Miracle-dz/UniFAR-FTUs huggingface dataset:
Navigable voronoi diagram : a local path planner for mobile robots using sonar sensors

As robotics research is directed towards intelligent robot behavior, mobile robots need a capability to explore known / unknown environments autonomously. The ability of the autonomous navigation begins with a path planner : local and global. In this paper, we address a new local path planner using a navigable Voronoi diagram(NVD) which comes from the Voronoi diagram(VD). The characteristics of the NVD are safety, smoothness, fast reaction and so on. The NVD is constructed from sonar sensor readings and is integrated with a cost function. Another important advantages of the NVD is that it can drastically reduce the uncertainty of cheap sonar sensor readings due to its nature. The proposed local path planner based on the NVD has been successfully implemented on a Pioneer 3 equipped with 12 sonar sensors and its advantages were verified by 2 experiments in different indoor environments.
Semantic segmentation-based stereo reconstruction with statistically improved long range accuracy

Lately stereo matching has become a key aspect in autonomous driving, providing highly accurate solutions at relatively low cost. Top approaches on state of the art benchmarks rely on learning mechanisms such as convolutional neural networks (ConvNets) to boost matching accuracy. We propose a new real-time stereo reconstruction method that uses a ConvNet for semantically segmenting the driving scene. In a “divide and conquer” approach this segmentation enables us to split the large heterogeneous traffic scene into smaller regions with similar features. We use the segmentation results to enhance Census Transform with an optimal census mask and the SGM energy optimization step with an optimal Pi penalty for each predicted class. Additionally, we improve the sub-pixel accuracy of the stereo matching by finding optimal interpolation functions for each particular segment class. In both cases we propose new stochastic optimization methods based on genetic algorithms that can incrementally adjust the parameters for better solutions. Tests performed on Kitti and real traffic scenarios show that our method outperforms the accuracy of previous solutions.
WIP: The Automatic Synthesis of Multimodal Presentations

Due to the growing complexity of information that has to be communicated by current AI systems, there comes an increasing need for building advanced intelligent user interfaces that take advantage of a coordinated combination of different modalities, e.g., natural language, graphics, and animation, to produce situated and user-adaptive presentations. A deeper understanding of the basic principles underlying multimodal communication requires theoretical work on computational models as well as practical work on concrete systems. In this article, we describe the system WIP, an implemented prototype of a knowledge-based presentation system that generates illustrated texts that are customized for the intended audience and situation. We present the architecture of WIP and introduce as its major components the presentation planner, the layout manager, and the generators for text and graphics. To achieve a coherent output with an optimal media mix, the single components have to be interleaved. The interplay of the presentation planner, the text and the graphics generator will be demonstrated by means of a system run. In particular, we show how a text-picture combination containing a crossmodal referring expression is generated by the system.
Wrigglo: shape-changing peripheral for interpersonal mobile communication

We introduce Wrigglo, a shape-changing smart phone peripheral that allows pairs of users to share wriggling movements with one another. Attached to a smart phone, Wrigglo captures the sender's motions and activates the receiver's Wrigglo which repeats the motion simultaneously. The result of our in-lab use observation with twelve couples showed that Wrigglo supported emotional and functional roles of body gestures and postures, creating vocabularies related to the motion of specific body parts and, to some extent, reflected the connected user's presence through the device's movement. Through its peripheral anthropomorphization, Wrigglo can deliver new forms of telepresence by embodied posturing and gesturing in mobile communication.
Getting at Discourse Referents

I examine how discourse anaphoric uses of the definite pronoun it contrast with similar uses of the demonstrative pronoun that. Their distinct contexts of use are characterized in terms of two contextual features---persistence of grammatical subject and persistence of grammatical form---which together demonstrate very clearly the interrelation among lexical choice, grammatical choices and the dimension of time in signalling the dynamic attentional state of a discourse.
Secure security model implementation for security services and related attacks base on end-to-end, application layer and data link layer security

