Miracle-dz/UniFAR-FTUs huggingface dataset:
Generation of an integrated 3D city model with visual landmarks for autonomous navigation in dense urban areas

In the context of urban autonomous navigation systems for going from point A to point B, a practicable trajectory which takes into account drivable areas and permanent obstacles should be designed first. A robot should then follow this trajectory while avoiding not only dynamic obstacles such as cars and pedestrians but also permanent obstacles such as road sides and central islands. To this end, a robot must be aware of its exact position and must be informed of what its immediate environment is at all times. In dense urban areas, GNSS systems generally suffer from lack of precision due to masks and multipaths. Localization systems have to model these phenomena and even merge with vision based methods in order to obtain the high accuracies required in the process. In this paper we propose an integrated geographic database enabling, on the one hand, the GNSS and vision based localization methods to obtain the required accuracy, and on the other, to provide the robots with information about its surroundings such as drivable surfaces and permanent obstacles. The database is comprised of 3D buildings, 3D roads and a set of 3D visual landmarks. Our system provides most of the information required for autonomous navigation in dense urban areas and has successfully been embedded in real experiments, thanks to a real-time querying system.
The first generation of star-forming haloes

We model gas cooling in high-resolution N-body simulations in order to investigate the formation of the first generation of stars. We follow a region of a Lambda cold dark matter (�CDM) universe especially selected to contain a rich cluster by the present day. The properties of the dark haloes that form in these subsolar mass-resolution simulations are presented in a companion paper by Gao et al. The first gas clouds able to cool by molecular hydrogen (H2)-line emission collapse at extremely high redshift, z ≈ 47, when the mass of the dark halo is 2.4 × 10 5 h −1 M� . B yz ≈ 30, a substantial population of haloes are capable of undergoing molecular hydrogen cooling although their ability to form stars is dependent on the efficiency of feedback processes such as dissociating Lyman‐Werner radiation. The mass of the main halo grows extremely rapidly and, by z ≈ 36, its virial temperature has reached 10 4 K, at which point gas cooling becomes dominated by more effective atomic processes. By z ≈ 30, a small ‘group’ of such potential galaxies will have formed unless prevented from doing so by feedback processes. By this redshift, massive (100 M � ) Population III stars are able to ionize gas well beyond their own host halo and neighbouring H II regions can percolate to form an ionized superbubble. Such patches would be too widely separated to contribute significantly to reionization at this time. The large number density of early cooling haloes in the pre-reionized universe raises the exciting prospect that this ultra-early generation of stars may be observable as gamma-ray bursts or supernovae. Ke yw ords: methods: N-body simulations ‐ galaxies: formation ‐ galaxies: haloes ‐ cosmology: theory ‐ dark matter.
Sequential release of salidroside and paeonol from a nanosphere-hydrogel system inhibits ultraviolet B-induced melanogenesis in guinea pig skin

Melanin is the one of most important pigments for skin color in mammals. Excessive biosynthesis of melanin induces various pigment disorders. Much effort has been made to develop regulators to minimize skin pigmentation abnormalities. However, only a few of them are used, primarily because of safety concerns and low efficiency. In this study, we aimed to construct a novel nanosphere-gel for sequential delivery of salidroside and paeonol, to investigate the synergistic effects of these drugs in anti-melanogenesis, and to decrease their potential for toxicity in high dosage. Nanospheres were prepared and characterized for their particle size, polydispersity index, zeta potential, and morphological properties. The optimized nanospheres were incorporated in carbomer hydrogel with both paeonol and salidroside entrapped to form a dual drug-releasing nanosphere-gel. With this nanosphere-gel, rapid release of salidroside from the hydrogel followed by sustained release of paeonol from the nanosphere was achieved. Using a classical model of the melanogenesis response to ultraviolet exposure, it was shown that the anti-melanogenesis effects of the dual drug-releasing system, in which the doses of the individual drugs were decreased by half, was obviously enhanced when compared with the effects of the single drug preparations. Mechanistically, the burst release of salidroside from the hydrogel may enable prompt suppression of melanocyte proliferation on exposure to ultraviolet B radiation, while the paeonol released in a sustained manner can provide continuous inhibition of tyrosinase activity in melanocytes. Combined delivery of salidroside and paeonol was demonstrated to be a promising strategy for enhancing the therapeutic efficacy of these agents in anti-melanogenesis and reducing their toxicity, so may have great potential in nanomedicine.
User behavior pattern of mobile online social network service

