Miracle-dz/UniFAR-FTUs huggingface dataset:
HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Environments

—We present the Hierarchical Dynamic Roadmap (HDRM), a novel resolution complete motion planning algorithm for solving complex planning problems. A unique hierarchical structure is proposed for efﬁciently encoding the conﬁguration-to-workspace occupation information that allows the robot to check the collision state of tens of millions of samples on-the-ﬂy— the number of which was previously strictly limited by available memory. The hierarchical structure also signiﬁcantly reduces the time for path searching, hence the robot is able to ﬁnd feasible motion plans in real-time in extremely constrained environments. The HDRM is theoretically proven to be resolution complete, with a rigorous benchmarking showing that HDRM is robust and computationally fast, compared to classical dynamic roadmap methods and other state-of-the-art planning algorithms. Experiments on the 7 degree-of-freedom KUKA LWR robotic arm integrated with real-time perception of the environment further validate the effectiveness of HDRM in complex environments.
Effects of soil moisture on the responses of soil temperatures to climate change in cold regions

AbstractAt high latitudes, changes in soil moisture could alter soil temperatures independently of air temperature changes by interacting with the snow thermal rectifier. The authors investigated this mechanism with model experiments in the Community Land Model 4 (CLM4) with prescribed atmospheric forcing and vegetation state. Under equilibrium historical conditions, increasing CO2 concentrations experienced by plants from 285 to 857 ppm caused local increases in soil water-filled pore space of 0.1–0.2 in some regions throughout the globe. In permafrost regions that experienced this moistening, vertical- and annual- mean soil temperatures increased by up to 3°C (0.27°C averaged over all permafrost areas). A similar pattern of moistening and consequent warming occurred in simulations with prescribed June–September (JJAS) rainfall increases of 25% over historical values, a level of increase commensurate with projected future rainfall increases. There was a strong sensitivity of the moistening responses to t.
Effects of plant diversity on primary production and species interactions in brackish water angiosperm communities

Research on plant biodiversity and ecosystem functioning has mainly focused on terres- trial ecosystems, and our understanding of how plant species diversity and interactions affect pro- cesses in marine ecosystems is still limited. To investigate if plant species richness and composition influence plant productivity in brackish water angiosperm communities, a 14 wk field experiment was conducted. Using a replacement design with a standardized initial aboveground biomass, shoots of Zostera marina, Potamogeton filiformis and P. perfoliatus were planted on a shallow, sandy bottom in replicated monocultures and all possible species combinations. Response variables included aboveground and belowground biomass, shoot density, space occupation and porewater nutrients. To determine whether selection and/or complementarity controlled productivity, additive partition- ing and Di were calculated. Richness effects were species-specific and only increased the biomass production of P. perfoliatus and tuber production of P. filiformis, while species composition generally had a stronger effect on biomass production. Additive partitioning indicated a positive complemen- tarity effect for the aboveground biomass production in bicultures in general, while a positive net effect was found in the P. perfoliatus and P. filiformis biculture. Despite the absence of significant results for other treatments and plant variables, a trend of positive complementarity and negative selection effects were present. Plant diversity had no clear effect on sediment porewater nutrient concentrations, indicating weak richness effects on resource use.
Experimental analysis of self-healing cement-based materials incorporating extruded cementitious hollow tubes

In this work, new advances concerning the feasibility of extruded cementitious hollow tubes as containing/releasing devices for healing agents and their potential scaling up are presented. Specifically, sodium silicate and potassium silicate were evaluated as healing agents in terms of their ability to diffuse through cracks and of their ability to restore the initial mechanical properties of mortars. Their effect was investigated also in combination with the use of a hydrophobic coating applied to the inner surface of some of the hollow tubes to enhance the release of the healing agents along the crack path. A colorant was added to the sodium/potassium silicate solutions to help highlighting the fracture area covered by the healing agents, thus allowing a qualitative evaluation of the effect of the hydrophobic coating. Finally, image analysis was performed to correlate the mechanical strength/stiffness recovery to the area covered by the healing agent, as well as to the position of the tubes within the samples. On the whole, satisfactory results were obtained as far as restoration of the mechanical properties is concerned: the best performance was displayed when using cementitious hollow tube containing sodium silicate, with maximum values of bending load and stiffness recovery for the system of more than 70% and 50%, respectively.
Effects of Harmful Algal Blooms on Fish: Insights from Prymnesium parvum

