Miracle-dz/UniFAR-FTUs huggingface dataset:
Neural Networks Based Path Planning and Navigation of Mobile Robots

The path planning for mobile robots is a fundamental issue in the field of unmanned vehicles control. The purpose of the path planner is to compute a path from the start position of the vehicle to the goal to be reached. The primary concern of path planning is to compute collision-free paths. Another, equally important issue is to compute a realizable and, if possible, optimal path, bringing the vehicle to the final position. Although humans have the superb capability to plan motions of their body and limbs effortlessly, the motion planning turns out to be a very complex problem. The best known algorithm has a complexity that is exponential to the number of degrees of freedom and polynomial in the geometric complexities of the robot and the obstacles in the environment (Chen & Hwang (1998)). Even for motion planning problems in the 2-dimensional space, existing complete algorithms that guarantee a solution often need large amount of memory and in some cases may take long computational time. On the other hand, fast heuristic algorithms may fail to find a solution even if it exists (Hwang & Ahuja (1992)). In this paper we present a fast algorithm for solving the path planning problem for differential drive (holonomic)1 robots. The algorithm can be applied to free-flying and snake type robots, too. Generally, we treat the two-dimensional known environment, where the obstacles are stationary polygons or ovals, but the algorithm can easily be extended for the three-dimensional case (Kroumov et al. (2010)). The proposed algorithm is, in general, based on the potential field methods. The algorithm solves the local minimum problem and generates optimal path in a relatively small number of calculations. The paper is organized as follows. Previous work is presented in Section 2. In Section 3 we give a definition of the map representation and how it is used to describe various obstacles situated in the working environment. The path and the obstacle collisions are detected using artificial annealing algorithm. Also, the solution of the local minima problem is described there. In Section 4 we describe the theoretical background and the development of a motion
Association between Dietary Carotenoid Intake and Bone Mineral Density in Korean Adults Aged 30–75 Years Using Data from the Fourth and Fifth Korean National Health and Nutrition Examination Surveys (2008–2011)

Age-related bone loss is a major public health problem. This cross-sectional study examined the association between the dietary intake of carotenoids and bone mineral density (BMD). Data from 8022 subjects (3763 males and 4259 females) aged 30–75 years included in the Korean National Health and Nutrition Examination Survey (2008–2011) were analyzed. BMD was measured by dual-energy X-ray absorptiometry. Intake of carotenoids was estimated using 24-h dietary recall. In multiple linear analysis, after adjusting for covariates, lutein + zeaxanthin and β-cryptoxanthin intake was positively associated with total hip BMD in males and premenopausal women respectively, while β-carotene intake was positively correlated with femoral neck, total hip, and whole-body BMD in postmenopausal women. Postmenopausal women in the highest quintile of daily β-carotene intake, showed a lower risk of osteopenia at the lumbar spine (odds ratio (OR): 0.35, 95% CI: 0.16–0.79, P for trend = 0.009) than those in the lowest quintile, after adjusting for covariates. Daily β-cryptoxanthin intake was significantly associated with a lower risk of osteopenia at the total hip (OR per 1 mg/day increase: 0.76; 95% CI: 0.59–0.97), and lumbar spine (OR per 1 mg/day increase: 0.79; 95% CI: 0.70–0.89) in postmenopausal women. These results suggest that the dietary intake of β-carotene and β-cryptoxanthin may have a positive effect on bone health.
A multi-objective artificial bee colony approach to feature selection using fuzzy mutual information

Feature selection often involves two conflicting objectives of minimizing the feature subset size and the maximizing the classification accuracy. In this paper, a multi-objective artificial bee colony (MOABC) framework is developed for feature selection in classification, and a new fuzzy mutual information based criterion is proposed to evaluate the relevance of feature subsets. Three new multi-objective feature selection approaches are proposed by integrating MOABC with three filter fitness evaluation criteria, which are mutual information, fuzzy mutual information and the proposed fuzzy mutual information. The proposed multi-objective feature selection approaches are examined by comparing them with three single-objective ABC-based feature selection approaches on six commonly used datasets. The results show that the proposed approaches are able to achieve better performance than the original feature set in terms of the classification accuracy and the number of features. By using the same evaluation criterion, the proposed multi-objective algorithms generally perform better than the single-objective methods, especially in terms of reducing the number of features. Furthermore, the proposed fuzzy mutual information criterion outperforms mutual information and the original fuzzy mutual information in both single-objective and multi-objective manners. This work is the first study on multi-objective ABC for filter feature selection in classification, which shows that multi-objective ABC can be effectively used to address feature selection problems.
Does cartelization deteriorate or enhance industrial competitiveness? A case study of the Korean automotive industry

