Miracle-dz/UniFAR-FTUs huggingface dataset:
G3-splines for the path planning of wheeled mobile robots

This paper deals with generation of smooth paths for the navigation of wheeled mobile robots by means of the iterative steering technique. A new motion planning primitive called G3-spline or η-spline is proposed. It is a seventh order polynomial spline that permits the interpolation of an arbitrary sequence of points with associated arbitrary direction, curvature and curvature derivative. Adopting this path planning, the robot's control inputs can be obtained by means of a dynamic path inversion procedure ensuring the continuity of velocities and accelerations. This new spline depends on a vector with six parameters (η) that can be used to finely shape the path. The paper includes both theoretical results and path planning examples.
Structural dynamics of possible late-stage intermediates in folding of quadruplex DNA studied by molecular simulations

Explicit solvent molecular dynamics simulations have been used to complement preceding experimental and computational studies of folding of guanine quadruplexes (G-DNA). We initiate early stages of unfolding of several G-DNAs by simulating them under no-salt conditions and then try to fold them back using standard excess salt simulations. There is a significant difference between G-DNAs with all-anti parallel stranded stems and those with stems containing mixtures of syn and anti guanosines. The most natural rearrangement for all-anti stems is a vertical mutual slippage of the strands. This leads to stems with reduced numbers of tetrads during unfolding and a reduction of strand slippage during refolding. The presence of syn nucleotides prevents mutual strand slippage; therefore, the antiparallel and hybrid quadruplexes initiate unfolding via separation of the individual strands. The simulations confirm the capability of G-DNA molecules to adopt numerous stable locally and globally misfolded structures. The key point for a proper individual folding attempt appears to be correct prior distribution of syn and anti nucleotides in all four G-strands. The results suggest that at the level of individual molecules, G-DNA folding is an extremely multi-pathway process that is slowed by numerous misfolding arrangements stabilized on highly variable timescales.
On synchronization of wideband impulsive systems in multipath

A preponderance of ultrawideband radio communication systems under current study employ the use of pulse position modulation (PPM). However, there are significant issues related to the synchronization of PPM systems in multipath. If the multipath scattering is rich i.e. the number of reflections (paths) increases without bound as the bandwidth increases, then synchronization is impaired. In particular, it is shown that a threshold-type detector fails in synchronizing, for any possible threshold, in the limit of large bandwidth. The maximum likelihood detector can synchronize under some severely constrained scenarios which do not appear to reflect reality in light of recent propagation measurements
Towards an automatic translation of medical terminology and texts into Arabic

The Aramed project, financed by the INCO programme of the European Commission, is developing a system which translates medical classifications (based on the SNOMED medical codes) from English to Arabic, and German and English medical texts into Arabic. Its aim is to provide a usable tool for automatic translation in the area of medicine in the Arab world. It also provides the basis of a German–Arabic MT system. The system consists of two main components: an Arabic morphological generator (NALG) and a transfer, constraint and unification–based MT system (CAT2), developed as a sideline to the Eurotra MT project. In this paper we shall explain in detail how a language like Arabic can be relatively easily included in a MT system which was originally developed for European languages, and how general linguistic and terminological knowledge is integrated into one framework of analysis which, using a few principles of syntactic and semantic composition, can translate both general language and medical texts.
The Effects of Case-Based Instruction on Undergraduate Biology Students' Understanding of the Nature of Science

Undergraduate science education is currently seeing a dramatic pedagogical push towards teaching the philosophies underpinning science as well as an increase in strategies that employ active learning. Many active learning strategies stem from constructivist ideals and have been shown to affect a student’s understanding of how science operates and its impact on societycommonly referred to as the nature of science (NOS). One particular constructivist teaching strategy, case-based instruction (CBI), has been recommended by researchers and science education reformists as an effective instructional strategy for teaching NOS. Furthermore, when coupled with explicit-reflective instruction, CBI has been found to significantly increasing understanding of NOS in elementary and secondary students. However, few studies aimed their research on CBI and NOS towards higher education. Thus, this study uses a quasi-experimental, nonequivalent group design to study the effects of CBI on undergraduate science students understandings of NOS. Undergraduate biology student’s understanding of NOS were assessed using the Views of Science Education (VOSE) instrument pre and post CBI intervention in Cellular and Molecular Biology and Human Anatomy and Physiology II. Data analysis indicated statistically significant differences between students NOS scores in experimental versus control sections for both courses, with experimental groups obtaining higher posttest scores. The results of this study indicate that undergraduate male and female students have similarly poor understandings of NOS and the use of historical case based instruction can be used as a means to increase undergraduate understanding of NOS.
Enzyme-Linked ImmunosorbentAssay of CAi 25 in Serum of Patientswith Endometriosis : Efficacyin Diagnosis

