Miracle-dz/UniFAR-FTUs huggingface dataset:
Examensarbete Evaluating SLAM algorithms for Autonomous Helicopters

Navigation with unmanned aerial vehicles (UAVs) requires good knowledge of the current position and other states. A UAV navigation system often uses GPS and inertial sensors in a state estimation solution. If the GPS signal is lost or corrupted state estimation must still be possible and this is where simultaneous localization and mapping (SLAM) provides a solution. SLAM considers the problem of incrementally building a consistent map of a previously unknown environment and simultaneously localize itself within this map, thus a solution does not require position from the GPS receiver. This thesis presents a visual feature based SLAM solution using a low resolution video camera, a low-cost inertial measurement unit (IMU) and a barometric pressure sensor. State estimation in made with a extended information filter (EIF) where sparseness in the information matrix is enforced with an approximation. An implementation is evaluated on real flight data and compared to a EKF-SLAM solution. Results show that both solutions provide similar estimates but the EIF is over-confident. The sparse structure is exploited, possibly not fully, making the solution nearly linear in time and storage requirements are linear in the number of features which enables evaluation for a longer period of time.
Automatic Wayang Ontology Construction using Relation Extraction from Free Text

This paper reports on our work to automatically construct and populate an ontology of wayang (Indonesian shadow puppet) mythology from free text using relation extraction and relation clustering. A reference ontology is used to evaluate the generated ontology. The reference ontology contains concepts and properties within the wayang character domain. We examined the influence of corpus data variations, threshold value variations in the relation clustering process, and the usage of entity pairs or entity pair types during the feature extraction stages. The constructed ontology is examined using three evaluation methods, i.e. cluster purity (CP), instance knowledge (IK), and relation concept (RC). Based on the evaluation results, the proposed method generates the best ontology when using a consolidated corpus, the threshold value in relation clustering is 1, and entity pairs are used during feature extraction.
Contrasting molecular pathology of colorectal carcinoma in Egyptian and Western patients

Colorectal carcinoma is uncommon in Egypt, but a high proportion of cases occurs before age 40 years and in the rectum. We compared the molecular pathology of 59 representative Egyptian patients aged 10–72 to Western patients with sporadic, young-onset, or hereditary non-polyposis colorectal cancer syndrome (HNPCC)-associated carcinoma and found significant differences. Most Egyptian cancers were rectal (51%) and poorly differentiated (58%). High levels of microsatellite instability (MSI-H) were frequent (37%) and attributable in some cases (36%) to methylation of the promoter of the hMLH1 mismatch repair gene, but no MSI-H cancer had loss of hMSH2 mismatch repair gene product of the type seen with germline hMSH2 mutation in HNPCC. K-ras mutation was uncommon (11%). In subset analyses, high frequencies of MSI-H in rectal carcinomas (36%) and p53 gene product overexpression in MSI-H cancers (50%) were found. MSI-H and K-ras mutation in Egyptians under age 40 were unusual (17% and 0%, respectively), and schistosomiasis was associated with MSI and K-ras mutation. Cluster analysis identified 2 groups: predominantly young men with poorly differentiated mucinous and signet-ring cell colorectal carcinoma lacking K-ras mutation; older patients who had well- or moderately differentiated adenocarcinoma often with MSI-H, K-ras mutation and schistosomiasis. Our findings show that the molecular pathology of colorectal cancer in older as well as younger Egyptians has unique differences from Western patients, and schistosomiasis influences the molecular pathogenesis of some tumours. © 2001 Cancer Research Campaign http://www.bjcancer. com
A low-dimensional model for turbulent shear flows

We analyse a low-dimensional model for turbulent shear flows. The model is based on Fourier modes and describes sinusoidal shear flow, in which the fluid between two free-slip walls experiences a sinusoidal body force. The model contains a total of nine modes, including modes describing the basic mean velocity profile and its modification, downstream vortices, streaks, and instabilities of streaks, with other modes being a consequence of the non-linear interactions. The transition to turbulence for the model is subcritical and intermittent, and the distributions of turbulent lifetimes are exponential, in agreement with observations in many shear flows.
A Simple 3-Item Stroke Scale: Comparison With the National Institutes of Health Stroke Scale and Prediction of Middle Cerebral Artery Occlusion

