single-cell RNA-Seq reveals cell heterogeneity and hierarchy within mouse mammary epithelia

The mammary gland is very intricately and well organized into distinct tissues, including epithelia, endothelia, adipocytes, and stromal and immune cells. Many mammary gland diseases, such as breast cancer, arise from abnormalities in the mammary epithelium, which is mainly composed of two distinct lineages, the basal and luminal cells. Because of the limitation of traditional transcriptome analysis of bulk mammary cells, the hierarchy and heterogeneity of mammary cells within these two lineages remain unclear. To this end, using single-cell RNA-Seq coupled with FACS analysis and principal component analysis, we determined gene expression profiles of mammary epithelial cells of virgin and pregnant mice. These analyses revealed a much higher heterogeneity among the mammary cells than has been previously reported and enabled cell classification into distinct subgroups according to signature gene markers present in each group. We also identified and verified a rare CDH5+ cell subpopulation within a basal cell lineage as quiescent mammary stem cells (MaSCs). Moreover, using pseudo-temporal analysis, we reconstructed the developmental trajectory of mammary epithelia and uncovered distinct changes in gene expression and in biological functions of mammary cells along the developmental process. In conclusion, our work greatly refines the resolution of the cellular hierarchy in developing mammary tissues. The discovery of CDH5+ cells as MaSCs in these tissues may have implications for our understanding of the initiation, development, and pathogenesis of mammary tumors.
Joint channel-estimation/decoding with frequency-selective channels and few-bit ADCs

We propose a fast and near-optimal approach to joint channel-estimation, equalization, and decoding of coded single-carrier (SC) transmissions over frequency-selective channels with few-bit analog-to-digital converters (ADCs). Our approach leverages approximate message passing to reduce the implementation complexity of joint channel estimation and (soft) symbol decoding to that of a few fast Fourier transforms (FFTs). Furthermore, it learns and exploits sparsity in the channel impulse response. Our work is motivated by millimeter-wave systems with bandwidths on the order of Gsamples/sec, where few-bit ADCs, SC transmissions, and fast processing all lead to significant reductions in power consumption and implementation cost. We numerically demonstrate our approach using signals and channels generated according to the IEEE 802.11ad wireless LAN standard, in the case that the receiver uses analog beamforming and a single ADC.
Noncoherent multi-user MIMO communications using covariance CSIT

The Multi-User downlink, particularly in a Multi-Cell Massive MIMO setting, requires enormous amounts of instantaneous CSIT (Channel State Information at the Trans-mitter(s)), iCSIT. Here we focus on exploiting channel covariance CSIT (coCSIT) only. In particular multipath induced structured low rank covariances are considered that arise in Massive MIMO and mmWave settings, which we call pathwise CSIT (pwC-SIT). The resulting non-Kronecker MIMO channel covariance structures lead to a split between the roles of transmitters and receivers in MIMO systems. For the beamforming optimization, we consider a minorization approach applied to the Massive MIMO limit of the Expected Weighted Sum Rate. Simulations indicate that the pwCSIT based designs may lead to limited spectral efficiency loss compared to iCSIT based designs, while trading fast fading CSIT for slow fading CSIT. We also point out that the pathwise approach may lead to distributed designs with only local pwCSIT, and analyze the sum rates for iCSIT and pwCSIT in the low and high SNR limits.
Comparing Capability of Static Analysis Tools to Detect Security Weaknesses in Mobile Applications

Smartphones are prevalent today and store sensitive and private data. Malicious applications are constant threats to user data on smartphones as they could sniﬀ or manipulate them by exploiting software weaknesses in legitimate mobile applications. Static analysis tools can be used to reduce these risks during development. However, it is important to know the capability of these tools in order to make informed decisions and avoid false-sense of security. In this preliminary study we investigate the detection capability of mainstream vs. Android-speciﬁc tools to guide decision-making during tools’ selection.
A Newton-type Forward Backward Greedy method for multi-snapshot compressed sensing

Parameter estimation has applications in many applications of signal processing, such as Angle-of-Arrival (AoA) estimation. Compressed sensing is a widely growing paradigm that can be applied to parameter estimation via sparse recovery. In this paper, we propose a Newton-type Forward Backward Greedy method that performs sparse recovery, given the observed data over multiple snapshots. This method is applied to the AoA estimation problem, where we have observed better performance, in terms of Mean-Squared Error and faster convergence when compared to existing methods. More information can be found in the conclusions section.
Interleukin-2 shapes the cytotoxic T cell proteome and immune environment–sensing programs

