Miracle-dz/UniFAR-FTUs huggingface dataset:
Shortest Paths for a Car-like Robot to Manifolds in Configuration Space

Reeds and Shepp (1990) studied the problem of finding the shortest feasible path for a car-like robot between two points in configuration space. We extend their results to find the shortest feasible path between a point and a manifold in configuration space. Our approach is based on the Lagrange method for optimizing a function while constrained to a manifold. Solving the problem analytically is much faster than numerical dis cretization techniques. In addition to providing insight into the underlying structure of Reeds and Shepp paths, this research has many applications in path planning. Planning algorithms often rely on the notion of clearance from obstacles, and for car-like mobile robots, clearance is closely related to the length of the shortest feasible path to an obstacle. In addition, one may want to bring the robot to a predefined path (such as a skeleton). Skeletonization and potential field methods are two examples of planning paradigms where our algorithm would prove useful.
A Lane Departure Warning System Based on Machine Vision

Lane departure warning system based on machine vision is a human decision-make like solution to avoid lane departure fatalities with low cost and high reliability. In this paper, the model of vision-based lane departure warning system and the realization is described at first. Then the method of lane detection is illustrated, which is composed of three steps: image preprocessing, binary processing and dynamical threshold choosing, and linear-parabolic model fitting. After that, the solution of how to perform the departure decision-making is proposed and demonstrated. Unlike the usual TLC (Woong Kwon et al., 1999) and CCP (Risack et al., 2000) methods, the angles between lanes and the horizontal axis in captured image coordinate are used as the criterion for lane departure decision-making. At last the experiments are implemented by use of all the steps; the results indicate the efficiency and feasibility of the solution.
Feasible Trajectories in Task Space from a Singularity for a Nonredundant or Redundant Robot Manipulator

From a singularity with deficiency of rank 1, for any joint velocity the effector velocity in task space is zero along a special direction (the singular direction). However, any motion along the m -1 non singular directions can be produced. Thus, any feasible trajectories from the singularity and with nonzero initial velocity is orthogonal to the singular direction. The feasibility of an effector acceleration along the singular direction is studied. A necessary condition for existence of an effector acceleration along the singular direction is that the joint velocities have to appear explicitly in the expression of this acceleration. This condition is not sufficient, since the joint velocities are related to the effector velocity along the nonsingular directions as well. A simplified expression is found for the effector acceleration along the singular direction whose analysis allows one to characterize the feasible trajectories from the singularity with a nonzero initial acceleration. From some singularities, any path can be tracked. In other cases, the tangent and curvature to the path at the singular point are not arbitrary. In case any path cannot be tracked, it may be interesting to consider trajectories with zero initial acceleration and nonzero initial jerk. Some special examples are studied. A classification of singularities is displayed, and the set of all feasible trajectories is defined in the task space for each type of singularity Various examples are provided. Redundant and nonredundant robots are studied.
Visual Interpretability of Deep Learning Models in Glaucoma Detection Using Color Fundus Images

With the advancement of deep learning in many computer vision applications, the computer-aided diagnosis (CAD) systems were developed using the deep learning approaches to assist physicians in clinical diagnosis as a second opinion. Many studies have reported plausible performance of the deep learning models on glaucoma detection simply based on fundus images. However, the mechanism of the deep learning models in detecting glaucoma using color fundus is still not clear. Therefore, the deep features extracted by the deep learning models were discussed in this study to provide the visual interpretability for the frameworks of deep convolutional neural network (DCNN) in glaucoma assessment. In our experiments, 986 fundus photographs were collected from National Taiwan University Hospital Hsin-Chu Branch, categorized into two groups: the experimental group of 512 glaucomatous cases with ganglion cell complex (GCC) impairment and the control group of 474 non-glaucomatous cases with normal GCC thickness. The experimental results show the deep learning models mainly focus on the areas of optic nerve head (ONH) for the diagnosis of glaucoma, which is accordant to the clinical rules in glaucoma assessment. Surprisingly, the DCNN models can still achieved high prediction accuracy in detecting the glaucomatous cases with the cropped images of macular areas only. Several cases show the model's focus areas correspond to the region with GCC impairment. The results imply the deep learning models can detect the morphologically detailed alterations in fundus photographs, which may be beyond experts’ visualization.
Receptor Occupancy of the κ-Opioid Antagonist LY2456302 Measured with Positron Emission Tomography and the Novel Radiotracer 11C-LY2795050

