Miracle-dz/UniFAR-FTUs huggingface dataset:
Improved Path Planning Method for Autnomous Loading Operation by Wheel Loader

Authors have been conducting research on an autonomous system for loading operation by wheel loader. In loading operation with V shape loading method, a time for travelling is the dominant factor for the cycle time. The path should be modified varied condition of the working place. To achieve quicker and reliable operation in autonomous loading operation, new path planning method is developed. In this method, the path planning is based on Look Ahead control and combination of the path elements. The new developed method generates shorter path with high flexibility compare to the planned path by the older version of path planning in the research. Detail of the method and simulation results will be described in this paper
Cognitive map architecture

We have developed the Cognitive Map robot architecture that minimizes the amount of rewriting of existing legacy software for integration. The Cognitive Map can be thought of as a centralized information space for connected components to contribute both internal and environmental state information. We leverage several successfully proven concepts such as blackboard architectures and publish- subscribe based messaging to develop a flexible robot architecture that exhibits fault-tolerance, easily substituted components, and provides support for different structural paradigms such as subsumption, sense-plan-act and three-tier architectures. Our multicomponent distributed system has system components that are loosely coupled via message-passing and/or continuous data streams. This architecture was implemented on the humanoid robot ASIMO manufactured by Honda Motor Co., Ltd. We review various forms of communication middleware and component models. The "Architecture" section provides an overview of our architecture and considerations in its design. The "Scenario Design" section details the process from conceptualizing an interactive application to its instantiation in the robot architecture. The "Components" section singles out several important high-level components that play a significant role in many of our interactive scenarios. Finally, discussions and conclusions are presented.
Microbial Communities Can Be Described by Metabolic Structure: A General Framework and Application to a Seasonally Variable, Depth-Stratified Microbial Community from the Coastal West Antarctic Peninsula

Taxonomic marker gene studies, such as the 16S rRNA gene, have been used to successfully explore microbial diversity in a variety of marine, terrestrial, and host environments. For some of these environments long term sampling programs are beginning to build a historical record of microbial community structure. Although these 16S rRNA gene datasets do not intrinsically provide information on microbial metabolism or ecosystem function, this information can be developed by identifying metabolisms associated with related, phenotyped strains. Here we introduce the concept of metabolic inference; the systematic prediction of metabolism from phylogeny, and describe a complete pipeline for predicting the metabolic pathways likely to be found in a collection of 16S rRNA gene phylotypes. This framework includes a mechanism for assigning confidence to each metabolic inference that is based on a novel method for evaluating genomic plasticity. We applied this framework to 16S rRNA gene libraries from the West Antarctic Peninsula marine environment, including surface and deep summer samples and surface winter samples. Using statistical methods commonly applied to community ecology data we found that metabolic structure differed between summer surface and winter and deep samples, comparable to an analysis of community structure by 16S rRNA gene phylotypes. While taxonomic variance between samples was primarily driven by low abundance taxa, metabolic variance was attributable to both high and low abundance pathways. This suggests that clades with a high degree of functional redundancy can occupy distinct adjacent niches. Overall our findings demonstrate that inferred metabolism can be used in place of taxonomy to describe the structure of microbial communities. Coupling metabolic inference with targeted metagenomics and an improved collection of completed genomes could be a powerful way to analyze microbial communities in a high-throughput manner that provides direct access to metabolic and ecosystem function.
EFFECT OF DISTANCE MEASURES IN PCA BASED FACE RECOGNITION

With the growth of information technology there is a greater need of high security, so biometric authentication systems are gaining importance. Face recognition is more used because it's easy and non intrusive method during acquisition procedure. Various methods are used for facial recognition. Principal component analysis (PCA) based systems are used often. In this paper we study 4 distance measures on the FERRET database to see the performance of the principal component analysis (PCA) based face recognition system.
Empathy, Social Dominance Orientation, Mortality Salience, and Perceptions of a Criminal Defendant

