Miracle-dz/UniFAR-FTUs huggingface dataset:
An Adaptive Augmented Vision-Based Ellipsoidal SLAM for Indoor Environments

In this paper, the problem of Simultaneous Localization And Mapping (SLAM) is addressed via a novel augmented landmark vision-based ellipsoidal SLAM. The algorithm is implemented on a NAO humanoid robot and is tested in an indoor environment. The main feature of the system is the implementation of SLAM with a monocular vision system. Distinguished landmarks referred to as NAOmarks are employed to localize the robot via its monocular vision system. We henceforth introduce the notion of robotic augmented reality (RAR) and present a monocular Extended Kalman Filter (EKF)/ellipsoidal SLAM in order to improve the performance and alleviate the computational effort, to provide landmark identification, and to simplify the data association problem. The proposed SLAM algorithm is implemented in real-time to further calibrate the ellipsoidal SLAM parameters, noise bounding, and to improve its overall accuracy. The augmented EKF/ellipsoidal SLAM algorithms are compared with the regular EKF/ellipsoidal SLAM methods and the merits of each algorithm is also discussed in the paper. The real-time experimental and simulation studies suggest that the adaptive augmented ellipsoidal SLAM is more accurate than the conventional EKF/ellipsoidal SLAMs.
Herbal formula Yangyinjiedu induces lung cancer cell apoptosis via activation of early growth response 1

Traditional Chinese Medicine (TCM) has been extensively used in clinical practices and proven to be effective against cancer. However, the underlying mechanisms remain to be investigated. In this study, we examined the anticancer activities of Chinese herbal formula Yangyinjiedu (YYJD) and found that YYJD exhibits cytotoxicity against lung cancer cells. Transcriptome analysis indicated that 2178 genes were differentially expressed (P < 0.05) upon YYJD treatment, with 1464 being (67.2%) up‐regulated. Among these, we found that the tumour suppressor early growth response 1 (EGR1) is the most activated. We demonstrated that EGR1 contributes to YYJD‐induced apoptosis in A549. Through dissecting EGR1‐associated transcriptional network, we identified 275 genes as EGR1 direct targets, some targets are involved in apoptosis. Lastly, we observed that YYJD enhances EGR1 expression and induces cell death in tumour xenografts. Collectively, these findings suggest that YYJD exerts its anticancer activities through EGR1 activation, thus providing the evidence for its potential clinical application for lung cancer patients.
Multimodal cue integration in the dung beetle compass

Significance We show that South African dung beetles use a multimodal orientation compass based on celestial cues and wind cues to steer across the savanna. The cue preference between these 2 modalities is set in a flexible manner: at low sun elevations, the beetles use a celestially driven compass, but switch to a wind-dominated compass at high sun elevations. This switch allows the beetles to orient with high precision even when the midday sky no longer provides reliable directional input. Moreover, our data suggest that the wind and celestial cues converge in the same memory network in the brain. This spatial memory based on both modalities allows the animal to rely on the most reliable cue at any moment in time. South African ball-rolling dung beetles exhibit a unique orientation behavior to avoid competition for food: after forming a piece of dung into a ball, they efficiently escape with it from the dung pile along a straight-line path. To keep track of their heading, these animals use celestial cues, such as the sun, as an orientation reference. Here we show that wind can also be used as a guiding cue for the ball-rolling beetles. We demonstrate that this mechanosensory compass cue is only used when skylight cues are difficult to read, i.e., when the sun is close to the zenith. This raises the question of how the beetles combine multimodal orientation input to obtain a robust heading estimate. To study this, we performed behavioral experiments in a tightly controlled indoor arena. This revealed that the beetles register directional information provided by the sun and the wind and can use them in a weighted manner. Moreover, the directional information can be transferred between these 2 sensory modalities, suggesting that they are combined in the spatial memory network in the beetle’s brain. This flexible use of compass cue preferences relative to the prevailing visual and mechanosensory scenery provides a simple, yet effective, mechanism for enabling precise compass orientation at any time of the day.
Effect of Age-Dependent Parasitism in Eggs of Tuta absoluta (Lepidoptera: Gelechiidae) on Intraguild Predation Between Nabis pseudoferus (Hemiptera: Nabidae) and Trichogramma brassicae (Hymenoptera: Trichogrammatidae)

