Miracle-dz/UniFAR-FTUs huggingface dataset:
From Unknown Sensors and Actuators to Visually Guided Movement

This paper describes a developmental system implemented on a real robot that learns a model of its own sensory and actuator apparatuses. There is no innate knowledge regarding the modality or representation of the sensoric input and the actuators, and the system relies on generic properties of the robot's world such as piecewise smooth effects of movement on sensory changes. The robot develops the model of its sensorimotor system by first performing random movements to create an informational map of the sensors. Using this map the robot then learns what effects the different possible actions have on the sensors. After this developmental process the robot can perform simple motion tracking
Global Repression of Host-Associated Genes of the Lyme Disease Spirochete through Post-Transcriptional Modulation of the Alternative Sigma Factor RpoS

Borrelia burgdorferi, the agent of Lyme disease, is a vector-borne pathogen that transits between Ixodes ticks and vertebrate hosts. During the natural infectious cycle, spirochetes must globally adjust their transcriptome to survive in these dissimilar environments. One way B. burgdorferi accomplishes this is through the use of alternative sigma factors to direct transcription of specific genes. RpoS, one of only three sigma factors in B. burgdorferi, controls expression of genes required during tick-transmission and infection of the mammalian host. How spirochetes switch between different sigma factors during the infectious cycle has remained elusive. Here we establish a role for a novel protein, BBD18, in the regulation of the virulence-associated sigma factor RpoS. Constitutive expression of BBD18 repressed transcription of RpoS-dependent genes to levels equivalent to those observed in an rpoS mutant. Consistent with the global loss of RpoS-dependent transcripts, we were unable to detect RpoS protein. However, constitutive expression of BBD18 did not diminish the amount of rpoS transcript, indicating post-transcriptional regulation of RpoS by BBD18. Interestingly, BBD18-mediated repression of RpoS is independent of both the rpoS promoter and the 5’ untranslated region, suggesting a mechanism of protein destabilization rather than translational control. We propose that BBD18 is a novel regulator of RpoS and its activity likely represents a first step in the transition from an RpoS-ON to an RpoS-OFF state, when spirochetes transition from the host to the tick vector.
Object Tracking Using Minimum-Spanning-Tree One-Class Classifier

In the traditional discriminative object tracking methods, similar to the target, background is often taken mistakenly as a single negative class to train two-class classifiers despite including various objects with different distributions. A novel method based on one-class classifier is proposed for object tracking. It takes background as a collection of all other classes except the target. Object tracking is viewed as a one-class classification problem correspondingly. Firstly, the tracking results in the recent few frames are collected as the target training samples. Secondly, a k-nearest-graph is built based on these training samples and the most representative samples are selected on the basis of their own local average degrees to construct a minimum spanning tree. Then an one-class classifier based on the minimum spanning tree is trained to model the target. Lastly the similarity scores of candidates drawn from a particle filter are evaluated by the trained one-class classifier and the one with highest score is taken as the tracking result in current frame and used to update the training sample set and the one-class classifier. Empirical results on challenging video sequences demonstrate the superior performance of our method in robustness and accuracy to state-of-the-art methods.
Is the Process of Strategy Formulation Different in Complex Organizations

This paper reviews Robert F. Grattan’s Strategic Review: The Process of Strategy Formulation in Complex Organisations (2011), by focusing on one major implied question emerging from the title of the book: “Is the Process of Strategy Formulation Different in Complex Organizations? ” The author first examines the theoretical contents of Grattan’s book relative to existing and emerging literature on the strategic process by examining several theories discussed therein. The author examines the purpose and functions of strategy formulation in general and then discusses the contents of each of Grattan’s chapters as they relate this process applied to the Strategic Defence Review (SDR) process conducted by the United Kingdom’s Ministry of Defence using strategic business management theory and governmental decision theory mainly based in policy analysis. Brief critical analysis of the value of Grattan’s work to the literature on strategy and the strategic process, as well as recommendations regarding the use of Strategic Review: The Process of Strategy Formulation in Complex Organisations are made. Finally, based on the review of the process of strategy formulation which Grattan relates from chronicling “what happens in large complex organizations during a major strategic review,” the author attempts to answer the major question: “Is the Process of Strategy Formulation Different in Complex Organizations? ” from both proponent-based and opponent-based perspectives.
A population-based study of fall risk factors among people with multiple sclerosis in Stockholm county.