In two studies, participants completed measures of trait empathy and social dominance orientation, read a summary of a hit and run trial, and provided reactions to the case. In Study 1, the three randomly assigned conditions included a prompt to empathize with the victims, the empathy prompt with a mortality salience manipulation, and a control condition. Participants high in trait empathy were harsher in their judgments of the defendant than were low empathy participants, particularly after having read the mortality salience prompt. The results indicated that mortality salience had triggered personality differences. Participants high in social dominance assigned harsher sentences across conditions. Study 2 involved the same paradigm, but the prompts were presented on behalf of the defendant. Despite the pro-defendant slant, the pattern of results was similar to Study 1. Differences by trait empathy were more apparent among participants experiencing mortality salience, and social dominance was related to sentence choices. There were no indications in either study of mortality salience increasing bias against defendants in general or increasing racial bias.
DETERMINANTS OF IN VIVO EFFICACY OF THE BH 3 1 MIMETIC ABT-263 AGAINST PEDIATRIC ACUTE LYMPHOBLASTIC LEUKEMIA 2 XENOGRAFTS 3 4

PURPOSE: Predictive biomarkers are required to identify patients who may benefit from the use of BH3 mimetics such as ABT-263. This study investigated the efficacy of ABT-263 against a panel of patient-derived pediatric acute lymphoblastic leukemia (ALL) xenografts and utilized cell and molecular approaches to identify biomarkers that predict in vivo ABT-263 sensitivity. EXPERIMENTAL DESIGN: The in vivo efficacy of ABT-263 was tested against a panel of 31 patient-derived ALL xenografts composed of MLL-, BCP-, and T-ALL subtypes. Basal gene expression profiles of ALL xenografts were analyzed and confirmed by quantitative RT-PCR, protein expression and BH3 profiling. An in vitro coculture assay with immortalized human mesenchymal cells was utilized to build a predictive model of in vivo ABT263 sensitivity. RESULTS: ABT-263 demonstrated impressive activity against pediatric ALL xenografts, with 19 of 31 achieving objective responses. Among BCL2 family members, in vivo ABT-263 sensitivity correlated best with low MCL1 mRNA expression levels. BH3 profiling revealed that resistance to ABT263 correlated with mitochondrial priming by NOXA peptide, suggesting a functional role for MCL1 protein. Using an in vitro coculture assay, a predictive model of in vivo ABT-263 sensitivity was built. Testing this model against 11 xenografts predicted in vivo ABT-263 responses with high sensitivity (50%) and specificity (100%). CONCLUSION: These results highlight the in vivo efficacy of ABT-263 against a broad range of pediatric ALL subtypes and shows that a combination of in vitro functional assays can be used to predict its in vivo efficacy. DOI: https://doi.org/10.1158/1078-0432.CCR-14-0259 Posted at the Zurich Open Repository and Archive, University of Zurich ZORA URL: https://doi.org/10.5167/uzh-101257 Accepted Version Originally published at: Suryani, Santi; Carol, Hernan; Chonghaile, Triona Ni; Frismantas, Viktoras; Sarmah, Chintanu; High, Laura; Bornhauser, Beat; Cowley, Mark J; Szymanska, Barbara; Evans, Kathryn; Boehm, Ingrid; Tonna, Elise; Jones, Luke; Manesh, Donya Moradi; Kurmasheva, Raushan T; Billups, Catherine; Kaplan, Warren; Letai, Anthony; Bourquin, Jean-Pierre; Houghton, Peter J; Smith, Malcolm A; Lock, Richard B (2014). Cell and molecular determinants of in vivo efficacy of the BH3 mimetic ABT-263 against pediatric acute lymphoblastic leukemia xenografts. Clinical Cancer Research, 20(17):4520-4531. DOI: https://doi.org/10.1158/1078-0432.CCR-14-0259 1 CELL AND MOLECULAR DETERMINANTS OF IN VIVO EFFICACY OF THE BH3 1 MIMETIC ABT-263 AGAINST PEDIATRIC ACUTE LYMPHOBLASTIC LEUKEMIA 2
The interaction of laser and photoconductor in a continuous-wave terahertz photomixer