Background and Purpose— The purpose of the study was to design a simple stroke scale that requires minimal training but reflects initial stroke severity and is predictive of middle cerebral artery (MCA) occlusion. Methods— The new stroke scale assessed 3 parameters: (1) level of consciousness, (2) gaze, and (3) motor function. Each item was graded 0 to 2, where 0 indicated normal findings and 2 severe abnormalities (ie, profound drowsiness or worse, forced gaze deviation, and severe hemiparesis, respectively). During a study period of 11 months, patients presenting with acute stroke symptoms (onset ≤6 hours) were examined by a stroke neurologist assessing the new scale as well as the National Institutes of Health Stroke Scale (NIHSS). In addition, 83 patients received acute magnetic resonance angiography (MRA; as part of an acute stroke protocol). Results— The new stroke scale was strongly associated with the NIHSS. Interobserver reliability of the new scale was high (intraclass correlation coefficient 0.947). Using post hoc analysis, a score of ≥4 predicted proximal vessel occlusion (T-segment or M1-segment occlusion of the MCA on MRA) almost as accurately (overall accuracy 0.86) as an NIHSS score of ≥14 (overall accuracy 0.93). Conclusions— The new stroke scale reflects acute stroke severity well and predicts proximal MCA occlusion with reasonable accuracy. However, the clinical scale needs further evaluation before it can be recommended as a tool for the triage of acute stroke patients.
A new template updating method for correlation tracking

One of the most challenging problems faced by tracking algorithms is the issue of template drift. For robust object tracking, template should be adaptive enough to incorporate maximum changes of target appearance, and at same time it should be restrictive enough to reject any background information entering into its model so that drifting of template may be avoided. The existing template updating methods does not take into account the actual appearance changes of the targets, therefore, they are not much effective against template drift. This paper proposes a new template updating method for correlation based tracking algorithms which updates the template according to rate of change in appearance of the target. Moreover, the method is capable to revert the template near to some previous better representation if recent updating is incorrect. Thus, the proposed algorithm helps to overcome the problems of template drift especially during slow occurring occlusion and complex (e.g., out-of-plane) motion of the target. Experimental results and comparison with other algorithms on different publicly available challenging videos prove the efficacy of the algorithm.
Defending against Speculative Attacks

While virtually all modern models of exchange rate crises recognise that the decision to abandon an exchange rate peg depends on how harshly policy makers are willing to defend the regime, they virtually never model how the exchange rate is defended. In this paper we incorporate both the mechanics of speculation and a defence policy against speculation in the well-known currency crisis model of Morris and Shin (American Economic Review 88 (1998) 587-97). After adding these natural elements, our model outperforms standard currency crisis models at explaining stylised features of speculative attacks. Moreover, our model connects the theoretical currency crisis literature to an empirical literature on exchange market pressure, by bringing together its building blocks: exchange rate changes plus counter-acting defence policies. We use this connection to confirm our model's predictions empirically.
NUMA-aware Scalable Graph Traversal on SGI UV Systems

Breadth-first search (BFS) is one of the most fundamental processing algorithms in graph theory. We previously presented a scalable BFS algorithm based on Beamer's direction-optimizing algorithm for non-uniform memory access (NUMA)-based systems, in which the NUMA architecture was carefully considered. This paper presents our new implementation that reduces remote memory access in a top-down direction of direction-optimizing algorithm. We also discuss numerical results obtained on the SGI UV 2000 and UV 300 systems, which are shared-memory supercomputers based on a cache coherent (cc)-NUMA architecture that can handle thousands of threads on a single operating system. Our implementation has achieved performance rates of 219 billion edges per second on a Kronecker graph with 234 vertices and 238 edges on a rack of an SGI UV 300 system with 1,152 threads. This result exceeds the fastest entry for a shared-memory system on the current Graph500 list presented in November 2015, which includes our previous implementation.
Cxcl 8 ( Interleukin-8 ) mediates neutrophil recruitment and behavior in the zebrafish inflammatory response

