Miracle-dz/UniFAR-FTUs huggingface dataset:
ON-LINE PATH PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS

Motion planning of mobile robots is a complex problem. The com- plexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in un- known environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing ob- stacles. Particle Swarm Optimization technique is used to optimize the velocity parameters of the robot, to arrive at the shortest collision-free trajectory, satisfy- ing dynamic constraints. Simulation results show that the proposed algorithm is computationally efficient and effective.
Computational energy cost of TCP

We present results from a detailed energy measurement study of TCP. We focus on the node-level cost of the TCP protocol and obtain a breakdown of the energy cost of different TCP functions. We analyze the energy consumption of TCP on two platforms (laptop and iPAQ) and three operating systems (FreeBSD 4.2, 5 and Linux 2.4.7). Our results show that 60-70% of the energy cost (for transmission or reception) is accounted for by the kernel NIC (network interface card) copy operation. Of the remainder, /spl sim/15% is accounted for in the copy operation from user space to kernel space with the remaining 15% being accounted for by TCP processing costs. We then further analyze the 15% TCP processing cost and show that the cost of computing checksums accounts for 20-30% of TCP processing cost. Finally, we determine the processing costs of two primary TCP functions - timeouts and triple duplicate ACKs. Pulling all these costs together, we present techniques whereby energy savings of between 20%-30% in the computational cost of TCP can be achieved.
Temperature and the expression of myogenic regulatory factors (MRFs) and myosin heavy chain isoforms during embryogenesis in the common carp Cyprinus carpio L.

SUMMARY Embryos of the common carp, Cyprinus carpio L. , were reared from fertilization of the eggs to inflation of the swim bladder in the larval stage at 18 and 25°C. cRNA probes were used to detect transcripts of the myogenic regulatory factors MyoD, Myf-5 and myogenin, and five myosin heavy chain (MyHC) isoforms during development. The genes encoding Myf-5 and MyoD were switched on first in the unsegmented mesoderm, followed by myogenin as the somites developed. Myf-5 and MyoD transcripts were initially limited to the adaxial cells, but Myf-5 expression spread laterally into the presomitic mesoderm before somite formation. Two distinct bands of staining could be seen corresponding to the cellular fields of the forming somites, but as each furrow delineated, Myf-5 mRNA levels declined. Upon somite formation, MyoD expression spread laterally to encompass the full somite width. Expression of the myogenin gene was also switched on during somite formation, and expression of both transcripts persisted until the somites became chevron-shaped. Expression of MyoD was then downregulated shortly before myogenin. The expression patterns of the carp myogenic regulatory factor (MRF) genes most-closely resembled that seen in the zebrafish rather than the rainbow trout (where expression of MyoD remains restricted to the adaxial domain of the somite for a prolonged period) or the herring (where expression of MyoD persists longer than that of myogenin). Expression of two embryonic forms of MyHC began simultaneously at the 25-30 somite stage and continued until approximately two weeks post-hatch. However, the three adult isoforms of fast muscle MyHC were not detected in any stage examined, emphasizing a developmental gap that must be filled by other, as yet uncharacterised, MyHC isoform(s). No differences in the timing of expression of any mRNA transcripts were seen between temperature groups. A phylogenetic analysis of the MRFs was conducted using all available full-length amino acid sequences. A neighbour-joining tree indicated that all four members evolved from a common ancestral gene, which first duplicated into two lineages, each of which underwent a further duplication to produce Myf-5 and MyoD, and myogenin and MRF4. Parologous copies of MyoD from trout and Xenopus clustered closely together within clades, indicating recent duplications. By contrast, MyoD paralogues from gilthead seabream were more divergent, indicating a more-ancient duplication.
IGFs and IGF-binding proteins in the regulation of human ovarian and endometrial function.

The key function of reproduction is to propagate inheritable characteristics to new generations. The human female reproductive system consists of the hypothalamic– pituitary–ovarian axis and end organs such as the uterus and fallopian tubes. The endocrine axis involves both peptide hormones (gonadotropin-releasing hormone, follicle-stimulating hormone (FSH) and luteinizing hormone (LH)) and steroid hormones (estradiol and progesterone). In addition, numerous growth factors, including the insulin-like growth factors (IGFs) and IGFbinding proteins (IGFBPs), play an important role at the tissue and cellular level through autocrine and/or paracrine mechanisms. There is substantial evidence that IGFs and IGFBPs are involved in follicular growth/development and steroidogenesis in the ovary, in proliferation and differentiation of the uterine endometrium, and in the implantation of the embryo.
Mobile Robot Localization Based on Extended Kalman Filter