We used an enzyme-linked immunosorbent assay to quantify CA-i 25, a cancer antigen, in serum of patients with endometnosis. Concentrations of CA-i 25 in 103 patients with untreated endometriosis significantly (P <0.005) exceeded those for 31 controls with no evidence of disease: 9.1 (SD 12.3) vs 2.2 (SD 3.2) arb. units/mL. Values for patients with treated endometriosis were lower (2.3, SD 2.6, arb. units/mL, n = 9) than those for patients with untreated endometnosis. The mean concentrations of CA-i 25 in different stages of untreated endometriosis were 4.8 (SD 4.5), 7.1 (SD 9.9), 9.8 (SD 13.2), and 10.8 (SD 13.0) arb. units/mL for Stages I, II, III, and IV, respectively. The differences between controls and each stage were statistically significant (for all stages: P <0.05). We also assayed serum sampled from controls and patients with untreated endometnosis during menstruation (Group A) and during nonmenstruation (Group B). The efficacy of the present assay for concentrations of CA-125 in serum of patients with endometriosis was greater for Group B than for Group A. Evidently, determination of CA-125 in serum by the present assay may assist in such diagnosis.
Accordion: Multi-Scale Recipes for Adaptive Detection of Duplication

A recipe is metadata that describes the contents of a file as a sequence of blocks identified by their hash. Using recipes, one can rapidly compare the contents of two files without reading the files themselves. Unfortunately, recipes present a space/precision tradeoff: small block sizes will maximize the duplication that is discoverable, but large block sizes produce small recipes that can be compared more quickly. In this paper, we present Accordion, a toolset for the creation and use of multi-scale recipes - that is, recipes that include blocks at several different scales. We demonstrate two duplication-detection algorithms - one optimized for situations where lots of duplication is expected, and another for those where the existence of duplication is uncertain.
The potential of landscape labelling approaches for integrated landscape management in Europe

Abstract This paper combines conceptual thinking and empirical analysis of landscape labelling as a new governance approach. With the help of a literature review and qualitative interviews, we (1) explore the conceptual orientation of landscape labelling, (2) analyse existing approaches in Europe and (3) elaborate its potential for integrated landscape management on a regional scale. Governance analysis to identify fostering and hindering factors is carried out for regional brands in biosphere reserves in Germany, geographic indication in Spain, organic agriculture in France and a community forest in England. We argue that landscape labelling can highlight the multitude of landscape functions and values, target a broader range of stakeholders and act as a boundary object and exchange platform for rural transformation, experimentation and learning. However, landscape labels are no panacea, but one approach within policy mixes that depend on supportive governance structures and stakeholders.
Method of Image Processing Based on Fractal and GA

Aiming at the characteristics of the marrow cell image, proposed a new method to calculate local regularity and got a appropriate threshold using multi-fractal spectrum so that accurate edges of different kinds of cells can be detected. Proposed a new genetic clustering algorithm based on entropy to classify the marrow cells. Through the experiences, better result can be attained.
Using Shared Beacon Channel for Fast Handoff in IEEE 802.11 Wireless Networks

Handoff process in IEEE 802.11 wireless networks must be accomplished with as little interruption as possible to maintain the required quality of service (QoS). Previous research reported that channel scanning phase accounts for more than 90% of the overall link-layer handoff latency, ranging from 350 to 500 msec. In order to eliminate the time-consuming channel scanning latency we propose a stand-alone, shared beacon channel, where stations (STAs) can update information about neighboring access points (APs) via an extra receiver. Our proposed method contributes to completely eliminate the channel scanning phase, therefore, realizing fast handoff in IEEE 802.11 wireless networks. In this paper, we implement our proposed method on FreeBSD 6.1R kernel with Atheros AR5212-based 802.11 a/b/g chipsets. From experimental results, we find that it takes 6.063 msec delay on average during handoff from 802.11b AP to 802.11a AP while transmitting/receiving 480 byte ICMP frames with an interval of 10 msec.
Anti-CD28 Monoclonal Antibody–Stimulated Cytokines Released from Blood Suppress CYP1A2, CYP2B6, and CYP3A4 in Human Hepatocytes In Vitro

