Miracle-dz/UniFAR-FTUs huggingface dataset:
Multisensory Omni-directional Long-term Place Recognition: Benchmark Dataset and Analysis

Recognizing a previously visited place, also known as place recognition (or loop closure detection) is the key towards fully autonomous mobile robots and self-driving vehicle navigation. Augmented with various Simultaneous Localization and Mapping techniques (SLAM), loop closure detection allows for incremental pose correction and can bolster efficient and accurate map creation. However, repeated and similar scenes (perceptual aliasing) and long term appearance changes (e.g. weather variations) are major challenges for current place recognition algorithms. We introduce a new dataset Multisensory Omnidirectional Long-term Place recognition (MOLP) comprising omnidirectional intensity and disparity images. This dataset presents many of the challenges faced by outdoor mobile robots and current place recognition algorithms. Using MOLP dataset, we formulate the place recognition problem as a regularized sparse convex optimization problem. We conclude that information extracted from intensity image is superior to disparity image in isolating discriminative features for successful long term place recognition. Furthermore, when these discriminative features are extracted from an omnidirectional vision sensor, a robust bidirectional loop closure detection approach is established, allowing mobile robots to close the loop, regardless of the difference in the direction when revisiting a place.
Why Johnny Can Hack: The Mismatch between Vulnerabilities and Security Protection Standards

Although organizations are now more aware of security issues than ever, and many powerful technologies are available for securing computer systems, it is our belief that protection techniques applied in organizational computer systems may often be mismatched against real threats. Instead of performing a comprehensive threat modeling on the target system, security designers often apply a list of protection measures recommended in the security standards. But are the standards well matched to threats? In this paper, we analyze security requirements outlined in the Common Criteria and vulnerabilities reported in the National Vulnerability Database. To be able to compare information from these sources, we categorized them into consensus security categories. We present statistical evidence upon which we base our comparison. Our analysis shows (1) Internet attacks are dynamic in time versus static protection standards and (2) emphasis in protection standards is mismatched against empirical data on vulnerabilities.
Development of a pH-Responsive Particulate Drug Delivery Vehicle for Localized Biologic Therapy in Inflammatory Bowel Disease

The treatment of inflammatory bowel disease (IBD) recently has been revolutionized by the introduction of protein-based biologic therapies. However, biologic therapy is complicated by the requirement for administration with a needle, systemic side effects, and high cost. Particulate drug delivery systems have been shown to deliver drugs locally to the intestinal mucosa via oral administration. However, these systems have been largely unexplored for the delivery of biologics due to harsh particle fabrication conditions and the tendency of many particulate formulations to dissolve in the acidic upper GI tract. We have, therefore, fabricated an inexpensive and non-toxic novel microparticle capable of encapsulating proteins. We establish that the particle retains its contents at acidic pH and releases them at neutral pH. We also demonstrate particulate encapsulation of interleukin-10 (IL-10), a protein relevant to the treatment of IBD, at an encapsulation efficiency of 14.3 percent. Such a vehicle is promising for its oral route of administration and potential to decrease side effects and increase potency of biologics.
Central sprouting and functional plasticity of regenerated primary afferents

A combination of neuroanatomical and electrophysiological techniques was used to study the effects of peripheral axotomy and regeneration of primary afferents on their central projections in the spinal cord. Individual regenerated afferent fibers were impaled with HRP-filled electrodes in the dorsal columns of alpha-chloralose-anesthetized cats and activated by current pulses delivered via the intracellular electrode. The resulting cord dorsum potentials (CDPs) were recorded at four rostrocaudal locations and HRP was iontophoretically injected into the fiber. Central distributions of boutons and CDPs were compared with peripheral receptor type to determine the accuracy of peripheral regeneration and the effects of central-peripheral mismatches. Reconstruction of the central projections of 13 individual afferents for which the adequate stimulus and CDPs had been recorded revealed many abnormalities. For example, unlike controls, four group I and II afferents with central projections typical of proprioceptors (concentrated in laminae V, VI, and VII) innervating either cutaneous or noncutaneous targets evoked measurable CDPs. Three other group II or A beta afferents innervating low-threshold mechanoreceptors with central terminations confined to the dorsal horn exhibited extensive collateralization in laminae I and II in addition to large numbers of terminals in laminae III-IV. These fibers activated central networks whose adaptation behavior was identical to those evoked by high- threshold mechanoreceptive afferents in controls. These results suggest that primary afferents and their central connections are capable of significant modifications following axotomy and regeneration. In addition, the anatomical studies indicate some reorganization in the laminar distribution of boutons as well as in bouton size.
Transfer Function Design Using Acting Force Model