Mobile application providing access to some Online Social Network (OSN) services like Facebook and Twitter had been launch bundled with a data access subscription plan. At the end of 2010, the user of the application increased significantly to more than two millions subscribers while the number of active users grew slowly for only about 300.000 users per month. This research was conducted to see how the user use the OSN application. This research utilized the data collected from user's profile, transaction log and activity log from the service provider. The result was then analyzed using descriptive statistics to discover the pattern of user's behavior of the mobile online social network application. Authors found that user's behavior of mobile online social network service was almost the same as other online social network service users but with special characteristics since mobile users tend to have close session-tosession interval and might have longer session duration. This study will give the service provider recommendation to define better strategy for future development and improvement. The result can also be a reference for another similar research on mobile online social network application in the future.
Mixed-Tenancy in the Wild - Applicability of Mixed-Tenancy for Real-World Enterprise SaaS-Applications

Software-as-a-Service (SaaS) is a delivery model whose basic idea is to provide applications to the customer on demand over the Internet. SaaS thereby promotes multi-tenancy as a tool to exploit economies of scale. This means that a single application instance serves multiple customers. However, a major drawback of SaaS is the customers' hesitation of sharing infrastructure, application code, or data with other tenants. This is due to the fact that one of the major threats of multi-tenancy is information disclosure due to a system malfunction, system error, or aggressive actions. So far the only approach in research to counteract on this hesitation has been to enhance the isolation between tenants using the same instance. Our approach (presented in earlier work) tackles this hesitation differently. It allows customers to choose if or even with whom they want to share the application. The approach enables the customer to define their constraints for individual application components and the underlying infrastructure. The contribution of this paper is an analysis of real-world applicability of the mixed-tenancy approach. This is done experimentally by applying the mixed-tenancy approach to OpenERP, an open source enterprise resource planning system used in industry. The conclusion gained from this experiment is that the mixed-tenancy approach is technically realizable for cases of the real world. However, there are scenarios where the mixed-tenancy approach is not economically worthwhile for the operator.
Simultaneous Multi-Level Divisible Load Balancing for Heterogeneous Desktop Systems

In this paper, we propose an algorithm for efficient divisible load balancing across all processing devices available in a heterogeneous desktop system. The proposed algorithm allows to achieve simultaneous load balancing at different execution levels, namely between execution subdomains defined with several processing devices, and between devices in each subdomain. Moreover, the algorithm builds partial performance models for each execution subdomain, using the minimal set of approximation points determined during the algorithm run, while converging towards the optimal multi level load distributions. The proposed approach was experimentally evaluated in a real desktop system with a quad core CPU and two GPUs, for matrix multiplication. Experimental results show the ability of the algorithm to provide significant performance improvements with very low scheduling overhead when compared to similar scheduling approaches.
A novel knowledge-discovering approach from massive data

The objective of our study lies in developing a new data-reducing approach whose useful application is crucial as a prerequisite to learning Bayesians Networks (BNs) structures. The application of our approach may, in some cases, turn out to be significantly effective in reducing the computational complexity of the BNs structures learning. Firstly, it is essential to define BNs and recall its widelycommon relevant problem of learning structure from massive data. Secondly, we suggest a solution for optimizing the computational complexity by means of data organizational and optimization methods. As a matter of fact we have applied our approach to biological facts concerning hereditary complex illness where the literatures in biology identify the responsible variables for those diseases. Finally, we conclude by highlighting the limits arched by this work and proposing suggestions for further research.
Effects of fresh mineralized dentin and cementum on socket healing: a preliminary study in dogs

Objectives Dentin is composed of many minerals and growth factors. Based on this composition, we studied its effect as a possible regenerative material for alveolar healing. Materials and Methods This study was conducted using four 2.5-year-old mongrel dogs (male; weight, 25 to 30 kg). The third mandibular premolars were carefully mobilized with a dental elevator and then removed using forceps. The crown portions of the extracted teeth were removed with cutters, and the root portions of the remaining teeth were collectively trimmed as closely as possible to 350 to 500 µm. Dentin and cementum (DC) chips harvested from the extracted teeth were soaked in blood and packed into the fresh sockets (autograft). Biopsies were performed at the ends of day 14 and day 56 following implantation. Data were expressed as mean±standard deviation and compared with t-test results. Results The ratio of SA(bone) to total area of each probe was determined and was 170±16 µm2 for the control group and 71±14 µm2 for the DC group, a significant difference (P<0.05). Conclusion DC particulate grafts offered no improvement in bone regeneration in alveolar extraction sockets.
The Potential Benefits of Data Set Filtering and Learning Algorithm Hyperparameter Optimization

The quality of a model induced by a learning algorithm is dependent upon the training data and the hyperparameters supplied to the learning algorithm. Prior work has shown that a model's quality can be significantly improved by filtering out low quality instances or by tuning the learning algorithm hyperparameters. The potential impact of filtering and hyperparameter optimization (HPO) is largely unknown. In this paper, we estimate the potential benefits of instance filtering and HPO. While both HPO and filtering significantly improve the quality of the induced model, we find that filtering has a greater potential effect on the quality of the induced model than HPO, motivating future work in filtering.
Mitochondrial DNA content: its genetic heritability and association with renal cell carcinoma.