The mobile robot localization methodologies in common use at present have been introduced. A localization algorithm based on extended Kalman filter (EKF) has been proposed on the basis of environment feature extraction and map building, which can reduce the error in the calculation of the robot's position and orientation. The method is that the mobile robot analyses and fuses the messages in surroundings from multiple sensors by EKF theory, which enables the robot to identify the surrounding objects clearly and guide itself successfully. The simulation and experimental results show that the proposed localization method is effective
Acute Effect of Cigarette Smoking on Pupil Size and Ocular Aberrations: A Pre- and Postsmoking Study

Aim. To evaluate the acute effects of cigarette smoking on photopic and mesopic pupil sizes and wavefront aberrations. Methods. Cigarette smoker volunteers were recruited in the study. Photopic and mesopic pupil sizes and total ocular aberrations were measured before smoking and immediately after smoking. All volunteers were asked to smoke a single cigarette containing 1.0 mg nicotine. Pupil sizes and total ocular aberrations were assessed by optical path difference scanning system (OPD-Scan II ARK-10000, NIDEK). Only the right eyes were considered for statistical analysis. The changes of pupil size and total ocular aberrations after smoking were tested for significance by Wilcoxon signed ranks test. Results. Mean photopic pupil size decreased from 3.52 ± 0.73 mm to 3.29 ± 0.58 mm (P = 0.001) after smoking. Mean mesopic pupil size was also decreased from 6.42 ± 0.75 mm to 6.14 ± 0.75 mm after smoking (P = 0.001). There was a decrease in all the measured components of aberrations (total wavefront aberration, higher-order aberration, total coma, total trefoil, total tetrafoil, total spherical aberration and total higher-order aberration) after smoking; however the differences were insignificant for all (P > 0.05). Conclusion. Our results indicate that pupil constricts after smoking. On the other hand, smoking does not alter ocular aberrations.
Prevalence of elongation and calcification patterns of elongated styloid process in south India

Objective: Very few studies have been reported in the literature classifying the elongation and calcification patterns of styloid process. The present study was done to investigate the prevalence of elongation and calcification patterns of styloid process in patients attending a dental institution in south India. Study design: 600 digital panoramic radiographs of patients with dental problems were obtained from the outpatient department of the Dental institution. The apparent length of the styloid process was measured by a single experienced oral radiologist, with the help of the measuring tools on the accompanying software. The type of elongation and calcification patterns of each elongated styloid process was classified as per Langlai’s classification with few modifications. Finally the data was subjected to statistical analysis. Results: Out of 520 measurable styloid processes (260 panoramic radiographs), 154 styloid processes had length greater than 3cm. The mean average length of elongated styloid process was 3.67±0.62 cm. No significant association was obtained between age and length of styloid process. In present study, the type of elongation pattern has no effect on the calcification pattern. Our results suggested that Type I elongated styloid processes were most likely to be completely calcified (type D), but statistically not significant. Conclusion: Type I pattern of elongation was found to be more prevalent in elder age group and was completely calcified in most of the cases. Interestingly, only three patients (out of 260) showed symptomatic elongation of styloid process. A relatively high prevalence of type IV elongation pattern (9 /154) was obtained in the present study, when compared to type III styloid process. Further large scale imaging studies are required to evaluate the presence of type IV elongation pattern in various population groups. Key words:Eagle’s syndrome, Elongated styloid process, Stylopharyngeous muscle, Tonsillectomy.
Dominance properties for Divisible MapReduce Computations

In this paper we analyze MapReduce distributed computations as divisible load scheduling problem. The two operations of mapping and reducing can be understood as two divisible applications with precedence constraints. A divisible load model is proposed, and schedule dominance properties are analyzed. We investigate dominant schedule structures for MapReduce computations. To our best knowledge this is the first time that processing divisible loads with precedence constraints is considered on the grounds of divisible load theory.
Quantitative similarity computing for audio effect semantic in video content analysis

As a result of recent progress in networks and hardware, digital video data are increasing significantly. Audio in the video carries abundant semantic message. To understand audio semantic, an audio track semantic similarity computing approach for video semantic content analysis is proposed in this paper. In order to provide a uniform way to make different audio effects to compute quantify similarity, the recognized audio effect will be represented in WordNet, a knowledge bodies that providing a sharing conceptualization. Then, semantic distance in WordNet of two audio effects is used to measures of similarity. The results of experiments comparing to semantic recognition method directly using probability indicate the basic audio semantic analysis method could extraction semantic effectively.
Institutions, Chance and Choices: The Dynamics of Cabinet Survival in the Parliamentary Democracies of Western Europe (1945-99)