La cartellisation deteriore-t-elle ou accroit-elle la competitivite industrielle ? Le cas de l’industrie automobile CoreenneBien que les aspects negatifs des cartels soient traditionnellement mis en avant, un certain nombre de chercheurs soutiennent sur la base de cas empiriques que les cartels ont aussi des aspects positifs. Ainsi, l’entente est l’une des questions controversees dans les debats sur la croissance economique. Cet article approfondit certains des effets et des fonctions propres a la cartellisation de l’industrie automobile coreenne. Le gouvernement de la Coree a encourage la cartellisation afin de parvenir a un developpement efficace de l’industrie et de renforcer sa competitivite. En particulier, le gouvernement est activement intervenu dans l’industrie pendant les periodes de ralentissement economique. En consequence, l’industrie automobile coreenne s’est stabilisee et a ameliore sa competitivite pour devenir l’une des cinq premieres mondiales aujourd’hui.
EmrE, a Small Escherichia coli Multidrug Transporter, Protects Saccharomyces cerevisiae from Toxins by Sequestration in the Vacuole

ABSTRACT In this report we describe the functional expression of EmrE, a 110-amino-acid multidrug transporter from Escherichia coli, in the yeast Saccharomyces cerevisiae. To allow for phenotypic complementation, a mutant strain sensitive to a series of cationic lipophilic drugs was first identified. A hemagglutinin epitope-tagged version of EmrE (HA-EmrE) conferring resistance to a wide variety of drugs, including acriflavine, ethidium, methyl viologen, and the neurotoxin 1-methyl-4-phenylpyridinium (MPP+), was functionally expressed in this strain. HA-EmrE is expressed in yeast at relatively high levels (0.5 mg/liter), is soluble in a mixture of organic solvents, and can be functionally reconstituted in proteoliposomes. In bacterial cells, EmrE removes toxic compounds by active transport through the plasma membrane, lowering their cytosolic concentration. However, yeast cells expressing HA-EmrE take up 14C-methyl viologen as well as control cells do. Thus, we investigated the basis of the enhanced resistance to the above compounds. Using Cu2+ ions or methylamine, we could selectively permeabilize the plasma membrane or deplete the proton electrochemical gradients across the vacuolar membrane, respectively. Incubation of yeast cells with copper ions caused an increase in 14C-methyl viologen uptake. In contrast, treatment with methylamine markedly diminished the extent of uptake. Conversely, the effect of Cu2+ and methylamine on a plasma membrane uptake system, proline, was essentially the opposite: while inhibited by the addition of Cu2+, it remained unaffected when cells were treated with methylamine. To examine the intracellular distribution of HA-EmrE, a functional chimera between HA-EmrE and the green fluorescent protein (HA-EmrE-GFP) was prepared. The pattern of HA-EmrE-GFP fluorescence distribution was virtually identical to that of the vacuolar marker FM 4-64, indicating that the transporter is found mainly in this organelle. Therefore, HA-EmrE protects yeast cells by lowering the cytoplasmic concentrations through removal of the toxin to the vacuole. This novel way of detoxification has been previously suggested to function in organisms in which a large vacuolar compartment exists. This report represents the first molecular description of such a mechanism.
Do measures of language impairment predict patient‐reported communication difficulty and distress as measured by the Burden of Stroke Scale (BOSS)?