SCADA (Supervisory Control and Data Acquisition), these are systems based on real-time processing, control and design for real time infrastructure such as water pumping stations, oil purification plants and rail control centers etc. In the initial structure of SCADA there is no security mechanism that prevents or detects the attacks in SCADA communication network. SCADA technology is not new but was deployed in limited networks; currently these systems have been deployed and accessible by many networks such as LAN/WAN, Mobile networks, Web Browsers and GPRS through internet technology. Using Modern communication facilities SCADA systems are vulnerable from different types of internet attacks that create major security problems for SCADA communication. The current paper proposes cryptography solutions for securing SCADA communication. In first part, we propose Cryptography solution using "Advance Encryption Standard (AES) and SHA-1 algorithms" to secure each end of SCADA communication by implementing security services such as authentication, integrity, and confidentiality In Second part, we propose hybrid cryptography solution for SCADA and give solution to prevent the major attacks that in- Securing the SCADA communication. "Hybrid Cryptography Secure Simulation Model" is used to discuss and give solutions for putting security services such as authentication, integrity, confidentiality, and non-repudiation in APDU (Application Protocol Data Unit) and LPDU (Link Protocol Data Unit) within SCADA DNP3 protocol, and Rest of paper provide solutions to overcome/prevent attacks such as Guessing Shared Key, Brute force from Authentication; Eavesdropping, Key Cracking, Man in the Middle from Confidentiality; Frame Injection, Data Replay, Data Deletion from Integrity. We use DNP3Sec as framework. Current paper gives research Directions and methods to more secure real time systems.
Breast Cancer Screening and Prevention

Physician Writer Ann B. Nattinger, MD, MPH The content of In the Clinic is drawn from the clinical information and education resources of the American College of Physicians (ACP), including PIER (Physicians’ Information and Education Resource) and MKSAP (Medical Knowledge and Self-Assessment Program). Annals of Internal Medicine editors develop In the Clinic from these primary sources in collaboration with the ACP’s Medical Education and Publishing Division and with the assistance of science writers and physician writers. Editorial consultants from PIER and MKSAP provide expert review of the content. Readers who are interested in these primary resources for more detail can consult http://pier . acponline.org, http://www.acponline.org/products_services/ mksap/15/? pr31, and other resources referenced in each issue of In the Clinic.
Autosomal recessive multiple epiphyseal dysplasia with homozygosity for C653S in the DTDST gene: Double‐layer patella as a reliable sign

Mutations in the diastrophic dysplasia sulfate transporter (DTDST) gene result in a family of skeletal dysplasias, which comprise lethal (achondrogenesis type 1B and atelosteogenesis type 2) and non‐lethal conditions (diastrophic dysplasia and recessive multiple epiphyseal dysplasia (rMED)). The most frequent mutation is R279W, which in a homozygous state results in rMED with bilateral clubfoot, MED, and “double layered” patella. We describe three patients with rMED caused by a previously unreported homozygous mutation in the DTDST gene. The three patients (from two families) were born to healthy, non‐consanguineous parents. All developed signs of hip dysplasia in early childhood and two had episodes of recurrent patella dislocation. Two underwent bilateral total hip replacements at ages 13 and 14 years. The feet, external ears, and palate were normal. Stature was normal in all cases. Radiographs showed dysplastic femoral heads, mild generalized epiphyseal dysplasia, abnormal patella ossification, and normal hands and feet. Direct sequence analysis of genomic DNA demonstrated a homozygous 1984T > A (C653S) change in the DTDST gene in all patients. The clinically normal parents were heterozygous for the change. This is the first description of a homozygous C653S mutation of the DTDST gene. Hip dysplasia and patella hypermobility dominates the otherwise mild phenotype. These patients further expand the range of causative mutations in the DTD skeletal dysplasia family. © 2003 Wiley‐Liss, Inc.
Microstructure and Oxidation Behavior of Cr/Mo Modified TiAl Alloy Containing High Nb