The interaction of laser and photoconductor in an optical heterodyne conversion scheme is studied in detail. A dc biased photoconductor excited by two continuous-wave (CW) laser beams with a difference in their central frequencies falling in the terahertz spectrum is considered as the core element in all photoconductive photomixing structures. For this configuration the continuity equations for the electron and hole densities are solved in their general form along with the appropriate boundary conditions to find photocurrent distribution inside the photoconductor. It is shown that in a CW terahertz photomixing scheme the resulting photocurrent contains a dc component and a terahertz component. It is also shown that the amplitude and the phase of the terahertz component of the photocurrent are functions of the applied bias, physical parameters of the photoconductor, parameters of the lasers, and photomixer configuration. The dependency of the photocurrent on all of these parameters is explored in detail for a typical photomixer made of low-temperature-grown GaAs photoconductor.
Optimal linear feature transformations for semi-continuous hidden Markov models

Linear discriminant or Karhunen-Loeve transforms are established techniques for mapping features into a lower dimensional subspace. This paper introduces a uniform statistical framework, where the computation of the optimal feature reduction is formalized as a maximum-likelihood estimation problem. The experimental evaluation of this suggested extension of linear selection methods shows a slight improvement of the recognition accuracy.
Phonology: Sound Structure

Fluent speakers of English would agree that none of these are actual words of English, yet most speakers would also agree that those in column I are not possible words (we use an * to indicate an impossible or “ungrammatical” form); while those in column II are. In addition, most speakers would agree that the plurals of the would-be words in column II would be pronounced as indicated in column III. How do we know this? Our knowledge of the sound patterns of our native language(s) comes not through memorizing a list of words, but rather by internalizing information about the allowed and disallowed sound patterns of that language. As fluent speakers of English, we know which sounds occur in our language and which don't. For example, in (1a), the [x] sound of German (written ch in borrowings from German, as in the German pronunciation of Bach) just doesn't occur in English. In addition, some occurring sounds of English are nevertheless restricted in the position where they occur within the word. As shown in (1b), the sound represented by the spelling sequence ng [ŋ] cannot occur at the beginning of a word (though it occurs in the middle (singer) or end (sing)), while h cannot occur at the end of a word (but it occurs at the beginning (hot) or middle (ahead)). We also know which sounds can be combined into a sequence. Thus in (1c), bl is an allowable sequence at the beginning of a word (blue), while bn is not. Finally, we also know how sound patterns alternate. For example, in the regular plural formation in English, what is written as s or es is pronounced [s], [z], or [ɪz] depending on certain properties of the last sound of the word. As native speakers, without thinking we produce the expected forms (block[s], herd[z], mattress[ɪz]). It is this knowledge about sound structure—which sounds occur, what their distribution is, how they can be combined, and how they might be realized differently in different positions in a word or phrase—that constitutes the study of phonology. Central to research in phonology is documenting and characterizing the full range of attested sound structures and patterns across the languages of the world. In this chapter, we explore some of the central generalizations about sounds, using theories and tools that allow us to insightfully analyze these patterns. We will focus on three areas: sound inventories and contrasts (Section 2), structure above the level of the sound unit or segment, that is prosodic organization (Section 3), and structure internal to the segment (Section 4). The general approach followed here is generative phonology (see Chomsky and Halle 1968, also Kenstowicz and Kisseberth 1979) where the
On compact complex surfaces of Kähler rank one

The Kahler rank of compact complex surfaces was introduced by Harvey and Lawson in their 1983 paper on Kahler manifolds as a measure of “kahlerianity”. Here we give a partial classification of compact complex surfaces of Kahler rank 1. These are either elliptic surfaces, or Hopf surfaces, or they admit a holomorphic foliation of a very special type. As a consequence we give an affirmative answer to the question raised by Harvey and Lawson whether the Kahler rank is a bimeromorphic invariant.
Expression of a selenomethionyl derivative and preliminary crystallographic studies of human cystatin C

Human cystatin C, a protein with amyloidogenic properties and a potent inhibitor of papain‐like mammalian proteases, has been produced in its full‐length form by recombinant techniques and crystallized in two polymorphic forms: cubic and tetragonal. A selenomethionyl derivative of the protein, obtained by Escherichia coli expression and with complete Met→Se‐Met substitution confirmed by mass spectrometry, amino‐acid analysis and X‐ray absorption spectra, was crystallized in the cubic form. A truncated variant of the protein, lacking ten N‐terminal residues, has also been crystallized. The crystals of this variant are tetragonal and, like the two polymorphs of the full‐length protein, contain multiple copies of the molecule in the asymmetric unit, suggesting oligomerization of the protein.
A Carotenoid Health Index Based on Plasma Carotenoids and Health Outcomes

