Miracle-dz/UniFAR-FTUs huggingface dataset:
The Single Frame Stereo Vision System for Reliable Obstacle Detection Used during the 2005 DARPA Grand Challenge on TerraMax

Autonomous driving in off-road environments requires an exceptionally capable sensor system, especially given that the unstructured environment does not provide many of the cues available in on-road environments. This paper presents a variable-width-baseline (up to 1.5 meters) single-frame stereo vision system for obstacle detection that can meet the needs of autonomous navigation in extreme environments. Efforts to maximize computational speed oth in the attention given to accurate and stable calibration and the exploitation of the processors MMX and SSE instruction sets - allow a guaranteed 15 fps rate. Along with the assured speed, the system proves very robust against false positives. The system has been field tested on the TerraMax vehicle, one of only five vehicles to complete the 2005 DARPA Grand Challenge course and the only one to do so using a vision system for obstacle detection
Designing a hierarchical fuzzy logic controller using differential evolution

In conventional fuzzy logic controllers, the computational complexity increases with the dimensions of the system variables; the number of rules increases exponentially as the number of system variables increases, Hierarchical fuzzy logic controllers have been introduced to reduce the number of rules to a linear function of system variables. However the use of hierarchical fuzzy logic controllers raises new issues in the automatic design of controllers, namely the coordination of outputs of sub-controllers at lower levels of the hierarchy. In this paper, we describe a method for automating the design of hierarchical fuzzy logic controllers using an Evolutionary Algorithm called Differential Evolution. We demonstrate the applicability of our method by developing a two-stage hierarchical fuzzy logic controller for controlling a cart-pole with four state variables.
Design of deterministic key pre distribution using number theory

Wireless sensor network (WSN) is composed of large number of sensor nodes with Limited computation power, storage and communication capabilities. The wireless communication employed by sensor network facilitates eavesdropping and packet injection by an adversary. The Security of the wireless sensor networks depends on the existence of strong and efficient key distribution mechanisms. The main task is to safely distribute the shared keys to the sensor nodes with high connectivity, good resilience with minimum resource requirement. The solution to key distribution is such that, a pool of symmetric keys is chosen and a subset of the pool (key chain) is distributed to each sensor node. Two nodes that want to communicate search their key chain to determine whether they share a common key; if they don't share key in common then there may be a path, called key path, among these two nodes where each pair of neighboring nodes on this path have a key in common. In this paper we have shown a novel key pre distribution algorithm based on number theory which uses Chinese Reminder Theorem.
Simple and Efficient Algorithms for Computing Smooth, Collision-free Feedback Laws Over Given Cell Decompositions

This paper presents a novel approach to computing feedback laws in the presence of obstacles. Instead of computing a trajectory between a pair of initial and goal states, our algorithms compute a vector field over the entire state space; all trajectories obtained from following this vector field are guaranteed to asymptotically reach the goal state. As a result, the vector field globally solves the navigation problem and provides robustness to disturbances in sensing and control. The vector field's integral curves (system trajectories) are guaranteed to avoid obstacles and are C ∞ smooth. We construct a vector field with these properties by partitioning the space into simple cells, defining local vector fields for each cell, and smoothly interpolating between them to obtain a global vector field. We present an algorithm that computes these feedback controls for a kinematic point robot in an arbitrary dimensional space with piecewise linear boundary; the algorithm requires minimal preprocessing of the environment and is extremely fast during execution. For many practical applications in two-dimensional environments, full computation can be done in milliseconds. We also present an algorithm for computing feedback laws over cylindrical algebraic decompositions, thereby solving a smooth feedback version of the generalized piano movers' problem.
Developmental sequences of squamate reptiles are taxon specific

