Miracle-dz/UniFAR-FTUs huggingface dataset:
A kinect-based SLAM in an unknown environment using geometric features

This paper proposes a geometric feature-based method to solve the Simultaneous Localization and Mapping (SLAM) problem in an unknown structured environment using a short range and low Field of View (FoV) measurement unit such as Kinect sensor. A RANdom SAmple Consensus (RANSAC) based algorithm is used for feature detection, and a grid-based point cloud segmentation method has been introduced to improve the multiple feature point-detection in a 2D depth frame. A fast SLAM algorithm is used to estimate the robot posterior and the map of the environment. This approach builds the individual maps for each particle using geometric features that are extracted from a 2D slice of a 3D depth image. Each map contains individual Extended Kalman Filters (EKFs) for each and every feature-point. This method reduces the uncertainty of the robot pose in the prediction step and it improves the pose accuracy when more geometric feature-points are available. The proposed feature-based approach gives better localization and compact map representation in structured environments when distinct features are available. The importance weighting and the comparison of features with the on-line map are performed according to the maximum likelihood criterion. In order to reduce the particle depletion, the map is updated only when a new Odometry measurement and new range measurements are available. The experiments are carried out using the recorded data with a non-holomonic mobile robot equipped with a Kinect sensor in a small scale indoor structured environment. For comparison, the grid based SLAM result is also presented for the same data set.
Consolidation and Permeability Behavior of Segregated and Homogeneous Sediments

The ever-increasing demand for the use of marginal lands for various human activities necessitates the need to understand the behavior of soft sediments under the action of external forces. As the segregated sediments are of common occurrence in a freshwater depositional environment, it is essential to understand the compressibility and permeability characteristics of segregated sediments, in addition to those of homogeneous sediments. The present paper discusses the compressibility and permeability behaviors of soft segregated and homogeneous sediments, making use of a simplified seepage consolidation testing procedure developed y the authors. The other variables included in the study are the clay mineralogy of the soil and the stress history of the sediments. The study clearly brings out the significant effect of clay mineralogy on the compressibility characteristics of segregated sediments. The compressibility behavior of homogeneous soil sediments formed under a given depositional environment, having different clay mineralogy, appears to be similar. It is shown that the coefficient of permeability of any soil is a function of stress history in addition to void ratio and soil type.
Perspectives on: The response to osmotic challenges: Cell volume control in three dimensions: Water movement without solute movement

Cell volume primarily represents the amount of water in a cell. Osmotically active metabolites and mechanical forces can cause changes in cell volume, but cell volume is under feedback control around a characteristic set point. Traditionally, the analysis of cell volume regulation treats the cell as a semipermeable bag with osmotic pressure converted to hydrostatic pressure at the membrane. However, newer data show that in cells with a cross-linked cytoskeleton, osmotic stress is distributed throughout the cell volume and not confined to the cortex. Cytoskeletal cross-linking creates a sponge-like interior bonded to the membrane at the periphery. The cytoskeleton can be strong enough to allow a cell to withstand hours-long exposure to distilled water without lysing. The elastic energy stored in a swollen, cross-linked cytoskeleton is much larger than that in the cell cortex (see Appendix) and hence is a critical variable to include when modeling cell volume regulation.
CHD5, a Brain-Specific Paralog of Mi2 Chromatin Remodeling Enzymes, Regulates Expression of Neuronal Genes