Like most infections and certain inflammatory diseases, some therapeutic proteins cause a cytokine-mediated suppression of hepatic drug-metabolizing enzymes, which may lead to pharmacokinetic interactions with small-molecule drugs. We propose a new in vitro method to evaluate the whole blood–mediated effects of therapeutic proteins on drug-metabolizing enzymes in human hepatocytes cocultured with Kupffer cells. The traditional method involves treating hepatocyte cocultures with the therapeutic protein, which detects hepatocyte- and macrophage-mediated suppression of cytochrome P450 (P450). The new method involves treating whole human blood with a therapeutic protein to stimulate the release of cytokines from peripheral blood mononuclear cells (PBMCs), after which plasma is prepared and added to the hepatocyte coculture to evaluate P450 enzyme expression. In this study, human blood was treated for 24 hours at 37°C with bacterial lipopolysaccharide (LPS) or ANC28.1, an antibody against human T-cell receptor CD28. Cytokines were measured in plasma by sandwich immunoassay with electrochemiluminescense detection. Treatment of human hepatocyte cocultures with LPS or with plasma from LPS-treated blood markedly reduced the expression of CYP1A2, CYP2B6, and CYP3A4. However, treatment of hepatocyte cocultures with ANC28.1 did not suppress P450 expression, but treatment with plasma from ANC28.1-treated blood suppressed CYP1A2, CYP2B6, and CYP3A4 activity and mRNA levels. The results demonstrated that applying plasma from human blood treated with a therapeutic protein to hepatocytes cocultured with Kupffer cells is a suitable method to identify those therapeutic proteins that suppress P450 expression by an indirect mechanism—namely, the release of cytokines from PBMCs.
Implementations and Interpretations of the Talbot-Ogden Infiltration Model

The interaction between surface and subsurface hydrology flow systems is important for water supplies. Accurate, efficient numerical models are needed to estimate the movement of water through unsaturated soil. We investigate a water infiltration model and develop very fast serial and parallel implementations that are suitable for a computer with a graphical processing unit (GPU).
Circuitry of nuclear factor κB signaling

Summary: Over the past few years, the transcription factor nuclear factor (NF)‐κB and the proteins that regulate it have emerged as a signaling system of pre‐eminent importance in human physiology and in an increasing number of pathologies. While NF‐κB is present in all differentiated cell types, its discovery and early characterization were rooted in understanding B‐cell biology. Significant research efforts over two decades have yielded a large body of literature devoted to understanding NF‐κB's functioning in the immune system. NF‐κB has been found to play roles in many different compartments of the immune system during differentiation of immune cells and development of lymphoid organs and during immune activation. NF‐κB is the nuclear effector of signaling pathways emanating from many receptors, including those of the inflammatory tumor necrosis factor and Toll‐like receptor superfamilies. With this review, we hope to provide historical context and summarize the diverse physiological functions of NF‐κB in the immune system before focusing on recent advances in elucidating the molecular mechanisms that mediate cell type‐specific and stimulus‐specific functions of this pleiotropic signaling system. Understanding the genetic regulatory circuitry of NF‐κB functionalities involves system‐wide measurements, biophysical studies, and computational modeling.
A performance study of transitive closure algorithms

We present a comprehensive performance evaluation of transitive closure (reachability) algorithms for databases. The study is based upon careful implementations of the algorithms, measures page I/O, and covers algorithms for full transitive closure as well as partial transitive closure (finding all successors of each node in a set of given source nodes). We examine a wide range of acyclic graphs with varying density and “locality” of arcs in the graph. We also consider query parameters such as the selectivity of the query, and system parameters such as the buffer size and the page and successor list replacement policies. We show that significant cost tradeoffs exist between the algorithms in this spectrum and identify the factors that influence the performance of the algorithms. An important aspect of our work is that we measure a number of different cost metrics, giving us a good understanding of the predictive power of these metrics with respect to I/O cost. This is especially significant since metrics such as number of tuples generated or number of successor list operations have been widely used to compare transitive closure algorithms in the literature. Our results strongly suggest that these other metrics cannot be reliability used to predict I/O cost of transitive closure evaluation.
Variable escape from X-chromosome inactivation: Identifying factors that tip the scales towards expression

In humans over 15% of X‐linked genes have been shown to ‘escape’ from X‐chromosome inactivation (XCI): they continue to be expressed to some extent from the inactive X chromosome. Mono‐allelic expression is anticipated within a cell for genes subject to XCI, but random XCI usually results in expression of both alleles in a cell population. Using a study of allelic expression from cultured lymphoblasts and fibroblasts, many of which showed substantial skewing of XCI, we recently reported that the expression of genes lies on a contiunuum between those that are subject to inactivation, and those that escape. We now review allelic expression studies from mouse, and discuss the variability in escape seen in both humans and mice in genic expression levels, between X chromosomes and between tissues. We also discuss current knowledge of the heterochromatic features, DNA elements and three‐dimensional topology of the inactive X that contribute to the balance of expression from the otherwise inactive X chromosome.
3D lane detection system based on stereovision