Transfer function plays an important role in volume rendering. Multi-dimension transfer function can achieve high rendering quality, but suffer from troublesome user specifications. In order to reduce the complexity of manipulations, a transfer function design method based on dimension reduction model is proposed in this paper. The idea of dimension reduction model is to integrate several data features into one index for transfer function. This paper also presents one instance of dimension reduction model called acting force model (AFM) to verity the effectiveness. In AFM, one integrated index is calculated by applying transformative universal gravitation formula and kinetic energy formula to three data features: scalar value, gradient and coherence distance. The experiments demonstrate the proposed method can produce flexible results without overloading the users.
The Quadratic Gauss Sum Redux

Abstract Let p be an odd prime and ζ be a primitive pth-root of unity. For any integer a prime to p, let denote the Legendre symbol, which is 1 if a is a square mod p, and is -1 otherwise. Using Euler's Criterion that mod p, it follows that the Legendre symbol gives a homomorphism from the multiplicative group of nonzero elements Fp* of Fp Z/pZ to {±1}. Gauss's law of quadratic reciprocity states that for any other odd prime q,
Quantifiable closed quality control (QC2)

To meet the challenge of producing innovative and technologically demanding products economically, companies need the ability of quick and flexible reaction to internal and external disturbances. As a result the companies’ objective shifts from maximization of quality to a “controlled quality” aiming for the stabilization of the operative and strategic value creation process. So the main problem of manufacturing enterprises is to dampen the oscillation of product, process and system quality caused by impacting disturbances and ineffective activities and measures due to fuzzy or uncertain information. The paper proposes a new approach for the evaluation of the quality of entrepreneurial control mechanisms within production systems. Using the metrics and terms of control theory and cybernetics the organizational feedback processes can be developed further towards a blueprint for generic closed quality control loops. The reference process description of the quality control loop is the basis for the further examination and feedback mechanisms, where the behavior of quality loops is designed regarding the operational stability as the main performance indicator. Assisted by this methodology companies are able to identify and design their quality control loops. Key-Words: Quality Control Loop, Quality Management, Closed Loop Quality Control, Control Theory
Integrated Methodology for Software Reliability Analysis

The most used techniques to ensure safety and reliability of the systems are applied together as a whole, and in most cases, the software components are usually overlooked or to little analyzed. The present paper describes the applicability of fault trees analysis software system, analysis defined as Software Fault Tree Analysis (SFTA), fault trees are evaluated using binary decision diagrams, all of these being integrated and used with help from Java library reliability.
On the state observation and output feedback problems for nonlinear uncertain dynamic systems

The authors examine the problems of state observation and state trajectory control by output feedback for the class of nonlinear systems described by Y.H. Chen (1990) and A. Steinberg and M. Corless (1985). They formulate a nonlinear nonvariable structure type observer that guarantees that the observation error is globally exponentially stable (GES). A nonlinear, nonvariable structure type output feedback controller is then formulated. It forces the state to the origin in the GES sense. Specific time-varying bounds on the observation error and the state trajectory are also developed: revealing how the corresponding observer or control parameters can be adjusted to improve the system performance. <<ETX>>
Episodic Stimulation of α1-Adrenoreceptors Induces Protein Kinase C-Dependent Persistent Changes in Motoneuronal Excitability