Neutrophils play a pivotal role in the innate immune response. The small cytokine CXCL8 (also known as interleukin-8 or IL-8) is known to be one of the most potent chemoattractant molecules which, among several other functions, is responsible for guiding neutrophils through the tissue matrix until they reach sites of injury. Unlike mice and rats that lack a CXCL8 homologue, zebrafish has two distinct CXCL8 homologues: Cxcl8-l1 and Cxcl8-l2. Cxcl8-l1 is known to be up-regulated under inflammatory conditions caused by bacterial or chemical insult but until now, the role of Cxcl8s in neutrophil recruitment has not been studied. Here, we show that both Cxcl8 genes are up-regulated in response to an acute inflammatory stimulus, and that both are crucial for normal neutrophil recruitment to the wound and normal resolution of inflammation. Additionally, we have analyzed neutrophil migratory behavior through tissues to the site of injury in vivo, using open-access phagocyte tracking software, PhagoSight. Surprisingly, we observed that in the absence of these chemokines, the speed of the neutrophils migrating to the wound was significantly increased in comparison to control neutrophils, although the directionality was not affected. Our analysis suggests that zebrafish may possess a sub-population of neutrophils whose recruitment to inflamed areas occurs independently of Cxcl8 chemokines. Moreover, we report that Cxcl8-l2 signaled through Cxcr2 for inducing neutrophil recruitment. Our study, therefore, confirms the zebrafish as an excellent in vivo model to shed light on the roles of CXCL8 in neutrophil biology.
Cramer-Rao bounds for MIMO LOS systems affected by distributed Wiener phase noise in the large-blocklength regime

In this paper, we compute the Bayesian Cramér-Rao bound for a MIMO line-of-sight system with independent equal oscillators at each antenna and Wiener phase-noise model. In particular, we consider the case where the blocklength is large enough and derive analytical expressions for the bound in the middle of the block. The results distinguish between phase detectors that can use both past and future samples (smoothers) and phase detectors that are bound to use only past samples (filters). Simulation results show that the performance dictated by the bounds can be achieved within a 2-dB SNR gap.
Late Bone Metastasis of Histologically Bland Struma Ovarii: The Unpredictability of Its Biologic Behavior

Struma ovarii (SO) is a subtype of ovarian teratoma that contains mostly thyroid tissue comprising more than 50% of the tumor volume [1]. It is the most common type of monodermal teratoma of the ovary, accounting for approximately 2.7% of all teratomas [1]. Most cases of typical SO are benign with exceptional cases showing malignant features of papillary carcinoma, vascular invasion, or invasion into surrounding tissue. However, there are rare cases of histologically benign SO with malignant biological behavior, variously designated as peritoneal strumosis, malignant SO, metastatic SO, or highly differentiated follicular carinomas [2,3]. Here, we report on a patient who developed a vertebral metastasis ten years after oophorectomy for SO that finally proved to be malignant.
AMUSE (Advanced MUSic Explorer) - A Multitool Framework for Music Data Analysis

A large variety of research tools is available now for music information retrieval tasks. In this paper we present a further framework which aims to facilitate the interaction between these applications. Since the available tools are very different in target domain, range of available methods, learning efforts, installation and runtime characteristics etc., it is not easy to find software which is optimal for certain research goals. Another problematic issue is that many incompatible data formats exist, so it is not always possible to use output from one tool just as input for another one. At first we describe some of the available projects and outline our motivation starting the development of AMUSE framework for audio data analysis. Requirements and application purposes are given. The structure of our framework is introduced in detail and the information for efficient application is provided. Finally we discuss several ideas for further work.
A Stability-Indicating HPLC-DAD Method for Determination of Stiripentol: Development, Validation, Kinetics, Structure Elucidation and Application to Commercial Dosage Form