Blooms of the planktonic alga Prymnesium parvum pose a global threat, causing fish kills worldwide. Early studies on the exposure of fish to P. parvum indicate that toxic effects are related to gill damage. The more strictly defined concept of adverse outcome pathways has been suggested as a replacement for the mode of action in toxicology studies. In this study, rainbow trout (Onchorhyncus mykiss) were exposed to P. parvum. During exposure, oxygen consumption was determined by respirometry, and ventilation and coughing rate were determined via video surveillance. Per breath oxygen consumption was calculated to assess the ventilation effort to obtain a unit of oxygen. A second experiment monitored fish behavior to assess recovery. The results indicated that oxygen consumption initially increased, but on average fell below the standard oxygen consumption at 70% relative exposure. Being a function of ventilation frequency and oxygen consumption, the per breath oxygen consumption decreased throughout exposure. Behavioral results determined that short-term P. parvum exposure subsequently caused the exposed fish to seek flow refuge immediately and to a greater extent than unexposed fish. The adverse outcome pathway of P. parvum on rainbow trout is that P. parvum acts as a gill irritant resulting in non-recoverable respiratory failure.
Detection of human Papillomavirus 18 in cervical cancer samples using PCR-ELISA (DIAPOPS)

Background and Objectives Human Papillomavirus (HPV) infection is a major risk factor for adenocarcinoma of the cervix. The high-risk types of the virus such as HPV16 and HPV18, which possess the E6 and E7 oncogenes, are responsible for approximately 50% of all cervical cancers. A rapid, sensitive and specific test has been proposed for detection of HPV to improve cervical cancer screening programs. Objectives The aim of this study was to develop a fast PCR-ELISA assay designated as DIAPOPS (Detection of Immobilized Amplified Products in a One Phase System)for detection of HPV16 and HPV18 types in SCC samples and Pap smears. The type specific primers and probes were designed for PCR and PCR-ELISA. The amplified products were hybridized with a specific biotin-labeled probe for HPV18 inner amplicons. The hybrids were detected with peroxidase conjugated avidin. The test was performed on the paraffin block and Pap smear samples from the cervical cancer patients, and the results of DIAPOPS were compared with conventional PCR assay. Results The 70 samples (SCC and Pap smear samples) were collected from Imam Khomeini and Mirzakoochak Khan Hospitals in Tehran. The PCR-based method detected six HPV16 positive, three HPV18 positive and Two HPV33 positive samples. DIAPOPS results were compared with the conventional PCR results and they showed an increase in sensitivity of the DIAPOPS test. Not only all of them were confirmed by PCR-ELISA but also three samples that conventional PCR showed negative for HPV18, were demonstrated positive by the PCR-ELISA method. Conclusion The results of the study show that modified PCR-ELISA assay is more sensitive to detect HPV types and can be used for diagnostic purposes.
ENVIRONMENTAL TAX AND ECONOMIC GROWTH: A PANEL VAR ANALYSIS

In recent years there has been tremendous debate among academics and policy makers about the interactions between economic growth and environmental taxation. In this study, the relationship between environmental taxes and economic growth is analyzed using 29 European countries' yearly data for the period 1996 to 2010. The main objectives of this study are to determine the reaction of economic growth in the face of a shock in different kinds of environmental taxes and to examine whether environmental taxation has a positive or negative effect on national economies. Using Panel Vector Autoregressive models, we find positive and statistically significant responses to an environmental tax shock.
Associations between neutrophil/lymphocyte ratio, platelet/lymphocyte ratio, albuminuria and uric acid and the estimated glomerular filtration rate in hypertensive patients with chronic kidney disease stages 1–3

