Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust multi-loop airborne SLAM in unknown wind environments

This paper presents a robust multi-loop airborne SLAM structure which also augments wind information. The air velocity observation from an air data system can be used to estimate the error of the on-board Inertial Navigation System (INS). However, due to a priori unknown wind velocity, it cannot directly be used for this purpose. This can be tackled by augmenting the unknown wind velocity into the state vector of SLAM, simultaneously estimating INS, map and wind. This paper proposes a multi-loop SLAM architecture, where the periodic velocity-level SLAM loop limits the INS errors of the velocity effectively, and the aperiodic position-level SLAM loop bounds the overall position error growth. This can significantly increase the consistency of airborne SLAM at the time of loop closure. Simulation results show that the unknown wind vector can be estimated consistently and the robustness of airborne SLAM improves significantly
Kinetic and steady-state properties of Na+ channel and Ca2+ channel charge movements in ventricular myocytes of embryonic chick heart

Nonlinear or asymmetric charge movement was recorded from single ventricular myocytes cultured from 17-d-old embryonic chick hearts using the whole-cell patch clamp method. The myocytes were exposed to the appropriate intracellular and extracellular solutions designed to block Na+, Ca2+, and K+ ionic currents. The linear components of the capacity and leakage currents during test voltage steps were eliminated by adding summed, hyperpolarizing control step currents. Upon depolarization from negative holding potentials the nonlinear charge movement was composed of two distinct and separable kinetic components. An early rapidly decaying component (decay time constant range: 0.12- 0.50 ms) was significant at test potentials positive to -70 mV and displayed saturation above 0 mV (midpoint -35 mV; apparent valence 1.6 e-). The early ON charge was partially immobilized during brief (5 ms) depolarizing test steps and was more completely immobilized by the application of less negative holding potentials. A second slower- decaying component (decay time constant range: 0.88-3.7 ms) was activated at test potentials positive to -60 mV and showed saturation above +20 mV (midpoint -13 mV, apparent valence 1.9 e-). The second component of charge movement was immobilized by long duration (5 s) holding potentials, applied over a more positive voltage range than those that reduced the early component. The voltage dependencies for activation and inactivation of the Na+ and Ca2+ ionic currents were determined for myocytes in which these currents were not blocked. There was a positive correlation between the voltage dependence of activation and inactivation of the Na+ and Ca2+ ionic currents and the activation and immobilization of the fast and slow components of charge movement. These complementary kinetic and steady-state properties lead to the conclusion that the two components of charge movement are associated with the voltage-sensitive conformational changes that precede Na+ and Ca2+ channel openings.
Research of Properties of Digital Noise in Contrast Images

The article is devoted to the research of probabilistic properties of digital noise in contrast images. For obtaining numerical characteristics of the additive noise distribution physical experiments were made. These characteristics testify that noise in digital images is non-uniform both on variance and on distribution are received were for this purpose made. The image with contrast overfall from black to white was simulated and the noise filtration is carried out by known methods of smoothing. During a Monte-Carlo method of statistical tests it was established that smoothing based on the generalized method of the least absolute values eliminates noise on contrast overfall more efficiently.
Bringing up Children

Inevitably, reading is one of the requirements to be undergone. To improve the performance and quality, someone needs to have something new every day. It will suggest you to have more inspirations, then. However, the needs of inspirations will make you searching for some sources. Even from the other people experience, internet, and many books. Books and internet are the recommended media to help you improving your quality and performance.
Compensation of Zero-Current Clamping Effects for Sensorless Drives Based on High-Frequency Signal Injection

This paper proposes an on-line compensation strategy of the unwanted disturbance voltage due to the zero current clamping effect for high-frequency-signal-injection based sensorless control schemes. An analytical model is derived which reveals intrinsic characteristics of the zero clamping effect for the high frequency signal injection. The model in this form is subsequently incorporated into the development of a specialized off-line commissioning test to find motor inductances and a voltage distortion factor. From the sensitivity analysis of the effect on the magnetic saturation, it is confirmed that the compensation error due to saturation has little negative impact on the proposed compensation method. The compensation result leads to an accurate position estimate during zero-current clamping region and the proposed scheme does not rely on a complicated look-up table. Experiments demonstrate the superiority of the proposed method in suppressing the voltage distortions caused by the zero-current clamping effect
The expanded CAG repeat in the huntingtin gene as target for therapeutic RNA modulation throughout the HD mouse brain