A rapid, simple, sensitive, and accurate isocratic reversed-phase stability-indicating high performance liquid chromatography method has been developed and validated for the determination of stiripentol and its degradation product in its bulk form and pharmaceutical dosage form. Chromatographic separation was achieved on a Symmetry C18 column and quantification was achieved using photodiode array detector (DAD). The method was validated in accordance with the ICH requirements showing specificity, linearity (r 2 = 0.9996, range of 1–25 μg/mL), precision (relative standard deviation lower than 2%), accuracy (mean recovery 100.08 ± 1.73), limits of detection and quantitation (LOD = 0.024 and LOQ = 0.081 μg/mL), and robustness. Stiripentol was subjected to various stress conditions and it has shown marked stability under alkaline hydrolytic stress conditions, thermal, oxidative, and photolytic conditions. Stiripentol degraded only under acidic conditions, forming a single degradation product which was well resolved from the pure drug with significantly different retention time values. This degradation product was characterized by 1H-NMR and 13C-NMR spectroscopy as well as ion trap mass spectrometry. The results demonstrated that the method would have a great value when applied in quality control and stability studies for stiripentol.
Subject Age in P 300 BCI

This paper presents a study about the amplitude, latency and distribution of P300 in twelve healthy volunteers (5 women and 7 men, aged between 19-70, with a mean of 35.5 years) that were submitted to two Novelty Oddball Paradigms. The difference between them is on stimulus modalities, which are visual and auditory. Usually, a P300-based brain computer interface has visual stimuli but we are also interested in making analogies between the two modalities. In both test modalities were presented 3 types of stimuli: a ‘standard’ stimulus, a ‘target’ stimulus, to which the subject must respond, and a ‘novel’ stimulus. Most of the subjects were students and are naive to the purposes of the experiment. The subject is not warned about the ‘novel’. We recorded scalp potentials from 18 channels distributed in a standard configuration 10-20 system. Target P300 had more relevance than novel P300 for a BCI application. Results show relevant differences in amplitude and latency in P300 signal for different ages. The Older subjects (>51 years) show smaller P300 amplitudes than younger. Therefore, the subject age must be taken into account when a P300 BCI application is implemented.
Intrinsic Properties of Mouse Lumbar Motoneurons 2 Revealed by Intracellular Recording in Vivo. 3 4

26 27 We have developed an in vivo model for intracellular recording in the adult 28 anaesthetised mouse using sharp microelectrode electrodes as a basis for investigations 29 of motoneuron properties in transgenic mouse strains. We demonstrate that it is 30 possible to record post-synaptic potentials underlying identified circuits in the spinal 31 cord. Forty-one motoneurons with antidromic spike potentials (> 50 mV) from the 32 sciatic nerve were investigated. We recorded the intrinsic properties of the neurones 33 including input resistance (mean 2.4±1.2 MΩ), rheobase (mean 7.1±5.9 nA) and the 34 duration of the afterhyperpolarization (mean 55.3±14 ms). We also measured the 35 minimum firing frequencies (F min, mean 23.5 ±5.7 SD Hz), the maximum firing 36 frequencies (F max; >300 Hz) and the slope of the current/frequency relationship (f-I-37 slope) with increasing amounts of current injected (mean 13±5.7 Hz/nA.). Signs of 38 activation of persistent inward currents (PICs) were seen, such as accelerations of 39 firing frequency or jumps in the membrane potential with increasing amounts of 40 injected current. It is likely that the particular anaesthetic regime with a mixture of 41 Hypnorm and Midazolam is essential for the possibility to evoke PICs. The data 42 demonstrate that mouse spinal motoneurons share many of the same properties that 43 have been demonstrated previously for cat, rat and human motoneurons. The shorter 44 AHP duration, steeper f-I slopes and higher F min and F max than in rats, cats and 45 humans are likely to be tailored to the characteristics of the mouse muscle contraction 46 properties 47 48 49 3 INTRODUCTION 50
Interactive debugging with GHCi