Introduction The neutrophil/lymphocyte ratio (NLR), platelet/lymphocyte ratio (PLR), albuminuria and uric acid are known to be independent predictors of hypertension and cardiovascular mortality. However, to date, no study has been conducted describing the relationships between the NLR, PLR and estimated glomerular filtration rate (eGFR) in hypertensive patients with chronic kidney disease (CKD) who do not require renal replacement therapy. Material and methods This prospective study included 271 patients with essential hypertension and eGFR ≥ 30 ml/min/1.73 m2. The patients were divided into two groups: those with CKD stages 1 and 2 and those with stage 3. We used the complete blood count to calculate the NLR and PLR, and we measured the albuminuria and uric acid levels. Then, we studied their associations with the eGFR and their potential uses as independent risk factors for renal damage. Results The NLR, albuminuria and uric acid were higher in patients with CKD stage 3 than in those with stages 1 and 2 (p = 0.013, p = 0.001 and p = 0.001, respectively). However, no significant difference was detected in the PLR. In stage 3 patients, albuminuria and uric acid were found to be independent risk factors affecting the eGFR (p = 0.042 and p = 0.001, respectively). However, the effects of the NLR and PLR on the eGFR were not significant (p = 0.104 and p = 0.578, respectively). Conclusions The NLR, similar to albuminuria and uric acid, the NLR was found to be a specific marker for CKD stage 3 patients. However, the NLR and PLR did not act as independent risk factors affecting the eGFR.
Over-Nutrition and Changing Health Status in High Income Countries

As per capita incomes in developed countries have grown over the past three decades, over-nutrition leading to obesity and elevated health risks for cardiovascular disease, diabetes and some forms of cancer has occurred. We use economic and econometric models to identify the impact of food prices on the aggregate demand for calories and the supply of health, as reflected in mortality rates. Our models are fitted to unique panel data for 18 developed countries over 1971-2001, a period when the relative price of food first rose and then declined steadily. Some findings, using de-trended data, are that a lower real price of food, of other purchased consumer goods and of time increase the demand for calories, one cause of energy imbalance, and the supply of mortality associated with obesity. These prices do not affect the rate of non-obesity-related mortality. Caloric intake is a normal good, contributing to energy imbalance as income increases, but higher incomes do reduce mortality risk. However, higher labor force participation rates, largely associated with rising numbers of working women, and a higher child dependency ratio lead to a higher rate of obesity-related mortality. An implication of our results is that further reductions in the price of food in developed countries can be expected to have a net negative impact on health as reflected in a higher mortality rate due to diseases that are linked to obesitydiabetes, cardiovascular diseases and most forms of cancer.
Paramedian Spinal Anesthesia: Landmark vs. Ultrasound-guided Approaches

Background: Multiple attempts at needle redirection for paramedian spinal anesthesia can lead to significant complications, particularly in elderly patients. We hypothesized that ultrasound guidance may reduce the need for redirection (s), the associated discomfort, and complications in conventional landmark-guided paramedian spinal anesthesia. Methods: A total of 70 patients >65 years of age, undergoing total knee or hip arthroplasty, were randomly assigned to pre-procedural ultrasound-guided paramedian (PP) or conventional surface landmark-guided paramedian (CP) approach groups. The paramedian approach was performed at L3-4 in the lateral decubitus position. Results: The median number of needle redirection attempts was significantly lower in group PP (2 (interquartile range (IQR) 1-2)) than in group CP (4 (IQR 2-8.5)) (P<0.001). The median number of needle insertion attempts was also significantly lower in group PP than in group CP (P=0.003). All patients in group PP underwent successful needle insertion at the 3-4 lumbar intrathecal space, while 7 in group CP required multiple interspinous space insertions for success (P=0.006). No patient in group PP experienced significant complications related to spinal anesthesia. However, 5 (13.9%), 1 (2.8%), and 7 patients (19.4%) in group CP experienced transient radicular pain, paresthesia, and traumatic puncture, respectively. Conclusion: Application of pre-procedural ultrasound guidance in paramedian spinal anesthesia in elderly patients resulted in a significant decrease in the number of needle redirection and insertion attempts, as well as a reduction in related complications compared with the conventional paramedian technique.
GEOMETRIC FEATURES AND THEIR RELEVANCE FOR 3D POINT CLOUD CLASSIFICATION