BACKGROUND The extent to which mitochondrial DNA (mtDNA) content (also termed mtDNA copy number) in normal human cells is influenced by genetic factors has yet to be established. In addition, whether inherited variation of mtDNA content in normal cells contributes to cancer susceptibility remains unclear. Renal cell carcinoma accounts for 85% of all renal cancers. No studies have investigated the association between mtDNA content and the risk of renal cell carcinoma. METHODS We first used a classic twin study design to estimate the genetic contribution to the determination of mtDNA content. mtDNA content was measured by quantitative real-time polymerase chain reaction in peripheral blood lymphocytes from 250 monozygotic twins, 92 dizygotic twins, and 33 siblings (ie, individual siblings of a pair of twins). We used biometric genetic modeling to estimate heritability of mtDNA content. We then used a case-control study with 260 case patients with renal cell carcinoma and 281 matched control subjects and multivariable logistic regression analysis to examine the association between mtDNA content in peripheral blood lymphocytes and the risk of renal cell carcinoma. All statistical tests were two-sided. RESULTS The heritability (ie, proportion of phenotypic variation in a population that is attributable to genetic variation among individuals) of mtDNA content was 65% (95% confidence interval [CI] = 50% to 72%; P < .001). Case patients with renal cell carcinoma had a statistically significantly lower mtDNA content (1.18 copies) than control subjects (1.29 copies) (difference = 0.11, 95% CI = 0.03 to 0.17; P = .006). Low mtDNA content (ie, less than the median in control subjects) was associated with a statistically significantly increased risk of renal cell carcinoma, compared with high content (odds ratio = 1.53, 95% CI = 1.07 to 2.19). In a trend analysis, a statistically significant dose-response relationship was detected between lower mtDNA content and increasing risk of renal cell carcinoma (P for trend <.001). CONCLUSIONS mtDNA content appears to have high heritability. Low mtDNA content appears to be associated with increased risk of renal cell carcinoma.
The Importance of Parent Consultation When Working With Nonsuicidal Self-Injury in Adolescents

Nonsuicidal self-injury (NSSI) is an unhealthy coping strategy that some adolescents utilize as a way to manage the multitude of stressors in their lives. Individual counseling is often a common modality to treat NSSI in adolescents when discovered; however, available research discussed the importance of family involvement when treating adolescents with self-harm characteristics (Kelada et al., 2016). The purpose of this article is to define adolescent NSSI, describe how NSSI is addressed in counseling, discuss the importance of parent consultation when treating adolescents, and provide case illustrations for counselors to consider how to incorporate parent consultation into practice.
Cu(InGa)Se2 THIN-FILM SOLAR CELLS: COMPARATIVE LIFE-CYCLE ANALYSIS OF BUFFER LAYERS

A motivation for replacing the current CdS buffer layer in CIGS PV is to avoid potential environmental- and human- health risks related to cadmium compounds. However, to gain a full perspective, such risks should be evaluated throughout the entire life cycle of the CdS, and also of alternative buffer layers. Based on data from the National Renewable Energy Laboratory and Global Solar Energy, we examined the life-cycle Cd emissions during materials production and the deposition processes for CdS and ZnS buffers. We found that the Cd emissions from the buffer layers are minimal compared to the upstream emissions from fossil-fuel-based electricity that the electricity generated from CIGS PV will replace. Accordingly, assuring a higher efficiency of CIGS PV is the best strategy to minimize Cd emissions to the environment In addition, the production of ZnS (and InS) entails some Cd emissions as Cd is present in Zn ores. Based on the current efficiencies of alternative cell designs, CIGS/CdS will create a smaller amount of net Cd emissions than the CIGS/ZnS or CIGS/InS-based alternatives.
2 Enablers : Additional Server-Side and Client-Side Information