In this paper, the microstructure and oxidation behaviour of Ti-45Al-8Nb-0.2Si-0.5W-0.8B, Ti-45Al-8Nb-2Cr-0.2Si-0.5W-0.8B, Ti-45Al-8Nb-2Mo-0.2Si-0.5W-0.8B, Ti-45Al-8Nb-2Cr-2Mo-0.2Si-0.5W-0.8B were studied.The alloys were designed and fabricated via vacuum arc melting in the protection of argon shield. The oxidation experiments were carried out at 1073K for 200h in laboratory air. Microstructure evolution, elemental analysis as well as the composition distribution of the oxide scale were performed using scanning electron microscopy (SEM), energy dispersive spectroscopy (EDS) and X-ray diffraction (XRD) technique, respectively. The results showed that the microstructure could be refined by adding of Cr and Mo to a smaller grain size.The heat treatment has a good impact on composition homogenization as well as the generation of γ-TiAl phase. The oxidation test shows that Cr and Mo modified alloy cannot improve the oxidation resistance of the alloy. The 0Cr2Mo alloy shows the poorest oxidation resistance in the three , while the Cr modified alloy can apparently slows down the oxidation rate after 50h, which owing to the formation of a compact oxidation scale.
Magnetic Resonance Poroelastography: An Algorithm for Estimating the Mechanical Properties of Fluid-Saturated Soft Tissues

Magnetic resonance poroelastography (MRPE) is introduced as an alternative to single-phase model-based elastographic reconstruction methods. A 3-D finite element poroelastic inversion algorithm was developed to recover the mechanical properties of fluid-saturated tissues. The performance of this algorithm was assessed through a variety of numerical experiments, using synthetic data to probe its stability and sensitivity to the relevant model parameters. Preliminary results suggest the algorithm is robust in the presence of noise and capable of producing accurate assessments of the underlying mechanical properties in simulated phantoms. Furthermore, a 3-D time-harmonic motion field was recorded for a poroelastic phantom containing a single cylindrical inclusion and used to assess the feasibility of MRPE image reconstruction from experimental data. The elastograms obtained from the proposed poroelastic algorithm demonstrate significant improvement over linearly elastic MRE images generated using the same data. In addition, MRPE offers the opportunity to estimate the time-harmonic pressure field resulting from tissue excitation, highlighting the potential for its application in the diagnosis and monitoring of disease processes associated with changes in interstitial pressure.
Prognostic significance of CpG island methylator phenotype and microsatellite instability in gastric carcinoma.

PURPOSE The influence of molecular characteristics in prognosis of gastric cancer remains unclear. The aim of this study was to evaluate the prognostic value of the CpG island methylator phenotype (CIMP) and microsatellite instability (MSI) in gastric cancer. EXPERIMENTAL DESIGN We studied the methylation profiles of tumor suppressor gene p16, DNA mismatch repair gene hMLH1, and four CpG islands (MINT1, MINT2, MINT25, and MINT31) using bisulfite/methylation-specific PCR, and MSI using five microsatellite markers in 83 resected gastric carcinomas. The CIMP and MSI status were compared with clinicopathologic features and overall survival. RESULTS Concordant methylation of multiple genes/loci (CIMP-high) was present in 31% of tumors and in 4% of non-neoplastic mucosa, CIMP-low in 55% and 17%, and CIMP-negative in 13% and 79%, respectively (P < 0.001). The prevalence of MSI-high, MSI-low, and MS-stable in tumor was 19%, 17%, and 64%, respectively. MSI status was closely associated with hMLH1 hypermethylation and CIMP status (P = 0.001). In univariate analysis, overall survival was predicted by pathologic stage (P < 0.0001), R0 resection (P = 0.0002), MINT31 methylation (P = 0.04), and CIMP-high status (P = 0.04). MSI status of tumor was not a significant predictor of prognosis. Although CIMP status seemed to be a prognostic predictor of gastric cancer, only pathologic stage remained a significant predictor of prognosis on multivariate analysis (P < 0.001). CONCLUSIONS Our results indicate that there is an association between CIMP status and MSI status in gastric cancer. Concordant methylation of multiple genes/loci (CIMP-H) is associated with better survival but is not an independent predictor of prognosis in resected gastric cancer.
The Impact of Network Sampling on Relational Classification