Abstract. In this paper, we focus on the automatic interpretation of 3D point cloud data in terms of associating a class label to each 3D point. While much effort has recently been spent on this research topic, little attention has been paid to the influencing factors that affect the quality of the derived classification results. For this reason, we investigate fundamental influencing factors making geometric features more or less relevant with respect to the classification task. We present a framework which consists of five components addressing point sampling, neighborhood recovery, feature extraction, classification and feature relevance assessment. To analyze the impact of the main influencing factors which are represented by the given point sampling and the selected neighborhood type, we present the results derived with different configurations of our framework for a commonly used benchmark dataset for which a reference labeling with respect to three structural classes (linear structures, planar structures and volumetric structures) as well as a reference labeling with respect to five semantic classes (Wire, Pole/Trunk, Facade, Ground and Vegetation) is available.
A Network Traffic Prediction Model Based on Quantum-Behaved Particle Swarm Optimization Algorithm and Fuzzy Wavelet Neural Network

Due to the fact that the fluctuation of network traffic is affected by various factors, accurate prediction of network traffic is regarded as a challenging task of the time series prediction process. For this purpose, a novel prediction method of network traffic based on QPSO algorithm and fuzzy wavelet neural network is proposed in this paper. Firstly, quantum-behaved particle swarm optimization (QPSO) was introduced. Then, the structure and operation algorithms of WFNN are presented. The parameters of fuzzy wavelet neural network were optimized by QPSO algorithm. Finally, the QPSO-FWNN could be used in prediction of network traffic simulation successfully and evaluate the performance of different prediction models such as BP neural network, RBF neural network, fuzzy neural network, and FWNN-GA neural network. Simulation results show that QPSO-FWNN has a better precision and stability in calculation. At the same time, the QPSO-FWNN also has better generalization ability, and it has a broad prospect on application.
Excitation of E1-forbidden atomic transitions with electric, magnetic, or mixed multipolarity in light fields carrying orbital and spin angular momentum [Invited]

Photons carrying a well-defined orbital angular momentum have been proven to modify spectroscopic selection rules in atomic matter. Excitation profiles of electric quadrupole transitions have been measured with single trapped Ca40+ ions for varying polarizations. We further develop the photo-absorption formalism to study the case of arbitrary alignment of the beam’s optical axis with respect to the ion’s quantization axis and mixed multipolarity. Thus, predictions for M1-dominated Ar4013+, E3-driven Yb171+ and Yb172+, and B-like Ne205+ are presented. The latter case displays novel effects, coming from the presence of a strong photon–magnetic dipole coupling.
Spatio‐temporal climatic change of rainfall in East Java Indonesia

Spatial and temporal rainfall analysis of the Brantas Catchment Area (DAS Brantas), East Java, from 1955 to 2005 based on 40 rainfall stations with monthly rainfall data derived from daily rainfall data has been performed. To identify the climatic trend and annual changes in the area over the last five decades, we use the empirical orthogonal function (EOF) method based on multivariate statistics, followed by the fast Fourier transform (FFT) method for the power density spectrum analysis, the non‐parametric Mann‐Kendall trend test and the wavelet transform method. With EOF, we found the monsoonal rainfall pattern as the most dominant in this area, which explains about 72% of all variances. Without the annual signal, the leading EOF shows significant ENSO‐modulated inter‐annual and seasonal variabilities, especially during the second transitional period. We found a common and significant negative trend of accumulated rainfall and a negative trend of the monsoonal strength and dominance. This finding leads to changes in the annual pattern, which are increase in the ratio of rainfall during the wet season and increase of the dry spell period or the imbalance of the annual pattern. The increased ratio of the rainfall in the wet season has led to an increased threat of drought in the dry season and extreme weather in the wet season in recent decades. The role of the orographic effect had been detected from the decadal pattern, in which the high‐altitude areas have greater rainfall amount all year round. From the decadal isohyets in December/January/February (DJF) and June/July/August (JJA), the rainfall amount decreased significantly during the last five decades as shown by a persistent increase of areas with low rainfall amount. By comparing the time series of rainfall data in two locations, the mountain and coastal areas, we discovered that the dry periods have increased, mainly in the low altitude area. Copyright © 2007 Royal Meteorological Society
Influence of social upbringing on the activity pattern of captive lion Panthera leo cubs: Benefits of behavior enrichment