Recent studies in comparative vertebrate embryology have focused on two related questions. One concerns the existence of a phylotypic period, or indeed any period, during development in which sequence variation among taxa is constrained. The second question concerns the degree to which developmental characters exhibit a phylogenetic signal. These questions are important because they underpin attempts to understand the evolution of developmental characters and their links to adult morphology. To address these questions, we compared the sequence of developmental events spanning the so‐called phylotypic period of vertebrate development in squamate reptiles (lizards and snakes), from the formation of the primary optic placode to the first appearance of scale anlagen. We used Bayesian phylogenetic ancestral state reconstruction analyses and estimates of Bayesian posterior probabilities of the rank order of developmental events to determine the level of support for phylogenetically associated variation in development. We assessed the amount of variation in event sequences by plotting the proportions of reconstructed ranks (excluding unlikely events, PP < 0.05) associated with each event. Sequence variability was the lowest towards the middle of the phylotypic period and involved three events (allantois contacts chorion, maximum number of pharyngeal slits, and appearance of the apical epidermal ridge [AER]); these events each had only two reconstructed ranks. Squamate clades also differed in the rank order of developmental events. Of the 20 events in our analyses, 12 had strongly supported (PP ≥ 0.95) sequence ranks that differed at two or more internal nodes of the tree. For example, gekkotans are distinguished by the late appearance of the allantois bud compared to all other squamates (ranks 7 and 8 vs. rank 3, respectively) and Serpentes are distinguished by the earlier completion of torsion (rank 3) compared to acrodonts and pleurodonts (ranks 7 and 5, respectively). Clade specific sequences of developmental events mean that investigators should not extend observations on the development on particular squamate species to distantly related taxa for use in comparative studies.
Salivary interleukin-1β: Oral inflammatory biomarker in patients with psoriasis

Objective To evaluate salivary interleukin (IL)-1β levels in patients with psoriasis, before and after treatment with tumour necrosis factor (TNF)-α inhibitors. Methods In this pilot study, salivary secretions were collected from patients with psoriasis and untreated healthy control subjects at baseline, and from patients after 12 weeks’ treatment with TNF-α inhibitors. IL-1β levels were determined in saliva samples via enzyme-linked immunosorbent assays, undertaken before and after TNF-α inhibitor treatment. Psoriasis-specific analysis of disease severity and activity were also undertaken. Results At baseline, patients (n = 25) had significantly higher salivary IL1β levels than controls (n = 20). In patients with psoriasis, TNF-α inhibitor treatment resulted in significantly reduced IL1β levels compared with baseline, but IL1β levels remained significantly higher than in control subjects even after treatment. There was a positive correlation between IL-1β levels, psoriasis activity and disease index score after TNF-α inhibitor treatment. Conclusion Saliva is a valid noninvasive tool for monitoring inflammation in psoriasis. TNF-α inhibitor treatments appear to interfere with the oral inflammatory process in patients with psoriasis.
Mapping patterns of long-term settlement in Northern Mesopotamia at a large scale

The landscapes of the Near East show both the first settlements and the longest trajectories of settlement systems. Mounding is a characteristic property of these settlement sites, resulting from millennia of continuing settlement activity at distinguished places. So far, however, this defining feature of ancient settlements has not received much attention, or even been the subject of systematic evaluation. We propose a remote sensing approach for comprehensively mapping the pattern of human settlement at large scale and establish the largest archaeological record for a landscape in Mesopotamia, mapping about 14,000 settlement sites—spanning eight millennia—at 15-m resolution in a 23,000-km2 area in northeastern Syria. To map both low- and high-mounded places—the latter of which are often referred to as “tells”—we develop a strategy for detecting anthrosols in time series of multispectral satellite images and measure the volume of settlement sites in a digital elevation model. Using this volume as a proxy to continued occupation, we find a dependency of the long-term attractiveness of a site on local water availability, but also a strong relation to the relevance within a basin-wide exchange network that we can infer from our record and third millennium B.C. intersite routes visible on the ground until recent times. We believe it is possible to establish a nearly comprehensive map of human settlements in the fluvial plains of northern Mesopotamia and beyond, and site volume may be a key quantity to uncover long-term trends in human settlement activity from such a record.
Intercellular communications in multispecies oral microbial communities