OBJECTIVE To identify factors associated with increased likelihood of reporting a recent fall among people with multiple sclerosis. This study was exploratory in its intent to examine sense of coherence as a contextual influence on fall risk. The study also sought to confirm that variables previously identified as fall risk factors for people with multiple sclerosis persist when tested in a population-based sample. DESIGN The study was cross-sectional and data was obtained in the context of a population-based study of people with multiple sclerosis living in Stockholm. SUBJECTS A total of 164 people with multiple sclerosis, age range 19-79 years. METHODS Data were gathered through established instruments. Key instruments utilized included the sense of coherence scale, the Lindmark Motor Capacity Assessment's subscale for balance, and the 10-metre walking test. A logistic regression model examined factors associated with reporting a fall in the past 3 months. RESULTS Of the participants, 62 (38%) reported experiencing at least one fall in the past 3 months. Reduced walking speed, impaired balance, and weak sense of coherence were associated with falls in the past 3 months. CONCLUSION These findings underscore the importance of examining diverse and modifiable influences on fall risk, including walking speed, balance and sense of coherence, in future studies involving people with multiple sclerosis.
Action potentials and chemosensitive conductances in the dendrites of olfactory neurons suggest new features for odor transduction

Odors affect the excitability of an olfactory neuron by altering membrane conductances at the ciliated end of a single, long dendrite. One mechanism to increase the sensitivity of olfactory neurons to odorants would be for their dendrites to support action potentials. We show for the first time that isolated olfactory dendrites from the mudpuppy Necturus maculosus contain a high density of voltage-activated Na+ channels and produce Na-dependent action potentials in response to depolarizing current pulses. Furthermore, all required steps in the transduction process beginning with odor detection and culminating with action potential initiation occur in the ciliated dendrite. We have previously shown that odors can modulate Cl- and K+ conductances in intact olfactory neurons, producing both excitation and inhibition. Here we show that both conductances are also present in the isolated, ciliated dendrite near the site of odor binding, that they are modulated by odors, and that they affect neuronal excitability. Voltage- activated Cl- currents blocked by 4,4'-diisothiocyanatostilbene-2,2' disulfonic acid and niflumic acid were found at greater than five times higher average density in the ciliated dendrite than in the soma, whereas voltage-activated K+ currents inhibited by intracellular Cs+ were distributed on average more uniformly throughout the cell. When ciliated, chemosensitive dendrites were stimulated with the odorant taurine, the responses were similar to those seen in intact cells: Cl- currents were increased in some dendrites, whereas in others Cl- or K+ currents were decreased, and responses washed out during whole-cell recording. The Cl- equilibrium potential for intact neurons bathed in physiological saline was found to be -45 mV using an on-cell voltage- ramp protocol and delayed application of channel blockers. We postulate that transduction of some odors is caused by second messenger-mediated modulation of the resting membrane conductance (as opposed to a specialized generator conductance) in the cilia or apical region of the dendrite, and show how this could alter the firing frequency of olfactory neurons.
Efficient Particle Swarm Optimized Particle Filter Based Improved Multiple Model Tracking Algorithm

To meet the requirements of modern radar maneuvering target tracking system and remedy the defects of interacting multiple model based on particle filter, noninteracting multiple model (NIMM) and enhanced particle swarm optimized particle filter (EPSO‐PF) are proposed. The improved maneuvering target tracking algorithm (NIMM‐EPSO‐PF) in this article combines the advantages of NIMM with those of EPSO‐PF. NIMM is used to figure out the index of particles to avoid the high computing complexity resulting from particle interaction, and EPSO‐PF can not only improve the equation of particle update through the rules individuals develop an understanding of group but also enhance particle diversity and accuracy of particle filter through the small variation probability of superior velocity. Besides, the random assignment of inferior velocity is capable of upgrading filter efficiency. As shown by the experimental result, the NIMM‐EPSO‐PF not only improves target tracking accuracy but also maintains high real‐time performance. Therefore, the improved algorithm can be applied to modern radar maneuvering target tracking field efficiently.
Electroplated hermetic fiber