This chapter is part of a larger research project on coalition governance and seeks to provide an account of the dynamics of cabinet (and, in particular, coalition) durability in the interval between cabinet formation and termination. The chapter tests predictions about the covariation between relevant actors’ resources, their policy preferences, the institutional constraints they face and the risks posed by random events on the one hand and cabinet durability (the dependent variable) on the other. A number of predictions will be derived from the bargaining-theoretic framework outlined in the second chapter of this volume. The use of event-history analysis as a statistical method ensures that the dynamics of cabinet survival, modelled as an underlying bargaining process, can be observed and examined in a longitudinal design that is more appropriate than traditional cross-sectional regression techniques.
Implementation of road dust resuspension in air quality simulations of particulate matter in Madrid (Spain)

An evaluation of the concentration levels of Particulate Matter (PM) was carried out in Madrid (Spain) by introducing the emissions from road dust resuspension. Road dust resuspension emission factors (EF) for different types of vehicles were calculated from EPA-AP42, a global resuspension factor of 0.097 g veh-1 km-1 as described in Amato et al. (2010) and a rain-dependent correction factor. With these resuspension EFs, a simulation at street canyon level was performed with the OSPM model without rainfall. Subsequently, a simulation using the CMAQ model was implemented adding resuspension emissions affected by the rain. These data were compared with monitored data obtained from air quality stations. OSPM model simulations with resuspension EFs but without the effect of rainfall improve the PM estimates in about 20 µg m-3 compared to the simulation with default EFs. Total emissions were calculated by adding the emissions estimated with resuspension EFs to the default PM emissions to be used by CMAQ. For the study in the Madrid Area, resuspension emissions are approximately of the same order of magnitude as inventoried emissions. On a monthly scale, rain effects are negligible for resuspension emissions due to the dry weather conditions of Spain. With the exception of April and May, the decrease in resuspension emissions is not greater than 3%. The predicted PM10 concentration increases up to 9 µg m-3 on annual average for each station compared to the same scenario without resuspension. However in both cases, PM10 estimates with resuspension are still underestimating observations. It should be noted that although that accounting for resuspension improves the quality of model predictions, other PM sources (e.g. Saharan dust) were not considered in this study.
Embodied and exbodied mind in clinical psychology. A proposal for a psycho-social interpretation of mental disorders

A brief theoretical review of the current state of the art of embodiment research in clinical psychology has been expounded in order to highlight the key role that embodied conceptualization has on the understanding and explanation of several mental disorders, such as eating disorders, schizophrenia and depression. Evidence has suggested that mental disorders may be explained as disturbances of embodiment, from the disembodiment to the hyperembodiment. In order to understand how some clinical conditions are affected by cultural models, we propose and define a new framework called Exbodiment, complementary to the Embodiment approach to cognition. Mental disorder is strictly related to the subject-culture interaction that may be explained as a two way process in which embodiment and exbodiment are complementary points of view. In this perspective, embodiment may be seen as the “top-down” process, while exbodiment the “bottom-up” one. The introduction of exbodiment conceptualization highlights how subject is both receiver and interpreter of social influence. Subject is the target of a cultural pressure and, at the same time, enacts its own embodied culture in world. Exbodiment conceptualization may help clinicians to better understand and explain the role of culture in the onset and maintenance of mental disorders.
Analyzing and predicting knowledge of contributors in community question answering services

Online education has become increasingly important as Internet technology continuously evolves various endeavours like info please, Wikipedia which helps to express and explore the information to the user. This web support provides the flexibility to improve and update their skill sets. Q&A sites provide a rapid growth that augments a regular links between the users. After a study, the knowledge Identity of user's shares only a few knowledge categories- this is due to lack of identification of individual expertise's area. To enhance the online social community service the intelligent contributor and their expertise are to be predicted. This collective knowledge share help the user to delivers the most accurate results. This approach automatically increase the adaption of more powerful friendship selection[7], identify the best and worst contributor for the question & reduce the spam in sharing when there is no desirable result. While analyzing the user's expertise, sharing and providing suggestion [9] to the user this improves the Q&A sites aspect and it enhances the Interaction Bridge and leverage. This method of social media knowledge thus improves user performance in Q&A services.
The OCL3 promoter from Sorghum bicolor directs gene expression to abscission and nutrient-transfer zones at the bases of floral organs.