Abstract The tomato leafminer, Tuta absoluta (Meyrick) (Lepidoptera: Gelechiidae), is a destructive pest of tomato that can cause up to 100% yield loss. The predatory bug Nabis pseudoferus (Remane) (Hemiptera: Nabidae) and the parasitoid Trichogramma brassicae (Bezdenko) (Hymenoptera: Trichogrammatidae) are natural enemies of this pest. Since the interaction between predators and parasitoids in different trophic levels including intraguild predation (IGP) can decrease or increase the efficiency of natural enemies, the effects of age-dependent parasitism of host eggs on IGP between these two species were investigated under laboratory conditions. In no-choice and choice preference tests, the predatory bug was exposed to 40 parasitized and nonparasitized eggs of different ages (24, 48, and 72 h old). Investigation of switching behavior was conducted using various combinations of tomato leafminer eggs (30:90, 45:75, 60:60, 75:45, and 90:30 nonparasitized:parasitized eggs) using eggs of different ages (24, 48, and 72 h old). In no-choice tests, the highest feeding rate of the predatory bug was 39.21 ± 0.36 eggs on 24-h-old nonparasitized eggs and the lowest feeding rate was 1.4 ± 0.80 eggs on 72-h-old parasitized eggs. In choice tests, comparison of the Manly’s β indices indicated that the predatory bug preferred to feed on nonparasitized eggs with 48- and 72-h-old eggs, but there was no significant preference for the 24-h-old eggs. Results of switching test showed that the linear regression between Manly’s β index and different ratios of nonparasitized eggs to parasitized and nonparasitized eggs was not significant in 72-h-old eggs. However, this regression was significant with 24- and 48-h-old eggs and the predator’s preference was dependent upon the ratio of nonparasitized and parasitized tomato leafminer eggs. Results of the current study showed that the increasing age of parasitized egg decreased intensity of IGP between N. pseudoferus and T. brassicae.
Reply to Letter: No intravenous access, no problem: Intraosseous administration of tranexamic acid is as effective as intravenous in a porcine hemorrhage model.

To the Editor: T he AAST Patient Assessment Committee has recently published the 2018 updates to the organ injury scales (OIS) for spleen, liver, and kidney. We appreciate the continuous efforts of the committee to refine and improve the grading system and were excited to see the much-anticipated changes to the renal trauma grading after almost three decades, addressing a number of challenges that had become apparent over the years. Initially devised in 1989, the OIS was fundamentally based upon anatomic findings encountered mostly at the time of open exploration of the injured organ and served as a tool to improve clinical research. However, with subsequent studies validating its correlation with interventions and outcomes, the 1989 OISwas also gradually used as a predictive tool for risk stratification of patients—a function that it was not necessarily intended to serve. With advances in computed tomography (CT) technology and its widespread use, incorporating key radiologic findings in the grading system was logical. The authors have used the available evidence to meet this need by including some CT findings—most notably vascular injuries and active bleeding. These are welcome changes given the importance of bleeding control for successful management of renal trauma. However, some of the definitions used in the update are vague and could be confusing. For instance, the committee defined vascular injury as the presence of pseudoaneurysm or arteriovenous fistula. In case of blunt renal trauma, both these conditions are rarely encountered and are most often late sequelae of renal vascular injury and often do no manifest themselves during the acute event. Defining vascular injury in this way is confusing since this is the term that has been used for many years to refer to the more general collection of all types of vascular injuries, including lacerations resulting in vascular extravasation, and we are concerned that the new definition may lead to confusion. Incorporating the CT finding of active bleeding from a vascular source, also referred to as vascular contrast extravasation (VCE), is an important addition to the grading system. The VCE bears one of the strongest
Horizontal transfer of bacterial cytolethal distending toxin B genes to insects.