The κ-opioid receptor (KOR) is thought to play an important therapeutic role in a wide range of neuropsychiatric and substance abuse disorders, including alcohol dependence. LY2456302 is a recently developed KOR antagonist with high affinity and selectivity and showed efficacy in the suppression of ethanol consumption in rats. This study investigated brain penetration and KOR target engagement after single oral doses (0.5–25 mg) of LY2456302 in 13 healthy human subjects. Three positron emission tomography scans with the KOR antagonist radiotracer 11C-LY2795050 were conducted at baseline, 2.5 hours postdose, and 24 hours postdose. LY2456302 was well tolerated in all subjects without serious adverse events. Distribution volume was estimated using the multilinear analysis 1 method for each scan. Receptor occupancy (RO) was derived from a graphical occupancy plot and related to LY2456302 plasma concentration to determine maximum occupancy (rmax) and IC50. LY2456302 dose dependently blocked the binding of 11C-LY2795050 and nearly saturated the receptors at 10 mg, 2.5 hours postdose. Thus, a dose of 10 mg of LY2456302 appears well suited for further clinical testing. Based on the pharmacokinetic (PK)-RO model, the rmax and IC50 of LY2456302 were estimated as 93% and 0.58 ng/ml to 0.65 ng/ml, respectively. Assuming that rmax is 100%, IC50 was estimated as 0.83 ng/ml.
Routing worm: a fast, selective attack worm based on IP address information

Most well-known worms, such as Code Red, Slammer, Blaster, and Sasser, infected vulnerable computers by scanning the entire IPv4 address space. In this paper, we present an advanced worm called "routing worm", which implements two advanced attacking techniques. First, a routing worm uses BGP routing tables to only scan the Internet mutable address space, which allows it propagate three times faster than a traditional worm. Second, and more importantly, the geographic information of BGP routing prefixes enables a routing worm to conduct pinpoint "selective attacks" by imposing heavy damage to vulnerable computers in a specific country, company, Internet service provider, or autonomous system, without collateral damage done to others. Because of the inherent publicity of BGP routing tables, attackers can easily deploy routing worms, which distinguishes the routing worm from other "worst-case" worms. Compared to a traditional worm, a routing worm could possibly cause more severe congestion to the Internet backbone since all scans sent out by a routing worm are Internet mutable (and can only be dropped at the destinations). In addition, it is harder to quickly detect a routing-worm infected computer since we cannot distinguish illegal scans from regular connections without waiting for traffic responses. In order to defend against routing worms and all scanning worms, an effective way is to upgrade the current Internet from IPv4 to IPv6, although such an upgrade will require a tremendous effort and is still a controversial issue.
2D versus 3D roadmap for uterine artery catheterization: impact on several angiographic parameters

Background Three-dimensional (3D) roadmap is a recently developed imaging technique used to guide diagnostic and interventional catheter-directed procedures and mainly evaluated for neurovascular procedures. Few data with regard to efficacy and radiation dose are currently available in literature. Purpose To evaluate the use of 3D roadmap technique as compared with the conventional two-dimensional (2D) roadmap for uterine artery catheterization and embolization during uterine fibroid embolization and assess the potential impact on radiation dose, contrast load, and total procedure time. Material and Methods In this prospective study, 40 patients were randomly assigned to the 2D or 3D roadmap technique for uterine artery catheterization. Demographic data, specifically the patient’s age, weight, height, pelvic circumference, and total uterine and fibroid volume were recorded. Exposure parameters, contrast load, and procedure time were recorded and organ doses for ovaries and uterus were calculated. Results Demographic data did not differ between the groups. Catheterization and embolization of both uterine arteries were feasible in all patients, although in one patient in the 3D group, a focal dissection of the proximal uterine artery occurred. No significant difference in estimated ovarian dose was found in the 3D versus 2D group (P = 0.07). Total procedure time was shorter in the 2D group (P = 0.01) and no difference in total contrast load was seen (P = 0.17). Conclusion Both roadmap techniques are effective imaging-guided tools for uterine artery catheterization, without difference in terms of radiation exposure or contrast load. The total procedure time is shorter in the 2D group.
ONU sleep control by HGW considering users' traffic distribution for energy-aware access networks

