Miracle-dz/UniFAR-FTUs huggingface dataset:
Sonar Sensor Models and Their Application to Mobile Robot Localization

This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visual inspection.
Encouraging the Active Integration of Information During Learning with Multiple and Interactive Representations

Computer-based learning environments commonly comprise various linguistic as well as static and dynamic pictorial representations, frequently combined with the possibility to modify them interactively. While multiple and interactive external representations have the potential to improve learning in specific ways, they also place specific demands on learners. For instance, learners have to process and relate different representations, to control and evaluate their interactions with these representations, and to construct a coherent mental representation. In many cases, learners are not able to meet these demands and suffer from cognitive overload. Taking advantage of cognitive load theory, we try to improve learning with multiple and interactive representations by reducing extraneous cognitive load and by increasing germane cognitive load which is supposed to be related to learning processes. To accomplish this, we encourage learners to actively integrate different representations and to interact with them in a structured and reflective way. We implemented these measures into the statistics learning environment VISUALSTAT and evaluated them experimentally. An analysis of variance revealed (1) that the active integration of different representations improved learning significantly, and (2) that the structured interaction with different representations increased verbal comprehension.
An Embedded Optical Flow Processor for Visual Navigation using Optical Correlator Technology

The conceptual design of an embedded high performance opto-electronic optical flow processor is presented, which is designed for navigation applications in the field of robotics (ground, aerial, marine) and space (satellites, landing vehicles). It is based on 2D fragment image motion determination by 2D correlation. To meet the real-time performance requirements the principle of joint transform correlation (JTC) and advanced optical correlator technology is used. The paper recalls briefly the underlying principles of optical flow computation and optical correlation, it shows the system layout and the conceptual design for the optical flow processor and it gives preliminary performance results based on a high fidelity simulation of the complete optical processing chain
Inhibition of the cAMP Pathway Decreases Early Long-Term Potentiation at CA1 Hippocampal Synapses

Long-term potentiation (LTP) has several different phases, and there is general agreement that the late phase of LTP requires the activation of adenylyl cyclase (AC) and cAMP-dependent protein kinase (PKA). In contrast, several studies indicate that the early LTP is not affected by interfering with the cAMP pathway. We have further tested the role of the cAMP pathway in early LTP using several types of inhibitors. Bath application of the PKA inhibitor H89 suppressed the early LTP induced by a single tetanus. Similarly, the LTP induced by a pairing protocol was decreased by postsynaptic intracellular perfusion of the peptide PKA inhibitor PKI(6–22) amide. The decrease of LTP produced by these inhibitors was evident immediately after induction. These results indicate that PKA is important in early LTP, that its locus of action is postsynaptic, and that it does not act merely by enhancing the depolarization required for LTP induction. The failure of some other inhibitors of the cAMP pathway to affect the early phase of LTP might be attributable to the saturation of some step in the cAMP pathway during a tetanus. In agreement with this hypothesis we found that application of the AC inhibitor SQ 22536 by itself did not affect the early phase of LTP, but did produce a reduction if the cAMP pathway was already attenuated by the PKA inhibitor H89. Our analysis of the results of genetic modifications of the cAMP pathway, especially the work on AC knock-outs, indicates that the genetic data are generally consistent with the pharmacological results showing the importance of this pathway in early LTP.
Edge preserving smoothing and enhancement for electronic portal images

Portal images, acquired by Electronic Portal Imaging Devices (EPID), suffers from inherently poor visual quality in terms of spatial resolution and contrast. Edge-preserving smoothing is an image processing technique that smooths away the noisy textures while retaining sharp edges. Since portal images used for in-line treatment, patient setup verification, image processing could be applied to improve the visualization of anatomical details. To quantify the degree of enhancement we present an image enhancement technique particularly effective for sharpening major edges while eliminating a manageable degree of noise. To achieve this task guided filtering is proposed, which has better behavior at the edges. In this research, we firstly try to reduce the noise and then perform edge preservation on EPI.
Binaural auditory localization of signals processed by speech enhancement methods

