Miracle-dz/UniFAR-FTUs huggingface dataset:
The paradox of service robots-how passers-by can contribute in solving non-deterministic exceptional conditions encountered by service robots

Intelligent, autonomous service robots face unique challenges. Unlike autonomous guided vehicles used in manufacturing facilities, service robots cannot rely on clearly laid assumptions about the environment, as they share the work-space-which has not been designed around them-with human beings. At the same time, they cannot be treated as entertainment robots, since they are designed to accomplish a given set of tasks and their fate is measured by success-rate and not by their cuteness. Service robots need to perform reliably even during exceptional situations. The need for reliability strives for predictability, while the presence of a shared environment yields nondeterministic situations. The clash may be described as the paradox of mobile robotics, where reliability and safety are undermined by the same goals we want to reach. Based on the experience collected with the mobile mail distribution system MoPS, this paper describes a novel approach that is aimed at resolving the large number of error situations that can be addressed by untrained individuals, by allowing the robot to interact with passersby, if an exceptional situation is detected.
Enhancing capabilities of Texture Extraction for Color Image Retrieval

—Content-Based Image Retrieval has been a major area of research in recent years. Efficient image retrieval with high precision would require an approach which combines usage of both the color and texture features of the image. In this paper we propose a method for enhancing the capabilities of texture based feature extraction and further demonstrate the use of these enhanced texture features in Texture-Based Color Image Retrieval.
Oncogenetics of melanoma: basis for molecular diagnostics and therapy

Our understanding of oncogenetics and of the molecular mechanisms involved in melanoma development and signaling has dramatically changed in recent years. Today, melanomas are also classified based on molecular alterations. Emerging molecular therapies are targeted against specific mutations in melanoma. An example of targeted therapies is the successful treatment of KIT‐mutant melanoma with the kinase inhibitor imatinib. Highly selective BRAF‐inhibitors are likewise under clinical development and show encouraging clinical responses. An increasing number of targeted drugs will emerge in the coming years, based on molecular diagnostics and classification. The present article reviews signaling pathways in melanocytes and alterations in melanoma that are a prerequisite to understanding modern cancer therapies in melanoma.
Single Channel Source Separation Using Filterbank and 2D Sparse Matrix Factorization

We present a novel approach to solve the problem of single channel source separation (SCSS) based on filterbank technique and sparse non-negative matrix two dimensional deconvolution (SNMF2D). The proposed approach does not require training information of the sources and therefore, it is highly suited for practicality of SCSS. The major problem of most existing SCSS algorithms lies in their inability to resolve the mixing ambiguity in the single channel observation. Our proposed approach tackles this difficult problem by using filterbank which decomposes the mixed signal into sub-band domain. This will result the mixture in sub-band domain to be more separable. By incorporating SNMF2D algorithm, the spectral-temporal structure of the sources can be obtained more accurately. Real time test has been conducted and it is shown that the proposed method gives high quality source separation performance.
Quantitative Detection of Clostridium perfringens in the Broiler Fowl Gastrointestinal Tract by Real-Time PCR

ABSTRACT Strains of Clostridium perfringens are a frequent cause of food-borne disease and gas gangrene and are also associated with necrotic enteritis in chickens. To detect and quantify the levels of C. perfringens in the chicken gastrointestinal tract, a quantitative real-time PCR assay utilizing a fluorogenic, hydrolysis-type probe was developed and utilized to assay material retrieved from the broiler chicken cecum and ileum. Primers and probe were selected following an alignment of 16S rDNA sequences from members of cluster I of the genus Clostridium, and proved to be specific for C. perfringens. The assay could detect approximately 50 fg of C. perfringens genomic DNA and approximately 20 cells in pure culture. Measurements of the analytical sensitivity determined with spiked intestinal contents indicated that the consistent limit of detection with ileal samples was approximately 102 CFU/g of ileal material, but only about 104 CFU/g of cecal samples. The decreased sensitivity with the cecal samples was due to the presence of an unidentified chemical PCR inhibitor(s) in the cecal DNA purifications. The assay was utilized to rapidly detect and quantify C. perfringens levels in the gut tract of broiler chickens reared without supplementary growth-promoting antibiotics that manifested symptoms of necrotic enteritis. The results illustrated that quantitative real-time PCR correlates well with quantification via standard plate counts in samples taken from the ileal region of the gastrointestinal tract.
Intrathecal Clonidine and Fentanyl with Hyperbaric Bupivacaine Improves Analgesia During Cesarean Section