The oral cavity contains more than 700 microbial species that are engaged in extensive cell–cell interactions. These interactions contribute to the formation of highly structured multispecies communities, allow them to perform physiological functions, and induce synergistic pathogenesis. Co-adhesion between oral microbial species influences their colonization of oral cavity and effectuates, to a large extent, the temporal and spatial formation of highly organized polymicrobial community architecture. Individual species also compete and collaborate with other neighboring species through metabolic interactions, which not only modify the local microenvironment such as pH and the amount of oxygen, making it more suitable for the growth of other species, but also provide a metabolic framework for the participating microorganisms by maximizing their potential to extract energy from limited substrates. Direct physical contact of bacterial species with its neighboring co-habitants within microbial community could initiate signaling cascade and achieve modulation of gene expression in accordance with different species it is in contact with. In addition to communication through cell–cell contact, quorum sensing (QS) mediated by small signaling molecules such as competence-stimulating peptides (CSPs) and autoinducer-2 (AI-2), plays essential roles in bacterial physiology and ecology. This review will summarize the evidence that oral microbes participate in intercellular communications with co-inhabitants through cell contact-dependent physical interactions, metabolic interdependencies, as well as coordinative signaling systems to establish and maintain balanced microbial communities.
Broadband EBG Structures with Compact Unit Cell

The design of a hook-like EBG structure with a small unit cell size is presented in this paper. This hook-like structure has a high inductance of the equivalent electrical LC-circuit, which enables the realization of broadband band-gaps at very low center frequencies. Simulation and measurements show, that the novel structure improves the relative bandwidth by 77% and lattice size by 59% compared to the standard mushroom-like EBG structure. In addition, a second EBG structure with a relative bandwidth of 15% is presented, which is generated with the aid of a genetic algorithm (GA). Measurement results of the proposed designs show good agreement with simulation.
Targeting p21-activated kinase 1 (PAK1) to induce apoptosis of tumor cells

p21-activated kinases (PAKs) are serine/threonine protein kinases that serve as important mediators of Rac and Cdc42 GTPase function as well as pathways required for Ras-driven tumorigenesis. PAK1 has been implicated in signaling by growth factor receptors and morphogenetic processes that control cell polarity, invasion, and actin cytoskeleton organization. To better understand the role of PAK1 in tumorigenesis, PAK1 genomic copy number and expression were determined for a large panel of breast, lung, and head and neck tumors. PAK1 genomic amplification at 11q13 was prevalent in luminal breast cancer, and PAK1 protein expression was associated with lymph node metastasis. Breast cancer cells with PAK1 genomic amplification rapidly underwent apoptosis after inhibition of this kinase. Strong nuclear and cytoplasmic PAK1 expression was also prevalent in squamous nonsmall cell lung carcinomas (NSCLCs), and selective PAK1 inhibition was associated with delayed cell-cycle progression in vitro and in vivo. NSCLC cells were profiled using a library of pathway-targeted small-molecule inhibitors, and several synergistic combination therapies, including combination with antagonists of inhibitor of apoptosis proteins, were revealed for PAK1. Dual inhibition of PAK1 and X chromosome-linked inhibitor of apoptosis efficiently increased effector caspase activation and apoptosis of NSCLC cells. Together, our results provide evidence for dysregulation of PAK1 in breast and squamous NSCLCs and a role for PAK1 in cellular survival and proliferation in these indications.
Optimality and Duality in Nonsmooth Multiobjective Optimization Involving V-Type I Invex Functions

A new class of generalized V-type I invex functions is introduced for nonsmooth multiobjective programming problem. Based upon these generalized invex functions, we establish sufficient optimality conditions for a feasible point to be an efficient or a weakly efficient solution. Weak, strong, and strict converse duality theorems are proved for Mond-Weir type dual program in order to relate the weakly efficient solutions of primal and dual programs.
THE NON-CONSCIOUS ASPECTS OF ETHICAL BEHAVIOR: NOT EVERYTHING IN THE "GOOD" ORGANIZATION IS DELIBERATE AND INTENTIONAL