The aim of these studies was to demonstrate the therapeutic capacity of an antisense oligonucleotide with the sequence (CUG)7 targeting the expanded CAG repeat in huntingtin (HTT) mRNA in vivo in the R6/2 N-terminal fragment and Q175 knock-in Huntington’s disease (HD) mouse models. In a first study, R6/2 mice received six weekly intracerebroventricular infusions with a low and high dose of (CUG)7 and were sacrificed 2 weeks later. A 15–60% reduction of both soluble and aggregated mutant HTT protein was observed in striatum, hippocampus and cortex of (CUG)7-treated mice. This correction at the molecular level resulted in an improvement of performance in multiple motor tasks, increased whole brain and cortical volume, reduced levels of the gliosis marker myo-inositol, increased levels of the neuronal integrity marker N-aceyl aspartate and increased mRNA levels of the striatal marker Darpp-32. These neuroanatomical and neurochemical changes, together with the improved motor performance, suggest that treatment with (CUG)7 ameliorates basal ganglia dysfunction. The HTT-lowering was confirmed by an independent study in Q175 mice using a similar (CUG)7 AON dosing regimen, further demonstrating a lasting reduction of mutant HTT protein in striatum, hippocampus and cortex for up to 18 weeks post last infusion along with an increase in motor activity. Based on these encouraging results, (CUG)7 may thus offer an interesting alternative HTT-lowering strategy for HD.
Reconstructive three-dimensional electron microscopy. A routine biologic tool.

Twenty years ago a laboratory could devote an entire year or more to the collection and analysis of a single set of serial electron micrographs. In contrast, simple technical improvements have now made it possible to take embedded material and have in hand complete computer reconstructions of cells' organelles, microtubules, etc., in less than a week. With a few additional minor improvements, this time could be reduced to only two or three days. Experience in our laboratory suggests that almost without exception these reconstructions provide new insights into both the structure and function of cells. We illustrate this point by presenting a new, unpublished anatomic feature of mammalian nuclei, the "nuclear tube. " This example is typical of many other unpublished incidental findings we have made over the last five years using serial electron microscopy as a routine tool, and we believe it represents only the tip of a largely unexplored world of three-dimensional cytoarchitecture.
On the edge of feasibility: A case study of the particle swarm optimizer

In many real-world constrained optimization problems (COPs) it is highly probable that some constraints are active at optimum points, i.e. some optimum points are boundary points between feasible and infeasible parts of the search space. A method is proposed which narrows the feasible area of a COP to its boundary. In the proposed method the thickness of the narrowed boundary is adjustable by a parameter. The method is extended in a way that it is able to limit the feasible regions to boundaries where at least one of the constraints in a given subset of all constraints is active and the remaining constraints might be active or not. Another extension is able to limit the search to cases where all constraints in a given subset are active and the rest might be active or not. The particle swarm optimization algorithm is used as a framework to compare the proposed methods. Results show that the proposed methods can limit the search to the requested boundary and they are effective in locating optimal solutions on the boundaries of the feasible and infeasible area.
PREMATURE VENTRICULAR CONTRACTIONS ORIGINATING FROM THE RIGHT VENTRICULAR OUTFLOW TRACT: THREE‐DIMENSIONAL DISTRIBUTION OF THE TARGET SITES AND THEIR ELECTROCARDIOGRAPHIC CHARACTERISTICS

