Miracle-dz/UniFAR-FTUs huggingface dataset:
Urban environment perception and navigation using robotic vision : conception and implementation applied to automous vehicle. (Perception de l'environnement urbain et navigation s'appuyant sur la vision robotique : la conception et la mise en oeuvre appliquée au véhicule autonome)

The development of autonomous vehicles capable of getting around on urban roads can provide important benefits in reducing accidents, in increasing life comfort and also in providing cost savings. Intelligent vehicles for example often base their decisions on observations obtained from various sensors such as LIDAR, GPS and Cameras. Actually, camera sensors have been receiving large attention due to they are cheap, easy to employ and provide rich data information. Inner-city environments represent an interesting but also very challenging scenario in this context,where the road layout may be very complex, the presence of objects such as trees, bicycles,cars might generate partial observations and also these observations are often noisy or even missing due to heavy occlusions. Thus, perception process by nature needs to be able to dea lwith uncertainties in the knowledge of the world around the car. While highway navigation and autonomous driving using a prior knowledge of the environment have been demonstrating successfully,understanding and navigating general inner-city scenarios with little prior knowledge remains an unsolved problem. In this thesis, this perception problem is analyzed for driving in the inner-city environments associated with the capacity to perform a safe displacement basedon decision-making process in autonomous navigation. It is designed a perception system that allows robotic-cars to drive autonomously on roads, with out the need to adapt the infrastructure,without requiring previous knowledge of the environment and considering the presenceof dynamic objects such as cars. It is proposed a novel method based on machine learning to extract the semantic context using a pair of stereo images, which is merged in an evidential grid to model the uncertainties of an unknown urban environment, applying the Dempster-Shafer theory. To make decisions in path-planning, it is applied the virtual tentacle approach to generate possible paths starting from ego-referenced car and based on it, two news strategies are proposed. First one, a new strategy to select the correct path to better avoid obstacles and tofollow the local task in the context of hybrid navigation, and second, a new closed loop control based on visual odometry and virtual tentacle is modeled to path-following execution. Finally, a complete automotive system integrating the perception, path-planning and control modules are implemented and experimentally validated in real situations using an experimental autonomous car, where the results show that the developed approach successfully performs a safe local navigation based on camera sensors.
Perceived somatic and affective barriers for self-efficacy and physical activity

According to Bandura’s social-cognitive theory, perceptions of somatic and affective barriers are sources of self-efficacy. This longitudinal study compares general indicators of health barriers with measures of perceived somatic and affective barriers to predict self-efficacy and accelerometer-assessed physical activity in a subsample of n = 153 (selected at random from N = 310) community-dwelling German older adults. Perceived somatic and affective barriers longitudinally predicted physical activity mediated by self-efficacy, whereas general health barriers did not. Perceived health barriers to physical activity might be more important than more objective health barriers for older adults’ physical activity levels.
A model-driven method of estimating the state of clothes for manipulating it

Aiming at manipulating clothes, a model-driven method of estimating the state of hanging clothes is proposed. We suppose a system consisting of two manipulators and a camera. The task considered in this paper is to hold a pullover at its two shoulders by two manipulators respectively, as a first step for folding it. The proposed method estimates the state of the clothes held by one manipulator in a model-driven way and indicates the position to be held next by the other manipulator. First, the possible appearances of the pullover when it is held at one point are roughly predicted. Using discriminative features of the predicted appearances, the possible states for the observed appearance are selected. Each appearance of the possible state is partially deformed so as to get close to the observed appearance. The state whose appearance successfully approaches closest to the observed appearance is selected as the final decision. The point to be held next is determined according to the state. The results of preliminary experiments using actual images have shown the good potential of the proposed method.
Cardiac toxicity 4 to 20 years after completing anthracycline therapy.

