Miracle-dz/UniFAR-FTUs huggingface dataset:
Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM

—This paper describes progress towards creating an integrated large-scale visual and RGB-D mapping and localization system to operate in the MIT Stata Center. The output of a real-time, temporally scalable 6-DOF visual SLAM system is used to generate low ﬁdelity maps that are used by the Kinect Monte Carlo Localization (KMCL) algorithm. This localization algorithm can track the camera pose during aggressive motion and can aid in recovery from visual odometry failures. The localization algorithm uses dense depth information to track its location in the map, which is less sensitive to large viewpoint changes than feature-based approaches, e.g. traversing in opposite direction up and down a hallway. The low ﬁdelity map also makes the system more resilient to clutter and small changes in the environment. The integration of the localization algorithm with the mapping algorithm enables the system to operate in novel environments and allows for robust navigation through the mapped area—even under aggressive motion. A major part of this project has been the collection of a large dataset of the ten-ﬂoor MIT Stata Center with a PR2 robot, which currently consists of approximately 40 kilometers of distance traveled. This paper describes ongoing efforts to obtain centimeter-level ground-truth for the robot motion, using prior building models.
Combined frame- and event-based detection and tracking

This paper reports an object tracking algorithm for a moving platform using the dynamic and active-pixel vision sensor (DAVIS). It takes advantage of both the active pixel sensor (APS) frame and dynamic vision sensor (DVS) event outputs from the DAVIS. The tracking is performed in a three step-manner: regions of interest (ROIs) are generated by a cluster-based tracking using the DVS output, likely target locations are detected by using a convolutional neural network (CNN) on the APS output to classify the ROIs as foreground and background, and finally a particle filter infers the target location from the ROIs. Doing convolution only in the ROIs boosts the speed by a factor of 70 compared with full-frame convolutions for the 240×180 frame input from the DAVIS. The tracking accuracy on a predator and prey robot database reaches 90% with a cost of less than 20ms/frame in Matlab on a normal PC without using a GPU.
Morphees: toward high "shape resolution" in self-actuated flexible mobile devices

We introduce the term shape resolution, which adds to the existing definitions of screen and touch resolution. We propose a framework, based on a geometric model (Non-Uniform Rational B-splines), which defines a metric for shape resolution in ten features. We illustrate it by comparing the current related work of shape changing devices. We then propose the concept of Morphees that are self-actuated flexible mobile devices adapting their shapes on their own to the context of use in order to offer better affordances. For instance, when a game is launched, the mobile device morphs into a console-like shape by curling two opposite edges to be better grasped with two hands. We then create preliminary prototypes of Morphees in order to explore six different building strategies using advanced shape changing materials (dielectric electro active polymers and shape memory alloys). By comparing the shape resolution of our prototypes, we generate insights to help designers toward creating high shape resolution Morphees.
The mTOR/AP-1/VEGF signaling pathway regulates vascular endothelial cell growth

Vascular restenosis is a common adverse event following percutaneous coronary intervention (PCI) and coronary artery bypass grafting (CABG). The atypical Ser/Thr protein kinase mammalian target of rapamycin (mTOR) plays an important role in cell differentiation and apoptosis. Vascular restenosis caused by excessive endothelial cell proliferation can be inhibited by local application of the mTOR inhibitor rapamycin (RAPA); however, RAPA can also suppress normal vascular endothelial cell growth by blocking mTOR/VEGF signaling, although the underlying mechanism is still unclear. Here, endogenous mTOR, AP-1, and VEGF were inhibited or overexpressed to investigate the mechanism underlying the effects of RAPA. Inhibition of AP-1 or mTOR with AP-1-siRNA or RAPA treatment respectively, decreased vascular endothelial cell proliferation, upregulation of AP-1 or mTOR increased cell proliferation, and VEGF overexpression increased, while RAPA-induced mTOR inhibition decreased vascular endothelial cell proliferation, the results indicate that combining mTOR downregulation and VEGF upregulation might both inhibit restenosis and maintain normal vascular endothelial cell growth after PCI or CABG, suggest the mTOR/AP-1/VEGF pathway might play a crucial role in regulating vascular endothelial cell growth.
Planar four-port quadri-polarization slot antenna for millimeter wave application

This paper presents a planar, vialess printed slot dipole antenna with polarization switchable characteristic. The proposed design comprises four input ports, and each input ports corresponds to different polarizations such as horizontal polarization, vertical polarization, right-handed circular polarization, and left-handed circular polarization. Because lumped diodes are not available in millimeter wave frequency band, polarization diversity antenna designs using diodes are not applicable. The proposed design does not require PIN diodes and DC biasing circuits, which makes it suitable to be used at higher frequency band. It can be easily printed on a circuit board and integrated with RF circuits using flip chip. The low cost and easy implement characteristic enables polarization agile antenna design for millimeter wave frequency band.
Design and Reliability Analysis of Data Logging and Management System for AUV

