Miracle-dz/UniFAR-FTUs huggingface dataset:
Design of a Trajectory Tracking Controller for a Nanoquadcopter

The primary purpose of this study is to investigate the system modeling of a nanoquadcopter as well as designing position and trajectory control algorithms, with the ultimate goal of testing the system both in simulation and on a real platform. The open source nanoquadcopter platform named Crazyflie 2.0 was chosen for the project. The first phase consisted in the development of a mathematical model that describes the dynamics of the quadcopter. Secondly, a simulation environment was created to design two different control architectures: cascaded PID position tracker and LQT trajectory tracker. Finally, the implementation phase consisted in testing the controllers on the chosen platform and comparing their performance in trajectory tracking. Our simulations agreed with the experimental results, and further refinement of the model is proposed as future work through closed-loop model identification techniques. The results show that the LQT controller performed better at tracking trajectories, with RMS errors in position up to four times smaller than those obtained with the PID. LQT control effort was greater, but eliminated the high control peaks that induced motor saturation in the PID controller. The LQT controller was also tested using an ultra-wide band two-way ranging system, and comparisons with the more precise VICON system indicate that the controller could track a trajectory in both cases despise the difference in noise levels between the two systems.
Property verification for access control models via model checking

To formally and precisely capture the security properties that access control should adhere to, access control models are usually written, bridging the rather wide gap in abstraction between policies and mechanisms. In this paper, we propose a new general approach for property verification for access control models via model checking. The approach defines a standardized structure for access control models, providing for both property verification and automated generation of test cases. The approach expresses access control models in the specification language of a model checker and expresses generic access control properties in the property language. Then the approach exploits the model checker to verify these properties for the access control models and generate test cases for the system implementations of the models.
Wirtinger-based multiple integral inequality for stability of time-delay systems

ABSTRACT Note that the conservatism of the delay-dependent stability criteria can be reduced by increasing the integral terms in Lyapunov–Krasovskii functional (LKF). This brief revisits the stability problem for a class of linear time-delay systems via multiple integral approach. The novelty of this brief lies in that a Wirtinger-based multiple integral inequality is employed to estimate the derivative of a class of LKF with multiple integral terms. Based on these innovations, a new delay-dependent stability criterion is derived in terms of linear matrix inequalities. Two numerical examples are exploited to demonstrate the effectiveness and superiority of the proposed method.
Characterization of bidirectional molecular motor-assisted transport models

Intracellular cargos that are transported by groups of molecular motors often display bidirectional movement. This can be seen experimentally by tracking the trajectories of individual cargos in vivo. Typically, the cargo trajectories display many turning events that result from the stochastic nature of the involved motor processes. In this paper, we simulate cargo trajectories for different binding mechanisms. We introduce a series of statistical tools to analyze and quantitatively characterize these trajectories. As we demonstrate for specified single-motor properties, the novel statistical methods allow us to quantitatively distinguish between different models for bidirectional transport. In this way, the tools provide a quantitative connection between the statistical properties of the cargo trajectories and the molecular properties of the motor proteins. Such methods are also applicable to experimentally measured cargo trajectories and should be helpful in elucidating the mechanisms that lead to bidirectional transport.
Identification of a fibronectin-like molecule on Eimeria tenella

SUMMARY The attachment of Eimeria tenella to its target cells as an obligatory intracellular pathogen is essential for the development of disease. Previous reports have established that other intracellular protozoa parasites have either fibronectin, an adhesion protein, or fibronectin receptors, both of which are involved in the interaction with the host cells. In this current research, studies have been undertaken to visualize a surface component that may be involved in the attachment of E. tenella to host cells. For this purpose, monoclonal antibodies, both anti-chicken and anti-human fibronectin, and also anti-chicken integrin were used. Our results show a fibronectin-like molecule with an apparent molecular weight of 110 kDa in mature schizonts and microgametes. Staining with serum directed against chicken integrin revealed immunoreactivity within mature schizonts. Both the fibronectin-like molecule and the integrin may play an important role in the parasite stage-cell interaction and the promotion of parasite uptake.
Epigenetics : The Second Genetic Code