Seventy-eight pregnant women at term, scheduled for elective cesarean section, were enrolled in this multicenter trial to compare the analgesic efficacy and side effect profile of a spinal block with hyperbaric bupivacaine alone (Group B) or combined with 75 [micro sign]g of clonidine (Group BC) or with clonidine 75 [micro sign]g and fentanyl 12.5 [micro sign]g (Group BCF). Intraoperatively, clonidine increased the spread of the sensory block and decreased pain (pain scores 23 +/- 7 mm vs 17 +/- 6 and 2 +/- 1 mm for Group B versus Groups BC and BCF; P < 0.05) and analgesic supplementation. This improved analgesia was best with the clonidine-fentanyl combination (Group BC versus Group BCF; P < 0.05). Postoperative analgesia was prolonged only in Group BCF (215 +/- 79 min vs 137 +/- 35 and 183 +/- 80 min for Group BCF versus Groups B and BC; P < 0.05). Blood pressure and heart rate changes were not significantly different among groups, whereas sedation and pruritus were significantly more frequent in Group BCF. Nausea and vomiting were decreased in Groups BC and BCF. Apgar scores and umbilical artery blood pH were not different among groups. We conclude that adding a small dose of intrathecal clonidine to bupivacaine increases the quality of intraoperative analgesia and decreases pain during cesarean section. Combining clonidine with fentanyl further improved analgesia. Implications: In this study, we demonstrate improved intraoperative spinal analgesia by adding 75 [micro sign]g of clonidine to bupivacaine; side effects were not increased. The combination of clonidine and fentanyl further improved analgesia but moderately increased sedation and pruritus. (Anesth Analg 1998;87:609-13)
Consensus of multi-agent networks in the presence of adversaries using only local information

This paper addresses the problem of resilient consensus in the presence of misbehaving nodes. Although it is typical to assume knowledge of at least some nonlocal information when studying secure and fault-tolerant consensus algorithms, this assumption is not suitable for large-scale dynamic networks. To remedy this, we emphasize the use of local strategies to deal with resilience to security breaches. We study a consensus protocol that uses only local information and we consider worst-case security breaches, where the compromised nodes have full knowledge of the network and the intentions of the other nodes. We provide necessary and sufficient conditions for the normal nodes to reach consensus despite the influence of the malicious nodes under different threat assumptions. These conditions are stated in terms of a novel graph-theoretic property referred to as network robustness.
Reexamination of Color Vision Standards, Part 2. A Computational Method to Assess the Effect of Color Deficiencies in Using ATC Displays

Abstract : The previous study showed that many colors were used in air traffic control displays. We also found that colors were used mainly for three purposes: capturing controllers' immediate attention, identifying targets, and segmenting information. This report is a continuing effort to reexamine the FAA's color vision standards, focused on understanding how individuals with color vision deficiencies use color-coded information. We first reviewed and synthesized the literature about the effectiveness of color relative to achromatic visual cues. Next, we developed several algorithms to assess the effects of color for individuals with color vision deficiencies. Using a computational algorithm that simulates how color deficient individuals perceive color, we were able to calculate the effectiveness of color in task performance. By considering together the effectiveness of redundant visual cues and the perception of those with color vision deficiencies, we provide a method to assess the potential effects of color deficiencies in using color displays.
Secure Two-party Protocols for Point Inclusion Problem