Binaural hearing aids are allowing hearing impaired persons getting more information from surroundings (e.g., the direction of incident, stereo sound effect, etc.) than monaural, and the binaural noise reduction techniques become necessary for this type of assistive hearing devices. The aim of this paper is to assess the influences of speech enhancement procedures to the target source binaural auditory localization. Two binaural noise reduction approaches are investigated and used to enhance the corrupted speech for listening tests. Localization judgments of original and processed signals are conducted with six normal-hearing listeners. Results of listening experiments indicated that both of the two different noise reduction techniques have contribution to improving localization accuracy within different levels, but enhanced signals were still distorted as all the localization accuracy score are lower than clean signals.
Tinospora cordifolia consumption ameliorates changes in kidney chondroitin sulphate/dermatan sulphate in diabetic rats

Diabetes is known to alter kidney extracellular matrix (ECM) components. Chondroitin sulphate (CS)/dermatan sulphate (DS), an ECM component, which plays an essential role in kidney is altered during diabetes. The focus of this study has been to examine the effect of Tinospora cordifolia (TC) consumption, a potent plant widely used to treat diabetes, on kidney CS/DS. Experimentally induced diabetic rats were fed with diet containing TC at 2·5 and 5 % levels and the effect of it on kidney CS/DS was examined. The CS/DS content and CS:heparan sulphate ratio which was decreased during diabetic condition were ameliorated in TC-fed groups. Disaccharide composition analysis of CS/DS by HPLC showed that decreases in ‘E’ units and degree of sulphation were modulated in 5 % TC-fed groups. Apparent molecular weight of purified CS/DS from the control rat kidney was found to be 38 kDa which was decreased to 29 kDa in diabetic rat kidney. Rats in 5 % TC-fed groups showed chain length of 38 kDa akin to control rats. Expression of chondroitin 4-O-sulfotransferase-1, dermatan 4-O-sulfotransferase-1 and N-acetylgalactosamine 4 sulphate 6-O-sulfotransferase, enzymes involved in the synthesis of ‘E’ units which was reduced during diabetic condition, was significantly contained in the 5 % TC-fed group. Purified CS/DS from 5 % TC-fed group was able to bind higher amounts of ECM components, namely type IV collagen and laminin, when compared with untreated diabetic rats. The present results demonstrate that consumption of a diet containing TC at the 5 % level modulates changes in kidney CS/DS which were due to diabetes.
Rating of Affective Pictures of Low and High Arousal Domain among Malaysian Population

Affective pictures are being used in different neuropsychology and neurophysiology studies for the assessment of cognitive function including attention and emotion. This research aims to determine the arousal domain of normative affective pictures from International Affective Picture System (IAPS) with Malaysian population using Self-Assessment Manikin (SAM) then to develop and customize an additional set of affective picture database with Malaysian population using SAM. There were 72 completed data from Malaysian participants were selected to rate a total of 166 pictures in the arousal (low to high) domain of affective dimension using SAM. Rating of the arousal domain of normative affective pictures from IAPS with Malaysian population revealed Malaysian population showed higher score significantly (p
THE LUMINOSITY PROFILE AND STRUCTURAL PARAMETERS OF THE ANDROMEDA GALAXY