While there have been many studies on health outcomes that have included measurements of plasma carotenoids, this data has not been reviewed and assembled into a useful form. In this review sixty-two studies of plasma carotenoids and health outcomes, mostly prospective cohort studies or population-based case-control studies, are analyzed together to establish a carotenoid health index. Five cutoff points are established across the percentiles of carotenoid concentrations in populations, from the tenth to ninetieth percentile. The cutoff points (mean ± standard error of the mean) are 1.11 ± 0.08, 1.47 ± 0.08, 1.89 ± 0.08, 2.52 ± 0.13, and 3.07 ± 0.20 µM. For all cause mortality there seems to be a low threshold effect with protection above every cutoff point but the lowest. But for metabolic syndrome and cancer outcomes there tends to be significant positive health outcomes only above the higher cutoff points, perhaps as a triage effect. Based on this data a carotenoid health index is proposed with risk categories as follows: very high risk: <1 µM, high risk: 1-1.5 µM, moderate risk: 1.5-2.5 µM, low risk: 2.5-4 µM, and very low risk: >4 µM. Over 95 percent of the USA population falls into the moderate or high risk category of the carotenoid health index.
Down-Regulation of Lncrna MALAT1 Attenuates Neuronal Cell Death Through Suppressing Beclin1-Dependent Autophagy by Regulating Mir-30a in Cerebral Ischemic Stroke

Background/Aims: LncRNA metastasis associated lung adenocarcinoma transcript 1 (MALAT1) was reported to be highly expressed in an in vitro mimic of ischemic stroke conditions. However, the exact biological role of MALAT1 and its underlying mechanism in ischemic stroke remain to be elucidated. Methods: The roles of MALAT1 and miR-30a on cell death and infarct volume and autophagy were evaluated in experimental ischemic stroke. The relationships between miR-30a and MALAT1, Beclin1 were confirmed by luciferase reporter assay. The autophagy inhibitor 3-methyadenine (3-MA) was used to examine the impact of autophagy on ischemic injury. Results: We found that MALAT1, along with the levels of conversion from autophagy-related protein microtubule-associated protein light chain 3-I (LC3-I) to LC3-phosphatidylethanolamine conjugate (LC3-II), as well as Beclin1 were up-regulated and miR-30a was down-regulated in cerebral cortex neurons after oxygen-glucose deprivation (OGD) and mouse brain cortex after middle cerebral artery occlusion-reperfusion (MCAO). Down-regulation of MALAT1 suppressed ischemic injury and autophagy in vitro and in vivo. Furthermore, MALAT1 may serve as a molecular sponge for miR-30a and negatively regulate its expression. In addition, MALAT1 overturned the inhibitory effect of miR-30a on ischemic injury and autophagy in vitro and in vivo, which might be involved in the derepression of Beclin1, a direct target of miR-30a. Mechanistic analyses further revealed that autophagy inhibitor 3-methyadenine (3-MA) markedly suppressed OGD-induced neuronal cell death and MCAO-induced ischemic brain infarction. Conclusion: Taken together, our study first revealed that down-regulation of MALAT1 attenuated neuronal cell death through suppressing Beclin1-dependent autophagy by regulating miR-30a expression in cerebral ischemic stroke. Besides, our study demonstrated a novel lncRNA-miRNA-mRNA regulatory network that is MALAT1-miR-30a-Beclin1 in ischemic stroke, contributing to a better understanding the pathogenesis and progression of ischemic stroke.
Leadership, Coordination and Cooperation in Common-Pool Resource Management ∗