Plant breeders utilize directed selection and transgenics to produce novel cultivars of diploid and polyploid species. DNA sequence is clearly important in these processes, but growing evidence implicates epigenetics as an important factor in controlling genetic variation and gene/transgene expression. In this article, we focus on epigenetic variation defined as mitotically and meiotically heritable but reversible states of gene expression that are not conditioned by differences in DNA sequence. We summarize mechanisms underlying epigenetic states of expression, and discuss implications of epigenetics in cultivar
Biochemical parameters of neoplasia. II. Some macromolecular properties of deoxyribonucleic acid from normal and neoplastic human tissue.

Summary DNA (deoxyribonucleic acid) was extracted from neoplastic human tissues obtained by surgical biopsy and from corresponding normal tissues from the same organ in the same patient. Helix-coil transition temperatures [“melting curves” and T m (midpoint transition temperature) values], when determined from fresh samples, showed no significant difference between normal and neoplastic DNA and revealed that in both instances the preparations represented undenatured, double-stranded DNA. Light scattering and viscosimetric studies indicated that DNA from neoplastic tissues has a smaller mean molecular weight and a more rigid configuration than DNA from the matching normal tissues. The radii of gyration of all human DNA samples appear to fall between the values calculated for a theoretical coil and rod, respectively. The effect of the procedure of isolation on the macromolecular properties of the DNA is demonstrated.
Rapidly progressive course of very late onset multiple sclerosis presenting with Parkinsonism: case report

Multiple sclerosis mainly affects young adolescents, making late-onset multiple sclerosis a rarity and diagnostic challenge, particularly for cases after age 80 years. We present an 82-year-old patient with multiple sclerosis with very late onset. As well as spastic paraplegia, additional Parkinsonism secondary to demyelination in the basal ganglia was observed in this case. In most publications, spinal cord lesions were more common in late-onset multiple sclerosis which, in contrast, could not be found in our case. Despite different treatment strategies, rapid clinical deterioration and death after about 2 years of disease course occurred. Further discrimination in late-onset multiple sclerosis (50–70 years) and multiple sclerosis with very late onset (above 70 years) might be considered. Future trials to elucidate potential benefit of immunosuppressive (and neuroprotective) therapies in these age groups are mandatory.
Characterization and reliability of dual high-k gate dielectric stack (poly-Si-HfO2-SiO2) prepared by in situ RTCVD process for system-on-chip applications

We investigate for the first time the possibility of integrating chemical vapor deposition (CVD) HfO/sub 2/ into the multiple gate dielectric system-on-a-chip (SoC) process in the range of 6-7 nm, which supports higher voltage (2.5-5 V operation/tolerance). Results show that CVD HfO/sub 2/-SiO/sub 2/ stacked gate dielectric (EOT =6.2 nm) exhibits lower leakage current than that of SiO/sub 2/ (EOT =5.7 nm) by a factor of /spl sim/10/sup 2/, with comparable interface quality (D/sub it//spl sim/1/spl times/10/sup 10/ cm/sup -2/eV/sup -1/). The presence of negative fixed charge is observed in the HfO/sub 2/-SiO/sub 2/ gate stack. In addition, the addition of HfO/sub 2/ on SiO/sub 2/ does not alter the dominant conduction mechanism of Fowler-Nordheim tunneling in the HfO/sub 2/-SiO/sub 2/ gate stack. Furthermore, the HfO/sub 2/-SiO/sub 2/ gate stack shows longer time to breakdown T/sub BD/ than SiO/sub 2/ under constant voltage stress. These results suggest that it may be feasible to use such a gate stack for higher voltage operation in SoC, provided other key requirements such as V/sub t/ stability (charge trapping under stress) can be met and the negative fixed charge eliminated.
A decoupled 2-DOF flexure-based micropositioning stage with large travel ranges