CHD5 is frequently deleted in neuroblastoma and is a tumor suppressor gene. However, little is known about the role of CHD5 other than it is homologous to chromatin remodeling ATPases. We found CHD5 mRNA was restricted to the brain; by contrast, most remodeling ATPases were broadly expressed. CHD5 protein isolated from mouse brain was associated with HDAC2, p66ß, MTA3 and RbAp46 in a megadalton complex. CHD5 protein was detected in several rat brain regions and appeared to be enriched in neurons. CHD5 protein was predominantly nuclear in primary rat neurons and brain sections. Microarray analysis revealed genes that were upregulated and downregulated when CHD5 was depleted from primary neurons. CHD5 depletion altered expression of neuronal genes, transcription factors, and brain-specific subunits of the SWI/SNF remodeling enzyme. Expression of gene sets linked to aging and Alzheimer's disease were strongly altered by CHD5 depletion from primary neurons. Chromatin immunoprecipitation revealed CHD5 bound to these genes, suggesting the regulation was direct. Together, these results indicate that CHD5 protein is found in a NuRD-like multi-protein complex. CHD5 expression is restricted to the brain, unlike the closely related family members CHD3 and CHD4. CHD5 regulates expression of neuronal genes, cell cycle genes and remodeling genes. CHD5 is linked to regulation of genes implicated in aging and Alzheimer's disease.
Performance Comparison of Blind Equalization Algorithms for Wireless Communication

Adaptive equalization is an accepted method to mitigate the Inter-Symbol Interference (ISI) in wireless communication. Frequently, adaptive algorithm must needs transmission of well-known training sequence to track the time varying characteristics of the channel and hence make the most of superfluous bandwidth. It is also not viable to have training sequences in all types of transmissions (e.g. non-cooperative environment). Blind algorithm is a concept used to track the time varying characteristics of the channel in the deficiency of training sequence. Nevertheless, it leads to slow convergence. In this paper, the performance of Sato algorithm and Godard based blind algorithm is compared for PAM signal.
Decoherence of quantum wave packets due to interaction with conformal space–time fluctuations

One of the biggest problems faced by those attempting to combine quantum theory and general relativity is the experimental inaccessibility of the unification scale. In this paper, we show how incoherent conformal waves in the gravitational field, which may be produced by quantum mechanical zero–point fluctuations, interact with the wave packets of massive particles. The result of this interaction is to produce decoherence within the wave packets which could be accessible in experiments at the atomic scale. Using a simple nonlinear model for the coherence properties of the gravitational field, we derive an equation for the evolution of the density matrix of such a wave packet. Following the primary state diffusion programme, the most promising source of space–time fluctuations for experimental detection is these zero–point energy fluctuations. According to our model, the absence of intrinsic irremovable decoherence in matter interferometry experiments puts bounds on some of the parameters of quantum gravity theories. Current experiments give λ >18, where λtPlanck is an effective cut–off for the validity of low–energy quantum gravity theories.
Dynamic Mechanisms of Neocortical Focal Seizure Onset

Recent experimental and clinical studies have provided diverse insight into the mechanisms of human focal seizure initiation and propagation. Often these findings exist at different scales of observation, and are not reconciled into a common understanding. Here we develop a new, multiscale mathematical model of cortical electric activity with realistic mesoscopic connectivity. Relating the model dynamics to experimental and clinical findings leads us to propose three classes of dynamical mechanisms for the onset of focal seizures in a unified framework. These three classes are: (i) globally induced focal seizures; (ii) globally supported focal seizures; (iii) locally induced focal seizures. Using model simulations we illustrate these onset mechanisms and show how the three classes can be distinguished. Specifically, we find that although all focal seizures typically appear to arise from localised tissue, the mechanisms of onset could be due to either localised processes or processes on a larger spatial scale. We conclude that although focal seizures might have different patient-specific aetiologies and electrographic signatures, our model suggests that dynamically they can still be classified in a clinically useful way. Additionally, this novel classification according to the dynamical mechanisms is able to resolve some of the previously conflicting experimental and clinical findings.
Members of Bitter Taste Receptor Cluster Tas2r143/Tas2r135/Tas2r126 Are Expressed in the Epithelium of Murine Airways and Other Non-gustatory Tissues