1 The purpose of the present study was to explore the relationship between electrocardiogram (ECG) patterns of right ventricular outflow tract (RVOT) premature ventricular contractions and the three‐dimensional distribution of the target sites. 2 Thirty‐three consecutive patients were included in the study. The target sites were identified by non‐contact mapping and confirmed by successful ablation. The distribution of the target sites in the three‐dimensional reconstructed geometry of the RVOT was classified in three directions: (i) anterior (A)/posterior (P); (ii) free wall (F)/septal (Se); and (iii) superior (Su)/inferior (I). The ECG characteristics were then analysed according to the three‐dimensional distribution of the target sites. 3 The following indices were helpful to identify the position of the target site: (i) QRS duration (≥ 150 msec = F; < 150 msec = Se; P < 0.05); (ii) the R wave pattern in the inferior leads (RR′ or Rr′ = F; R = Se; P < 0.05); (iii) the R wave amplitude in the inferior leads (high = Se; low = F; P < 0.05); (iv) the initial r wave width in lead V1 (wide = F; narrow = Se; P < 0.05); (v) the QS wave amplitude in aVR and aVL (if aVR < aVL, A; if aVR ≥ aVL, P; P < 0.05); and (vi) the initial r wave amplitude in lead V1 and V2 (if V1 ≥ 0.15 mV and V2 ≥ 0.3 mV, Su; if V1 < 0.15 mV or V2 < 0.3 mV, I; P < 0.05). 4 In conclusoin, the ECG characteristics were associated with target site locations in all three directions.
Whittle Index for Partially Observed Binary Markov Decision Processes

We consider the problem of dynamically scheduling <inline-formula><tex-math notation="LaTeX">$M$</tex-math> </inline-formula> out of <inline-formula><tex-math notation="LaTeX">$N$</tex-math></inline-formula> binary Markov chains when only noisy observations of state are available, with ergodic (equivalently, long run average) reward. By passing on to the equivalent problem of controlling the conditional distribution of state given observations and controls, it is cast as a restless bandit problem and its Whittle indexability is established.
Intermediate Phenotypes Identify Divergent Pathways to Alzheimer's Disease

Background Recent genetic studies have identified a growing number of loci with suggestive evidence of association with susceptibility to Alzheimer's disease (AD). However, little is known of the role of these candidate genes in influencing intermediate phenotypes associated with a diagnosis of AD, including cognitive decline or AD neuropathologic burden. Methods/Principal Findings Thirty-two single nucleotide polymorphisms (SNPs) previously implicated in AD susceptibility were genotyped in 414 subjects with both annual clinical evaluation and completed brain autopsies from the Religious Orders Study and the Rush Memory and Aging Project. Regression analyses evaluated the relation of SNP genotypes to continuous measures of AD neuropathology and cognitive function proximate to death. A SNP in the zinc finger protein 224 gene (ZNF224, rs3746319) was associated with both global AD neuropathology (p = 0.009) and global cognition (p = 0.002); whereas, a SNP at the phosphoenolpyruvate carboxykinase locus (PCK1, rs8192708) was selectively associated with global cognition (p = 3.57×10−4). The association of ZNF224 with cognitive impairment was mediated by neurofibrillary tangles, whereas PCK1 largely influenced cognition independent of AD pathology, as well as Lewy bodies and infarcts. Conclusions/Significance The findings support the association of several loci with AD, and suggest how intermediate phenotypes can enhance analysis of susceptibility loci in this complex genetic disorder.
Prevalence of and risk factors for age-related macular degeneration in a multiethnic Asian cohort.

OBJECTIVE To describe the prevalence of and risk factors for age-related macular degeneration (AMD) in a multiethnic Asian cohort of Chinese, Malay, and Indian persons. METHODS In this population-based study, 3172 persons of Chinese, Malay, and Indian ethnicities 40 years and older were included. Participants underwent comprehensive systemic and ocular examination, retinal photography, and laboratory investigations. Early and late AMD signs were graded from retinal photographs. Age-standardized prevalence estimates were calculated using the 2010 Singapore adult population as the standard population. Association with a range of systemic risk factors was analyzed. RESULTS Of 3172 participants, AMD was present in 211 subjects. Age-standardized prevalence of AMD was 7.0% in persons 40 years and older. The age-standardized prevalence was similar in all 3 Asian ethnic groups: Chinese, 7.3%; Malay, 7.7%; and Indian, 5.7% (P value = .44). The prevalence increased with age and was higher in men. Of the range of risk factors evaluated, only myopic refractive error (<-0.5 D) was significantly associated with a lower risk for AMD (odds ratio, 0.44; P < .001, compared with emmetropia) in Chinese men. CONCLUSIONS The prevalence of AMD was similar in the 3 major ethnic groups in Asia and comparable with white populations. Myopic refractive error was associated with reduced risk of AMD in Chinese men.
Emission and abundance of biogenic volatile organic compounds in wind-throw areas of upland spruce forests in Bavaria