Horizontal gene transfer (HGT) events have played a major role in the evolution of microbial species, but their importance in animals is less clear. Here we report HGT of cytolethal distending toxin B (cdtB), prokaryotic genes encoding eukaryote-targeting DNase I toxins, into the genomes of vinegar flies (Diptera: Drosophilidae) and aphids (Hemiptera: Aphididae). We found insect-encoded cdtB genes are most closely related to orthologs from bacteriophage that infect Candidatus Hamiltonella defensa, a bacterial mutualistic symbiont of aphids that may confer resistance to parasitoid wasps. In drosophilids, cdtB orthologs are highly expressed during the parasitoid-prone larval stage and encode a protein with ancestral DNase activity. We show that cdtB has been domesticated by diverse insects and hypothesize that it functions in defense against their natural enemies.
Clinical and Microbiological Outcomes in Obese Patients Receiving Colistin for Carbapenem-Resistant Gram-Negative Bloodstream Infection

Carbapenem-resistant infections are associated with poor outcomes, and treatment options are limited. Colistin is one of few antibiotics which retain in vitro activity against carbapenem-resistant pathogens. However, despite the availability of international consensus guidelines for the dosing of polymyxins, there are limited data on the effects of dosing on clinical outcomes among obese patients with carbapenem-resistant Gram-negative bacteremia. ABSTRACT Carbapenem-resistant infections are associated with poor outcomes, and treatment options are limited. Colistin is one of few antibiotics which retain in vitro activity against carbapenem-resistant pathogens. However, despite the availability of international consensus guidelines for the dosing of polymyxins, there are limited data on the effects of dosing on clinical outcomes among obese patients with carbapenem-resistant Gram-negative bacteremia. This retrospective study evaluated whether obesity was associated with day 7 global cure rates among patients with carbapenem-resistant Gram-negative bacteremia who were treated with an ideal body weight (IBW)-based colistin dosing regimen. Secondary outcomes included microbiological cure, clinical cure, length of hospital stay, in-hospital mortality, and day 7 acute kidney injury. After screening to identify 167 patients, 77 (46.1%) and 90 (53.9%) were classified as obese and nonobese, respectively. Patient characteristics were well balanced at baseline, except that obese patients were more often female and received a higher daily dose per IBW (3.7 versus 2.9 mg/kg/day, P = 0.03). Global cure rates were similar between groups (44.2% for obese versus 55.6% for nonobese, P = 0.14). After adjusting for baseline differences, obesity was not a significant predictor of global cure (adjusted odds ratio [AOR], 0.59; 95% confidence interval [CI], 0.31 to 1.11; P = 0.10). Obesity was associated with a lower likelihood of microbiological clearance (72.7% versus 91.1%, P = 0.02). No other secondary outcome differences were observed, though each outcome was numerically worse among obese patients. Obesity was not associated with differences in global cure rates. However, the difference in microbiological clearance warrants further investigation.
Ethnomedicinal Uses of Plant Resources in the Machhapuchchhre Rural Municipality of Kaski District, Nepal

Background: Medicinal plants are being used by the majority of the population throughout the world for their primary health care needs. The reliance is also prevalent in Nepal, aided by its ethnic and biological diversity. This study aimed to catalogue the ethnomedicinal knowledge of plants used by local people of Machhapuchchhre Rural Municipality of Kaski district. Methods: Data were collected between February 2017 and April 2018 from eight different villages of the Kaski district by using semi-structured interviews, guided field works, focus group discussions, and in-depth interviews. The reported traditional uses were supported by local assistants, cataloguing vernacular names and crosschecking with the earlier published and gray literature. Results: A total of 105 medicinal plants, belonging to 58 families and 99 genera were documented to treat 70 different diseases and ailments. The highest numbers of plants (37) were used for gastrointestinal disorders and the lowest (4) were used for female genital disorders. Commonly used parts were underground portions (28 species) followed by fruits and seeds (25 species each). The most preferred dosage form was juice, used for 50 ailments, and the oral route was the most favored route of administration (77 species). The medicinal properties of 22 plant species were found hitherto unreported in the district. Conclusions: The study area was found to be rich in plant resources and the people have ample knowledge on the use of medicinal plants. Due to a lack of proper documentation, conservation, and cultivation practices, valuable plant species are at risk of extinction. Thus, appropriate conservation measures and scientific assessment of plant-lore in the district is immediately required.
An IoT-Based Fog Computing Model

