Miracle-dz/UniFAR-FTUs huggingface dataset:
A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots

Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.
Knockdown and Mortality of Five Stored Product Beetle Species after Short Exposures of Thiamethoxam

ABSTRACT Laboratory bioassays were conducted to evaluate the effectiveness of thiamethoxam, against five major stored-grain beetle species, the lesser grain borer, Rhyzopertha dominica (F.), the rice weevil, Sitophilus oryzae (L.), the confused flour beetle, Tribolium confusum Jacquelin du Val, the larger grain borer, Prostephanus truncatus (Horn), and the sawtoothed grain beetle, Oryzaephilus surinamensis (L.). Adults of the above species were exposed on wheat (or maize in the case of P. truncatus) treated with thiamethoxam at 0.1, 1, and 10 ppm for 0, 2, 4, 6, 8, 16, 40, 72, and 96 h. After each of these intervals, mortality was recorded (immediate mortality) and the surviving individuals were transferred in untreated wheat (or maize), where mortality was recorded again 7 d later (delayed mortality). During both immediate and delayed mortality counts, the number of adults that were knocked down was also recorded. Immediate mortality was low in all exposures, with the exception of the highest dose rate and after 72–96 h. At these conditions, during this interval, most of the surviving individuals were knocked down. Delayed mortality was further increased with the increase of dose and the initial exposure, but knockdown was extremely low, with the exception of P. truncatus. The results of the present work show that O. surinamensis was the least susceptible species, while P. truncatus was the most susceptible. These findings show that, despite the increased mortality, recovery after short exposures is likely for all species tested here. In this regard, partially treated areas on which the insects are exposed only for short intervals may reduce thiamethoxam efficacy.
Aflatoxicol and aflatoxins B1 and M1 in eggs and tissues of laying hens consuming aflatoxin-contaminated feed.

This study was undertaken to relate quantitatively the aflatoxin residue found in eggs and tissues to the aflatoxin intake via feed. Eighteen hens were fed an aflatoxin B1 (B1)-contaminated feed (8 micrograms/g) for 7 days, after which half the group was sacrificed; the remainder were sacrificed after an additional 7 days on an aflatoxin-free diet. Eggs were collected over the entire 14-day period. Aflatoxicol (R0), B1, or both were found in eggs and tissues (kidneys, liver, muscle, blood, and ova). Aflatoxin M1 (M1) (.04 to .1 ng/g) was found only in the kidneys. Levels of R0 and B1 were approximately the same in eggs, ova, kidneys, and liver. In eggs, the levels of R0 and B1 (.02 to .2 ng/g) increased steadily for 4 or 5 days, after which time the levels plateaued and then decreased after B1 withdrawal at the same rate as they had increased. At 7 days after withdrawal, only trace amounts of R0 (.01 ng/g) remained in eggs. All tissues, except blood, from hens sacrificed immediately before aflatoxin withdrawal contained R0 (.04 to .4 ng/g) or R0 and B1 (.04 to .8 ng/g). The R0 (.03 to .11 ng/g) was the only aflatoxin detected in muscle, and B1 (.05 to .07 ng/g) was the only aflatoxin in blood. Seven days after aflatoxin withdrawal, B1 (.08 ng/g) was found in one of nine livers and R0 (.01 to .04 ng/g) in eight of nine muscles analyzed, but no aflatoxins were found in any other tissues.
Access to health professionals by children and adolescents with mental disorders: Are we meeting their needs?