OBJECTIVE --To assess the cardiac status of long-term survivors of pediatric malignancies who received chemotherapy, including anthracyclines. DESIGN AND METHOD -Patients were evaluated by echocardiogram from 4 to 20 years (median, 7 years) after completion of anthracyclines, with prospective and retrospective analysis. PATIENTS --The consecutive sample of 201 patients had received a total anthracycline dose of 200 to 1275 mg/m2 (median, 450 mg/m2), and 51 patients had mediastinal radiotherapy. MAIN OUTCOME MEASURES --The overall incidence and severity of abnormal systolic cardiac function were determined for the entire cohort. Risk factors of total anthracycline dose, mediastinal radiotherapy, age during treatment, and length of follow-up were examined. RESULTS --Twenty-three percent (47/201) of the cohort had abnormal cardiac function on noninvasive testing at long-term follow-up. Correlation between total cumulative dose, length of follow-up, and mediastinal irradiation with incidence of abnormalities was significant. Fifty-six patients were followed up for 10 years or more (median, 12 years), with a median anthracycline dose of 495 mg/m2. Thirty-eight percent (21/56) of these patients, compared with 18% (26/145) of patients evaluated after less than 10 years, had abnormal findings. Sixty-three percent of patients followed up for 10 years or more after receiving 500 mg/m2 or more of anthracyclines had abnormal findings. Nine of 201 patients had late symptoms, including cardiac failure and dysrhythmia, and three patients died suddenly. Microscopic examination of the myocardium on biopsy and autopsy revealed fibrosis. CONCLUSION --The 23% incidence of late cardiac abnormalities warrants continued evaluation of patients after anthracyclines to guide patient care and the design of future chemotherapeutic protocols.
Analyzing wall thickness of artery phantoms in a noninvasive way

Research looking for the achieving of an accurate measurement of thickness changes in thin biological walls (e.g. of blood vessels), is a promising work line in the medical area, because it would provide the bases to analyze the possibility of attaining early diagnoses of some diseases such as hypertension or atherosclerosis. But, to obtain a non-invasive estimation of these parameters on internal tissues, currently presents many difficulties that must be overcome. The use of high-frequency ultrasonic systems appears to offer a possible solution. In fact, the application of conventional ultrasonic imaging has shown this, but the spatial resolution related to this commercial option is not sufficient for a thickness evaluation with sufficient clinical significance, which would require accuracies of few microns. In this paper, some preliminary results of applying a new broadband ultrasonic procedure, recently developed by the authors for thickness measurement purposes, are analyzed for sub-millimeter layers made of materials similar (phantoms) to that of the biological tissues to be encountered into the artery walls. Two optional algorithms for estimating the power spectral density of the multi-pulse signals are assessed with some experimental echoes. Their potential resolutions and capabilities to provide accuracies around a micron are comparatively analyzed, for walls thickness estimation.
A reevaluation of the functional organization and cytoarchitecture of the feline lateral posterior complex, with observations on adjoining cell groups

The organization of the cat's lateral posterior complex was reevaluated and its cytoarchitecture described, Analysis of visual representations within the complex confirmed that the pulvinar, lateral zone (LPl), and interjacent zone (LPi) correspond to separate representations of the visual field and established that the zones exhibit heterogeneous connections as a result of retinotopic interconnections with extrastriate areas which represent varying amounts of the visual field. A common system of visual representation extending through layers with differing anatomical connections was identified within zone LPl. The concept of an “isorepresentation cord” was introduced to describe these variable correspondences between sensory representations and connectional relationships. Isorepresentation cords are conceived as holding in common representation of a common locus on a sensory surface without functioning as a unit with respect to connections. Visual representations wtihin the lateral posterior complex consist of many such cords arranged in orderly array.
Analysis of OFDM signal distortion in optical fiber links

This paper is dealing with the non-linear distortion of different optical modulators including directly modulated laser diode (LD), Mach-Zehnder modulator (MZM) and reflective semi-conductor optical amplifier (RSOA), which are candidates of optical device used to make colorless ONUs. To analyze the performance of different optical modulators a unified mathematic model is developed in which the optical OFDM signal output from an optical modulator is expressed as a power series including 1-st order and higher order terms. Based on this statistical model, the performance of the modulators are computed and compared. The effect of third order distortion in modulating signal on error vector magnitude (EVM) is particularly evaluated for optimizing the fiber transmission link.
Design optimization of grid-connected PV inverters