Future access to web-based content is likely to be dominated by two trends: (a) increasing amounts of dynamic, personalized content, and (b) a significant growth in “on-the-move” access using various mobile resourceconstrained devices. These trends point to a situation where a user would have ubiquitous access to content, but require that content be efficiently delivered to the user irrespective of location, and in a form most suited to the user’s end device. Unfortunately, classical caching and transcoding solutions do not work well together, necessitating a new caching architecture built from the ground-up to handle problems caused by dynamic content, transcoded versions of objects, and the nomadic nature of users. This paper describes the goals and architecture of such a system: CONCA, an architecture for Consistent Nomadic Content Access.
IN SITU HEATING OF THE 2007 MAY 19 CME EJECTA DETECTED BY STEREO/PLASTIC AND ACE

In situ measurements of ion charge states can provide unique insight into the heating and evolution of coronal mass ejections (CMEs) when tested against realistic non-equilibrium ionization modeling. In this work, we investigate the representation of the CME magnetic field as an expanding spheromak configuration, where the plasma heating is prescribed by the choice of anomalous resistivity and the spheromak dynamics. We chose as a test case the 2007 May 19 CME observed by STEREO and ACE. The spheromak is an appealing physical model, because the location and degree of heating are fixed by the choice of anomalous resistivity and the spheromak expansion rate which we constrain with observations. This model can provide the heating required between 1.1R☉ and Earth's orbit to produce charge states observed in the CME flux rope. However, this source of heating in the spheromak alone has difficulty accounting for the rapid heating to Fe8–Fe11+ at lower heights, as observed in STEREO EUVI due to the rapid radiative cooling that occurs at the high densities involved. Episodes of heating and cooling clearly unrelated to spheromak expansion are observed prior to the eruption, and presumably still play a role during the eruption itself. Spheromak heating is also not capable of reproducing the high Fe charge states (Fe16+ and higher) seen in situ exterior to the flux rope in this CME. Thus, while the spheromak configuration may be a valid model for the magnetic topology, other means of energization are still required to provide much of the rapid heating observed.
Exploiting locality: a flexible DSM approach

No single coherence strategy suits all applications well. Many promising adaptive protocols and coherence predictors, capable of dynamically modifying the coherence strategy, have been suggested over the years. While most dynamic detection schemes rely on plentiful of dedicated hardware, the customization technique suggested in this paper requires no extra hardware support for its per-application coherence strategy. Instead, each application is profiled using a low-overhead profiling tool. The appropriate coherence flag setting, suggested by the profiling, is specified when the application is launched. We have compared the performance of a hardware DSM (Sun WildFire) to a software DSM (distributed shared memory) built with identical interconnect hardware and coherence strategy. With no support for flexibility, the software DSM runs on average 45 percent slower than the hardware DSM on the 12 studied applications, while the flexibility can get the software DSM within 11 percent. Our all-software system outperforms the hardware DSM on four applications
Search-based Execution-Time Analysis in Component-Oriented Real-Time Application Development

One of the most important motivations for the application of object technology and subsequently component-based software engineering techniques in practice is that new applications can be created with significantly less effort than in traditional approaches, simply by assembling the appropriate prefabricated parts. However, contemporary object and component technologies are still some way from realizing this vision, especially when componentbased real-time applications are considered. The late integration implied by the assembly of deployable objects or components means there is little opportunity to verify the correct functional and nonfunctional operation of the resultant application before deployment in the run-time environment. This problem is compounded when non-functional requirements are considered, for example the compliance of the application to a real-time schedule. Such real-time requirements are not only affected by individual objects, but by the entirety of all objects that make up the application. Timing verification can only be performed when components are assembled and put together into a new configuration. Although, the effort involved in plugging components together may be relatively small, therefore, the effort involved in verifying that the resulting assembly of components works as expected, and shows the expected run-time behaviour, may be much greater. The savings that are promised by object and component technologies may thus be wiped out by the extra effort needed at integration and deployment time to verify that the run-time behaviour of the resultant application is acceptable.
Detection and avoidance of semi-transparent obstacles using a collective-reward based approach

Most of the computer and robot-vision algorithms are designed mainly for opaque objects and non-opaque objects have received less attention, in spite of them being omnipresent in man-made environments. With an increasing usage of such objects, especially those made of glass, plastic etc., it becomes necessarily important to detect this class of objects while building a robot navigation system. Obstacle avoidance forms a primary yet challenging task in mobile robot navigation. The main objective of this paper is to present an algorithm to detect and avoid obstacles that are made of semi-transparent materials, such as plastic or glass. The algorithm makes use of a technique called the collective-reward based approach to detect such objects from single images captured by an uncalibrated camera in a live video stream. Random selection techniques are incorporated in the method to make the algorithm run in real-time. A mobile robot then uses the information after detection to perform an obstacle avoidance maneuver. Experiments were conducted on a real robot to test the efficacy of the algorithm.