We have constructed an extended composite luminosity profile for the Andromeda galaxy, M31, and have decomposed it into three basic luminous structural components: a bulge, a disk, and a halo. The dust-free Spitzer/Infrared Array Camera (IRAC) imaging and extended spatial coverage of ground-based optical imaging and deep star counts allow us to map M31's structure from its center to 22 kpc along the major axis. We apply, and address the limitations of, different decomposition methods for the one-dimensional luminosity profiles and two-dimensional images. These methods include nonlinear least-squares and Bayesian Monte Carlo Markov chain analyses. The basic photometric model for M31 has a Sérsic bulge with shape index n ≃ 2.2 ± . 3 and effective radius Re = 1.0 ± 0.2 kpc, and a dust-free exponential disk of scale length Rd = 5.3 ± . 5 kpc; the parameter errors reflect the range between different decomposition methods. Despite model covariances, the convergence of solutions based on different methods and current data suggests a stable set of structural parameters. The ellipticities (ϵ = 1 − b/a) of the bulge and the disk from the IRAC image are 0.37 ± 0.03 and 0.73 ± 0.03, respectively. The bulge parameter n is rather insensitive to bandpass effects and its value (2.2) suggests a first rapid formation via mergers followed by secular growth from the disk. The M31 halo has a two-dimensional power-law index ≃ − 2.5 ± 0.2 (or −3.5 in three-dimensional), comparable to that of the Milky Way. We find that the M31 bulge light is mostly dominant over the range Rmin ≲ 1.2 kpc. The disk takes over in the range 1.2 kpc ≲ Rmin ≲ 9 kpc, whereas the halo dominates at Rmin ≳ 9 kpc. The stellar nucleus, bulge, disk, and halo components each contribute roughly 0.05%, 23%, 73%, and 4% of the total light of M31 out to 200 kpc along the minor axis. Nominal errors for the structural parameters of the M31 bulge, disk, and halo amount to 20%. If M31 and the Milky Way are at all typical, faint stellar halos should be routinely detected in galaxy surveys reaching below μi ≃ 27 mag arcsec−2. We stress that our results rely on this photometric analysis alone. Structural parameters may change when other fundamental constraints, such as those provided by abundance gradients and stellar kinematics, are considered simultaneously.
Circadian Control of Global Transcription

Circadian rhythms exist in most if not all organisms on the Earth and manifest in various aspects of physiology and behavior. These rhythmic processes are believed to be driven by endogenous molecular clocks that regulate rhythmic expression of clock-controlled genes (CCGs). CCGs consist of a significant portion of the genome and are involved in diverse biological pathways. The transcription of CCGs is tuned by rhythmic actions of transcription factors and circadian alterations in chromatin. Here, we review the circadian control of CCG transcription in five model organisms that are widely used, including cyanobacterium, fungus, plant, fruit fly, and mouse. Comparing the similarity and differences in the five organisms could help us better understand the function of the circadian clock, as well as its output mechanisms adapted to meet the demands of diverse environmental conditions.
A novel approach for hierarchical clustering in non - binary search space

Data clustering is one of the powerful techniques for the knowledge discovery from data. In this paper, a novel approach for hierarchical clustering has been proposed over non-binary search space. Besides the agglomerative methods, the proposed algorithm has considered the Strength of Presence associated with each transaction, to yield quality clusters which are again more close to the real life situation. The algorithm is also capable to produce clusters with customizable varying density along with varying number of clusters.
Human-Agent Teamwork and Adjustable Autonomy in Practice

This paper outlines a preliminary perspective on teamwork and adjustable autonomy in groups involving a mix of humans and autonomous agents. Unlike other approaches to agent teamwork, a humancentered perspective to human-agent interaction is used. The paper describes how we are integrating the Brahms and KAoS agent frameworks in order to model and simulate realistic work situations in space and to support the design of robotic and software agents for human-agent teamwork.
Robust Hand Detection and Tracking Based on Monocular Vision

Vision based hand tracking is an important area of human machine interaction (HCI) and virtual reality techniques. However, it is still a great challenge. Due to the complicated environment and various hand appearances, it is difficult to realize stable and long-term tracking. In this paper, we proposed an effective approach to detect and track hand with a normal webcam. An integrating multi-cue detector with skin color and hand classifier is used to initialize the tracking region and find appearance information during tracking. Also a median flow tracker is integrated which utilizing the motion information to enhance the accuracy in short-term. We realize an automatic system of stable and long-term hand tracking, which can detect and track pre-trained frontal view hand gesture. Experiments show the good performance of our approach.
Botnet tracing based on distributed denial of service activity analysis