BACKGROUND AND AIMS During seed fill in cereals, nutrients are symplasmically unloaded to vascular parenchyma in ovules, but thereafter nutrient transport is less certain. In Zea mays, two mechanisms of nutrient passage through the chalaza and nucellus have been hypothesized, apoplasmic and symplasmic. In a recent study, nutrients first passed non-selectively to the chalazal apoplasm and were then selectively absorbed by the nucellus before being released to the endosperm apoplasm. This study reports that the promoter of OUTER CELL LAYER3 (PSbOCL3) from Sorghum bicolor (sorghum) directs gene expression to chalazal cells where the apoplasmic barrier is thought to form. The aims were to elucidate PSbOCL3 expression patterns in sorghum and relate them to processes of nutrient pathway development in kernels and to recognized functions of the homeodomain-leucine zipper (HD-Zip) IV transcription factor family to which the promoter belongs. METHODS PSbOCL3 was cloned and transformed into sorghum as a promoter-GUS (β-glucuronidase) construct. Plant tissues from control and transformed plants were then stained for GUS, and kernels were cleared and characterized using differential interference contrast microscopy. KEY RESULTS A symplasmic disconnect between the chalaza and nucellus during seed fill is inferred by the combination of two phenomena: differentiation of a distinct nucellar epidermis adjacent to the chalaza, and lysis of GUS-stained chalazal cells immediately proximal to the nucellar epidermis. Compression of the GUS-stained chalazal cells during kernel maturation produced the kernel abscission zone (closing layer). CONCLUSIONS The results suggest that the HD-Zip IV transcription factor SbOCL3 regulates kernel nutrition and abscission. The latter is consistent with evidence that members of this transcription factor group regulate silique abscission and dehiscence in Arabidopsis thaliana. Collectively, the findings suggest that processes of floral organ abscission are conserved among angiosperms and may in some respects differ from processes of leaf abscission.
Fast timer-based maximum function computation over noisy multiple access channels

In wireless sensor networks (WSNs), to efficiently make the maximum value and the identity of corresponding sensor nodes available at the sink node is an important problem. In this paper, we develop a timer-based max function computation scheme over multiple access channels (TMCoMAC) in which timer scheme is combined with code division multiple access (CDMA) scheme to achieve fast max function computation with satisfying computation success probability. CDMA code is introduced to mitigate the influence of collision that limits the computation success probability of traditional timer-based computation schemes. An optimization problem to maximize the computation success probability is formulated and solved by using an iterative method. Numerical results are provided to show that our proposed algorithm can improve computation success probability with less delay overhead when CDMA sequence is sufficiently long. More specifically, our proposed scheme improves the computation success probability by about 16% - 24% compared to benchmark algorithm.
Contribution of depth to visual attention: comparison of a computer model and human behavior

The research described in this paper aims at assessing the contribution of depth to visual attention. It reports the measurement of depth induced human visual attention derived from fixation patterns and preliminary results of a quantitative comparison with visual attention as modeled by different versions of a computational model. More specifically, a two-cues color model is compared to a three-cues color and depth model. The preliminary conducted experiments give the first hints of the quantitative contribution of depth features in visual attention.
The Role of Student Feedback in Building Reflexive Teachers

The contemporary demands of the education environment today require that teachers refine their reflective thinking skills and shift towards the deeper critical thinking skills inherent in reflexive thinking. Reflexivity is a deeper level of critical thinking that assumes a degree of metacognition and “knowing-in-action” (Schon, 1983, p. 50). Metacognition is a critical tool in helping individuals become more aware of their deeply seeded biases and tacit assumptions about the way the world works. Through a phenomenological analysis of four individual case studies, this study found that student feedback was a key catalyst for building reflexivity skills. Specifically, the study details the key ways by which feedback prompted novice teachers to metacognitively think through their knowing-in-action and ultimately improve their teaching practice. The research details important implications in three areas: 1) practice, 2) theory, and 3) future research.
Dendritic relationship between starburst amacrine cells and direction‐selective ganglion cells in the rabbit retina

We investigated the dendritic relationship between starburst amacrine cells (SAs) and morphologically and physiologically characterized ON and ON‐OFF direction‐selective ganglion cells (DSGCs) in the rabbit retina. ON and ON‐OFF DSGCs were found to exhibit tight dendritic cofasciculation with the SA plexus, visualized by immunolabelling of the vesicular acetylcholine transporter (VAChT). The degree of cofasciculation of both types of DSGC dendrites and SA plexus was found to be significant, unlike the relationship between non‐DS cells and the SA plexus, which was close to chance distribution. No difference in the degree of cofasciculation in different regions of the DS dendritic field was observed. Individual SAs intracellularly injected both on the ‘preferred’ and ‘null’ side of the DSGCs showed the same degree of cofasciculation with the DSGCs. Therefore, the computation of motion direction is unlikely to result from apparent asymmetry in geometric proximity between SAs and DSGCs. Highly selective synaptic connections between SAs and DSGCs are necessary.