We propose a power-saving technique for energy-aware optical access networks that considers users' traffic distributions and hybrid transmission to set HGW-assisted ONU sleep mode. Based on data on traffic trends in residential broadband networks, we model the traffic distribution as a probability density function with lognormal distribution and classify users into two types. Numerical simulations based on the proposed traffic model show that it offers 60 % power-savings; even if the traffic distribution is not considered it improves the power efficiency by approximately 30 %.
Anatomic Guide for the Electromyographer: The Limbs

This book is an upgraded edition of the one published in 1975. As stated in the foreword and in the introduction by the authors, the manual is based on repeated and "systematic anatomical study of cadaver material, normal subjects, patients and standard anatomy texts and manuals. " The book is primarily intended for the electromyographer who performs needle EMG. The material is divided into nine sections on muscles of the shoulder, arm, forearm and hand, foot, leg, thigh, pelvis, and hip. Important muscles in each area are individually illustrated. Their innervation, origin, insertion, points of electrode insertion, and test maneuvers are briefly described. Pitfalls in electrode placement, relevant comments on innervation, and clinical significance of EMG results in pathological situations are also included. The strengths of the book are its brevity, clarity, and overall accuracy. It is a simple, practical anatomic guide to EMG of the limbs and deserves to be
Fabrication of Multimodal Image Sensor Capable of Simultaneous Measurement of Pressure and pH

In this study, we propose a pressure-ion image sensor that can simultaneously measure pressure and ion distribution with a patterned piezoelectric film on a pH image sensor. By patterning using photolithography and lift-off, a structure with alternating pressure and pH sensing areas was achieved, and the fabricated pressure-ion image sensor successfully visualized pH and pressure distribution simultaneously.
Angiomyolipoma with minimal fat and non-clear cell renal cell carcinoma: differentiation on MDCT using classification and regression tree analysis-based algorithm

Background Differentiation between angiomyolipoma with minimal fat (AMLmf) and non-clear cell renal cell carcinoma (nccRCC) may be difficult owing to lack of macroscopic fat in AMLmf. However, the differential points between AMLmf and nccRCC has not been well established in the literature. Purpose To evaluate quantitative triphasic multidetector computed tomography (MDCT) features that differentiate between small AMLmf and nccRCC, and to integrate them to develop a simple and easy diagnostic algorithm. Material and Methods This study was approved by the Institutional Review Board; informed consent was waived. Triphasic MDCT images of pathologically-proven AMLmfs (n = 24) and nccRCCs (n = 55) of 79 patients were retrospectively evaluated. Age, sex, size, long-to-short axis ratio (LSR), attenuation and enhancement degree in all phases, unenhanced tumor-kidney attenuation difference (UTKAD) in Hounsfield units (HU) were compared with Chi-square analysis, independent-samples t-test, and receiver-operating characteristic (ROC) curves. A criterion was formulated with classification and regression tree analysis (CART). Thereafter, CART-based algorithm was tested with additional interpretations from two radiologists. Intra- and inter-observer variability was analyzed with Bland-Altman analysis. Results LSR was greater in AMLmf than nccRCC (P < 0.001). AMLmf showed higher attenuation (all phases), CMP enhancement, and wash-out than nccRCC (P ≤ 0.001). UTKAD was greater in AMLmf than nccRCC (P < 0.001). ROC curve analysis yielded area under the curves of 0.936, 0.888, and 0.853 using UTKAD, unenhanced attenuation, and LSR. CART-based algorithm (UTKAD >7.5 HU, LSR > 1.23) predicted AMLmf with sensitivity, specificity, PPV, and NPV of 87.5%, 96.4%, 91.3%, and 94.6%. Mean intra- and inter-observer difference was –0.1/0.03 HU and −1.0/0.09 HU for UTKAD/LSR, respectively. These interpretations changed the final diagnosis in 1.3% (1/79) and 5.1% (4/79) patients for radiologists 1 and 2. Conclusion Triphasic MDCT was useful for differentiating AMLmf and nccRCC. CART-based algorithm using UTKAD > 7.5 and LSR > 1.23 was simple and accurate in predicting AMLmf.
Pharmacological Characterization of H05, a Novel Serotonin and Noradrenaline Reuptake Inhibitor with Moderate 5-HT2A Antagonist Activity for the Treatment of Depression