This work presents a 3D lane detection method based on stereovision. The stereovision algorithm allows the elimination of the common assumptions: flat road, constant pitch angle or absence of roll angle. Moreover, the availability of 3D information allows the separation between the road and the obstacle features. The lane is modeled as a 3D surface, defined by the vertical and horizontal clothoid curves, the lane width and the roll angle. The lane detection is integrated into a tracking process. The current lane parameters are predicted using the past parameters and the vehicle dynamics, and this prediction provides search regions for the current detection. The detection starts with estimation of the vertical profile, using the stereo-provided 3D information, and afterwards the horizontal profile is detected using a model-matching technique in the image space, using the knowledge of the already detected vertical profile. The roll angle is detected last, by estimating the difference of the average heights of the left and right lane borders. The detection results are used to update the lane state through Kalman filtering.
Potential Contribution of Residuals for Better Prediction of Soil Salinity from Remote Sensing Data

Soil salinity predictions derived from Ikonos and Landsat satellite images are compared with field-collected soil salinity data for a study area in Colorado's lower Arkansas River Basin. The accuracy of the predictions is compared and issues of price, resolution, and coverage area are considered. Stepwise regression is used to select the combination of bands in the satellite images that best correlate with the field data. The Ordinary Least Squares (OLS) model is used to predict soil salinity using the combination of bands that resulted from the stepwise regression. The residuals for the OLS model are checked for whether they are roughly normal and approximately independently distributed with a mean of 0 and whether there is some constant vari- ance or not. If the residuals do not meet these conditions it means that there is some kind of autocorrelation among them. The SAR model is used to remove some of the autocorrelation among the residuals. If the SAR model does not give satisfactory re- sults, then a modified kriging model is used. The residuals of the OLS model which proved to have autocorrelation can be interpolated using kriging. The final predicted surface results from combining the surface produced from the OLS model with the surface produced by the kriged residuals. The results of this methodology to predict soil salinity from remote sensing data while taking into account the importance of re- siduals are promising.
Assessing Long-Term Test-Retest Reliability of the CPT-IP in Schizophrenia

Background The Continuous Performance Test-Identical Pairs version (CPT-IP) is a well-established measure of sustained attention, and its more challenging versions are particularly suited to detect subtle processing deficits in patients with schizophrenia. However, while there are few longitudinal samples for the CPT-IP, no study has addressed stability for more than two month in patients with schizophrenia. Assessing long-term test-retest reliability of the CPT-IP would facilitate the ability of clinicians to draw conclusions from studies involving interventions as long term cognitive or pharmacological treatments. The present study assessed 12 month test-retest reliability for the two most challenging versions of CPT-IP (4-digit and shapes) in a matched sample of clinically stable schizophrenia outpatients and healthy controls. Methods Fifty clinically stable schizophrenia outpatients and 50 healthy controls were assessed with the CPT-IP for the 4-digit and shape conditions. From these, 40 patients and 47 controls were reassessed with an average interval of 12.3 months between test sessions. Test-retest reliability was analyzed with Pearson correlations and results were compared with previous data involving healthy controls and short-term studies in patients with schizophrenia. Results Especially d’ and hit rate discriminated well between patients with schizophrenia and healthy controls for both CPT-IP conditions and at both test sessions. Healthy controls demonstrated sufficient long term test-retest correlations of d’, hit rate and reaction time for both the 4-digit and shape conditions. However, in schizophrenia patients, long-term reliability correlations were at best moderate for d’ and hit rate only. Conclusions The current study provides further evidence that d’ and hit rate yield consistent cross-sectional discrimination sensitivity. At best moderate long-term test-retest reliability of d’ in schizophrenia outpatients may be not sufficient for practical use of this measure in long term clinical trials.
PREPARATION AND PROPERTIES OF A PROTEIN (R ANTIGEN) OCCURRING IN STREPTOCOCCI OF GROUP A, TYPE 28 AND IN CERTAIN STREPTOCOCCI OF OTHER SEROLOGICAL GROUPS

A group A, type 28 protein antigen, resistant to tryptic digestion and previously considered to be a type-specific substance, was purified and its chemical and immunological properties studied. This protein lacks the characteristic properties of a type-specific M antigen since it is apparently unrelated to virulence and does not induce the formation of protective antibodies although precipitins are readily produced. It is designated the R antigen. The R antigen in addition to occurring in "type 28" group A strains also occurs in some strains of streptococci of other serological groups. Protective antibodies, distinct from precipitins for the R antigen, are present in "type 28" antibacterial sera. The antigens responsible for protection have not been identified, and it is possible that several different types may be included among strains designated as type 28 on the basis of the R antigen. The purified R antigen is phosphorus-free and has a sulphur content of 1.04 per cent. In the ultraviolet a maximum absorption was obtained at a wave length of 280 mµ and a minimum at 254 mµ. Electrophoretically the R antigen was found to be 95 per cent homogeneous at most pH values, but at pH 4.6 the main peak separated into two peaks of approximately equal areas, both containing serologically active material. The interpretation of this finding is at present uncertain. The isoelectric pH was at 4.5 in sodium acetate buffer of 0.1 ionic strength. The purified R antigen sedimented in the ultracentrifuge as a single boundary.