The DC/AC inverters are the key elements in grid-connected PV energy production systems. In this paper, new design optimization techniques focused on transformerless (very high efficiency) PV inverters are proposed. They have been developed based on an analysis of the deficiencies of the current, state-of-the-art PV inverters design technology, which limits the amount of PV energy supplied into the electric grid. The influences of the electric grid regulations and standards and the PV array operational characteristics on the design of grid-connected PV inverters have also been considered. The simulation results verify that the proposed optimization techniques enable the maximization of the PV energy injected into the electric grid by the optimized PV installation.
PET evaluation of cerebral hemodynamics in occlusive cerebrovascular disease pre- and postsurgery.

UNLABELLED We studied cerebral blood flow (CBF), oxygen extraction fraction (OEF), transit time (TT) and hemodynamic reserve capacity using acetazolamide (ACZ) in both the pre- and postoperative states, and evaluated the effect of surgery on the cerebral hemodynamics. METHODS Twelve patients with a unilateral occlusive cerebral artery were studied. Among them, seven patients had extracranial-intracranial (EC-IC) bypass surgery, while the remaining five patients had carotid endarterectomies. The CBF was measured using the (15)O-water bolus injection method in a resting state, 5 and 20 min after intravenous ACZ (1 g), while the OEF and TT were measured by the (15)O steady state method. The values of these parameters were obtained by regions of interest set over the cerebral hemisphere on both sides, and which then were compared between the pre- and postoperative states using the paired Student's t-test. RESULTS The t values were 1.36 (CBF at rest), 2.97 (CBF at 5 min after intravenous ACZ), 1.40 (CBF at 20 min after intravenous ACZ), 2.00 (OEF) and -0.86 (TT) on the surgical side, and -0.16, 0.21, 0.22, -0.47 and 0.61 on the nonsurgical side, respectively. The t values of the ACZ response (% increase in CBF) were 3.07 (5 min after intravenous ACZ) and 0.72 (20 min) on the surgical side, and 1.03 and 0.90 on the nonsurgical side, respectively. A significant change was observed only in the CBF studies 5 min after intravenous ACZ. CONCLUSION PET can demonstrate significant cerebral hemodynamic change after surgery, especially in CBF measurement 5 min after intravenous ACZ, and may therefore be useful for evaluating cerebral hemodynamics pre- and postsurgery.
Genetical swarm optimization-based symbol detection for MIMO systems

A genetical swarm optimization (GSO)-based detector using multiple-input multiple-output (MIMO) spatial multiplexing signaling is proposed. By taking advantage of gene evolution and the collective intelligence of swarms, the proposed detector offers a slightly degraded bit error rate (BER) performance compared with the full-search-based optimum detector does while greatly reducing the computational complexity.
Project SLARiPS: An investigation of mediated mixed reality

The paper will address social online engagement in 3D environments, particularly Second Life through the SLARiPS (Second Life Augmented Reality in Physical Space) Project. The research aims to explore ideologies of post human existence, particularly notions of identity and the authorship of created content in 3D online platforms and how such processes deterritorialise the body through transforming screens into hypersurfaces. The research aims to develop a body of work that explores the boundaries of mixed reality interaction and through direct participatory action based research, analyse the cultural significance of the outcomes.
Tune your sun right: persuasive app towards healthy & safe sun exposure

Wearable technologies, including smartwatches, clips and other sensors are enabling a new wave of self-monitoring, where users can track various aspects of their lives and the environment. New opportunities for self-managing health are becoming a reality - including sun exposure, where too much can cause sunburn/cancer but too little can lead to vitamin D deficiency. Current campaigns successfully promote the awareness of ultra violet (UV) exposure at a public level, but lacks meaningful lifestyle change. We use a commercial wearable UV/light sensor, visualizations, notification messages and educational content to inform a persuasive mobile application (app) to encourage self-management of sun exposure. We report on a preliminary study with three participants investigating usability, user experience and perceived value of the technology solution. Participants indicated that the app was easy to use, and showed promise in helping them understand personal sun exposure habits and in considering lifestyle changes.
Deletion of heart‐type cytochrome c oxidase subunit 7a1 impairs skeletal muscle angiogenesis and oxidative phosphorylation