Background: Patient‐reported measures of communication difficulty and communication‐related distress may be used to obtain efficient and valid indices of the functional consequences of aphasia and its treatment on the daily lives of many community‐dwelling stroke survivors. However, they have not been employed to evaluate treatment outcomes or to examine hypotheses specifying their relationship to commonly employed measures of speech and language impairment in persons with aphasia. This work was supported by the VHA Department of Rehabilitation Research and Development Merit Review Program (Project # C2386R), and the VA Pittsburgh Healthcare System's Geriatric Research Education and Clinical Center (GRECC). The authors wish to acknowledge the contributions of Burden of Stroke Scale (BOSS) Phase 2 Field Trial collaborators, Katherine Ross PhD, VAMC Phoenix, and Julie Wambaugh PhD, VAMC Salt Lake City, the assistance of their respective study team members, Steve Larson MA, Rosalea Cameron MA, and Christina Nessler MA, and the assistance of Mary Ann Oakley and Amy Goda. Aims: This study examined whether the Shortened Porch Index of Communicative Abilities, (SPICA) (Disimoni, Keith, & Darley, 1980), 55‐item Revised Token Test (55‐item RTT) (Arvedson, McNeil, & West, 1986), and BDAE Severity Rating Scale (Goodglass, Kaplan, & Barressi, 2001) scores obtained at 3 months post‐onset (MPO) predicted patient‐reported communication difficulty and distress as measured by the Burden of Stroke Scale (BOSS) (Doyle et al., 2004) at 12 MPO. Methods & Procedures: A sample of 37 adults with mild to moderate aphasia (M SPICA %ile = 70.4) were identified from a larger sample (n = 178) of community‐dwelling stroke survivors who participated in a longitudinal investigation designed to examine the psychometric properties of the BOSS. Speech and language data obtained from the sub‐sample of participants with aphasia were retrospectively examined in two sequential regression models in which the 3‐MPO test scores served as the predictor variables of interest, and 12‐MPO BOSS Communication Difficulty and Communication Distress Scores served as dependent variables. Results: Among the speech and language measures examined, only 3‐month BDAE Severity Ratings contributed significantly to the prediction of 12‐month patient‐reported communication difficulty and distress as measured by the BOSS. Conclusions: The findings suggest that performance‐based measures of speech and language impairment such as the SPICA and 55‐item RTT may not accurately predict the day‐to‐day communication difficulty and distress experienced by community‐dwelling stroke survivors with mild to moderate aphasia. Replication of these findings in a prospectively designed study employing a larger more representative sample, and more comprehensive assessment instruments is needed to substantiate the relationship between performance‐based measures of language impairment and patient‐reported communication difficulty and distress in adults with aphasia.
Stack-based Multi-layer Attention for Transition-based Dependency Parsing

Although sequence-to-sequence (seq2seq) network has achieved significant success in many NLP tasks such as machine translation and text summarization, simply applying this approach to transition-based dependency parsing cannot yield a comparable performance gain as in other state-of-the-art methods, such as stack-LSTM and head selection. In this paper, we propose a stack-based multi-layer attention model for seq2seq learning to better leverage structural linguistics information. In our method, two binary vectors are used to track the decoding stack in transition-based parsing, and multi-layer attention is introduced to capture multiple word dependencies in partial trees. We conduct experiments on PTB and CTB datasets, and the results show that our proposed model achieves state-of-the-art accuracy and significant improvement in labeled precision with respect to the baseline seq2seq model.
The Dynamic Relationship between Gender Quotas and Political Institutions

Scholars of gender quotas have paid increasing attention to the ways in which formal and informal institutions shape the outcome of this electoral reform (Hassim 2009; Jones 2009; Zetterberg 2009). Quotas, however, are not only affected by the institutional context in which they are adopted; their transformative nature also implies that they (should) contribute to changing political institutions. This dynamic relationship has consequences for the analysis of key institutions within representative democracy: Electoral quotas may, in some cases, challenge well-defined analytical frameworks and established ways to study political life. This essay aims to demonstrate theoretically how quota adoption exerts an impact on established political structures and thus challenges existing understandings within subfields of comparative politics. More specifically, I bring up two institutions within representative democracy that are likely to be affected by quotas: the political recruitment process and intraparty politics within legislative institutions.
Adenylate kinase phosphotransfer communicates cellular energetic signals to ATP-sensitive potassium channels