The influence of social upbringing on the activity pattern of lion Panthera leo cubs was investigated at three sites. In this study, stimulus objects such as sticks, grass, fresh dung (elephant Loxondota africana, zebra Equus quagga, impala Ae- pyceros melampus, duiker Sylvicapra grimmia, kudu Tragelaphus strepsiceros, giraffe Giraffa camelopardalis and wildebeest Connochaetes taurinus) and cardboard boxes, were utilized in an enrichment program aimed at encouraging active behaviors of captive lion cubs at Antelope Park and Masuwe. Lion cubs at Chipangali were not behaviorally enriched. Activity patterns were recorded for 10 days at each site. We recorded moving, resting, playing, grooming, visual exploration and display of hunting in- stincts. We found that behavioral enrichment enhanced the active behaviors of captive lion cubs. Orphan-raised cubs spent more time moving, playing and displaying hunting instincts than mother-raised cubs, but the time spent grooming was similar across areas and suggests that grooming is not influenced by enrichment. Mother-raised cubs spent more time engaged in visual explora- tion than orphan-raised cubs and this could be a behavior acquired from mothers or a result of confidence to explore because of their presence. Activity patterns were different among time treatments across our three study sites. Based on these findings, we suggest that lion cubs raised in captivity could benefit from behavioral enrichment to encourage active behaviors essential for eventual reintroduction into the wild (Current Zoology 56 (4): 389-394, 2010).
Interpolating runoff-related variables with rtop

Runoff related variables (runoff, runoff statistics, temperature, concentrations) are often modelled through conceptually or physically based models. The methods are usually data intensive, and require calibration. Geostatistical methods can be regarded as more data driven methods, with a more limited need for data. However, such methods have rarely been applied for hydrological modelling, as the methods were traditionally based on point observations or observations with a regular support. There has recently been a development of geostatistical methods for non-point support, particularly within health modelling (Goovaerts, 2006) and hydrology (Gottschalk, et al., 2006; Skoien, et al., 2006). In this paper we will demonstrate an R package (rtop) that implements the methods presented by Skoien et al. (2006), and extended with suggestions from Gottschalk et al. (2006). Taking advantage of the existing methods in R for manipulating spatially referenced objects (points, lines, polygons, grids), and the extensive possibilities for visualizing the results, rtop makes it considerably easier to apply geostatistical interpolation methods to observations with a non-point support, in comparison to former implementations of the method. Variogram fitting differs strongly from that in traditional geostatistics, but we will present methods for automatic and manual variogram fitting, and for visualizing the model fits. Another feature of the kriging method is that it can handle observation uncertainty, either as a result of measurement uncertainty, or when interpolating statistics, such as annual mean or floods with a certain return period.
A review on echocardiographic image speckle reduction filters

Speckle noise is a granular disturbance, which is an inherent property in echocardiographic images. This usually degrades the image resolution and contrast. The image with speckle noise is very difficult to interpret. Despeckling is necessary to improve the visual quality for better diagnoses. In last thirty years, different methods have been proposed for despeckling of echocardiographic images. In this paper a review of these techniques is done highlighting the different types of filters and evolving approaches over last three decades. The types of filters are mainly divided into linear filers, diffusion filters and wavelet domain filters. The main aim of this paper is to do comparative study of different thresholding techniques in wavelet domain.