Proteomic analysis reveals how the cytokine IL-2 enables cytotoxic T cells to function and respond to their environment. Revealing how IL-2 sculpts T cells The cytokine interleukin-2 (IL-2) is critical for the differentiation and proliferation of effector CD8+ cytotoxic T cells. IL-2 signaling is mediated through the tyrosine kinases JAK1 and JAK3. Because of the importance of this pathway in orchestrating immune responses, it is an attractive target for therapies, including tofacitinib, which inhibits JAK1/3 signaling and ameliorates autoimmune and inflammatory conditions. Rollings et al. performed proteomic analysis of cytotoxic CD8+ T cells that were cultured in the presence or absence of IL-2, as well as those treated with tofacitinib, and identified proteins in IL-2–treated cells that were critical to maintain their effector function. In addition, IL-2 shaped the ability of these cells to respond to their environment by inducing the production of proteins involved in nutrient sensing and uptake, as well as in oxygen sensing. A factor involved in oxygen sensing was decreased in response to tofacitinib, giving important insights into how such drugs control immune cell function. Interleukin-2 (IL-2) and Janus kinases (JAKs) regulate transcriptional programs and protein synthesis to promote the differentiation of effector CD8+ cytotoxic T lymphocytes (CTLs). Using high-resolution mass spectrometry, we generated an in-depth characterization of how IL-2 and JAKs configure the CTL proteome to control CTL function. We found that IL-2 signaling through JAK1 and JAK3 (JAK1/3) increased the abundance of a key subset of proteins to induce the accumulation of critical cytokines and effector molecules in T cells. Moreover, IL-2 maintained the concentration of proteins that support core metabolic processes essential for cellular fitness. One fundamental insight was the dominant role for IL-2 in stimulating effector T cells to detect microenvironmental cues. IL-2–JAK1/3 signaling pathways thus increased the abundance of nutrient transporters, nutrient sensors, and critical oxygen-sensing molecules. These data provide key insights into how IL-2 promotes T cell function and highlight signaling mechanisms and transcription factors that integrate oxygen sensing to transcriptional control of CD8+ T cell differentiation.
A Novel Approach for Solving Navier-Stokes Equations on Complex Geometries

Wind turbines in a wind farm undergo significant interference through wake and terrain interaction. Numerical modeling of a complex terrain necessitates the use of curvilinear body fitted coordinates. This paper proposes a novel mixed basis formulation of the governing conservation equations for general curvilinear non-orthogonal grids with the physical covariant velocity as the primary solution variable. The result is an algorithm which has many advantages of orthogonal equations. The conservation equations written in this form retains the diagonal dominance of the pressure equation. The newly formed conservation equations are solved using the SIMPLER algorithm and are shown to converge well for non-orthogonal grids. Standard K e model is used for turbulence closure.
Non-Gaussian Source-Filter and Independent Components Generalizations of Spectral Flatness Measure

Spectral Flatness Measure is a well-known method for quantifying the amount of randomness (or "stochasticity") that is present in a signal. This measure has been widely used in signal compression, audio characterization and retrieval. In this paper we present an information-theoretic generalization of this measure that is formulated in terms of a rate of growth of multi-information of a non- Gaussian linear process. Two new measures are defined and methods for their estimation are presented: 1) considering a source-filter model, a Generalized Spectral Flatness Measure is developed that estimates the excessive structure due to non-Gaussianity of the innovation process, and 2) using a geometrical embedding, a block-wise information redundancy is formulated using signal representation in an Independent Components basis. The two measures are applied for the problem of voiced/unvoiced determination in speech signals and analysis of spectral (timbral) dynamics in musical signals.
Parental Opinions and Attitudes about Children’s Vaccination Safety in Silesian Voivodeship, Poland

Despite mandatory vaccinations in Poland, the final decision on vaccination in children is taken by their parents or legal guardians. Understanding parents’ attitudes and opinions regarding vaccinations is essential for planning and undertaking extensive and properly targeted educational actions aimed at preventing their hesitancy. In 2016, a cross-sectional study was conducted in the Silesian Voivodeship (Poland) in 11 randomly selected educational institutions. The authors’ self-administered questionnaire contained 24 mixed-type questions. It was distributed among 3000 parents or legal guardians of children aged 6–13 years; prior consent of the relevant bioethics committee had been obtained. The response rate was 41.3% (N = 1239). Data were analysed using descriptive and analytical statistics, and focused on parental opinions regarding the safety of vaccines. Results of simple and multivariable analyses showed that perceived risk of adverse vaccine reaction (AVR), contraindications and perception of the qualification procedure for vaccination as substandard were significant factors associated with the rating of children’s vaccination as unsafe (p < 0.001). Respondents with a lower level of education, compared with those with higher, more often declared vaccinations to be safe (p = 0.03); however, results of multivariable analysis did not confirm that effect. AVR occurrence, finding of contraindication to vaccinations and perception of qualification procedure for vaccination were found to be the most important factors responsible for influencing general public opinions in the field of vaccination safety.
Puberty and sexual maturity in Anglo-Nubian male goats raised in semi-intensive system