Objective: To identify the percentage of 4–17 year olds with mental disorders in Australia who attended health professionals for single or repeat visits to get help for emotional and behavioural problems during a 12-month period. To identify factors associated with single and repeat visits, and the average length of time between visits. To compare the number of parent-reported visits with visits recorded in the Medicare Benefits Schedule. Method: The study used data from the national survey of the mental health and wellbeing of 4–17 year olds conducted in 2013–2014 (n = 6310). Participants were randomly selected from all 4 to 17 year olds in Australia. Information about visits was available from face-to-face interviews with parents, the Medicare Benefits Schedule and self-reports from 13 to 17 year olds. Mental disorders were assessed using the Diagnostic Interview Schedule for Children Version IV completed by parents. Results: Parents reported that 51.1% of 4–17 year olds with mental disorders had attended a health professional during the previous 12 months. However, 13.6% of these children had attended on only a single occasion, most commonly with a general practitioner. With the exception of occupational therapists, 2–4 visits was the most common number of repeat visits. Children with comorbid disorders and severe functional impairment and those aged 12–17 years were more likely to have repeat visits. Among those with linked Medicare Benefits Schedule data, more children were reported by parents to have attended Medicare Benefits Schedule-funded health professionals (47.9%) than were recorded in Medicare Benefits Schedule data (38.0%). Conclusion: The typical number of visits to health professionals by children with mental disorders during a 12-month period is relatively small. Furthermore, parent-reports may overestimate the number of visits during this time. It seems unlikely that current patterns of attendance are of sufficient duration and frequency to allow full implementation of evidence-based treatment programmes for child and adolescent mental disorders.
Dependency Tree Based Chinese Relation Extraction over Web Data

A new semi-supervised approach for Chinese relation extraction (RE) over constantly growing and edgeless web data is introduced in this paper. Existing semi-supervised approaches have the better improvement potential while lacking syntactic structure and semantic meaning of a sentence and unsuitable to loosely structured Chinese sentences. To follow their basic procedures as well as covering their remaining shortages, a dependency tree (DT) including both structure and semantic information is drawn in. Based on DTs, a new kind of pattern, called DT-based pattern, is proposed to extract new triples. Later patterns are optimized according to the characteristics of Chinese and typed dependency trees. Finally, extensive experiments show the higher precision and more efficiency of the proposed approach against DIPRE.
Evaluation of cell-mediated, cutaneous basophil hypersensitivity in young chickens by an interdigital skin test.

An evaluation was made of an interdigital skin test to assess cutaneous basophil hypersensitivity (CBH), mediated by thymic (T) cells, in chickens less than 2 wk of age. Hubbard-by-Hubbard roosters 3, 5, 7, 10 and 14 days of age were injected intradermally in the interdigital skin between Digits 3 and 4 of the right foot with 100 micrograms or 200 micrograms of phytohemagglutinin-P (PHA-P) in . 10 mL of physiological saline solution (PSS). The left foot was injected with PSS and served as a control. The CBH response elicited by the PHA-P was evaluated by determining interdigital skin thickness before injection and at 12 and 24 h after injection. The effect of treatment with the T-cell suppressing drugs dexamethasone and cyclosporin on the CBH response was determined in chickens treated daily for 4 or 5 days prior to skin testing at 5 or 10 days of age. Significant increases (P less than .005) of . 64 to . 88 mm occurred in the mean, interdigital skin thickness for all age groups of chickens at 12 and 24 h after injection of 100 or 200 micrograms of PHA-P. The PHA-P-elicited. CBH response was significantly suppressed by treatment with dexamethasone (P less than .005) or cyclosporin (P less than .05). The results indicated that the interdigital skin test is a rapid and simple means of assessing normal and suppressed immune responses in chickens at 3 to 14 days of age.
Categorization Working Memory Span Task: Validation study of two Brazilian alternate versions

The Categorization Working Memory Span Task (CWMS task) is a complex working memory (WM) span test that has been used previously to assess age and individual differences in WM as well as the relationship between WM and complex aspects of cognition such as listening comprehension. Two alternate versions of the task have been developed to be used as outcome variables in WM training protocol, which mirrors the task involved in the CWMS task.
Advance Directives and Care Received by Older Nursing Home Residents