It is well known that, in theory, the general secure multiparty computation problem is solvable using circuit evaluation protocols. However, the communication complexity of the resulting protocols depend on the size of the circuit that expresses the functionality to be computed and hence can be impractical. Hence special solutions are needed for specific problems for efficiency reasons. The point inclusion problem in computational geometry is a special multiparty computation and has got many applications. Previous protocols for the secure point inclusion problem are not adequate. In this paper we modify some known solutions to the point inclusion problem in computational geometry to the frame work of secure two-party computation.
Automated Detection and Segmentation of Synaptic Contacts in Nearly Isotropic Serial Electron Microscopy Images

We describe a protocol for fully automated detection and segmentation of asymmetric, presumed excitatory, synapses in serial electron microscopy images of the adult mammalian cerebral cortex, taken with the focused ion beam, scanning electron microscope (FIB/SEM). The procedure is based on interactive machine learning and only requires a few labeled synapses for training. The statistical learning is performed on geometrical features of 3D neighborhoods of each voxel and can fully exploit the high z-resolution of the data. On a quantitative validation dataset of 111 synapses in 409 images of 1948×1342 pixels with manual annotations by three independent experts the error rate of the algorithm was found to be comparable to that of the experts (0.92 recall at 0.89 precision). Our software offers a convenient interface for labeling the training data and the possibility to visualize and proofread the results in 3D. The source code, the test dataset and the ground truth annotation are freely available on the website http://www.ilastik. org/synapse-detection.
Preserving the Global Consistency of Dynamic Reconfiguration

Many component-based systems need to modify their behavior or structure at run time in order to adapt the continuous change of user requirements or working environments. Change management is an essential part of reconfigurable systems. Dynamic reconfiguration helps these systems to evolve incrementally for one configuration to another at execution time. Many approaches have been proposed to support dynamic reconfiguration in various kinds of systems. This paper introduces a new approach for preserving the global consistency of dynamic reconfiguration using Alloy specification language. Alloy is a powerful language for modeling and describing the structure and the behavior of a system by expressing its constraints. The approach starts by modeling the structure of a reconfigurable system, and then a set of predicates are proposed to describe the dynamic behavior of a reconfigurable system. Finally, an analysis is done to analyze the previous specifications using Alloy Analyzer.
Hypertension in the Kidney Transplant Recipient: Overview of Pathogenesis, Clinical Assessment, and Treatment

Cardiovascular disease is the leading cause of death in patients with chronic renal disease and the most common cause of death and allograft loss among kidney transplant recipients. Transplant patients often have multiple cardiovascular risk factors antedating transplantation. Among the most prominent is hypertension (HTN), which affects at least 90% of transplant patients. Uncontrolled HTN is an independent risk factor for allograft loss. The etiology of HTN in transplant recipients is complex and multifactorial, including the use of essential immunosuppressive medications. Post-transplant HTN management requires a systematic and individualized approach with nonpharmacologic and pharmacologic therapies. There is no single ideal agent or treatment algorithm. Patients should regularly monitor and record their blood pressure at home. Often, multiple antihypertensive drugs are needed to achieve a goal blood pressure of 120–140/70–90 mm Hg. As transplant recipients commonly must take 8 to 12 different medications daily, adherence must be continually encouraged and monitored. Special attention must be paid to potential drug side effects and drug interactions with immunosuppressive medications.
Further Monetary Easing Policies under the Non-negativity Constraints of Nominal Interest Rates: Summary of the Discussion Based on Japan's Experience