Most of DDoS(Distributed Denial of Service) attacks use botnets as the carrier, which has become one of the serious threat to Internet. However, botnet detection is difficult in backbone because C&C(command & control channel) is blended into the heavy background traffic. This paper proposed a method for locating botnet by DDoS activity data analysis and DPI(Deep Packet Inspection) technology. The DDoS attack traffic is sampled to locate suspicious hosts firstly, then the hosts' packets are collected and analyzed by DPI technology with some DDoS parameters, such as victim, start time of the attack etc. for finding C&C and Servers. This detection model has been implemented, named BTS (Botnet tracking system) at a POP of CERNET. The tests showed the practicability of this model.
Extraction of BoNT/A, /B, /E, and /F with a Single, High Affinity Monoclonal Antibody for Detection of Botulinum Neurotoxin by Endopep-MS

Botulinum neurotoxins (BoNTs) are extremely potent toxins that are capable of causing respiratory failure leading to long-term intensive care or death. The best treatment for botulism includes serotype-specific antitoxins, which are most effective when administered early in the course of the intoxication. Early confirmation of human exposure to any serotype of BoNT is an important public health goal. In previous work, we focused on developing Endopep-MS, a mass spectrometry-based endopeptidase method for detecting and differentiating the seven serotypes (BoNT/A-G) in buffer and BoNT/A, /B, /E, and /F (the four serotypes that commonly affect humans) in clinical samples. We have previously reported the success of antibody-capture to purify and concentrate BoNTs from complex matrices, such as clinical samples. However, to check for any one of the four serotypes of BoNT/A, /B, /E, or /F, each sample is split into 4 aliquots, and tested for the specific serotypes separately. The discovery of a unique monoclonal antibody that recognizes all four serotypes of BoNT/A, /B, /E and /F allows us to perform simultaneous detection of all of them. When applied in conjunction with the Endopep-MS assay, the detection limit for each serotype of BoNT with this multi-specific monoclonal antibody is similar to that obtained when using other serotype-specific antibodies.
A Semi-parametric Approach for Decomposition of Absorption Spectra in the Presence of Unknown Components

Decomposition of absorption spectra using linear regression has been proposed for calculating concentrations of mixture compounds. The method is based on projecting the observed mixture spectrum onto the linear space generated by the reference spectra that correspond to the individual components comprising the mixture. The computed coefficients are then used as estimates for concentration of the components that comprise the mixture. Existence of unknown components in the mixture, however, introduces bias on the obtained concentration estimates. We extend the usual linear regression model to an additive semi-parametric model to take the unknown component into account, estimate the absorption profile of the unknown component, and obtain concentration estimates of the known compounds. A standard back-fitting method as well as a mean weighted least squares criterion are applied. The techniques are illustrated on simulated absorption spectra.
Defective Mitochondrial Function and Motility Due to Mitofusin 1 Overexpression in Insulin Secreting Cells

Mitochondrial dynamics and distribution is critical for their role in bioenergetics and cell survival. We investigated the consequence of altered fission/fusion on mitochondrial function and motility in INS-1E rat clonal β-cells. Adenoviruses were used to induce doxycycline-dependent expression of wild type (WT-Mfn1) or a dominant negative mitofusin 1 mutant (DN-Mfn1). Mitochondrial morphology and motility were analyzed by monitoring mitochondrially-targeted red fluorescent protein. Adenovirus-driven overexpression of WT-Mfn1 elicited severe aggregation of mitochondria, preventing them from reaching peripheral near plasma membrane areas of the cell. Overexpression of DN-Mfn1 resulted in fragmented mitochondria with widespread cytosolic distribution. WT-Mfn1 overexpression impaired mitochondrial function as glucose- and oligomycin-induced mitochondrial hyperpolarization were markedly reduced. Viability of the INS-1E cells, however, was not affected. Mitochondrial motility was significantly reduced in WT-Mfn1 overexpressing cells. Conversely, fragmented mitochondria in DN-Mfn1 overexpressing cells showed more vigorous movement than mitochondria in control cells. Movement of these mitochondria was also less microtubule-dependent. These results suggest that Mfn1-induced hyperfusion leads to mitochondrial dysfunction and hypomotility, which may explain impaired metabolism-secretion coupling in insulin-releasing cells overexpressing Mfn1.
Overview of the ALTA 2012 Shared Task