Background: Research shows variable success as to whether care provided aligns with individual patient preferences as reflected in their advance directives (AD). Objective: We aimed to study AD status and subsequent care received in older nursing home (NH) residents deemed at risk for infections and care transitions: those with a urinary catheter (UC), feeding tube (FT), or both. Design/participants/measurements: A subgroup analysis of a prospective cohort of 90 residents with a UC and/or FT from 15 NHs in southeast Michigan. Outcomes assessed at enrollment and at 30-day intervals were hospitalizations and antibiotic use. The ADs were divided as follows: (1) comfort oriented: comfort measures only, no hospital transfer; (2) palliative oriented: comfort focused, allowing hospital transfer (except intensive care unit), antibiotic use, but no cardiopulmonary resuscitation; (3) usual care: full code, no limitations to care. We calculated incidences for these outcomes. Results: Seventy-eight (87%) residents had ADs: 18 (23%) comfort oriented, 32 (41%) palliative oriented, and 28 (36%) usual care. The groups did not differ regarding demographics, comorbidity, function, device presence, or time in study. Using the usual care group as comparison, the comfort-oriented group was hospitalized at a similar rate (Incidence rate [IR] = 15.6/1000 follow-up days vs IR = 8.8/1000 follow-up days, Incident rate ratio [IRR] 0.6 [95% confidence interval, CI, 0.3 -1.1], P value .09) but received fewer antibiotics (IR = 18.9/1000 follow-up days vs IR = 7.5/1000 follow-up days, IRR 0.4 [95% CI, 0.2-0.8], P value .005). Conclusion: Nursing home residents with comfort-oriented ADs were hospitalized at a rate similar to those with usual-care ADs but received fewer antibiotics, although the small sample size of this analysis suggests these findings deserve further study.
Factors for Selecting Partners in Innovation Projects – Evidences from Alliances in the Brazilian Petrochemical Leader

Due to the limitation of resources, the need to foster the developments and the lack of some competencies internally, companies are forced to cooperate with external agents, like other companies and universities, as suggested by the Open Innovation paradigm. Although there are lots of studies dealing with partner selection factors in alliances in the firm level, few studies are devoted to understand the specific demands of the task, in the project level, considered it the theoretical gap to be addressed in this study. The paper analyzes the partner selection factors in bilateral alliances projects, accordingly to the type of the partner and the type of innovation project. The data come from the case study in one Brazilian petrochemical company, analyzing in-depth 20 alliances projects with different partners – competitors, customers, suppliers, universities; and embodying different innovativeness degree - incremental innovation, platforms, breakthrough and basic science. Founded on the resources based view background, it was possible to identify the more prevalent selecting factors and alliances characteristics depending on the partner type and project type. The theoretical background jointly with the qualitative evidences enabled the building of theoretical propositions to be tested in future quantitative researches.
Staphylococcus aureus Manipulates Innate Immunity through Own and Host-Expressed Proteases

Neutrophils, complement system and skin collectively represent the main elements of the innate immune system, the first line of defense of the host against many common microorganisms. Bacterial pathogens have evolved strategies to counteract all these defense activities. Specifically, Staphylococcus aureus, a major human pathogen, secretes a variety of immune evasion molecules including proteases, which cleave components of the innate immune system or disrupt the integrity of extracellular matrix and intercellular connections of tissues. Additionally, S. aureus secretes proteins that can activate host zymogens which, in turn, target specific defense components. Secreted proteins can also inhibit the anti-bacterial function of neutrophils or complement system proteases, potentiating S. aureus chances of survival. Here, we review the current understanding of these proteases and modulators of host proteases in the functioning of innate immunity and describe the importance of these mechanisms in the pathology of staphylococcal diseases.
Factors affecting ostrich egg hatchability.