This study constitutes the first measurements of monoterpene emission and concentration dynamics above a wind-throw disturbed spruce forest ecosystem. Long term flux measurements by micrometeorological measurement approaches showed that, even 4 years after the storm event, wind-throw areas are strong sources of monoterpenes with emission magnitudes similar to living spruce forests. Including this (so far unconsidered) dead wood source in monoterpene emission models bears the potential to substantially improve regional and global emission estimates.
Supplementary Text 1: Regulatory interactions between the primary pair-rule genes during cellularisation

This supplementary document concerns the cross-regulatory interactions between the five primary pair-rule genes (hairy, eve, runt, ftz, and odd) during cellularisation. Looking at each gene in turn, I examine the evidence for its expression being directly regulated by the other primary pair-rule factors. The conclusions form the basis for the topology of the “early” pairrule network presented in Fig 1A of the main text.
Deglacial dynamics of the Vestfjorden – Trænadjupet palaeo‐ice stream, northern Norway

Few well‐dated records of the deglacial dynamics of the large palaeo‐ice streams of the major Northern Hemisphere ice sheets are presently available, a prerequisite for an improved understanding of the ice‐sheet response to the climate warming of this period. Here we present a transect of gravity‐core samples through Trænadjupet and Vestfjorden, northern Norway, the location of the Trænadjupet – Vestfjorden palaeo‐ice stream of the NW sector of the Fennoscandian Ice Sheet. Initial ice recession from the shelf break to the coastal area (~400 km) occurred at an average rate of about 195 m a−1, followed by two ice re‐advances, at 16.6–16.4 ka BP (the Røst re‐advance) and at 15.8–15.6 ka BP (the Værøy re‐advance), the former at an estimated ice‐advance rate of 216 m a−1. The Røst re‐advance has been interpreted to be part of a climatically induced regional cold spell while the Værøy re‐advance was restricted to the Vestfjorden area and possibly formed as a consequence of internal ice‐sheet dynamics. Younger increases in IRD content have been correlated to the Skarpnes (Bølling – Older Dryas) and Tromsø – Lyngen (Younger Dryas) Events. Overall, the decaying Vestfjorden palaeo‐ice stream responded to the climatic fluctuations of this period but ice response due to internal reorganization is also suggested. Separating the two is important when evaluating the climatic response of the ice stream. As demonstrated here, the latter may be identified using a regional approach involving the study of several palaeo‐ice streams. The retreat rates reported here are of the same order of magnitude as rates reported for ice streams of the southern part of the Fennoscandian Ice Sheet, implying no latitudinal differences in ice response and retreat rate for this ~1000 km2 sector of the Fennoscandian Ice Sheet (~60–68°N) during the climate warming of this period.
An Asymptotic Analysis of Intracellular Signaling Gradients Arising from Multiple Small Compartments

Intracellular signaling gradients naturally arise through a local activation of a dif- fusible signaling molecule, e.g., by a localized kinase, and a subsequent deactivation at a distant cellular site, e.g., by a cytosolic phosphatase. Here, we consider a spherical cell containing a finite number of small spherical compartments where a signaling molecule becomes activated by a localized enzyme. For the activation rate two cases are considered: a saturated enzyme with a constant rate and an unsaturated enzyme with a linear rate. Using the method of matched asymptotic expansions, we derive approximate solutions of the steady-state diffusion equation with a linear deactivation rate to obtain the three-dimensional concentration profile of activated signaling molecules inside the cell. Depending on the diffusion length of the signaling molecule, the profiles decay either exponentially or algebraically, where the mode of decay is described by an associated Green's function. Our analysis provides simple expressions for the local concentration profile in the neighborhood of a signaling compartment, which can be used to estimate the amplitude and the extent of the gradients in the respective regimes. The global concentration profiles also depend on the cell size and the particular spatial arrangement of the compartments relative to each other and to the cell boundary.
Information-Based Stock Trading, Executive Incentives, and the Principal-Agent Problem