SUMMARY In this paper, a new flexure-based micropositioning stage (FMPS) is proposed to achieve decoupled XY translational motions and large travel ranges. The stage consists of four independent kinematic chains, each comprising two flexure-beam prismatic joints. The mechanism with such a special topological structure enables the motions of the platform strictly along XY axes and minimizes the parasitic rotation in theta axis. The kinematics and dynamics analysis of the mechanism are conducted to evaluate the performance of the mechanism in terms of travel range, parasitic motions, linearity, as well as natural frequency. According to the developed models, a parameter optimization of the mechanism is performed under the condition of the maximum travel range. The finite element simulation is carried out to examine the mechanical performance and the theoretical models. The experimental results show that the proposed FMPS possesses a workspace of 600 × 600 μm2, a relative coupling error of 0.6%, and the natural frequencies of 209.7 Hz and 212.4 Hz for the first two modes.
Development of Liposomal Systems of Finasteride for Topical Applications: Design, Characterization, and In Vitro Evaluation

Finasteride (FNS) is a “drug of choice” for benign prostate hypertrophy and prostate cancer. The drug has also been reported to be useful orally in the treatment of some difficult-to-treat androgen-dependent skin disorders, such as seborrhea, acne, hirsutism, and androgenetic alopecia. However, the ideal route for its administration (i.e., topical) remains unexplored. This has logically suggested the search for strategic formulation approaches to make the drug effective on topical applications, hitherto unexplored. The present study targets the encasement of drug molecules in the interiors of vesicular compartments (liposomes) made up of hydrogenated phospholipids, as an attempt toward the development of a trans-epidermal therapeutic system of FNS. Multilamellar drug-loaded liposomes were prepared by thin-film hydration with sonication method and optimized with respect to drug payload, entrapment efficiency, and size by formulating different vesicular compositions under different process conditions. The vesicular systems consisting of saturated phospholipid (100 mg), cholesterol (50 mg), and FNS (5 mg) showed highest drug payload (2.9 mg/100 mg of total lipids), and drug entrapment efficiency (88.6%). Mean (± SD) vesicle size of the prepared liposomes was found to be 3.66 ± 1.6 μm. Significantly higher skin permeation of FNS through excised abdominal mice skin of FNS was achieved from the liposomal formulations vis-à-vis corresponding solution and conventional gels. Liposomal FNS formulations also showed more than fivefold higher deposition of drug in skin than the corresponding plain drug solution and conventional gel. Stability studies indicated that the liposomal formulations were quite stable in the refrigerated conditions for 2 months with negligible drug leakage or vesicle size alteration during the storage period. Results of the current studies with FNS-loaded vesicular systems project the high plausibility of a topical liposomal formulation for effective localized delivery of Finasteride.
Human tissue‐engineered bone produced in clinically relevant amounts using a semi‐automated perfusion bioreactor system: a preliminary study

The aim of this study was to evaluate a semi‐automated perfusion bioreactor system for the production of clinically relevant amounts of human tissue‐engineered bone. Human bone marrow stromal cells (hBMSCs) of eight donors were dynamically seeded and proliferated in a perfusion bioreactor system in clinically relevant volumes (10 cm3) of macroporous biphasic calcium phosphate scaffolds (BCP particles, 2–6 mm). Cell load and distribution were shown using methylene blue staining. MTT staining was used to demonstrate viability of the present cells. After 20 days of cultivation, the particles were covered with a homogeneous layer of viable cells. Online oxygen measurements confirmed the proliferation of hBMSCs in the bioreactor. After 20 days of cultivation, the hybrid constructs became interconnected and a dense layer of extracellular matrix was present, as visualized by scanning electron microscopy (SEM). Furthermore, the hBMSCs showed differentiation towards the osteogenic lineage as was indicated by collagen type I production and alkaline phosphatase (ALP) expression. We observed no significant differences in osteogenic gene expression profiles between static and dynamic conditions like ALP, BMP2, Id1, Id2, Smad6, collagen type I, osteocalcin, osteonectin and S100A4. For the donors that showed bone formation, dynamically cultured hybrid constructs showed the same amount of bone as the statically cultured hybrid constructs. Based on these results, we conclude that a semi‐automated perfusion bioreactor system is capable of producing clinically relevant and viable amounts of human tissue‐engineered bone that exhibit bone‐forming potential after implantation in nude mice. Copyright © 2009 John Wiley & Sons, Ltd.
DAΦNE Φ-factory upgrade for Siddharta run