SpecTran Specialty Optics Company has optimized a process to meet stringent requirements for conductive optical fiber pigtails. The plating process deposits Ni-P (nickel phosphorus), nickel, and gold onto a hermetic (carbon coated) optical fiber. These optimizations improve product yield. The carbon-silica to metal adhesion increases as the thickness of electroless nickel increases. The optimal electroless nickel thickness was studied and is presented. High shear forces are achieved on a soldered metalized pigtail assembly. The critical process parameters and the results of the process improvements are discussed with recommendations for the product applications.
High-performance homodyne optical injection phase-lock loop using wide-linewidth semiconductor lasers

The requirements for narrow linewidth lasers and short loop propagation delay limit optical phase-lock loop realizability with semiconductor lasers is presented. Although optical injection locking can provide low-phase-error variance, its locking range is limited by stability considerations. The first experimental results for a new architecture combining both techniques, the optical injection phase-lock loop (OIPLL), are reported. Phase error variance values as low as 0.006 rad/sup 2/ (500 MHz bandwidth) and locking ranges exceeding 26 GHz are achieved using DFB lasers of summed linewidth 36 MHz with loop delay of 15 ns and injection ratio less than -30 dB.
CDD: a conserved domain database for interactive domain family analysis

The conserved domain database (CDD) is part of NCBI's Entrez database system and serves as a primary resource for the annotation of conserved domain footprints on protein sequences in Entrez. Entrez's global query interface can be accessed at and will search CDD and many other databases. Domain annotation for proteins in Entrez has been pre-computed and is readily available in the form of ‘Conserved Domain’ links. Novel protein sequences can be scanned against CDD using the CD-Search service; this service searches databases of CDD-derived profile models with protein sequence queries using BLAST heuristics, at . Protein query sequences submitted to NCBI's protein BLAST search service are scanned for conserved domain signatures by default. The CDD collection contains models imported from Pfam, SMART and COG, as well as domain models curated at NCBI. NCBI curated models are organized into hierarchies of domains related by common descent. Here we report on the status of the curation effort and present a novel helper application, CDTree, which enables users of the CDD resource to examine curated hierarchies. More importantly, CDD and CDTree used in concert, serve as a powerful tool in protein classification, as they allow users to analyze protein sequences in the context of domain family hierarchies.
Exploring the Design of an Asynchronous and Asymmetric MAC Protocol

In the design of a MAC-layer protocol for battery-powered wireless sensor networks, two powerful enhancements are asymmetry and asynchrony, both of which add flexibility. Asymmetry allows nodes to adapt their schedules to fit their roles, whether source, sink and/or forwarder. Asynchrony can grant nodes freedom to perform tasks when appropriate instead of waiting for an agreed upon time. These features are important for dealing with varied node workloads. If we let nodes with larger workloads consume more energy, these will be the first to deplete their batteries, causing problems for cooperative networks. For example, forwarders, which generally have higher workloads, may die first, creating partitions. This leaves remaining nodes unable to communicate, despite having energy available. In this paper, we present an overview of SEESAW, a protocol designed to provide balanced energy consumption, and explore its parameter design space. We also present SenSim, a sensor network simulator designed for fine-grained energy and time accounting of node radios. We validate SenSim by reproducing results from published MAC protocol implementations on Mica2 Motes. Finally, we explore the impact of clock instability on SEESAW.
A Model of Filiform Hair Distribution on the Cricket Cercus