Multitarget antidepressants selectively inhibiting monoaminergic transporters and 5-hydroxytryptamine (5-HT) 2A receptor have demonstrated higher efficacy and fewer side effects than selective serotonin reuptake inhibitors. In the present study, we synthesized a series of novel 3-(benzo[d][1,3]dioxol-4-yloxy)-3-arylpropyl amine derivatives, among which compound H05 was identified as a lead, exhibiting potent inhibitory effects on both serotonin (Ki = 4.81 nM) and norepinephrine (NE) (Ki = 6.72 nM) transporters and moderate 5-HT2A antagonist activity (IC50 = 60.37 nM). H05 was able to dose-dependently reduce the immobility duration in mouse forced swimming test and tail suspension test, with the minimal effective doses lower than those of duloxetine, and showed no stimulatory effect on locomotor activity. The administration of H05 (5, 10, and 20 mg/kg, by mouth) significantly shortened the immobility time of adrenocorticotropin-treated rats that serve as a model of treatment-resistant depression, whereas imipramine (30 mg/kg, by mouth) and duloxetine (30 mg/kg, by mouth) showed no obvious effects. Chronic treatment with H05 reversed the depressive-like behaviors in a rat model of chronic unpredictable mild stress and a mouse model of corticosterone-induced depression. Microdialysis analysis revealed that the administration of H05 at either 10 or 20 mg/kg increased the release of 5-HT and NE from the frontal cortex. The pharmacokinetic (PK) and brain penetration analyses suggest that H05 has favorable PK properties with good blood-brain penetration ability. Therefore, it can be concluded that H05, a novel serotonin and NE reuptake inhibitor with 5-HT2A antagonist activity, possesses efficacious activity in the preclinical models of depression and treatment-resistant depression, and it may warrant further evaluation for clinical development.
Prospective Study of Hyperglycemia and Cancer Risk

OBJECTIVE To investigate whether hyperglycemia is associated with increased cancer risk. RESEARCH DESIGN AND METHODS In the Västerbotten Intervention Project of northern Sweden, fasting and postload plasma glucose concentrations were available for 33,293 women and 31,304 men and 2,478 incident cases of cancer were identified. Relative risk (RR) of cancer for levels of fasting and postload glucose was calculated with the use of Poisson models, with adjustment for age, year of recruitment, fasting time, and smoking status. Repeated measurements 10 years after baseline in almost 10,000 subjects were used to correct RRs for random error in glucose measurements. RESULTS Total cancer risk in women increased with rising plasma levels of fasting and postload glucose, up to an RR for the top versus bottom quartile of 1.26 (95% CI 1.09-1.47) (P(trend) <0.001) and 1.31 (1.12-1.52) (P(trend) = 0.001), respectively. Correction for random error in glucose measurements increased these risks up to 1.75 (1.32-2.36) and 1.63 (1.26-2.18), respectively. For men, corresponding uncorrected RR was 1.08 (0.92-1.27) (P(trend) = 0.25) and 0.98 (0.83-1.16) (P(trend) = 0.99), respectively. Risk of cancer of the pancreas, endometrium, urinary tract, and of malignant melanoma was statistically significantly associated with high fasting glucose with RRs of 2.49 (1.23-5.45) (P(trend) = 0.006), 1.86 (1.09-3.31) (P(trend) = 0.02), 1.69 (0.95-3.16) (P(trend) = 0.049), and 2.16 (1.14-4.35) (P(trend) = 0.01), respectively. Adjustment for BMI had no material effect on risk estimates. CONCLUSIONS The association of hyperglycemia with total cancer risk in women and in women and men combined for several cancer sites, independently of obesity, provides further evidence for an association between abnormal glucose metabolism and cancer.
WAlloc: An efficient wear-aware allocator for non-volatile main memory