Transduction of energetic signals into membrane electrical events governs vital cellular functions, ranging from hormone secretion and cytoprotection to appetite control and hair growth. Central to the regulation of such diverse cellular processes are the metabolism sensing ATP-sensitive K+ (KATP) channels. However, the mechanism that communicates metabolic signals and integrates cellular energetics with KATP channel-dependent membrane excitability remains elusive. Here, we identify that the response of KATP channels to metabolic challenge is regulated by adenylate kinase phosphotransfer. Adenylate kinase associates with the KATP channel complex, anchoring cellular phosphotransfer networks and facilitating delivery of mitochondrial signals to the membrane environment. Deletion of the adenylate kinase gene compromised nucleotide exchange at the channel site and impeded communication between mitochondria and KATP channels, rendering cellular metabolic sensing defective. Assigning a signal processing role to adenylate kinase identifies a phosphorelay mechanism essential for efficient coupling of cellular energetics with KATP channels and associated functions.
Sustaining Online Shopping: Moderating Role of Online Shopping Motives

This research tests the effects of Technology Acceptance Model factors (usefulness, enjoyment, and ease of use) on the use of the online channel for information search and online purchase in the post-adoption context. By applying the Prospect Theory and introducing the concept of motivational approach–avoidance conflict, this research also examines the moderating role of the simultaneous online shopping motives of pursuing benefits and avoiding risks in online shopping behaviors. Multi-group comparisons across shoppers with high/low motivational conflict (benefit perceivers vs. risk perceivers) show that online shopping motives limit the predicting power of the Technology Acceptance Model in the post-adoption context. Theoretical and practical implications are provided.
Testing the Implementation, Board Performance, and Organizational Effectiveness of the Policy Governance Model in Nonprofit Boards of Directors

This article presents an empirical study of the relationships between implementation of thepolicy governance model in nonprofit organizations, board performance, and organizational effectiveness.An implementation measure of the policy governance model was created to investigate these relationships.Data were gathered from three samples: organizations that have implemented policy governance, a matched sample of randomly selected nonprofit organizations, and nonprofit organizations that had received board development from the National Center for Nonprofit Boards.Analysis yielded several positive, significant relationships between the extent of implementation of policy governance board behaviors, perceptions of improvement in board performance following implementation of policy governance, and some aspects of organizational effectiveness.
From Fisheries Decline to Tourism Destination: Mass Media, Tourism Mobility, and the Newfoundland Coastal Environment

Abstract In this paper, we examine narratives of tourism mobility circulated through print news media coverage of Newfoundland published in Canada, the UK, and the USA between 1992 and 2010. Initially articles were situated within a larger narrative of fisheries collapse, rural decline, and out-migration. In recent years, however, the discourse shifted to emphasize how non-human nature, including whales, icebergs, and national parks, serves as a tourism attractor, yielding benefits for rural communities. We draw on Latour’s work on political ecology, as well as on Urry’s work on tourism, mobility, and climate change, to analyze the eco-political implications of media accounts of tourism and the Newfoundland coastal environment.
Sympathetic Fiber Sprouting in Inflamed Joints and Adjacent Skin Contributes to Pain-Related Behavior in Arthritis

Although chronic pain is the most common symptom of arthritis, relatively little is known about the mechanisms driving it. Recently, a sprouting of autonomic sympathetic fibers into the upper dermis of the skin, an area that is normally devoid of them, was found in the skin following chronic inflammation of the rat hindpaw. While this sprouting only occurred when signs of joint and bone damage were present, it remained to be clarified whether it was a consequence of the chronic inflammation of the skin or of the arthritis and whether it also occurred in the joint. In the present study, we used a model of arthritis in which complete Freund's adjuvant (CFA) was injected into the rat ankle joint. At 4 weeks following CFA treatment, there was an increase in sympathetic and peptidergic fiber density in the ankle joint synovium. We also observed a sympathetic, but not peptidergic, fiber sprouting in the skin over the joint, which may be a consequence of the increased levels of mature nerve growth factor levels in skin, as revealed by Western blot analysis. The pharmacological suppression of sympathetic fiber function with systemic guanethidine significantly decreased the pain-related behavior associated with arthritis. Guanethidine completely suppressed the heat hyperalgesia and attenuated mechanical and cold hypersensitivity. These results suggest that transmitters released from the sprouted sympathetic fibers in the synovial membrane and upper dermis contribute to the pain-related behavior associated with arthritis. Blocking the sympathetic fiber sprouting may provide a novel therapeutic approach to alleviate pain in arthritis.
The Establishment of Human Research Tissue Banking in the UK and Several Western European Countries