Crickets and other orthopteran insects sense air currents with a pair of abdominal appendages resembling antennae, called cerci. Each cercus in the common house cricket Acheta domesticus is covered with between 500 to 750 filiform mechanosensory hairs. The distribution of the hairs on the cerci, as well as the global patterns of their movement axes, are very stereotypical across different animals in this species, and the development of this system has been studied extensively. Although hypotheses regarding the mechanisms underlying pattern development of the hair array have been proposed in previous studies, no quantitative modeling studies have been published that test these hypotheses. We demonstrate that several aspects of the global pattern of mechanosensory hairs can be predicted with considerable accuracy using a simple model based on two independent morphogen systems. One system constrains inter-hair spacing, and the second system determines the directional movement axes of the hairs.
highlighted topics Plasticity in Skeletal, Cardiac, and Smooth Muscle Invited Review: Redox modulation of skeletal muscle contraction: what we know and what we don’t

Invited Review: Redox modulation of skeletal mus- cle contraction: what we know and what we don’t. J Appl Physiol 90: 724–731, 2001. —Over the past decade, reactive oxygen species (ROS) and nitric oxide (NO) derivatives have been established as physiological modulators of skeletal muscle function. This mini-review addresses the roles of these molecules as endogenous regulators of muscle contraction. The article is organized in two parts. First, established concepts are brieﬂy outlined. This section provides an overview of ROS production by muscle, antioxidant buffers that oppose ROS effects, enzymatic synthe- sis of NO in muscle, the effects of endogenous ROS on contractile function, and NO as a contractile modulator. Second, a selected group of unresolved topics are highlighted. These more controversial issues include putative source(s) of regulatory ROS, the relative importance of the two NO synthase isoforms constitutively coexpressed by muscle ﬁbers, molecular mechanisms of ROS and NO action, and the physiological relevance of redox regulation. By discussing current questions, as well as the established paradigm, this article is intended to further debate and stimulate research in this area.
Helicobacter pylori Infection Synergizes with Three Inflammation-Related Genetic Variants in the GWASs to Increase Risk of Gastric Cancer in a Chinese Population

Background Three recent genome-wide association studies (GWASs) have reported that three SNPs (rs4072037, rs13361707 and rs2274223) located on genes related to host inflammatory response are significantly associated with susceptibility to gastric cancer (GC) in Chinese populations. Helicobacter pylori infection is also an important risk factor for GC through causing inflammatory response in the gastric mucosa. However, no study has established whether there are potential gene-environment interactions between these genetic variants and H. pylori infection to the risk of GC. Methods We genotyped three polymorphisms (rs4072037 at 1q22, rs13361707 at 5p13, and rs2274223 at 10q23) in 335 Chinese gastric adenocarcinoma patients and 334 controls. H. pylori serology was examined by enzyme-linked immunosorbent assay. Multivariable logistic regression models were used to evaluate the association between the variables and GC risk. Results We confirmed that the three SNPs (rs4072037, rs13361707 and rs2274223) were significantly associated with GC susceptibility. H. pylori infection also significantly increased the risk of GC. Furthermore, there were joint effects between H. pylori infection and the three SNPs on the risk of GC. The most elevated risk of GC was found in subjects with H. pylori seropositivity and AA genotypes for rs4072037 [odds ratio (OR), 3.95; 95% confidence interval (CI), 2.29–6.79], H. pylori seropositivity and CT/CC genotypes for rs13361707 (OR, 2.68; 95% CI, 1.62–4.43), H. pylori seropositivity and AG/GG genotypes for rs2274223 (OR, 2.45; 95% CI, 1.55–3.88) compared with those with H. pylori seronegativity and other genotypes of each SNP. Significant interactions were observed between H. pylori seropositivity and the three SNPs (all P G× E <0.05) to the risk of GC. Conclusion These findings indicate that the three SNPs (rs4072037, rs13361707 and rs2274223) identified in the GWASs may interact with H. pylori infection to increase the risk of GC.
CA 19-9 in Evaluation of adnexal mass: retrospective cohort analysis and review of the literature