An upgrade of the ΦNE Φ-Factory at LNF is planned in view of the installation of the Siddharta detector in fall 2007. A new interaction region suitable to test the large Piwinski angle and crab waist (CW) collision schemes will be installed. Other machine improvements, such as new injection kickers, bellows and beam pipe layouts will be realized, with the goal of reaching luminosity of the order of 1033/cm2 /s. The principle of operation of the new scheme, together with hardware designs and simulation studies, are presented.
Optical coherence tomography: High resolution intravascular imaging to evaluate vascular healing after coronary stenting

The risk of late stent thrombosis represents a major concern for patients treated with drug‐eluting stents (DES). Delayed healing and incomplete stent coverage were commonly observed in pathologic specimens of vessels treated with DES. In‐situ assessment of the stent coverage has been limited by the low spatial resolution of current image modalities. Optical coherence tomography (OCT) enables real‐time, full tomographic, in‐vivo visualization of coronary vessel microstructure. Struts coverage and vessel response of DES compared to BMS are the most immediate clinical applications of OCT. Thickness of coverage and strut apposition can be quantified at micron‐scale level with a resolution 10–30 times higher than conventional intravascular ultrasound. Current clinical experience demonstrates the high level of accuracy of OCT in evaluating the heterogeneity of vascular healing following DES implantation. Neointimal coverage at strut level assessed by OCT seems a reasonable intermediate endpoint to quickly scrutinize in preregistration studies the safety profile of the next generation of DES. Major limitations of current OCT technology are shallow depth of light penetration and the need to occlude the vessel for blood removal. Second generation forms of OCT, which allow images to be recorded faster (≅10 times) during a nonocclusive flush, have been recently developed. Full, quick scan of multiple and long stent without occlusion balloon is possible. Further technical advancements are expected to provide sharper images with additional contrast and tissue texture characterization. The value of these improvements must be gauged by the degree of impact in DES technology and patient care. © 2008 Wiley‐Liss, Inc.
The Effects of Auxins and Cytokinin on Growth and Development of (Musa sp.) Var. “Yangambi” Explants in Tissue Culture

The aim of this study was to investigate the effects of concentration of different growth regulators (auxins and cytokinins) on growth and development of banana shoot tips cultured in vitro. Explants were taken from young suckers of field grown plants of var. “Yangambi”. The shoot tips were cultured on MS media supplemented with different concentrations of BAP (0, 2, 4, 6 and 8 mg/l) with or without IAA at concentration of 0.34 mg/l. At the rooting phase, the media was supplemented with different concentrations of IBA (0.1, 0.5, 1.0, 1.5 and 2.0 mg/l) with or without BAP at concentration of 0.2 mg/l. The results indicated that 6.0 mg/l BAP significantly increased the number of shoots formed and the interaction of 6 mg/l BAP with 0.35 mg/l IAA significantly increased the fresh weight. For rooting, 2.0 mg/l IBA was more efficient in number and length of roots produced than all other treatments.
L-Arginine Ameliorates the Abnormal Sympathetic Response of the Dysfunctional Human Coronary Microvasculature