The internet of things (IoT) and cloud computing are two technologies which have recently changed both the academia and industry and impacted our daily lives in different ways. However, despite their impact, both technologies have their shortcomings. Though being cheap and convenient, cloud services consume a huge amount of network bandwidth. Furthermore, the physical distance between data source(s) and the data centre makes delays a frequent problem in cloud computing infrastructures. Fog computing has been proposed as a distributed service computing model that provides a solution to these limitations. It is based on a para-virtualized architecture that fully utilizes the computing functions of terminal devices and the advantages of local proximity processing. This paper proposes a multi-layer IoT-based fog computing model called IoT-FCM, which uses a genetic algorithm for resource allocation between the terminal layer and fog layer and a multi-sink version of the least interference beaconing protocol (LIBP) called least interference multi-sink protocol (LIMP) to enhance the fault-tolerance/robustness and reduce energy consumption of a terminal layer. Simulation results show that compared to the popular max–min and fog-oriented max–min, IoT-FCM performs better by reducing the distance between terminals and fog nodes by at least 38% and reducing energy consumed by an average of 150 KWh while being at par with the other algorithms in terms of delay for high number of tasks.
A Comparative Study between Knocked-Down Aligned Carbon Nanotubes and Buckypaper-Based Strain Sensors

Carbon nanotubes (CNTs) are one of the most promising materials in sensing applications due to their electrical and mechanical properties. This paper presents a comparative study between CNT Buckypaper (BP) and aligned CNT-based strain sensors. The Buckypapers were produced by vacuum filtration of commercial CNTs dispersed in two different solvents, N,N-Dimethylformamide (DMF) and ethanol, forming freestanding sheets, which were cut in 10 × 10 mm squares and transferred to polyimide (PI) films. The morphology of the BP was characterized by scanning electron microscopy (SEM). The initial electrical resistivity of the samples was measured, and then relative electrical resistance versus strain measurements were obtained. The results were compared with the knocked-down vertically aligned CNT/PI based sensors previously reported. Although both types of sensors were sensitive to strain, the aligned CNT/PI samples had better mechanical performance and the advantage of inferring strain direction due to their electrical resistivity anisotropic behavior.
Data Envelopment Analysis (DEA) for the evaluation of Public Healthcare Structures.

As stated in the Economist Intelligence Unit report (2011), the failure to develop a coherent plan of action in health care systems is linked to deeprooted problems related to the organization of health care structures. These problems form the starting point of this work: the aim of the present study is to develop the potential of a Data Envelopment Analysis (DEA) Model creating a non-parametric pattern for evaluating the eciency of healthcare structures in a south-eastern region of Italy. A non-parametric pattern allows for weighting dierent variables even in the presence of a particularly complex structure, such as that of healthcare systems. The results will provide some indications for health decision and policy makers, in order to improve accountability in the eld of Social Responsibility, of particular relevance in this moment.
Coupling Microfluidic Platforms, Microfabrication, and Tissue Engineered Scaffolds to Investigate Tumor Cells Mechanobiology

The tumor microenvironment (TME) is composed of dynamic and complex networks composed of matrix substrates, extracellular matrix (ECM), non-malignant cells, and tumor cells. The TME is in constant evolution during the disease progression, most notably through gradual stiffening of the stroma. Within the tumor, increased ECM stiffness drives tumor growth and metastatic events. However, classic in vitro strategies to study the TME in cancer lack the complexity to fully replicate the TME. The quest to understand how the mechanical, geometrical, and biochemical environment of cells impacts their behavior and fate has been a major force driving the recent development of new technologies in cell biology research. Despite rapid advances in this field, many challenges remain in order to bridge the gap between the classical culture dish and the biological reality of actual tissue. Microfabrication coupled with microfluidic approaches aim to engineer the actual complexity of the TME. Moreover, TME bioengineering allows artificial modulations with single or multiple cues to study different phenomena occurring in vivo. Some innovative cutting-edge tools and new microfluidic approaches could have an important impact on the fields of biology and medicine by bringing deeper understanding of the TME, cell behavior, and drug effects.
Quantification of 24 circulating endocannabinoids, endocannabinoid-related compounds, and their phospholipid precursors in human plasma by UHPLC-MS/MS[S]