Ostrich eggs often have low hatchability (HATCH) rates because they do not lose sufficient weight during incubation. Because egg size, eggshell porosity and thickness (THICK), and length of preincubation egg storage are known to affect egg weight loss during incubation (EWL) and HATCH of chicken eggs, these factors were examined using ostrich eggs. The effects of eggshell porosity (number of large pores per cm2 of shell; LP); and THICK on EWL and HATCH were assessed by categorizing the eggs as having either low, intermediate, or high LP or low, intermediate, or high THICK. Mean EWL was higher (P<0.05) in eggs of the high LP group when compared with eggs in either the low or intermediate LP groups that lost similar amounts of weight during incubation. Mean HATCH was also higher (more than 25%; P<0.10) in eggs with high LP when compared with the HATCH found in eggs having low LP. Eggs from the intermediate LP group had an intermediate HATCH response. Moreover, numbers of LP were positively correlated to both EWL (r2 = 0.64; P<0.0001) and HATCH (r2 = 0.25; P<0.03). Inverse relationships existed between THICK and EWL and between THICK and HATCH according to the order (P< 0.05): eggs of low THICK, highest mean EWL and HATCH > eggs of intermediate THICK, intermediate mean EWL and HATCH > eggs of highest THICK, lowest mean EWL and HATCH. Shell thickness was not correlated to either EWL or HATCH. The influence of egg size on mean LP, THICK, EWL, HATCH, and chick weight (CWT) was assessed. Although THICK was unaffected by egg size, higher LP (P<0.10), EWL (P<0.05), and HATCH (P<0.10) were found in medium-sized eggs when compared with either small or large eggs. The CWT was associated with egg size (P<0.05) according to the order: large eggs, highest CWT > medium eggs, intermediate CWT > small eggs, lowest CWT. Neither EWL nor HATCH was affected by length of preincubation egg storage. Collectively, our findings suggest that 1) ostrich eggs that possess low LP and increased THICK hatched poorly, 2) intermediate-sized eggs hatch best, 3) large eggs produced large chicks, and 4) ostrich eggs can be stored under conditions typically used in the poultry industry for a minimum of 10 d without negatively impacting HATCH.
A Hyperbolic Eulerian Model for Dilute Two-Phase Suspensions

Conventional modeling of two-phase dilute suspensions is achieved with the Euler equations for the gas phase and gas dynamics pressureless equations for the dispersed phase, the two systems being coupled by various relaxation terms. The gas phase equations form a hyperbolic system but the particle phase corresponds to a hyperbolic degenerated one. Numerical difficulties are thus present when dealing with the dilute phase system. In the present work, we consider the addition of turbulent effects in both phases in a thermodynamically consistent way. It results in two strictly hyperbolic systems describing phase’s dynamics. Another important feature is that the new model has improved physical capabilities. It is able, for example, to predict particle dispersion, while the conventional approach fails. These features are highlighted on several test problems involving particles jets dispersion and are compared against experimental data. With the help of a single parameter (a turbulent viscosity), excellent agreement is obtained for various experimental configurations studied by different authors
PREDICTING HEAD TRAJECTORIES IN 360 VIRTUAL REALITY VIDEOS

In this paper a ﬁxation prediction based saliency algo-rithm is used in order to predict the head movements of viewers watching virtual reality (VR) videos, by modelling the relationship between ﬁxation predictions and recorded head movements. The saliency algorithm is applied to viewings faithfully recreated from recorded head movements. Spherical cross-correlation analysis is performed between predicted attention centres and actual viewing centres in order to try and identify prevalent lengths of predictable attention and how early they can be predicted. The results show that ﬁxation prediction based saliency analysis correlates with head movements only for limited durations. Therefore, further classi-ﬁcation of durations where saliency analysis is predictive is required.
Relational query processing on OpenCL-based FPGAs

The release of OpenCL support for FPGAs represents a significant improvement in extending database applications to the reconfigurable domain. Taking advantage of the programmability offered by the OpenCL HLS tool, an OpenCL database can be easily ported and re-designed for FPGAs. A single SQL query in these database systems usually consists of multiple operators, and each one of these operators in turn consists of multiple OpenCL kernels. Due to the specific properties of FPGAs, each OpenCL kernel can have different FPGA-specific optimization combinations, in terms of CU (compute unit) and SIMD (kernel vectorization), which are critical to the overall performance of query processing. Due to the resource limitation of an FPGA image, our query plan also considers the possibility of using multiple FPGA images. In this paper, we propose an FPGA-specific cost model to determine the optimal query plan in less than one minute. In particular, the FPGA synthesis time is significantly reduced by avoiding the need to evaluate all the feasible query plans on real FPGAs. Our cost model has two components: unit cost and optimal query plan generation. The first component generates multiple (unit cost, resource utilization) pairs for each kernel. The second component employs a dynamic programming approach to generate the optimal query plan which considers the possibility of using multiple FPGA images. The experiments show that 1) our cost model can accurately predict the performance of each feasible query plan for the input query, and can guide the optimal query plan generation, 2) our optimized query plan achieves a performance speedup 1.5×-4× over the state-of-the-art query processing on OpenCL-based FPGAs.
Energy-Efficient Precoded Coordinated Multi-Point Transmission With Pricing Power Game Mechanism