With regard to the ethical organization, it is generally understood that “good” organizations 1) establish ethical standards; 2) regularly make those standards salient; 3) monitor behavior; and 4) reward and punish accordingly. While it is typical to think of these processes as occurring at conscious levels, I will discuss research that suggests that each process can, and does, occur at non-conscious levels—that an ethical culture exists and influences employees in ways that neither management nor employees likely recognize. Then I will discuss the expectations that should circumscribe a “good” organization. I. INTRODUCTION When organizational leaders and policy makers seek to improve the ethical behavior of individuals within an organization, they tend to focus on the organization’s formal structures. The underlying belief that fosters such efforts is that formal organizational structures (e.g., codes of conduct, ethics hotlines, ethics training programs) have the most direct impact on individual day-to-day behavior and thus have the most influence in shaping the ethical decisions that individuals make. The Federal Sentencing Guidelines 1
Increased Formation of Monocyte-Platelet Aggregates in Ischemic Heart Failure

Background— Cross-talk between monocytes and platelets is reflected by the formation of monocyte-platelet aggregates (MPAs). It is not known whether MPAs are affected in heart failure (HF), and we examined differences in patients with acute HF (AHF), stable HF (SHF), stable coronary artery disease (CAD) without HF, and healthy controls (HCs). Methods and Results— MPAs were analyzed by flow cytometry for the 3 monocyte subsets (CD14++CD16-CCR2+ [Mon1], CD14++CD16+CCR2+ [Mon2] and CD14+CD16++CCR2– [Mon3]) in patients with AHF (n=51), SHF (n=42), stable CAD (n=44), and HCs (n=40). Counts of total MPA and MPAs associated with Mon1 and Mon2 were significantly higher in AHF compared with SHF, CAD, and HCs (P<0.001 for all). The proportion of Mon1 aggregated with platelets was increased in AHF compared with SHF (P=0.033), CAD (P<0.001), and HCs (P<0.001). A higher percentage of Mon3 aggregated with platelets was also seen in AHF compared with SHF (P=0.012) and HCs (P<0.001) but not compared with CAD (P=0.647). MPAs associated with Mon2 were significantly lower in patients who experienced adverse clinical outcomes of death or rehospitalization compared with those who remained free of events (P=0.03). Mon2 count remained an independent negative predictor of combined death and rehospitalization after adjustment for age, left ventricular ejection fraction, creatinine, and brain natriuretic peptide (hazard ratio, 0.58 [95% CI, 0.34–0.98]; P=0.043). Conclusions— MPA formation in patients with both acute and stable HF is increased and seems to be confined to monocytes from Mon1 and Mon2 subsets. MPAs associated with Mon2 seem to be negatively predictive of a worse prognosis in AHF.
Interactive 3D imaging technologies: application in advanced methods of jaw bone reconstruction using stem cells/pre-osteoblasts in oral surgery

Cone beam computed tomography has created a specific revolution in maxillofacial imaging, facilitating the transition of diagnosis from 2D to 3D, and expanded the role of imaging from diagnosis to the possibility of actual planning. There are many varieties of cone beam computed tomography-related software available, from basic DICOM viewers to very advanced planning modules, such as InVivo Anatomage, and SimPlant (Materialise Dental). Through the use of these programs scans can be processed into a three-dimensional high-quality simulation which enables planning of the overall treatment. In this article methods of visualization are demonstrated and compared, in the example of 2 cases of reconstruction of advanced jaw bone defects using tissue engineering. Advanced imaging methods allow one to plan a miniinvasive treatment, including assessment of the bone defect's shape and localization, planning a surgical approach and individual graft preparation.
Evaluating the effectiveness of occlusion reduction techniques for 3D virtual environments