• Cytochrome c oxidase (Cox) is the proposed rate‐limiting enzyme of aerobic metabolism in mammals. • This study examined a mouse model that has a heart/skeletal muscle‐specific isoform of Cox deleted and represents a mild form of mitochondrial myopathy. • The results indicated that endurance capacity was severely limited in the knockout animals compared with controls. • The observed exercise intolerance was accompanied by decreased capillarity in the hindlimb muscle as well as reduced energy production. • The results suggest that mild mitochondrial myopathy results in adverse structural and functions changes in muscle bioenergetics.
Mechanistic Basis for Epitope Proofreading in the Peptide-Loading Complex

The peptide-loading complex plays a pivotal role in Ag processing and is thus central to the efficient immune recognition of virally and malignantly transformed cells. The underlying mechanism by which MHC class I (MHC I) molecules sample immunodominant peptide epitopes, however, remains poorly understood. In this article, we delineate the interaction between tapasin (Tsn) and MHC I molecules. We followed the process of peptide editing in real time after ultra-fast photoconversion to pseudoempty MHC I molecules. Tsn discriminates between MHC I loaded with optimal and MHC I bound to suboptimal cargo. This differential interaction is key to understanding the kinetics of epitope proofreading. To elucidate the underlying mechanism at the atomic level, we modeled the Tsn/MHC I complex using all-atom molecular dynamics simulations. We present a catalytic working cycle, in which Tsn binds to MHC I with suboptimal cargo and thereby adjusts the energy landscape in favor of MHC I complexes with immunodominant epitopes.
Geomorphic and stratigraphic analysis of Crater Terby and layered deposits north of Hellas basin, Mars

Received 20 September 2006; revised 12 February 2007; accepted 17 May 2007; published 24 August 2007. [1] The geologic history of Crater Terby is developed through geomorphic and stratigraphic analyses within the regional context of the Hellas basin. Terby exhibits � 2-km-thick sequences of layers that consist of repetitive, subhorizontal and laterally continuous beds. The layers are predominantly fine-grained as indicated by their ease of aeolian erosion, although a few consolidated layers weather to form rubbly talus. The grain size or composition of the deposited materials fluctuated, producing layering, but the overall properties of the deposits are similar throughout the sequence and are comparable to layered deposits in other crater basins around Hellas. The original depositional geometry, physical and geological characteristics of the layers in Terby and the other basins lead us to favor a lacustrine origin, but a loess-like origin cannot be ruled out. The formation of the layers corresponds to a period when the circum-Hellas region may have been occupied by a lake(s) up to 3.6 km deep. Once the lake in Hellas decreased, the layers in Terby were incised by troughs and a moat-like depression. We attribute this erosion to scour beneath an ice cover due to a lack of integrated fluvial drainage or large aeolian deflation features. The presence of viscous flow features in a crater on Terby’s northwestern rim and lobate features on Terby’s crater floor are also indicative of ice. The lack of depositional features associated with the postulated glacial activity suggests there was a contemporaneous shallow (ice-covered? ) lake covering the floor of Terby that transported material into the greater Hellas basin.
Carotid Baroreceptor Reflexes in Humans During Orthostatic Stress