Objective The aim of this study was to estimate the diagnostic accuracy of serum marker CA 19-9 levels in the triage of adnexal masses. Methods This retrospective cohort study was carried out in patients referred to the Gynecology Department at Carmel Medical Center due to adnexal masses. All patients underwent preoperative measurements of serum CA 125 and CA 19-9 and surgery with histopathologically confirmed diagnosis. Results Between January 2005 and December 2012, 503 patients with adnexal masses were evaluated with serum tumor markers. Combination of CA 19-9 with CA 125, compared with CA 125 levels alone, suggested a nonsignificant effect on sensitivity (86.9% vs. 88.9%, respectively, p = 0.54) or specificity (79.5% vs. 73.5%, p = 0.1) in differentiating malignant from benign adnexal masses. CA 19-9 was not helpful in detecting mucinous histological types or borderline tumors. Mean CA 19-9 levels were higher in metastatic cases compared with primary ovarian malignancy (488.7 ± 1,457 vs. 46.3 ± 149.8 U/mL, respectively, p = 0.001). In mature cystic teratomas, mean CA 19-9 levels were higher and CA 125 levels were lower than in ovarian carcinoma (p = 0.049 and p = 0.0012, respectively). Conclusions The combination of the tumor markers CA 19-9 and CA 125 did not contribute significantly to the detection of malignant adnexal masses compared with CA 125 alone. As our results suggest that higher CA 19-9 levels could be helpful in differentiating metastatic tumors from primary ovarian malignancy; this issue should be investigated in large well-designed prospective cohort trials.
B-test: A Non-parametric, Low Variance Kernel Two-sample Test

We propose a family of maximum mean discrepancy (MMD) kernel two-sample tests that have low sample complexity and are consistent. The test has a hyperparameter that allows one to control the tradeoff between sample complexity and computational time. Our family of tests, which we denote as B-tests, is both computationally and statistically efficient, combining favorable properties of previously proposed MMD two-sample tests. It does so by better leveraging samples to produce low variance estimates in the finite sample case, while avoiding a quadratic number of kernel evaluations and complex null-hypothesis approximation as would be required by tests relying on one sample U-statistics. The B-test uses a smaller than quadratic number of kernel evaluations and avoids completely the computational burden of complex null-hypothesis approximation while maintaining consistency and probabilistically conservative thresholds on Type I error. Finally, recent results of combining multiple kernels transfer seamlessly to our hypothesis test, allowing a further increase in discriminative power and decrease in sample complexity.
Hyperlipidemia in the Pacific Northwest Bell Telephone Company Health Survey: Part 2. Lipoprotein Lipid Interrelationships

The relationships of lipoprotein cholesterol and triglyceride among lipoprotein fractions have potential significance for understanding atherogenesis and distinguishing among different classes of hyperlipidemia. We have compared these relationships in normolipidemic, hypercholesterolemic, hypertriglyceridemic, and combined hyperlipidemic participants in the Pacific Northwest Bell Telephone Company Health Survey. The cholesterol/triglyceride ratio in each lipoprotein fraction was moderately higher (1% to 26%) in hypercholesterolemia but significantly lower (20% to 50%) in hypertriglyceridemia, compared to normolipidemia. In combined hyperlipidemia, the very low density lipoprotein ratios were lower than in normolipidemia, but larger than in hypertriglyceridemia. These changes were directionally the same, but differed quantitatively, in both men and women. Correlation coefficients between cholesterol and triglyceride within each fraction varied by gender and sex hormone use. The largest correlations were seen in combined hyperlipidemic men for very low density lipoproteins, normolipidemic men for low density lipoproteins, and combined hyperlipidemic women taking hormones for high density lipoproteins. The correlation of very low and low density lipoprotein cholesterol was generally negative and was strongest for hormone users (r = − 0.81) and weakest for nonusers (r = −0.06). Very low density lipoprotein triglyceride and high density lipoprotein cholesterol correlations were generally negative and were strongest in hypertriglyceridemic women not taking hormones (r = − 0.55) and weakest in normolipidemic hormone users (r = −0.10). This correlation was positive for hypertriglyceridemic and combined hyperlipidemic hormone users.