A nitric oxide (NO)-related defect may contribute to abnormal coronary sympathetic responses that can cause ischemia in patients with endothelial dysfunction. Because L-arginine, the NO synthase (NOS) precursor, augments NO bioactivity, we hypothesized that L-arginine would improve dysfunctional coronary sympathetic responses. Eleven patients with atherosclerosis or its risk factors were challenged with the cold pressor test, a specific provocative test of cardiac sympathetic activity, after 3 separate and sequential intracoronary infusions, as follows: 1) Normal saline; 2) L-NMMA, a competitive inhibitor of NOS; and 3) L-arginine. Study patients exhibited abnormal microvascular responses with coronary vascular resistance (CVR) increasing by 22.3 ±9.7% (mean ± 1 SEM), p<0.01. In addition, the change in coronary blood flow (CBF) did not correlate with the change in rate pressure product (RPP), r = -0.29, p = NS, suggesting an uncoupling of CBF from cardiac work. In the presence of L-NMMA, the CVR response, 10.3 ±9.8%, did not differ from the baseline response, and there was no relationship between the changes in CBF and RPP, r=0.13, p = NS. In contrast, L-arginine ameliorated the CVR response, -3.2 ±3.1%, p<0.05 vs baseline response, and restored the normal correlation between the changes in CBF and RPP, r = 0.74, p<0.01. L-arginine not only improved abnormal microvascular responses to sympathetic activation, but it also restored the coupling that normally exists between coronary blood flow and cardiac work. L-arginine warrants further investigation as a therapy for coronary artery disease.
The kinetics of maturation of trypanosome infections in tsetse

SUMMARY Estimates of the time delay between the infective bloodmeal and maturation (incubation or maturation time) for 4 trypanosome stocks (2 Trypanozoon and 2 Trypanosoma congolense) show that maturation time in tsetse is not a parasite species-specific constant. The mean incubation time of a Trypanosoma brucei rhodesiense stock (EATRO 2340 – 18 days) was not significantly different from one T. congolense stock (SIKUDA88 – 15·5 days) but was significantly greater than another (1/148 FLY9 – 12·5 days). There was no significant difference in incubation times between male and female Glossina morsitans morsitans for any of the stocks but in both of the Trypanozoon stocks the proportion of female flies producing mature infections was significantly less than in males. However, estimates of gene frequency, assuming a model in which maturation is controlled by an X-linked recessive allele, gave inconsistent results indicating that maturation cannot be controlled by a single sex-linked gene. Maturation was shown to be a tsetse sex-dependent phenomenon in Trypanozoon but not in T. congolense infections. Incubation time was quite variable even for a single trypanosome stock (e.g. standard deviation of 5 days for one Trypanozoon stock); we discuss how this variability can affect disease transmission, and the interpretation of age-prevalence data.
Text Simplification using Dependency Parsing for Spanish

In this paper we investigate the task of text simplification for Spanish. Our purpose is a system to simplified text based on rules using dependency parsing. Our main motivation is the need for text simplification to facilitate accessibility to information by poor readers and by people with cognitive disabilities. This study consists of the first step towards building Spanish text simplification systems helping to create easy-to-read
Association of mu-opioid receptor variants and response to citalopram treatment in major depressive disorder.

OBJECTIVE Because previous preclinical and clinical studies have implicated the endogenous opioid system in major depression and in the neurochemical action of antidepressants, the authors examined how DNA variation in the mu-opioid receptor gene may influence population variation in response to citalopram treatment. METHOD A total of 1,953 individuals from the Sequenced Treatment Alternatives to Relieve Depression (STAR*D) study were treated with citalopram and genotyped for 53 single nucleotide polymorphisms (SNPs) in a 100-kb region of the OPRM1 gene. The sample consisted of Non-Hispanic Caucasians, Hispanic Caucasians, and African Americans. Population stratification was corrected using 119 ancestry informative markers and principal components analysis. Markers were tested for association with phenotypes for general and specific citalopram response as well as remission. RESULTS Association between one SNP and specific citalopram response was observed. After Bonferroni correction, the strongest finding was the association between the rs540825 SNP and specific response. The rs540825 polymorphism is a nonsynonymous SNP in the final exon of the mu-opioid receptor-1X isoform of the OPRM1 gene, resulting in a histidine to glutamine change in the intracellular domain of the receptor. When Hispanic and Non-Hispanic Caucasians were analyzed separately, similar results in the population-corrected analyses were detected. CONCLUSIONS These results suggest that rates of response to antidepressants and consequent remission from major depressive disorder are influenced by variation in the mu-opioid receptor gene as a result of either an effect on placebo response or true pharmacologic response.