The mouse bitter taste receptors Tas2r143, Tas2r135, and Tas2r126 are encoded by genes that cluster on chromosome 6 and have been suggested to be expressed under common regulatory elements. Previous studies indicated that the Tas2r143/Tas2r135/Tas2r126 cluster is expressed in the heart, but other organs had not been systematically analyzed. In order to investigate the expression of this bitter taste receptor gene cluster in non-gustatory tissues, we generated a BAC (bacterial artificial chromosome) based transgenic mouse line, expressing CreERT2 under the control of the Tas2r143 promoter. After crossing this line with a mouse line expressing EGFP after Cre-mediated recombination, we were able to validate the Tas2r143-CreERT2 transgenic mouse line and monitor the expression of Tas2r143. EGFP-positive cells, indicating expression of members of the cluster, were found in about 47% of taste buds, and could also be found in several other organs. A population of EGFP-positive cells was identified in thymic epithelial cells, in the lamina propria of the intestine and in vascular smooth muscle cells of cardiac blood vessels. EGFP-positive cells were also identified in the epithelium of organs readily exposed to pathogens including lower airways, the gastrointestinal tract, urethra, vagina, and cervix. With respect to the function of cells expressing this bitter taste receptor cluster, RNA-seq analysis in EGFP-positive cells isolated from the epithelium of trachea and stomach showed expression of genes related to innate immunity. These data further support the concept that bitter taste receptors serve functions outside the gustatory system.
Hybrid adiabatic‐rectangular pulse train for effective saturation of magnetization within the whole heart at 3 T

Uniform T1‐weighting is a major challenge for first‐pass cardiac perfusion MRI at 3 T. Previously proposed adiabatic amplitude of radiofrequency field (B1)‐insensitive rotation (BIR‐4) pulse and standard and tailored pulse trains of three nonselective pulses have been important developments but each pulse has limitations at 3 T. As an extension of the tailored pulse train, we developed a hybrid pulse train by synergistically combining two nonselective rectangular radiofrequency pulses and an adiabatic half‐passage pulse, in order to achieve effective saturation of magnetization within the heart, while remaining within clinically acceptable specific absorption rate limits. The standard pulse train, tailored pulse train, hybrid pulse train, and BIR‐4 pulse train were evaluated through numerical, phantom, and in vivo experiments. Among the four saturation pulses, only the hybrid pulse train yielded residual magnetization <2% of equilibrium magnetization in the heart while remaining within clinically acceptable specific absorption rate limits for multislice first‐pass cardiac perfusion MRI at 3 T. Magn Reson Med, 2009. © 2009 Wiley‐Liss, Inc.
Sensor selection for hypothesis testing in wireless sensor networks: a Kullback-Leibler based approach

We consider the problem of selecting a subset of p out of n sensors for the purpose of event detection, in a wireless sensor network (WSN). Occurrence of the event of interest is modeled as a binary Gaussian hypothesis test. In this case sensor selection consists of finding, among all (p n) combinations, the one maximizing the Kullback-Leibler (KL) distance between the induced p-dimensional distributions under the two hypotheses. An exhaustive search is impractical if n and p are large, as the resulting optimization problem is combinatorial. We propose a suboptimal approach with computational complexity of order O(n3p). This consists of relaxing the 0/1 constraint on the entries of the selection matrices to let the optimization problem search over the set of Stiefel matrices. Although finding the Stiefel matrix is a nonconvex problem, we provide an algorithm that is guaranteed to produce a global optimum for p = 1, through a series of judicious problem reformulations. The case p > 1 is tackled by an incremental, greedy approach. The obtained Stiefel matrix is then used to determine the sensor selection matrix which best approximates its range space. Extensive simulations are used to assess near optimality of the proposed approach. They also show how the proposed approach performs better than exhaustive searches once an upper bound on the computation time is set.
Objectivity in psychoanalytic assessment of couple relationships

Background Clinicians claim that partners in a couple can be understood to share a mode of relating, at an unconscious level. Assessment of this depends on inference from observable data. This study tests the viability and reliability of a modification of the Personal Relatedness Profile (PRP) for this purpose. Aims To test the interrater reliability and construct validity of a joint PRP score for couples. Method Seven therapists independently rated couples' interactions using the 30-item PRP and segments of videotaped interviews with 19 couples. Results Interrater reliability was good and correlations between items clearly supported the underlying Kleinian bipolar model used (paranoid–schizoid/depressive positions). Conclusions Psychoanalytic couple psychotherapists agree in independent judgements of the nature of couple functioning, these judgements being based on envisaging couples in terms of an unconsciously shared state of mind.
Exploring the impact of climate and land use changes on streamflow trends in a monsoon catchment