In vitro long-term facilitation (ivLTF) is a novel form of activity-independent postsynaptic enhancement of AMPA receptor function in hypoglossal (XII) motoneurons that can be induced by intermittent activation of 5-HT2 receptors. In vivo respiratory long-term facilitation (LTF) is characterized by a persistent 5-HT2 receptor-dependent increase in respiratory motor output or ventilation after episodic exposures to hypoxia in adult rats. Here, we demonstrate that ivLTF can also be induced by episodic but not continuous stimulation of α1-adrenergic receptors that requires protein kinase C (PKC), but not PKA (protein kinase A), activation. Additionally, we show that in vivo respiratory LTF is also α1-adrenergic receptor dependent. We suggest that, in vivo, concurrent episodic activation of 5-HT2 and α1-adrenergic receptors is necessary to produce long-lasting changes in the excitability of respiratory motoneurons, possibly involving PKC activation via the Gαq–PLC (phospholipase C) signaling pathway common to both receptor subtypes. Such plasticity of XII motor output may increase upper airway muscle (innervated by XII nerve) tone and improve the likelihood that airway patency will be maintained. Elucidating the mechanism underlying LTF can be of clinical importance to the patients suffering from sleep-disordered breathing.
Fusion of Visible, Infrared and 3D LADAR Imagery

∗ This work was sponsored by the Defense Advanced Research Projects Agency under Air Force contract F19628-00-C-0002. Opinions, interpretations, conclusions, and recommendations are those of the authors and are not necessarily endorsed by the United States Government. Abstract We have extended our previous capabilities for fusion of multiple passive imaging sensors to now include 3D imagery obtained from a prototype flash ladar. Real-time fusion of SWIR + uncooled LWIR and low-light visible + LWIR + 3D LADAR is demonstrated. Fused visualization is achieved by opponent-color neural networks for passive image fusion, which is then textured upon segmented object surfaces derived from the 3D data. An interactive viewer, coded in Java3D, is used to examine the 3D fused scene in stereo. Interactive designation, learning, recognition and search for targets, based on fused passive + 3D signatures, is achieved using Fuzzy ARTMAP neural networks with a Java-coded GUI. A client-server, web-based communication architecture, enables remote users to interact with fused 3D imagery via a wireless palmtop computer.
Foreign direct investment and its contributions to economic growth and poverty reduction in Vietnam (1986-2001)

During the 1990s, Vietnam experienced high economic growth, significant reduction in poverty and remarkable inflows of foreign direct investment. The book aims at examining impacts of foreign direct investment on economic growth and poverty reduction in Vietnam during 1986-2001 analytically and empirically. The triangulation methodology is used. Conclusions are that foreign direct investment contributed significantly to Vietnam's growth and this worked mainly through capital accumulation and intra-industry spillover. Economic growth in turn reduced poverty. Direct impact of foreign direct investment on poverty was insignificant at the national level but significant in three localities where most foreign investors located. Foreign direct investment thus helped reduce poverty in Vietnam.
Multilocus association testing with penalized regression

In multilocus association analysis, since some markers may not be associated with a trait, it seems attractive to use penalized regression with the capability of automatic variable selection. On the other hand, in spite of a rapidly growing body of literature on penalized regression, most focus on variable selection and outcome prediction, for which penalized methods are generally more effective than their nonpenalized counterparts. However, for statistical inference, i.e. hypothesis testing and interval estimation, it is less clear how penalized methods would perform, or even how to best apply them, largely due to lack of studies on this topic. In our motivating data for a cohort of kidney transplant recipients, it is of primary interest to assess whether a group of genetic variants are associated with a binary clinical outcome, acute rejection at 6 months. In this article, we study some technical issues and alternative implementations of hypothesis testing in Lasso penalized logistic regression, and compare their performance with each other and with several existing global tests, some of which are specifically designed as variance component tests for high‐dimensional data. The most interesting, and perhaps surprising, conclusion of this study is that, for low to moderately high‐dimensional data, statistical tests based on Lasso penalized regression are not necessarily more powerful than some existing global tests. In addition, in penalized regression, rather than building a test based on a single selected “best” model, combining multiple tests, each of which is built on a candidate model, might be more promising. Genet. Epidemiol. 2011. © 2011 Wiley Periodicals, Inc. 35:755‐765, 2011
RF Coil Technology for Small-Animal MRI