The data logging and management system (DLAM) of the autonomous underwater vehicle (AUV) running on the on-board PC/104 module uses the synchronization and communication mechanism by using multi-threading to implement the function of the collection of data from different devices through multi-serial-port card for sonar, compass, gyro and the USB port for accelerometer, as well as the function of enveloping and transmitting the data to the on-board Industrial PC (IPC) via Ethernet and the function of managing and recording the data locally. Circular buffer management class designed by ourselves and the sequence table are used to manage the data in the memory. By using the circular buffer, we can be free from those trivia like allocating and releasing the resources of memory all the time. The software reliability is analysed and evaluated as well. White-box testing method is employed to test the system, and Musa execution time model is used to estimate the reliability. The result of the estimation shows that the system achieves the expected requirement.
SiRNA Delivery with PEGylated Graphene Oxide Nanosheets for Combined Photothermal and Genetherapy for Pancreatic Cancer

Since the successful exfoliation of graphene from graphite in 2004, graphene and graphene oxide (GO) have been considered the most promising two-dimensional (2D) nanomaterials with distinguished physical and chemical characteristics and have attracted great attention in many different fields. Graphene oxide is well-known for its distinct physiochemical properties and shows only minimal cytotoxicity compared to carbon nanotubes. Until now, only limited efforts have been invested in utilizing GO for gene therapy in pancreatic cancer treatments. In this study, we utilized multi-functionalized monolayer GO as a gene delivery system to efficiently co-deliver HDAC1 and K-Ras siRNAs (small interfering RNAs targeting the HDAC1 gene and the G12C mutant K-Ras gene, respectively) to specifically target pancreatic cancer cells MIA PaCa-2. The systematic mechanistic elucidation of the dual gene silencing effects indicated the inactivation of both the HDAC1 and the K-Ras gene, thereby causing apoptosis, proliferation inhibition and cell cycle arrest in treated MIA PaCa-2 cells. The synergistic combination of gene silencing and NIR light thermotherapy showed significant anticancer efficacy, inhibiting in vivo tumor volume growth by >80%. Furthermore, GO can be metabolized in the mouse model within a reasonable period of time without obvious side effects. Based on preliminary in vivo application, this study for the first time indicates the promising potential of functionalized GO as a vehicle for gene therapy delivery with low toxicity for the treatment of pancreatic adenocarcinoma.
Lightweight Sybil Attack Detection in MANETs

Fully self-organized mobile ad hoc networks (MANETs) represent complex distributed systems that may also be part of a huge complex system, such as a complex system-of-systems used for crisis management operations. Due to the complex nature of MANETs and its resource constraint nodes, there has always been a need to develop lightweight security solutions. Since MANETs require a unique, distinct, and persistent identity per node in order for their security protocols to be viable, Sybil attacks pose a serious threat to such networks. A Sybil attacker can either create more than one identity on a single physical device in order to launch a coordinated attack on the network or can switch identities in order to weaken the detection process, thereby promoting lack of accountability in the network. In this research, we propose a lightweight scheme to detect the new identities of Sybil attackers without using centralized trusted third party or any extra hardware, such as directional antennae or a geographical positioning system. Through the help of extensive simulations and real-world testbed experiments, we are able to demonstrate that our proposed scheme detects Sybil identities with good accuracy even in the presence of mobility.
From trash to treasure – turning plastic waste into biodegradable polymers using bacteria

Mountains of plastic waste consisting of carrier bags and medical packaging are buried in landfill sites dumped in rivers around the world annually. Unfortunately plastics generated by the petrochemical industry are not biodegradable and therefore accumulate in the environment at a rate of over 25 million tones year-1. Therefore there is a huge demand for biodegradable plastics. Polystyrene (PS), polyethylene (PE) and polypropylene (PP) are problematic materials, used for appliance housings, disposable cutlery and general packaging. This study investigates the utilisation of waste PS, PE and PP as a potential additional carbon sources using bacteria to synthesise polyhydroxyalkanoates (PHAs); a value-added material, able to replace some conventional fossil-fuel plastics while being non-toxic, fully biodegradable and biocompatible. Prodegraded waste PS and PP, and thermally treated PEwere used as supplementary carbon sources totryptone soya broth (TSB and BSM) for 48 h fermentations [1, 2, 3]. The bacterial strain Cupriavidus necator H16 was selected as it is non-pathogenic, genetically stable, robust and one of the best natural producers of PHA. The accumulation of PHAs varied from 17 % (wt / wt) of dry biomass in TSB controls to 39–66 % for PS, PE and PP thermally treated samples. The polymers obtained were analysed with nuclear magnetic resonance (NMR) and electrospray ionisation tandem mass spectrometry (ESI-MS/MS) to characterise their chemical structure. In conclusion, certain thermal treatment protocols of the waste plastics were shown to be viable for PHA production; with3-hydroxybutyrate and up to 12 mol% of 3-hydroxyvalerate and 3-hydroxyhexanoate co-monomeric units formed.
Tracking Electrification in Vietnam Using Nighttime Lights