The coordinated multiple-point (CoMP) transmission technique recently has been considered as an efficient method to achieve energy-efficient cellular wireless communications and enhance cell-edge user performance. Conventional energy-efficient power allocation in CoMP is based simply on water filling (WF) without considering frequency diversity (different base station clustering and user scheduling results in each subband). For the single-antenna scenario without the involvement of precoding, we have recently proposed a noncooperative power game (PG) mechanism with pricing for power allocation as an interference coordination method to improve energy efficiency and throughput performance. In this paper, we generalize the noncooperative pricing game mechanism with pricing across both frequency and space in the scenario of multiuser multiple-input–multiple-output-based CoMP transmissions. First, a block diagonalization precoding-based CoMP transmission system is reformulated as multiple single-antenna transmit–receive pairs from a viewpoint of streams. Second, taking frequency diversity into account, we propose a novel WF power-allocation algorithm to provide the power strategy space (the range of power of streams), based on which PG in each stream is further proposed. Thus, the noncooperative PG with pricing can be executed in all streams. Extensive simulation results then demonstrate the effectiveness of the new proposal.
Numerical simulation of flow field of auxiliary nozzle as affected by orifice forms of air-jet loom based on Fluent

The effect of orifice-form on the ejecting of an auxiliary nozzle of air-jet loom is simulated.A geometrical model of the ejecting channel is built up with Solidworks,and the turbulent air-jet with RNG k-e model is simulated based on Fluent.The simulation reveals that the gas velocity increases with the auxiliary nozzle pipe inner-sectional area decreasing under the same pressure of supply gas with respect to ideal high pressure air flow at equivalent temperature,and the ejecting capacity of four orifice forms of auxiliary nozzle supplied with the same air-pressure showed the following order: 7 circular orifices single rectangular orifice circular twin-orifice single circular orifice.The results of simulation provide a reference for optimizing parameters of auxiliary nozzle of air-jet loom.
Role of CD133 Molecule in Wnt Response and Renal Repair

Renal repair after injury is dependent on clonal expansion of proliferation‐competent cells. In the human kidney, the expression of CD133 characterizes a population of resident scattered cells with resistance to damage and ability to proliferate. However, the biological function of the CD133 molecule is unknown. By RNA sequencing, we found that cells undergoing cisplatin damage lost the CD133 signature and acquired metanephric mesenchymal and regenerative genes such as SNAIL1, KLF4, SOX9, and WNT3. CD133 was reacquired in the recovery phase. In CD133‐Kd cells, lack of CD133 limited cell proliferation after injury and was specifically correlated with deregulation of Wnt signaling and E‐cadherin pathway. By immunoprecipitation, CD133 appeared to form a complex with E‐cadherin and β‐catenin. In parallel, CD133‐Kd cells showed lower β‐catenin levels in basal condition and after Wnt pathway activation and reduced TCF/LEF promoter activation in respect to CD133+ cells. Finally, the lack of CD133 impaired generation of nephrospheres while favoring senescence. These data indicate that CD133 may act as a permissive factor for β‐catenin signaling, preventing its degradation in the cytoplasm. Therefore, CD133 itself appears to play a functional role in renal tubular repair through maintenance of proliferative response and control of senescence. Stem Cells Translational Medicine 2018;7:283–294