A review of the theory, technology, and practice of RF coils for small-animal MRI is presented that includes a brief overview of MR S/N analysis and discussions of the various coils commonly used in small-animal MR – surface coils, linear volume coils, birdcages, and their derivatives. The scope is limited to mid-range coils – coils where the product (fd) of the frequency f and the coil diameter d is in the range of 2-30 MHz-m. Common applications include mouse brain and body coils from 125 MHz to 750 MHz, rat body coils up to 500 MHz, and small surface coils at all fields. In this regime, all the sources of loss (coil, capacitor, sample, shield, and transmission lines) are important. All such losses may be accurately captured in some modern full-wave 3D EM software, and new simulation results are presented for a selection of surface coils using Microwave Studio (MWS) 2006 by Computer Simulation Technology (CST), showing the dramatic importance of the “lift-off effect”. Standard linear circuit simulators have been shown to be useful in optimization of complex coil tuning and matching circuits. There appears to be considerable potential for trading S/N for speed using phased arrays, especially for a larger field of view. Circuit simulators are shown to be useful for optimal mismatching of ultra-low-noise preamps based on the E-PHEMT (Enhancement mode Pseudomorphic High Electron Mobility Transistor) for optimal coil decoupling in phased arrays. Cryogenically cooled rf coils are shown to offer considerable opportunity for future gains in S/N in smaller samples.
Scherk-Schwarz Reduction of D = 5 Special and Quaternionic Geometry

We give the N = 2 gauged supergravity interpretation of a generic D = 4, N = 2 theory as it comes from the generalized Scherk? Schwarz reduction of D = 5, N = 2 (ungauged) supergravity. We focus on the geometric aspects of the D = 4 data such as the general form of the scalar potential and masses in terms of the gauging of a 'flat group'. Higgs and super-Higgs mechanisms are discussed in some detail.
Reenement of Fair Action Systems

An action system is a framework for describing parallel or distributed systems, for which the reenement calculus ooers a formalisation of the stepwise development method. Fairness is an important notion in modelling parallel or distributed systems, and this paper investigates a calculus for reenement of fair action systems. Simulations, which are proof techniques for reenement, are extended to verify fair action systems. Our work diiers from others' in that the additional condition concerning fairness is expressed through termination of related iteration statements. For this purpose, existing proof rules for termination are extended. In the tradition of the reenement calculus, our approach to fairness is based on techniques developed mainly for sequential programming.
Human Skeleton Proportions Recovery from Monocular Data EN

This paper introduces a novel method for recovering the skeleton proportions for a human figure from monocular data. A perspective camera model is defined semi-automatically based on the user’s judgment. In the proposed method, key frames are first extracted from the source data automatically. A human skeleton model is then constructed to match all key frames under the established camera. An advantage of the proposed method is that no human posture validation is needed during the modeling process. The proposed method is tested to propose satisfactory results for some input data. The human model with recovered proportions can be used in further research involving body reconstruction or human motion reconstruction. Key-Words: Modeling, human figure, monocular
Globalized BM3D using fast eigenvalue filtering