The non-volatile memory (NVM) has the illustrious merits of byte-addressability, fast speed, persistency and low power consumption, which make it attractive to be used as main memory. Commonly, user process dynamically acquires memory through memory allocators. However, traditional memory allocators designed with in-place data writes are not appropriate for non-volatile main memory (NVRAM) due to the limited endurance. For instance, the number of write operations is merely 108 times per PCM cell. In this paper, we quantitatively analyze the wear-oblivious of DRAM-oriented designed allocator-glibc malloc and the inefficiency of wear-conscious allocator-NVMalloc. For example, the average imbalance factor (the maximum/the average) of memory allocation is about 7.5 and 3, respectively. Based on our observations, we propose WAlloc, an efficient wear-aware manual memory allocator designed for NVRAM, decouples metadata and data, uses Less Allocated First Out allocation policy and redirects the data writes. Experimental results show that the wear-leveling of WAlloc outperforms that of NVMalloc about 30% and 60% under random workloads and well-distributed workloads, respectively. In addition, considering the trade-off between space and wear-leveling, WAlloc reduces average data memory writes in 64 bytes block by average 1.5X comparing with malloc with almost 8% extra space overhead.
Acute Stabilization in an Inpatient Trauma Program

Abstract Fifty psy chi at ric pa tients in a hos pi tal-based trauma pro gram were given a set of selfre port mea sures at ad mis sion and again at discharge. A v er age length of stay in the in pa tient Pro gram was 19.5 days. There were sig nif i cant re duc tions in scores on the Beck De pres sion In ven tory, the Beck Scale for Sui cidal Ideation, the Beck Hope less ness Scale and the Symp tom Check list-90-Re vised (SCL-90-R).
Salicylate Alters the Expression of Calcium Response Transcription Factor 1 in the Cochlea: Implications for Brain-Derived Neurotrophic Factor Transcriptional Regulation

Brain-derived neurotrophic factor (BDNF) is a key neurotrophin whose expression is altered in response to neurological activity, influencing both short- and long-term synaptic changes. The BDNF gene consists of eight upstream exons (I-VII), each of which has a distinct promoter and can be independently spliced to the ninth coding exon (IX). We showed recently that the expression of BDNF exon IV in the cochlea is altered after exposure to salicylate, an ototoxic drug that in high doses is able to induce hearing loss and tinnitus. These changes were a crucial trigger for plasticity changes in the central auditory system. BDNF exon IV expression is regulated via interaction between calcium-response elements CaRE1, CaRE2, and CaRE3/Cre (CaREs) that are bound by the transcription factors CaRF1, upstream stimulatory factors 1 and 2 (USF1/2), and cAMP/Ca2+ response element-binding protein (CREB), respectively. To determine whether the salicylate-induced changes in cochlear BDNF exon IV expression include a differential use of the CaRE binding proteins, we studied the level of the corresponding binding proteins in the spiral ganglion neurons before and after systemic application of concentrated salicylate using in situ hybridization and RT-PCR. BDNF exon IV and CaRF1 expression were up-regulated after application of salicylate, whereas USF1/2 and CREB mRNA expression remained unaffected. The changes in BDNF exon IV and CaRF1 expression were also dose-dependent. The data show Ca2+ and CaRF1 as messengers of trauma (salicylate)-induced altered BDNF levels in the cochlea. Furthermore, they also provide the first evidence that a differential regulation of BDNF transcription factors might participate in BDNF-mediated plasticity changes.
Toward CMOS-Compatible Triboelectric Generator to Operate MEMS

In this paper, a shock detector is introduced using a micro-scale triboelectric generator and an electrostatic MEMS switch. The fabrication of a micro-scale tribo-electric-nano generator is carried out using MEMS technology for the first time. The fabrication technique enabled reducing the size by 85% compared to a prior work. The generator has aluminum-polyimide on the bottom layer, a gap, and a top layer of Al and amorphous silicon (a-Si), The generator produces 0.4 $V$ pulses as a response to impulse excitation, the produced voltage is used to trigger switch closure by adding it to a DC voltage that is enough to bend the beam down but not enough to close it. The combination of MEMS-triboelectric generator and MEMS electrostatic actuators is ideal because both are fabricated with CMOS technology and can be integrated on the same chip. The proposed system enables creating event-powered micro-switches.