The objective of this study was to characterize the sexual development in Anglo-Nubian male goats raised in semi-intensive system. Eight animals were monitored every fifteen days, from the 12th to the 44th week for age at penis detachment, live weight, scrotal circumference, seminal parameters (volume, aspect, concentration, wave motion, progressive individual motility, vigor and spermatic abnormalities) and serum testosterone levels. Serum testosterone levels were determined in blood samples collected at the 20th, 28th and 38th weeks of age. Penis detachment occurred at 102.9 ± 15.4 days of age. Live weight and scrotal circumference at 20th and 44th weeks of age ranged from 25.9 ± 3.5 to 44.7 ± 4.7 kg and from 21.2 ± 1.6 cm to 26.0 ± 1.5 cm, respectively. The ejaculate volume ranged from 0.38 ± 0.05 to 0.96 ± 0.04 mL, concentration ranged from 1.33 ± 0.64 to 3.54 ± 0.14. 109 mL-1 and the progressive individual motility varied from 48.0 ± 10.52% to 82.0 ± 3.74%, at the same age. The number of defective spermatozoa (major and minor) was 32.2 ± 5.8% vs. 8.80 ± 2.9% at the 20th and the 44th week of age, respectively. Serum testosterone level was 2.70 ± 1.40 ng.mL-1 at the 20th week, 8.50 ± 4.66 ng.mL-1 at the 28th week and 2.21 ± 2.28 ng.mL-1 at the 38th week of age. Age showed a correlation with live weight, scrotal circumference, and all the qualitative parameters of semen except for volume, with all other qualitative parameters of semen, and the correlation among sperm abnormalities and the other traits was negative. Serum testosterone levels and andrological parameters of Anglo-Nubian goats raised in semi-intensive system are closely related to age. In those animals, puberty is reached at the 20th week and sexual maturity is reached at the 38th week of age.
Structural prediction and materials design: from high throughput to global minima optimization methods

In this thesis we use high-throughput techniques and global structure prediction algorithms to predict the crystal structure of different materials under different conditions. We start by investigating the modi cations on the structure of carbon nanotubes under hydrostatic pressure. Afterwards, we explore a subset of ternary silicon clathrates searching for new thermodynamically stable phases. Then, we screen the periodic table for new p−type transparent oxides of the form (Cu, Ag, Au, Ni)XO2 and CuXOS. Finally, we present a new approach for materials design in a pure ab initio way.
Admission control algorithm based on the effective bandwidth in vehicle-to-infrastructure communication

With pervasive of mobile computing and wireless communication, the vehicular ad-hoc network has become a key technology in modern day's information exchange. Due to the fast growing number of vehicles and saturation of the transport infrastructure, it is inhabitable to come out with better solution considering the available resources. In this study, thorough traffic analysis has been carried out to suggest a better model. Further, an attempt has been made to propose an admission control algorithm based-on the parameters evolve from the mathematical analysis. Moreover, the performance analysis has been shown to establish the efficacy of the algorithm.
Return to work after severe traumatic brain injury: a national study with a one-year follow-up of neurocognitive and behavioural outcomes

ABSTRACT The objectives were to investigate the frequency of return-to-work (RTW) one year after severe traumatic brain injury (sTBI: Glasgow Coma Scale, GCS 3–8) and to identify which demographic and injury-related characteristics and neurocognitive factors are associated with RTW. This study is part of a prospective national study on sTBI conducted in all four Norwegian Trauma Referral Centres, including patients aged >15 years over a period of three years (n = 378). For the purpose of this study, only pre-employed individuals of working age (16 to 67 years) were investigated for RTW (n = 143), and of these, 104 participants underwent neuropsychological testing. Measures of acute injury severity, neuropsychological composite scores (Memory, Processing Speed, Executive Functions) at the one-year follow-up, and the Behaviour Rating Inventory of Executive Functions (patient- and relative reports) were explored as predictors of RTW. The frequency of RTW was 54.5%. Multivariate logistic regression analyses identified younger age, shorter length of stay in intensive care, better Processing Speed scores, and lower levels of metacognitive difficulties as rated by relatives as significant predictors of RTW. Findings support the importance of neuropsychological measures in predicting long-term RTW and highlight the need to address neurocognitive and behavioural difficulties to improve RTW after sTBI.