In this paper, we propose a progressive image denoising method using iterative filtering with Chebyshev polynomial approximation (CPA). It is known that a non-local/local image denoising method can be represented as matrix notation, and its denoising performance is improved by filtering the eigenvalues of the filter matrix. However, the eigenvalue filtering requires much computation time for eigendecomposition. To filter eigenvalues effectively, we proposed a fast eigenvalue filtering method using CPA [1]. The method drastically reduces the computation time but it still requires to construct a large sparse matrix. It often leads to much computational complexity. To overcome the problem, we propose an eigenvalue filtering method which does not construct a filter matrix by using the characteristic of the CPA. Experimental results show that our method is fast and applicable to large-size images. Additionally, the denoising performance of our method is almost better than those of the previous methods both in visual qualities and objective measures.
Emotional Regulation and Executive Function Deficits in Unmedicated Chinese Children with Oppositional Defiant Disorder

Objective This study aims to explore the feature of emotional regulation and executive functions in oppositional defiant disorder (ODD) children. Methods The emotional regulation and executive functions of adolescents with ODD, as well as the relationship between the two factors were analyzed using tools including Adolescent Daily Emotional Regulation Questionnaire (ADERQ), Wisconsin Card Sorting Test (WCST) and Cambridge Neuropsychological Test Automated Battery (CANTAB), in comparison with attention deficit hyperactivity disorder (ADHD) children without behavioral problem and healthy children; the ADERQ assessed emotional regulation ability and others were used to assess executive function. Results Compared to normal children, the ODD group displayed significant differences in the scores of cognitive reappraisal, rumination, expressive suppression, and revealing of negative emotions, as well as in the score of cognitive reappraisal of positive emotions. WCST perseverative errors were well correlated with rumination of negative emotions (r=0.47). Logistic regression revealed that the minimum number of moves in the Stocking of Cambridge (SOC) test (one test in CANTAB) and negative emotion revealing, were strongly associated with ODD diagnosis. Conclusion Children with ODD showed emotion dysregulation, with negative emotion dysregulation as the main feature. Emotion dysregulation and the lack of ability to plan lead to executive function deficits. The executive function deficits may guide us to understand the deep mechanism under ODD.
Electrophysiological changes and ventricular arrhythmias in the early phase of regional myocardial ischemia.

IN RECENT years, a number of review articles devoted entirely or partly to electrical changes and arrhythmias during ischemia and infarction have appeared (Wit and Bigger, 1975; Coraboeuf et al., 1976; Arnsdorf, 1977; Elharrar and Zipes, 1977; Bigger et al., 1977; Wit and Cranefield, 1978; Lazzara et al., 1978; Carmeliet, 1978; Cranefield and Wit, 1979). Most of what is known about cellular electrophysiological changes is derived from experiments on isolated tissue, either excised at different times after coronary artery occlusion, or taken from normal hearts and superfused with solutions altered in such a way as to imitate conditions occurring in ischemic hearts. (Friedman et al., 1973; Lazzara et al., 1974; Cranefield, 1975). The acquisition of electrophysiological data from intact hearts with the same degree of accuracy as in isolated tissue is limited by the techniques available at present. Therefore the description of the mechanisms for arrhythmias and conduction disturbances observed in intact hearts is based mainly on indirect evidence. Most experimental work on ischemia has been conducted in late stages (hours or days) after occlusion. The changes occurring in the very first minutes after coronary occlusion follow a very rapid time course, and a stable electrical situation is not present. Thus anlaysis of the electrophysiological changes in the very early phase of ischemia is hampered by both the technical difficulties of obtaining reliable recordings from intact hearts and by the rapidly changing electrical conditions.
Painlevé II asymptotics near the leading edge of the oscillatory zone for the Korteweg—de Vries equation in the small‐dispersion limit

In the small‐dispersion limit, solutions to the Korteweg—de Vries equation develop an interval of fast oscillations after a certain time. We obtain a universal asymptotic expansion for the Korteweg—de Vries solution near the leading edge of the oscillatory zone up to second‐order corrections. This expansion involves the Hastings‐McLeod solution of the Painlevé II equation. We prove our results using the Riemann‐Hilbert approach. © 2009 Wiley Periodicals, Inc.