The ALTA shared task ran for the third time in 2012, with the aim of bringing research students together to work on the same task and data set, and compare their methods in a current research problem. The task was based on a recent study to build classifiers for automatically labeling sentences to a pre-defined set of categories, in the domain of Evidence Based Medicine (EBM). The partaking groups demonstrated strong skills this year, outperforming our proposed benchmark systems. In this overview paper we explain the process of building the benchmark classifiers and data set, and present the submitted systems and their performance.
Assigning time budgets to component functions in the design of time-critical automotive systems

The adoption of AUTOSAR and Model Driven Engineering (MDE) for the design of automotive software architectures allows an early analysis of system properties and the automatic synthesis of architecture and software implementation. To select and configure the architecture with respect to timing constraints, knowledge about the worst case execution times (WCET) of functions is required. An accurate evaluation of the WCET is only possible when reusing legacy functionality or very late in the development and procurement process. To drive the integration of SW components belonging to systems with timing constraints, automotive methodologies propose to assign WCET budgets to functions. This paper presents two solutions to assign budgets, while considering at the same time the problem of SW/HW synthesis. The first solution is a one-step algorithm. The second is an iterative improvement procedure with a staged approach that scales better to very large size systems. Both methods are evaluated on industrial systems to study their effectiveness and scalability.
Procoagulant and immunogenic properties of melanoma exosomes, microvesicles and apoptotic vesicles

Extracellular vesicles (EV) are lipid particles released from eukaryotic cells into the extracellular fluid. Depending on the cell type or mechanism of release, vesicles vary in form and function and exert distinct functions in coagulation and immunity. Tumor cells may constitutively shed vesicles known as exosomes or microvesicles (MV). Alternatively, apoptosis induces the release of apoptotic blebs or vesicles (ApoV) from the plasma membrane. EV have been implicated in thrombotic events (the second highest cause of death in cancer patients) and tumor vesicles contribute to the anti-cancer immune response. In this study, we utilized the well characterized B16 melanoma model to determine the molecular composition and procoagulant and immunogenic potential of exosomes, MV and ApoV. Distinct patterns of surface and cytoplasmic molecules (tetraspanins, integrins, heat shock proteins and histones) were expressed between the vesicle types. Moreover, in vitro coagulation assays revealed that membrane-derived vesicles, namely MV and ApoV, were more procoagulant than exosomes–with tissue factor and phosphatidylserine critical for procoagulant activity. Mice immunized with antigen-pulsed ApoV and challenged with B16 tumors were protected out to 60 days, while lower protection rates were afforded by MV and exosomes. Together the results demonstrate distinct phenotypic and functional differences between vesicle types, with important procoagulant and immunogenic functions emerging for membrane-derived MV and ApoV versus endosome-derived exosomes. This study highlights the potential of EV to contribute to the prothrombotic state, as well as to anti-cancer immunity.
Sample size for FDR-control in microarray data analysis

We consider identifying differentially expressing genes between two patient groups using microarray experiment. We propose a sample size calculation method for a specified number of true rejections while controlling the false discovery rate at a desired level. Input parameters for the sample size calculation include the allocation proportion in each group, the number of genes in each array, the number of differentially expressing genes and the effect sizes among the differentially expressing genes. We have a closed-form sample size formula if the projected effect sizes are equal among differentially expressing genes. Otherwise, our method requires a numerical method to solve an equation. Simulation studies are conducted to show that the calculated sample sizes are accurate in practical settings. The proposed method is demonstrated with a real study.