The authors report on a systematic ground-based validation of DMSP-OLS night lights imagery to detect rural electrification in Vietnam. Based on an original survey of village-level units in Vietnam, this study compares nighttime light output from the U.S. Air Force Defense Meteorological Satellite Program’s Operational Linescan System (DMSP-OLS) against ground-based survey data on electrical infrastructure and electricity use in 200 electrified villages. Monthly and annual composites record a one-point increase in brightness along DMSP-OLS’s 63-point brightness scale for every 60–70 additional street lights or 240–270 electrified homes. Using a time series of 90 nightly images, the data show a one-point increase in brightness for every 125–200 additional streetlights, or 550–700 additional electrified homes. The results highlight the potential to use night lights imagery to support efforts to connect the 1.2 billion people who lack electricity around the world.
Low power 2.4 GHz RF transmitter for satellite subsystem using CORDIC based frequency translator

This paper presents a CORDIC based frequency translator for low power radio frequency transmitter to be used in intra-satellite communication. As against the conventional method of using analog up-conversion mixers for frequency translation, an idea has been proposed to use CORDIC for translation. As CORDIC replaces mixer, digital-to-analog converter and low pass filter, overall hardware decreases and the power consumed also goes down to 2mW. Thus there is a 45% power saving compared to conventional architectures. An envelope tracking power amplifier is implemented that delivers a linear output of 223dBm. Entire design is simulated and verified using Cadence® and Synopsys® in 180nm technology and consumes a total power of 12mW.
Identifying significant gene‐environment interactions using a combination of screening testing and hierarchical false discovery rate control

Although gene‐environment (G× E) interactions play an important role in many biological systems, detecting these interactions within genome‐wide data can be challenging due to the loss in statistical power incurred by multiple hypothesis correction. To address the challenge of poor power and the limitations of existing multistage methods, we recently developed a screening‐testing approach for G× E interaction detection that combines elastic net penalized regression with joint estimation to support a single omnibus test for the presence of G× E interactions. In our original work on this technique, however, we did not assess type I error control or power and evaluated the method using just a single, small bladder cancer data set. In this paper, we extend the original method in two important directions and provide a more rigorous performance evaluation. First, we introduce a hierarchical false discovery rate approach to formally assess the significance of individual G× E interactions. Second, to support the analysis of truly genome‐wide data sets, we incorporate a score statistic‐based prescreening step to reduce the number of single nucleotide polymorphisms prior to fitting the first stage penalized regression model. To assess the statistical properties of our method, we compare the type I error rate and statistical power of our approach with competing techniques using both simple simulation designs as well as designs based on real disease architectures. Finally, we demonstrate the ability of our approach to identify biologically plausible SNP‐education interactions relative to Alzheimer's disease status using genome‐wide association study data from the Alzheimer's Disease Neuroimaging Initiative (ADNI).
Formoterol in patients with chronic obstructive pulmonary disease: a randomized, controlled, 3-month trial

The aim of this study was to investigate formoterol, an inhaled long-acting β2-agonist, in patients with chronic obstructive pulmonary disease (COPD). Six-hundred and ninety-two COPD patients, mean baseline forced expiratory volume in one second (FEV1) 54%, FEV1/forced vital capacity 75% of predicted, reversibility 6.4% pred, were treated with formoterol (4.5, 9 or 18 µg b.i.d.) or placebo via Turbuhaler® for 12 weeks. Symptoms were recorded daily. Spirometry and the incremental shuttle walking test (SWT) were performed at clinic visits. Compared with placebo, 18 µg b.i. d. formoterol reduced the mean total symptom score by 13% and increased the percentage of nights without awakenings by 15%. Formoterol (9 and 18 µg b.i.d.) significantly reduced symptom scores for breathlessness (−7% and −9%, respectively) and chest tightness (−11% and −8%, respectively), reduced the need for rescue medication (−25% and −18%, respectively), and increased symptom-free days (71% and 86%, respectively). FEV1 improved significantly after all three doses of formoterol (versus placebo). No differences were found between groups in SWT walking distance. No unexpected adverse events were seen. In conclusion, 9 and 18 µg b.i. d. formoterol reduced symptoms and increased the number of symptom-free days in a dose-dependent manner in chronic obstructive pulmonary disease patients. Formoterol improved lung function at a dose of 4.5 µg b.i. d. and higher.
Comparative assessments of Gonatocerus ashmeadi and the ‘new association’ parasitoid G. deleoni (Hymenoptera: Mymaridae) as biological control agents of Homalodisca vitripennis (Hemiptera: Cicadellidae)