“This person is at the heart of the system” said a Nepalese farmer about the leader of their irrigation system, “without him there would be no irrigation”. There is ample empirical evidence of the importance of leadership for successful management of common-pool resources (CPRs), not least in dealing with the effects of various kinds of disturbances. However, it is hard to find a way to fit leadership into the theories of CPR management, especially if we also want to understand the emergence of leadership. In this paper I develop a model that provides a theoretical explanation for why there are leaders in CPRs, how the leader is selected and who will be the leader. I treat the interaction between CPR users as consisting of a number of different encounters, with different characteristics. Some encounters are best described as non-cooperative games and some are best described as coordination games. Focussing first on coordination-like encounters, I provide a theoretical motivation for the existence of leadership. I model the role of leadership as being a focal point, or focal person, of coordination games and present conditions for when the chances are higher of achieving coordination on individuals than on actions. Shifting focus to the whole CPR situation, I then suggest that by viewing CPR management as a mixture and interplay between coordination and cooperation games, the effect of precedence may account for some of the mismatch between theoretical predictions and empirical results on the extent of cooperation in CPR dilemmas. If coordinating on a leader and letting this person decide was efficient in solving coordination problems, then others may be expected to follow a similar strategy in encounters similar to non-cooperative games too. This explains both the existence of leadership in non-cooperative game type of encounters and the high extent of cooperative outcomes.
Neurophysiological Markers for Child Emotion Regulation From the Perspective of Emotion–Cognition Integration: Current Directions and Future Challenges

Neuroscientific research on emotion regulation suggests that the interplay between emotion and cognition may be fundamental to the ability to adaptively regulate emotions. Although emotion and cognition have historically been considered to be in opposition, more recent research suggests that they are also integrated, coordinated, and complementary. In this article, I review studies showing that scalp-recorded event related potentials (ERPs) reflecting emotion–cognition integration can be used as clinically meaningful indices of emotion regulation in children and adults, and have the potential to serve as biomarkers for emotion regulation and risk for specific affective disorders. Drawing on neuroscience and behavioral research, I propose a model in which ERP measures of emotion–cognition integration rather than opposition is the guiding principle for detecting neural markers for emotion regulation. Suggestions for a future research agenda are then presented.
Cadmium concentrations in the testes, sperm, and spermatids of mice subjected to long-term cadmium chloride exposure.

BACKGROUND Exposures to cadmium have been reported to reduce male fertility and there are several hypotheses that suggest how reduced male fertility may result from incorporation of cadmium into sperm chromatin. The purpose of this study was to determine whether mice subjected to long-term intraperitoneal cadmium exposure incorporated cadmium into their sperm chromatin. METHODS Male mice were exposed to 0.1 mg/kg body weight cadmium in the form of CdCl2 via intraperitoneal injection once per week for 4, 10, 26, and 52 weeks and then sacrificed. The cadmium contents of the liver, testes, pooled sperm, and pooled spermatids from dosed and control animals were determined by atomic absorption spectroscopy. Cadmium and zinc contents in individual sperm and spermatid heads were determined by particle-induced x-ray emission. RESULTS Atomic absorption spectroscopy revealed that although cadmium accumulated in the liver and testes, cadmium was not detected in pooled sperm or spermatid samples down to minimum detectable limits of 0.02 microg/g dry weight. Particle-induced x-ray emission analyses did not show the presence of cadmium in any sperm or spermatid head down to minimum detectable limits of 15 microg/g dry weight. Particle-induced x-ray emission analyses also demonstrated that phosphorus, sulfur, and zinc concentrations in individual sperm and spermatid heads were not altered by exposure to CdCl2. CONCLUSIONS Because cadmium was not incorporated into sperm chromatin at levels above 0.02 microg/g dry weight, the data cast doubt on hypotheses that suggest that reduced male fertility may result from incorporation of cadmium into sperm chromatin.
Investigating lexical proficiency development over time – the case of Dutch-speaking learners of French in Brussels

ABSTRACT This article aims (a) to explore the operationalisation and definition of lexical L2 proficiency and related constructs with a view to identifying a set of measures that can adequately capture the dynamics of lexical L2 proficiency development over time, and (b) to shed more light on the development of lexical proficiency in French Foreign Language classes. After a discussion of theoretical, terminological and methodological issues in L2 vocabulary research, we present a longitudinal quantitative study of the lexical development of Dutch-speaking adolescents learning FFL in Dutch-medium schools in Brussels over a three-year period and compare these learners' lexical proficiency in French to native speaker benchmarks.