Endocannabinoids and endocannabinoid-related compounds (ERCs) are involved in many physiological processes. They are released on demand from phosphoinositide and N-acylphosphatidyl ethanolamine (NAPE) precursors and comprise 2-monoacylglycerols (2-MGs) and FA ethanolamides (FEAs). Despite the abundance of advanced quantitative methods, however, their determined concentrations in blood plasma are inconsistent because 2-MGs and FEAs undergo artifactual de novo formation, chemical isomerization, and degradation during sample collection and storage. For a comprehensive survey of these compounds in blood and plasma, we have developed and validated an ultra-HPLC-MS/MS method to quantify 24 endocannabinoids, ERCs, and their phospholipid precursors. Immediate acidification of EDTA-blood to pH 5.8 blocked artifactual FEA formation for at least 4 h on ice. The 2-MGs were stabilized after plasma harvest with 0.5 M potassium thiocyanate at pH 4.7. FEA and MG plasma concentrations in six healthy volunteers ranged between 0.04–3.48 and 0.63–6.18 ng/ml, respectively. Interestingly, only 1–5% of circulating FEAs were present in their free form, while the majority was bound to NAPEs. Similarly, 97% of 2-arachidonoylglycerol (2-AG) was bound to a potential phosphoinositide pool. The herein-described stabilization and extraction methods may now be used to reliably and comprehensively quantify endocannabinoids, ERCs, and their phospholipid precursors in clinical studies.
Evolutionary optimization of radial basis function networks for intrusion detection

Feature selection and architecture optimization are two key tasks in most neural network applications. Appropriate input features must be selected from a given (and often large) set of possible features and architecture parameters of the network such as the number of hidden neurons or learning parameters must be adapted with respect to the selected features and a learning data set. This article sets out an evolutionary algorithm (EA) that performs the tasks simultaneously for radial basis function (RBF) networks. The feasibility and the benefits of this approach are demonstrated in an application in the area of computer security: the detection of attacks (intrusive behavior) in computer networks. The EA, however, is independent from the application example given so that the ideas and solutions may easily be transferred to other applications and even other neural network paradigms. In the application example investigated overall classification rates of about 99.4% (average of eight attack types) can be reached for independent validation data.
Adherence to the World Cancer Research Fund/American Institute for Cancer Research 2018 Recommendations for Cancer Prevention and Risk of Colorectal Cancer

Background: The World Cancer Research Fund/American Institute for Cancer Research (WCRF/AICR) 2018 diet, nutrition, and physical activity recommendations aim to reduce cancer risk. We examined adherence to the WCRF/AICR recommendations and colorectal cancer risk in two prospective cohorts. Methods: We followed 68,977 women in the Nurses' Health Study and 45,442 men in the Health Professionals Follow-up Study from 1986 until 2012. We created cumulatively averaged WCRF/AICR scores using updated diet, adiposity, and physical activity data from questionnaires, and used Cox regression to estimate sex-specific HRs and 95% confidence intervals (CI) for incident colorectal cancer. Results: We documented 2,449 colorectal cancer cases. Men in the highest quintile of the WCRF/AICR lifestyle score had a lower risk of colorectal cancer compared with those in the lowest quintile (HRQ5vsQ1 = 0.64; 95% CI, 0.52–0.77). The result was weaker in women (HRQ5vsQ1 = 0.86; 95% CI, 0.72–1.02; Pheterogeneity by sex = 0.006). When analyzing the diet recommendations alone, we similarly observed stronger inverse associations in men (HRQ5vsQ1 = 0.74; 95% CI, 0.61–0.90) compared with women (HRQ5vsQ1 = 0.93; 95% CI, 0.77–1.12; Pheterogeneity by sex = 0.06). In men, the lifestyle score was more strongly inversely associated with risk of distal colon cancer compared with proximal colon or rectal cancer (Pcommon effects = 0.03); we did not observe significant differences between anatomic locations in women. Conclusions: The 2018 WCRF/AICR cancer prevention recommendations are associated with lower colorectal cancer risk in men, with weaker results in women. Impact: Consideration of adiposity and physical activity in conjunction with diet is important for colorectal cancer prevention.