This paper examines issues surrounding monetary policy under zero interest rates based on one and a half year fs experience in Japan. After reviewing the market development in Japan, it summarizes the transmission mechanism of monetary policy under zero nominal interest rates, and considers what would be the likely policy options if a central bank were to conduct further monetary easing. Specifically, a more detailed policy announcement is regarded as feasible, less costly, and the less risky option, although additional effects of monetary easing through this measure are relatively limited. On the other hand, introduction of a temporary fixed exchange rate system and a huge increase in the outright purchase of medium- and long-term government bonds can induce relatively large effects, although the uncertainty in the effects as well as the accompanied costs and risks may be very large. In addition, the paper considers the validity of introducing inflation targeting. It summarizes that inflation targeting is not necessarily easy to distinguish from traditional policy management based on an overall consideration. Furthermore, given recent tendencies in Japan, the paper argues that the introduction of inflation targeting in the current situation might impair the conduct of monetary policy in the absence of preconditions for benefiting from its intrinsic merits.
Differential Role of G Protein-Coupled Receptor Kinase 5 in Physiological Versus Pathological Cardiac Hypertrophy.

RATIONALE G protein-coupled receptor kinases (GRKs) are dynamic regulators of cellular signaling. GRK5 is highly expressed within myocardium and is upregulated in heart failure. Although GRK5 is a critical regulator of cardiac G protein-coupled receptor signaling, recent data has uncovered noncanonical activity of GRK5 within nuclei that plays a key role in pathological hypertrophy. Targeted cardiac elevation of GRK5 in mice leads to exaggerated hypertrophy and early heart failure after transverse aortic constriction (TAC) because of GRK5 nuclear accumulation. OBJECTIVE In this study, we investigated the role of GRK5 in physiological, swimming-induced hypertrophy (SIH). METHODS AND RESULTS Cardiac-specific GRK5 transgenic mice and nontransgenic littermate control mice were subjected to a 21-day high-intensity swim protocol (or no swim sham controls). SIH and specific molecular and genetic indices of physiological hypertrophy were assessed, including nuclear localization of GRK5, and compared with TAC. Unlike after TAC, swim-trained transgenic GRK5 and nontransgenic littermate control mice exhibited similar increases in cardiac growth. Mechanistically, SIH did not lead to GRK5 nuclear accumulation, which was confirmed in vitro as insulin-like growth factor-1, a known mediator of physiological hypertrophy, was unable to induce GRK5 nuclear translocation in myocytes. We found specific patterns of altered gene expression between TAC and SIH with GRK5 overexpression. Further, SIH in post-TAC transgenic GRK5 mice was able to preserve cardiac function. CONCLUSIONS These data suggest that although nuclear-localized GRK5 is a pathological mediator after stress, this noncanonical nuclear activity of GRK5 is not induced during physiological hypertrophy.
Cooperative Multiplexing: Toward Higher Spectral Efficiency in Multi-antenna Relay Networks

Previous work on cooperative communications has concentrated primarily on the diversity benefits of such techniques. This paper, instead, considers the multiplexing benefits of cooperative communications. First, a new interpretation on the fundamental tradeoff between the transmission rate and outage probability in multi-antenna relay networks is given. It follows that multiplexing gains can be obtained at any finite SNR, in full-duplex multi-antenna relay networks. Thus relaying can offer not only stronger link reliability, but also higher spectral efficiency. Specifically, the decode-and-forward protocol is applied and networks that have one source, one destination, and multiple relays are considered. A receive power gain at the relays, which captures the network large scale fading characteristics, is also considered. It is shown that this power gain can significantly affect the system diversity-multiplexing tradeoff for any finite SNR value. Several relaying protocols are proposed and are shown to offer nearly the same outage probability as if the transmit antennas at the source and the relay(s) were co-located, given certain SNR and receive power gains at the relays. Thus a higher multiplexing gain than that of the direct link can be obtained if the destination has more antennas than the source. Much of the analysis in the paper is valid for arbitrary channel fading statistics. These results point to a view of relay networks as a means for providing higher spectral efficiency, rather than only link reliability.
Decentralized reinforcement social learning based on cooperative policy exploration in multi-agent systems