Many real-world networks, such as the Internet, social networks, biological networks are massive in size, which difficult different processing and analysis tasks. For this reason, it is necessary to apply a sampling process to reduce the network size without losing relevant network information. In this paper, we propose a new and intuitive sampling method based on exploiting the following centrality measures: degree, k-core, clustering, eccentricity and structural holes. For our experiments, we delete 30% and 50% of the vertices from the original network and evaluate our proposal on six real-world networks on relational classification task using six different classifiers. Classification results achieved on sampled graphs generated from our proposal are similar to those obtained on the entire graphs. In most cases, our proposal reduced the original graphs by up to 50% of its original number of edges. Moreover, the execution time for learning step of the classifier is shorter on the sampled graph. keywords: network sampling, relational classification, centrality measures, complex networks
Adaptation of TiC Hard Particles Properties and Morphology in Metal Matrix Composites by Refractory Elements

High mechanical loads, corrosion, and abrasion decrease the lifetime of tools. One way to increase the wear resistance of tool materials can be achieved by adding hard particles to the metal matrix such as titanium carbide, which protect the softer metal matrix against abrasive particles. This material concept is designated as metal matrix composite (MMC). Ferro-Titanit® is such MMC material, possessing high wear and a simultaneously high corrosion resistance, for which reason this material is used in the polymers industry. The material concept is based on a corrosion-resistant Fe-base matrix with up to 45 vol% titanium carbide (TiC) as a hard particle addition to improve the wear resistance against abrasion. These TiC hard particles must be adapted to the present tribological system in terms of hardness, size and morphology. This study shows how the size and morphology of TiC hard particles can be influenced by the refractory element niobium (Nb). Therefore, the element Nb was added with 2 and 4 mass% to the soft-martensitic Ferro-Titanit® Grade Nikro128. The investigated materials were compacted by sintering, and the densified microstructure was further characterized by scanning electron microscopy (SEM), energy dispersive spectrometry (EDX), and optical image analyses. Furthermore, microstructure and properties of the compacted Nb-alloyed samples were compared to the reference material Nikro128. The results show that the addition of Nb influences the morphology, size and chemical composition of the TiC hard particle. These changes in the hard phase characteristics also influence the materials properties. It was shown that the phase niobium carbide (NbC) is formed around the TiC during the densification process, leading to a change in morphology and size of the TiC.
Efficient Sharing of Sensor Networks

In this paper we tackle the problem of allowing applications to request different data at different rates from different sensors of the same sensor network while still being able to run the sensor network in an efficient manner. Our approach is to merge an arbitrary number of user queries into a network query. By doing this, traffic is minimised and the sensors have better energy consumption behavior than if all user queries would have been directly sent to the network. In the paper we describe the algorithms for the transformation of queries and the resulting data streams. We also provide an extensive performance evaluation of the algorithms using sets of over hundred overlapping user queries executing on the same sensor network
Controlled Payload Release by Magnetic Field Triggered Neural Stem Cell Destruction for Malignant Glioma Treatment