We examine the role of information-based stock trading in affecting the risk--incentive relation. By incorporating an endogenous informed trading into an optimal incentive contracting model, we analytically show that, apart from reducing incentives, a greater risk increases the level of information-based trading, which consequently enhances executive incentives and offsets the negative risk--incentive relation. We calibrate the model and find that the economic magnitude of this incentive-enhancement effect is significant. Our empirical test using real-world executive compensation data lends strong support to the model prediction. Our results suggest that principals (boards of directors) should consider underlying stock trading characteristics when structuring executive incentives.
The Relationship between Health Literacy and Health Promoting Behaviors in Patients with Type 2 Diabetes

ABSTRACT Background: Health promoting behaviors are known to be a key factor in managing type 2 diabetes and improving the quality of life in diabetic patients. However, there is little known about the factors influencing these behaviors in diabetic patients. This study aimed to find the relationship between the health literacy and health promoting behaviors in patients with type II diabetes. Methods: This correlational study was conducted from August to September 2016 on 175 eligible diabetic patients (20 to 65 year-old) who referred to the selected centers of diabetes control in Ahvaz City. Patients were chosen using convenience non-probable sampling. Data were collected by diabetic patients’ health promoting behaviors’ questionnaire and health literacy questionnaire. Data were analyzed using SPSS 22, descriptive statistics and Pearson’s correlation coefficient. Result: The mean scores for health promoting behaviors and health literacy were determined 100.45±19.82 and 76.14±15.26, respectively. The highest and lowest scores in health promoting behaviors belonged to nutrition (26.11±6.85) and physical activity (6.70±2.75), respectively. There was a significant relationship between all dimensions of health promoting behaviors and health literacy (P<0.05). Conclusion: Since health literacy has a positive relationship with health promoting behaviors in diabetic patients, health care providers need to concentrate on increasing the health literacy of their patients rather than solely concentrating on increasing their knowledge, thereby facilitating the development of health promoting behaviors in patients.
Anti‐tuberculosis prophylaxis following renal transplantation: acceptable variations?

Guidelines suggest tuberculosis (TB) prophylaxis in renal transplant recipients originating in endemic areas or in those at risk from non‐endemic countries. Concern remains that these guidelines may fail to provide adequate prophylaxis for a cohort of patients who remain at potential risk. We aimed to determine variation patterns among different transplant units within the United Kingdom (UK) with regard to TB prophylaxis policy.
The middle manager: Friend or foe of employee involvement

Middle management resistance has been frequently identified as a significant barrier to the success of employee involvement practices. This paper reviews evidence from the literature and from 12 case studies on the role played by middle managers in employee involvement initiatives. There is evidence that middle management resistance often acts as a significant impediment to employee involvement. However, there is also evidence that this resistance is often a symptom of inconsistency between organisational systems and the goals of employee involvement and of inadequate training and support for middle managers. Employee involvement initiatives should pay attention to aligning organisational systems with the goals of employee involvement and treat middle managers as the targets as well as the implementors of employee involvement.
A Survey of Multipath Routing Schemes of Wireless Mesh Networks

There have been many advances in the area of routing in wireless mesh networks and a multitude of routing algorithms have been proposed. In the recent past, a class of routing protocols called multipath routing has gained favour amongst researchers. As opposed to uni path routing where one single path is used to send data from a source to a destination, in multipath routing, multiple paths are used to route data. The idea of using multiple paths to deliver data lends itself well to a wireless multihop network, given its broadcast nature and high connectivity and can offer significant advantages over traditional single path routing – increased reliability, ability to load balance data flows which improves network performance, allows quick recovery from route failures and throughput aggregation. This paper provides brief overviews of the protocols that employ this method and identifies the challenges involved in such a routing strategy.