Flooding appears to be increasing in Kelantan, Malaysia, in terms of frequency as well as magnitude. This is likely to be due to changes in precipitation, but may also be contributed to by land use change. The Mann–Kendall non‐parametric method was used to test for trends in streamflow and precipitation at the 90% significance level. Several significant trends in streamflow were found for the upstream (River Galas) and downstream (River Kelantan) sub‐catchments for all variables (annual, seasonal and monthly time‐series). In particular, streamflow increased in all seasons in the upstream sub‐catchment, but increased in the wet season and decreased in the dry season downstream. Several trends were also observed for precipitation. Precipitation trends were increasing in the wet season and decreasing in the dry season for both upstream and downstream sub‐catchments. Analysis of land use change revealed that most changes occurred through conversion of forest to agricultural land (i.e. rubber and oil palm), predominantly in the upstream sub‐catchment. The analysis suggests a clear association between streamflow change and precipitation change, but also reveals that land use change may be an important contributing factor, particularly in the upstream sub‐catchment. Copyright © 2010 Royal Meteorological Society
Hydroxylation of 1,8-cineole by Mucor ramannianus and Aspergillus niger

The monoterpenoid 1,8-cineole is obtained from the leaves of Eucalyptus globulus and it has important biological activities. It is a cheap natural substrate because it is a by-product of the Eucalyptus cultivation for wood and pulp production. In this study, it was evaluated the potential of three filamentous fungi in the biotransformation of 1,8-cineole. The study was divided in two steps: first, reactions were carried out with 1,8-cineole at 1 g/L for 24 h; afterwards, reactions were carried out with substrate at 5 g/L for 5 days. The substrate was hydroxylated into 2-exo-hydroxy-1,8-cineole and 3-exo-hydroxy-1,8-cineole by fungi Mucor ramannianus and Aspergillus niger with high stereoselectivity. Trichoderma harzianum was also tested but no transformation was detected. M. ramannianus led to higher than 99% of conversion within 24 h with a starting high substrate concentration (1 g/L). When substrate was added at 5 g/L, only M. ramannianus was able to catalyze the reaction, but the conversion level was 21.7% after 5 days. Both products have defined stereochemistry and could be used as chiral synthons. Furthermore, biological activity has been described for 3-exo-hydroxy-1,8-cineol. To the best of our knowledge, this is the first report on the use of M. ramannianus in this reaction.
A Mobility-Aware Two-Phase Commit Protocol

The exploding activity in the telecommunication domain and the increasing emergence of portable devices are making mobile ubiquitous computing a reality. However, many challenging issues have to be faced before enabling users to take part in distributed computing while moving in an efficient and quasi-transparent manner. Many researches focus on revisiting the conventional distributed computing paradigms for use in the new environment. In this paper we propose to revisit the conventional implementation of the Two Phase Commit (2PC) protocol which is a fundamental asset of transactional technology for ensuring consistent effects of distributed transactions. We propose a new execution framework that provides an extension aware of the mobility of the hosts. The proposed Mobility-aware 2PC (M-2PC) protocol preserves the 2PC principle and the freedom of the mobile clients and servers while it minimizes the impact of unreliable wireless communication links.
Process Variation Tolerant SRAM Cell Design

One of the major hurdles in the design of Static Random Access Memory (SRAM) cell is the ever increasing process variations. To counter this researchers have proposed various bit-cell and non-bit-cell oriented designs. However, the proposed techniques require additional circuitry and hence account for large area overhead. In this paper we propose the use of rise time of word-line signal as a measure to reduce the impact of the process variations on the SRAM cells. Simulation results show that using a higher rise time resulted in drastic reduction in the number of cells that fail to read or write. Number of cells that can successfully write or read improved from 82% to 98.2% and 90% to 98.8% respectively. However, there is some speed penalty to achieve this.
The Conservation Reserve Program: planting for the future