Stem cells have recently garnered attention as drug and particle carriers to sites of tumors, due to their natural ability to track to the site of interest. Specifically, neural stem cells (NSCs) have demonstrated to be a promising candidate for delivering therapeutics to malignant glioma, a primary brain tumor that is not curable by current treatments, and inevitably fatal. In this article, we demonstrate that NSCs are able to internalize 2 μm magnetic discs (SD), without affecting the health of the cells. The SD can then be remotely triggered in an applied 1 T rotating magnetic field to deliver a payload. Furthermore, we use this NSC-SD delivery system to deliver the SD themselves as a therapeutic agent to mechanically destroy glioma cells. NSCs were incubated with the SD overnight before treatment with a 1T rotating magnetic field to trigger the SD release. The potential timed release effects of the magnetic particles were tested with migration assays, confocal microscopy and immunohistochemistry for apoptosis. After the magnetic field triggered SD release, glioma cells were added and allowed to internalize the particles. Once internalized, another dose of the magnetic field treatment was administered to trigger mechanically induced apoptotic cell death of the glioma cells by the rotating SD. We are able to determine that NSC-SD and magnetic field treatment can achieve over 50% glioma cell death when loaded at 50 SD/cell, making this a promising therapeutic for the treatment of glioma.
Importin Alpha2-Interacting Proteins with Nuclear Roles During Mammalian Spermatogenesis1

ABSTRACT Spermatogenesis, the process of generating haploid sperm capable of fertilizing the female gamete, requires the timely transport into the nucleus of transcription and chromatin-remodeling factors, mediated by members of the importin (IMP) superfamily. Previous IMP expression profiling implies a role for IMPalpha2 in testicular germ cells late in spermatogenesis. To identify interacting proteins of IMPalpha2 that are potential drivers of germ cell development, we performed yeast two-hybrid screening of an adult mouse testis library. IMPalpha2 interactions were verified by coimmunoprecipitation approaches, whereas immunohistochemical staining of testis sections confirmed their coexpression with IMPalpha2 in specific testicular cell types. Key interactors identified were a novel isoform of a cysteine and histidine rich protein (Chrp), a protein inhibitor of activated STAT (PIAS) family member involved in transcriptional regulation and sumoylation, Androgen receptor interacting protein 3 (Arip3), and Homologous protein 2 (Hop2), known to be involved in homologous chromosome pairing and recombination, all of which are highly expressed in the testis and show mRNA expression profiles similar to that of IMPalpha2 throughout testicular development. This is the first study to identify binding partners of IMPalpha2 in the developmental context of germ line development, and we propose that the regulated expression and timely IMPalpha2-mediated nuclear transport of these proteins may coordinate events during spermatogenesis, with IMPalpha2-mediated nuclear localization representing a potentially critical developmental switch in the testis.
Expression of translationally controlled tumor protein (TCTP) in the uterus of mice of early pregnancy and its possible significance during embryo implantation.

BACKGROUND Translationally controlled tumor protein (TCTP) is a highly conserved, growth-related protein. Previous studies showed that TCTP is involved in many biological processes and it is essential for early embryo development and proliferation of embryonic stem cells. However, whether TCTP plays a role during embryo implantation remains unclear. This paper examines the expression and the role of TCTP in the uterus of mice during early pregnancy. METHODS The expression of TCTP in the uterus of mice during early pregnancy was examined by quantitative real-time PCR, immunohistochemistry and western blot. A functional study of TCTP in embryo implantation of mice was also performed by intrauterine injection with antisense oligodeoxynucleotides (A-ODNs) of TCTP on day 3 (D3) of pregnancy. RESULTS The TCTP mRNA levels were significantly upgraded from D3 to D5 of pregnancy and reached maximum levels on D5, then dramatically decreased on D6 and D7. The levels of the TCTP protein detected by western blot were consistent with those of the mRNA. Immunohistochemistry analysis showed that the TCTP protein was mainly located in the luminal and the glandular epithelium on D1 and D2 of pregnancy and reached maximum levels on D5 in the luminal and glandular epithelium and in the stromal cells. The levels of TCTP in the pseudo-pregnant uterus of mice were lower than those of pregnant mice on D4 and D6. Furthermore, inhibiting the TCTP expression by intrauterine injection with A-ODNs of TCTP on D3 of pregnancy significantly reduced the number of the implanted embryos compared with the control. CONCLUSIONS This study demonstrated that TCTP may play a significant role in embryo implantation in mice.