Egg age preference, competitive ability, and behavior of Gonatocerus deleoni (‘new association’ parasitoid) and G. ashmeadi (the co-evolved dominant parasitoid in California) were investigated in the laboratory to determine whether one species exhibited competitive superiority. When searching concurrently for Homalodisca vitripennis egg masses, G. ashmeadi consistently outperformed G. deleoni by parasitizing 59–89% more eggs under three different experimental systems in the laboratory with varying host densities, egg ages, and exposure times. G. ashmeadi parasitism in control vials containing one parasitoid ranged from 58 to 86% and was up to 28% higher at egg ages 1 and 3 days compared with 5 days. G. deleoni in control vials parasitized on average 7% of H. vitripennis egg masses in 1 h regardless of egg age. G. deleoni failed to parasitize H. vitripennis egg masses in 15 min when caged alone or in competition with G. ashmeadi. In a combined species treatment, parasitism by G. ashmeadi was 11% higher when H. vitripennis eggs were exposed for 5 days compared with 24 h. Conversely parasitism by G. deleoni was 5% lower for this comparison. G. ashmeadi had a significantly female biased sex ratio for all three experimental designs, whereas, G. deleoni offspring sex ratio was not significantly greater than 50%. In comparison to G. ashmeadi, behavioral observations indicated that G. deleoni was absent from host egg infested leaves 53% more frequently and it oviposited 66% less frequently. No incidences of females aggressively chasing competitors off H. vitripennis egg masses were recorded during this study.
A genetic score for the prediction of beta-thalassemia severity

Clinical and hematologic characteristics of beta(β)-thalassemia are determined by several factors resulting in a wide spectrum of severity. Phenotype modulators are: HBB mutations, HBA defects and fetal hemoglobin production modulators (HBG2:g.−158C>T polymorphism, HBS1L-MYB intergenic region and the BCL11A). We characterized 54 genetic variants at these five loci robustly associated with the amelioration of beta-thalassemia phenotype, to build a predictive score of severity using a representative cohort of 890 β-thalassemic patients. Using Cox proportional hazard analysis on a training set, we assessed the effect of these loci on the age at which patient started regular transfusions, built a Thalassemia Severity Score, and validated it on a testing set. Discriminatory power of the model was high (C-index=0.705; R2=0.343) and the validation conducted on the testing set confirmed its predictive accuracy with transfusion-free survival probability (P<0.001) and with transfusion dependency status (Area Under the Receiver Operating Characteristic Curve=0.774; P<0.001). Finally, an automatized on-line calculation of the score was made available at http://tss.unica. it. Besides the accurate assessment of genetic predictors effect, the present results could be helpful in the management of patients, both as a predictive score for screening and a standardized scale of severity to overcome the major-intermedia dichotomy and support clinical decisions.
The Adhesion-GPCR BAI1 Regulates Synaptogenesis by Controlling the Recruitment of the Par3/Tiam1 Polarity Complex to Synaptic Sites

Excitatory synapses are polarized structures that primarily reside on dendritic spines in the brain. The small GTPase Rac1 regulates the development and plasticity of synapses and spines by modulating actin dynamics. By restricting the Rac1-guanine nucleotide exchange factor Tiam1 to spines, the polarity protein Par3 promotes synapse development by spatially controlling Rac1 activation. However, the mechanism for recruiting Par3 to spines is unknown. Here, we identify brain-specific angiogenesis inhibitor 1 (BAI1) as a synaptic adhesion GPCR that is required for spinogenesis and synaptogenesis in mice and rats. We show that BAI1 interacts with Par3/Tiam1 and recruits these proteins to synaptic sites. BAI1 knockdown results in Par3/Tiam1 mislocalization and loss of activated Rac1 and filamentous actin from spines. Interestingly, BAI1 also mediates Rac-dependent engulfment in professional phagocytes through its interaction with a different Rac1-guanine nucleotide exchange factor module, ELMO/DOCK180. However, this interaction is dispensable for BAI1's role in synapse development because a BAI1 mutant that cannot interact with ELMO/DOCK180 rescues spine defects in BAI1-knockdown neurons, whereas a mutant that cannot interact with Par3/Tiam1 rescues neither spine defects nor Par3 localization. Further, overexpression of Tiam1 rescues BAI1 knockdown spine phenotypes. These results indicate that BAI1 plays an important role in synaptogenesis that is mechanistically distinct from its role in phagocytosis. Furthermore, our results provide the first example of a cell surface receptor that targets members of the PAR polarity complex to synapses.