The symposium, The Conservation Reserve Program: Planting for the Future, provided a forum to review scientific analyses, introduce ongoing and planned research, exchange views and objectives, explore lessons learned, and define needs to enhance program performance. Major themes included the need to quantify and communicate the CRP’s environmental and economic effects, appropriate management of CRP land, and the program’s impact on rural economies, and develop State and Federal partnerships to improve the USDA’s ability to meet regional and national agricultural and environmental needs.
The study on atmospheric correction of TM image data in GuangZhou

To extract accurately quantitative information from remote sensing image, Atmospheric Correction is a necessary step. The quantitative analysis of Atmospheric Correction is still one among the important issues in application of remote sensing images. Based on the characteristics of the MODTRAN(transfer model) and the dark-object method, they are combined to remove atmospheric effects of remote sensing image in this study. In order to improve the speed of Atmospheric Correction by MODTRAN model, the dark-object method is used to acquire Path Radiance, which is one of main parameters in MODTRAN model. The new method is applied to TM image in the working area of GuangZhou. The result of the above study shows that the atmospheric correction model combining MODTRAN with the dark-object method appears to be a very hopeful approach. Compared with the MODTRAN model, the new model advances surface-atmospheric coupled efficiency. But contrasted with the dark-object method, the precision of atmospheric correction is advanced.
Development of the TanDEM-X Calibration Concept: Analysis of Systematic Errors

The TanDEM-X mission, result of the partnership between the German Aerospace Center (DLR) and Astrium GmbH, opens a new era in spaceborne radar remote sensing. The first bistatic satellite synthetic aperture radar mission is formed by flying TanDEM-X and TerraSAR-X in a closely controlled helix formation. The primary mission goal is the derivation of a high-precision global digital elevation model (DEM) according to High-Resolution Terrain Information (HRTI) level 3 accuracy. The finite precision of the baseline knowledge and uncompensated radar instrument drifts introduce errors that may compromise the height accuracy requirements. By means of a DEM calibration, which uses absolute height references, and the information provided by adjacent interferogram overlaps, these height errors can be minimized. This paper summarizes the exhaustive studies of the nature of the residual-error sources that have been carried out during the development of the DEM calibration concept. Models for these errors are set up and simulations of the resulting DEM height error for different scenarios provide the basis for the development of a successful DEM calibration strategy for the TanDEM-X mission.
GPBAR1/TGR5 Mediates Bile Acid-Induced Cytokine Expression in Murine Kupffer Cells

GPBAR1/TGR5 is a novel plasma membrane-bound G protein–coupled bile acid (BA) receptor. BAs are known to induce the expression of inflammatory cytokines in the liver with unknown mechanism. Here we show that without other external stimuli, TGR5 activation alone induced the expression of interleukin 1β (IL-1β) and tumor necrosis factor-α (TNF-α) in murine macrophage cell line RAW264.7 or murine Kupffer cells. The TGR5-mediated increase of pro-inflammatory cytokine expression was suppressed by JNK inhibition. Moreover, the induced pro-inflammatory cytokine expression in mouse liver by 1% cholic acid (CA) diet was blunted in JNK−/− mice. TGR5 activation by its ligands enhanced the phosphorylation levels, DNA-binding and trans-activities of c-Jun and ATF2 transcription factors. Finally, the induced pro-inflammatory cytokine expression in Kupffer cells by TGR5 activation correlated with the suppression of Cholesterol 7α-hydroxylase (Cyp7a1) expression in murine hepatocytes. These results suggest that TGR5 mediates the BA-induced pro-inflammatory cytokine production in murine Kupffer cells through JNK-dependent pathway. This novel role of TGR5 may correlate to the suppression of Cyp7a1 expression in hepatocytes and contribute to the delicate BA feedback regulation.