Orthostatic stress, including standing, head‐up tilting and lower body suction, results in increases in peripheral vascular resistance but little or no change in mean arterial pressure. This study was undertaken to determine whether the sensitivity of the carotid baroreceptor reflex was enhanced during conditions of decreased venous return. We studied eight healthy subjects and determined responses of pulse interval (ECG) and forearm vascular resistance (mean finger blood pressure divided by Doppler estimate of brachial artery blood velocity) to graded increases and decreases in carotid transmural pressure, effected by a neck suction/pressure device. Responses were determined with and without the application of lower body negative pressure (LBNP) at ‐40 mmHg. Stimulus‐response curves were determined as the responses to graded neck pressure changes and the differential of this provided estimates of reflex sensitivity. Changes in carotid transmural pressure caused graded changes in R‐R interval and vascular resistance. The cardiac responses were unaffected by LBNP. Vascular resistance responses, however, were significantly enhanced during LBNP and the peak gain of the reflex was increased from 1.2 ± 0.3 (mean ± S.E.M.) to 2.2 ± 0.3 units (P < 0.05). The increased baroreflex gain may contribute to maintenance of blood pressure during orthostatic stress and limit the pressure decreases during prolonged periods of such stress.
A Fully Three-Dimensional Atomistic Quantum Mechanical Study on Random Dopant-Induced Effects in 25-nm MOSFETs

A fully 3-D atomistic quantum mechanical simulation is presented to study the random dopant-induced effects in nanometer metal-oxide-semiconductor field-effect transistors. The empirical pseudopotential is used to represent the single particle Hamiltonian, and the linear combination of bulk band method is used to solve the million atom Schrodinger equation. The gate threshold fluctuation and lowering due to the discrete dopant configurations are studied. It is found that quantum mechanical effects increase the threshold fluctuation while decreasing the threshold lowering. The increase of threshold fluctuation is in agreement with the researchers' early study based on an approximated density gradient approach. However, the decrease in threshold lowering is in contrast with the density gradient calculations.
Joint Influence of Metaphor Familiarity and Mental Imagery Ability on Action Metaphor Comprehension: An Event-Related Potential Study

The present study investigates whether an individual's mental imagery ability, in addition to metaphor familiarity, affects the degree of sensory-motor involvement during action metaphor comprehension. We assessed participants' mental imagery ability using the Vividness of Mental Imagery Questionnaire-2 (VVIQ-2) and recorded the participants' event-related potentials (ERPs) while they read (1) Literal, (2) Familiar Metaphor, (3) Unfamiliar Metaphor, and (4) Abstract sentences. The ERP mental imagery effect (200-750 ms) in the Literal relative to the Abstract condition was reliably correlated with participants' VVIQ scores. A median split based on the VVIQ scores showed that high-VVIQ participants elicited ERP frontal imagery effects that were more prolonged in the Unfamiliar Metaphor condition (350-550 ms) than in the Familiar Metaphor condition (350-450 ms), suggesting that people with high imagery ability tend to routinely recruit sensory-motor experiences to facilitate metaphor comprehension, and to a greater extent for unfamiliar metaphors than for familiar ones. On the other hand, low-VVIQ participants with less effective mental imagery abilities showed no imagery effects in either metaphor conditions, but an early posterior N400 mismatch effect (200-350 ms) in the Unfamiliar Metaphor condition. The results suggest that low-VVIQ participants tend to rely on more general semantic access mechanisms during metaphor comprehension that detect the semantic mismatch between the unintended literal meanings of the metaphors and the context. Both processing styles are affected by metaphor familiarity and lead to successful metaphor comprehension in the current study. However, whether these processing styles lead to comprehension differences for metaphors appearing in discourses or conversations will require further research.
Prosodic Boundary Levels Conditioned by Syllable-final Vocalic Duration

Prosodic structure encodes grouping of words into hierarchically layered prosodic constituents, including the prosodic word, intermediate phrase (ip) and intonational phrase (IP). This paper investigates the phonetic encoding of prosodic structure from a corpus of scripted broadcast news speech through analysis of the acoustic correlates of prosodic boundary at three levels of prosodic structure: Word, ip, and IP. Evidence for acoustic effects of prosodic boundary is shown in measures of vocalic duration local to the domain-final rhyme. These findings provide strong evidence for prosodic theory, showing acoustic correlates of a 3-way distinction in boundary level.