Coordination problems including miscoordination and relative overgeneralization are difficult to overcome especially in dynamic and stochastic environments. In the practical scenario, there may be a large number of agents, and the interactions between agents may be sparse and unfixed. In this paper, we study the coordination problems and stochastic rewards under the social learning framework where there are a group of agents and each agent behaves independently and interacts with another agent randomly chosen from the group. We are looking for a learning technique that makes all agents learn a consistent optimal policy in a two agents game with pathology of coordination problems or stochastic rewards under such a framework. A new algorithm named Decentralized concurrent learning and cooperative policy exploration (DCL-CPE) is contributed, which possesses the ability to overcome the coordination problems and the stochastic rewards via local interaction under the social learning framework. Empirical results for several cooperative games are presented to show the superiority of our algorithm.
Design of a stable nanocrystalline alloy

Nanocrystalline materials are inherently unstable due to their high material fraction of grain boundaries, preventing their improved properties from being used in application. To stabilize the nanoscale grain size against rampant growth, past literature has proposed lowering the grain boundary energy through solute segregation to the boundaries. This approach has seen varied experimental success, using a metric of segregation strength to select an alloying element. In those alloys were some measure of stabilization is gained through alloying, precipitation of a second phase disrupts the necessary segregation state and triggers grain growth. This work considers the total stability of a nanocrystalline alloy both stability against grain growth and stability against second phase precipitation by examining the changes in free energy associated with segregation and nanostructuring. It is discovered that the relationship of segregation and mixing enthalpies for a particular system dictates the nanocrystalline stability of the alloy. Nanocrystalline stability maps are constructed for several conditions that can be used to predict an alloy's ability to support a nanostructure. Also revealed by the generation of stability maps are new types of stable nanocrystalline phases in addition to the expected nano-phase stabilized by solute decoration of the grain boundary, a solute-rich nanocrystalline phase is expected to be stable under some conditions, as is an amorphous phase. To connect material systems to the results predicted by this work, a new model for the enthalpy of segregation was derived. Thesis supervisor: Christopher A. Schuh Title: Department Head, Danae and Vasilis Salapatas Professor of Metallurgy
Indications for Grain Growth and Mass Decrease in Cold Dust Disks around Classical T Tauri Stars in the MBM 12 Young Association

We report the detection of continuum emission at λ = 850 and 450 μm from disks around four classical T Tauri stars in the MBM 12 (L1457) young association. Using a simple model, we infer masses of 0.0014-0.012 M☉ for the disk of LkHα 263 ABC, 0.005-0.021 M☉ for S18 ABab, 0.03-0.18 M☉ for LkHα 264 A, and 0.023-0.23 M☉ for LkHα 262. The disk mass found for LkHα 263 ABC is consistent with the 0.0018 M☉ inferred from the scattered-light image of the edge-on disk around component C. Comparison to earlier 13CO line observations indicates CO depletion by up to a factor of 300 with respect to dark-cloud values. The spectral energy distributions (SEDs) suggest grain growth, possibly to sizes of a few hundred microns, but our spatially unresolved data cannot rule out opacity as an explanation for the SED shape. Our observations show that these T Tauri stars are still surrounded by significant reservoirs of cold material at an age of 1-5 Myr. We conclude that the observed differences in disk mass are likely explained by binary separation affecting the initial value. With available accretion rate estimates we find that our data are consistent with theoretical expectations for viscously evolving disks having decreased their masses by ~30%.
Omalizumab updosing allows disease activity control in patients with refractory chronic spontaneous urticaria

Omalizumab has been shown to be a very effective drug in chronic spontaneous urticaria (CSU) improving patients' quality of life.1 Phase III clinical trials ASTERIA I/II and GLACIAL showed respectively 58.8-52.4% of patients achieving a twice daily average Urticaria Activity Score 7 (UAS7td)≤6 at week 12.2 Outside of clinical trials, the response varies between 77-83%. 3 However, some patients do not achieve well-controlled activity of the disease with the licensed dose of omalizumab (300mg/4 weeks). This article is protected by copyright. All rights reserved.