We present an empirical usability experiment studying the relative strengths and weaknesses of three different occlusion reduction techniques for discovering and accessing objects in information-rich 3D virtual environments. More specifically, the study compares standard 3D navigation, generalized fisheye techniques using object scaling and transparency, and the BalloonProbe interactive 3D space distortion technique. Subjects are asked to complete a number of different tasks, including counting, pattern recognition, and object relation, in different kinds of environments with various properties. The environments include a free-space abstract 3D environment and a virtual 3D walkthrough application for a simple building floor. The study involved 16 subjects and was conducted in a three-sided CAVE environment. Our results confirm the general guideline that each task calls for a specialized interaction--no single technique performed best across all tasks and worlds. The results also indicate a clear trade-off between speed and accuracy; simple navigation was the fastest but also most error-prone technique, whereas spherical BalloonProbe proved the most accurate but required longer completion time, making it suitable for applications where mistakes incur a high cost.
Between light and dark, the chimera comes out.

BACKGROUND Chimerism, especially in the absence of sexual ambiguity, is extremely rare in humans. We report the case of a 6-year-old boy whose skin pigmentary abnormalities revealed chimerism. OBSERVATIONS The boy had no remarkable previous medical history, and he had normal intelligence and development. On examination, we found a disorder of the skin pigmentation that was difficult to categorize; there was a lighter-appearing skin patch in the median frontal area and also on one-half of the abdominal area, with a sharp midline demarcation. He also had 2 lighter Blaschko-linear bands on the lower extremities and an indefinable mixture of lighter and darker skin on the back and the lateral part of the trunk. It was not possible to ascertain by means of clinical examination of the patient, his parents, and his brother which of the 2 shades was his normal skin color. Because this pattern of pigmentation might be related to mosaicism, we determined his karyotype. We found that his lymphocytes had a normal number of chromosomes, half of them being either 46,XX or 46,XY. In contrast, his fibroblasts were exclusively XY. The chimerism was confirmed by the analysis of the red blood cell antigens, which revealed the presence of 2 different populations. The characterization of the HLA haplotypes of the lymphocytes showed that the boy inherited 2 HLA haplotypes from his mother but only 1 from his father. Interestingly, the ratio of XX to XY cells was expanded in the T-cell subset compared with other peripheral blood mononuclear cell populations. CONCLUSIONS This is an exceptional case of human chimerism revealed by abnormal skin pigmentation. This boy displayed 2 normal shades of skin color, which we suggest be termed cutis bicolor, as a result of 2 different genetic backgrounds. He also had immune chimerism, which challenges our current comprehension of antigen presentation and tolerance.
Effect of dental material fluorescence on DIAGNOdent readings

Objective. Diagnosis of secondary caries with the DIAGNOdent device has been found to be comparable to visual and radiographic diagnostic methods, but the fluorescence of restorative materials might affect DIAGNOdent values and result in false-positive diagnosis. The aims of this study were: (1) to measure baseline fluorescence of restorative materials and fluorescence changes induced by aging, bleaching, staining, and polishing; (2) to assess intra-examiner reproducibility of these measurements; and (3) to compare the values obtained with the DIAGNOdent against the threshold values for enamel and dentinal caries. Material and Methods. 270 disk-shaped specimens fabricated from 15 different restorative materials were divided into 3 groups, which were aged in water, bleached with 10% carbamide peroxide, and stained with red wine. Specimen fluorescence was measured with the DIAGNOdent before and after these treatments. The red-wine-stained specimens were also polished and measured again. Results. Intra-examiner reproducibility of the measurements was excellent. For all materials, baseline DIAGNOdent values, as well as the values of aged and bleached samples, were considerably lower than the dentinal caries threshold. The values of one stained filled resin fissure sealant, one stained resin composite, and one stained resin-modified glass ionomer exceeded the dentinal caries threshold. Polishing reduced these DIAGNOdent values to below the dentinal caries threshold, except for the filled resin fissure sealant specimen. Conclusions. Stained dental materials might affect DIAGNOdent readings and consequently result in false-positive diagnoses of secondary caries. Dental fillings should be polished prior to DIAGNOdent measurement.