3UK Human Tissue Bank, De Montfort University, Innovation Centre, Leicester LE1 5XY, UK; 4ECVAM, Institute for Health & Consumer Protection, European Commission Joint Research Centre, 21020 Ispra (VA) Italy; 5School of Pharmacy and Pharmaceutical Sciences, Hawthorn Building, De Montfort University, Leicester LE1 5XY, UK; 6Kings Health Care, East Dulwich Grove, London SE22 8PT, UK; 7North London Tissue Bank, Edgware, London HA8 9BD; 8Department of Cellular Pathology, Peterborough District Hospital, Thorpe Road, Peterborough PE3 6DA, UK; 9CSZ Medische Ethiek, Ministerie van VWS, Postbus 20350, 2500 EJ The Hague, The Netherlands; 10Department of Pathology, Centre for Laboratoire Medicine, Tampere University Hospital, P.O. Box 2000, 33521 Tampere, Finland; 11British Association for Tissue Banking, National Blood Service, East Anglia Tissue Bank, Long Road, Cambridge CB2 2PT, UK; 12Medicines Control Agency, Market Towers, 1 Nine Elms Lane, London SW8 5NQ, UK; 13School of Law, Elfed Thomas Building, De Montfort University, Leicester LE1 5XY, UK; 14University of Besancon, Laboratoire Biologie Cellular, UFR Medecine-Pharmacie, 4 place St Jacques, 25030 Besancon, France; 15Netherlands Brain Bank, Meibertdreef 33, 1105 AZ Amsterdam, The Netherlands; 16UK Transplant, Fox Den Road, Stoke Gifford, Bristol BS34 8RR, UK; 17Department of Transplantology & Central Tissue Bank, Centre of Biostructure, Medical University of Warsaw, Chatubinskiego 5, Warsaw 02 004, Poland; 18Tissue Services, North London Tissue Bank, Edgware, London HA8 9BD, UK; 19University of Regensburg Hospital, Department of Surgery, Centre for Liver Cell Research, Franz Josef Strauss Allee 11, Regensburg 93053, Germany; 20Netherlands Centre for Alternatives to Animal Use, Yalelaan 17, De Uithof, 3584 CL Utrecht, The Netherlands; 21Centre for Liver Cell Research, University of Regensburg Hospital, F.J.S. Allee 11, 93053 Regensburg, Germany; 22Tissue Bank, Department of Cellular Pathology, Peterborough District Hospital, Thorpe Road, Peterborough LE3 6DA, UK; 23Medical School, 33014 University of Tampere, Finland. ATLA 29, 125–134, 2001 125
Entropy-based test generation for improved fault localization

Spectrum-based Bayesian reasoning can effectively rank candidate fault locations based on passing/failing test cases, but the diagnostic quality highly depends on the size and diversity of the underlying test suite. As test suites in practice often do not exhibit the necessary properties, we present a technique to extend existing test suites with new test cases that optimize the diagnostic quality. We apply probability theory concepts to guide test case generation using entropy, such that the amount of uncertainty in the diagnostic ranking is minimized. Our ENTBUG prototype extends the search-based test generation tool EVOSUITE to use entropy in the fitness function of its underlying genetic algorithm, and we applied it to seven real faults. Empirical results show that our approach reduces the entropy of the diagnostic ranking by 49% on average (compared to using the original test suite), leading to a 91% average reduction of diagnosis candidates needed to inspect to find the true faulty one.