With my presentation I intend to demonstrate an implementation of breakpoint combinators in GHCi. These combinators are designed to aid the debugging process of Haskell programs by halting the execution and letting the user observe variables of their choice. In contrast to the existing tools (such as Hat, Hood, Buddha and Debug. Trace), which in effect allow something similar, the combinators I will be demonstrating give the user the ability to observe the properties, not just the stringification, of variables. The combinators are a more low-level approach to the problem of debugging and do not provide as advanced features as Hat or Buddha. However, no sophisticated debugging system for Haskell has been really widely adopted by the Haskell community, primarily because they lack support for a variety of commonly used Glasgow Haskell extensions. The breakpoint combinators, on the other hand, are integrated in GHCi and work out-of-the-box with all Glasgow Haskell programs.
Influenza Infection Induces Neuroinflammation, Alters Hippocampal Neuron Morphology, and Impairs Cognition in Adult Mice

Influenza is a common and highly contagious viral pathogen, yet its effects on the structure and function of the CNS remain largely unknown. Although there is evidence that influenza strains that infect the brain can lead to altered cognitive and emotional behaviors, it is unknown whether a viral strain that is not neurotropic (A/PR/8/34) can result in a central inflammatory response, neuronal damage, and neurobehavioral effects. We hypothesized that neuroinflammation and alterations in hippocampal neuron morphology may parallel cognitive dysfunction following peripheral infection with live influenza virus. Here, we show that influenza-infected mice exhibited cognitive deficits in a reversal learning version of the Morris water maze. At the same time point in which cognitive impairment was evident, proinflammatory cytokines (IL-1β, IL-6, TNF-α, IFN-α) and microglial reactivity were increased, while neurotrophic (BDNF, NGF) and immunomodulatory (CD200, CX3CL1) factors were decreased in the hippocampus of infected mice. In addition, influenza induced architectural changes to hippocampal neurons in the CA1 and dentate gyrus, with the most profound effects on dentate granule cells in the innermost portion of the granule cell layer. Overall, these data provide the first evidence that neuroinflammation and changes in hippocampal structural plasticity may underlie cognitive dysfunction associated with influenza infection. In addition, the heightened inflammatory state concurrent with reduced neurotrophic support could leave the brain vulnerable to subsequent insult following influenza infection. A better understanding of how influenza impacts the brain and behavior may provide insight for preventing inflammation and neuronal damage during peripheral viral infection.
MINT: a Market for INternet Transit

Today's Internet's routing paths are inefficient with respect to both connectivity and the market for interconnection. The former manifests itself via needlessly long paths, de-peering, etc. The latter arises because of a primitive market structure that results in unfulfilled demand and unused capacity. Today's networks make pairwise, myopic interconnection decisions based on business considerations that may not mirror considerations of the edge networks (or end systems) that would benefit from the existence of a particular interconnection. These bilateral contracts are also complex and difficult to enforce. This paper proposes MINT, a market structure and routing protocol suite that facilitates the sale and purchase of end-to-end Internet paths. We present MINT's structure, explain how it improves connectivity and market efficiency, explore the types of connectivity that might be exchanged (vs. today's "best effort" connectivity), and argue that MINT's deployment is beneficial to both stub networks and transit providers. We discuss research challenges, including the design both of the protocol that maintains information about connectivity and of the market clearing algorithms. Our preliminary evaluation shows that such a market quickly reaches equilibrium and exhibits price stability.
Index-Stratified Types (Extended Version)

We present Tores, a core language for encoding metatheoretic proofs. The novel features we introduce are well-founded Mendler-style (co)recursion over indexed data types and a form of recursion over objects in the index language to build new types. The latter, which we call index-stratified types, are analogue to the concept of large elimination in dependently typed languages. These features combined allow us to encode sophisticated case studies such as normalization for lambda calculi and normalization by evaluation. We prove the soundness of Tores as a programming and proof language via the key theorems of subject reduction and termination.