Miracle-dz/UniFAR-FTUs huggingface dataset:
Study on object recognition by active stereo camera for clean-up robot

This paper describes a clean-up robot that is composed of a mobile base and a manipulator. An object recognition algorithm that is based on an active stereo camera system is also proposed for the clean-up robot. In order for the robot to clear a dining table, the stereo camera system must identify the objects on the dining table and evaluate their positions. For localizing and detecting objects, a convolutional neural network (CNN) that requires a large amount of image data and numerous computations is generally employed. In this study, we use a transfer learning method that is capable of omitting the huge data and the sliding window method that can extract the object area. The SUEF (speeded up robust features) feature points that are extracted by the right camera are compared with those obtained by the left camera, and the area where the number of matched points is the largest is outputted as the object that is to be identified by the left and right cameras. The effectiveness of the object recognition algorithm is verified through clean-up experiments.
IL‐10 levels in Dengue patients: Some findings from the exceptional epidemiological conditions in Cuba

The pathogenesis associated with Dengue haemorrhagic fever, has yet to be fully elucidated, with no definitive in vivo evidence. The exceptional epidemiological circumstances in Cuba allow the evaluation of different mediators in a well‐defined situation. In the present study, we describe the determination of levels of IL‐12, IL‐10 and RANTES in the sera of Cuban patients hospitalised with Dengue fever or Dengue haemorrhagic fever. The results showed that levels of serum IL‐10 were higher in patients than controls, and those patients with secondary infections had consistently higher levels. All the Dengue haemorrhagic fever patients had increased levels of IL‐10. In contrast, levels of IL‐12 did not differ between patients and controls. Finally, RANTES serum levels detected in patients were lower than those observed in the controls. The association of increased levels of IL‐10 in Dengue patients with a sequential infection suggests a possible role of this cytokine in the pathogenesis of Dengue disease. J. Med. Virol. 73:230–234, 2004. © 2004 Wiley‐Liss, Inc.
Spatial and temporal dependence of clouds and their radiative impacts on the large-scale vertical velocity profile

[1] The structure of tropical large-scale vertical velocity from the European Centre for Medium-Range Weather Forecasts Re-Analysis is compared with simultaneous satellite measurements of precipitation, top of atmosphere radiation, and clouds from the Tropical Rainfall Measuring Mission (TRMM) on timescales ranging from hours to months. The first two empirical orthogonal functions of the vertical velocity profile represent the traditional deep circulation (PC1) and a shallower circulation (PC2) associated with middle-level divergence. Together they explain 90% of total variance and can distinguish two types of upward and downward motion: “top heavy” and “bottom heavy. ” Cloud and radiation budget quantities measured on TRMM have coherent relationships to PC1 and PC2 on all timescales from simultaneous to long-term means. The relative importance of PC2 is greater on short temporal and small spatial scales. “Top heavy” ascent is associated with deep cloud systems, more intense precipitation, lower outgoing long-wave radiation, stronger cloud long-wave forcing, and extensive anvils. Cloud short-wave forcing depends primarily on PC1, while the net cloud forcing depends more on PC2. High-thin clouds are less correlated with short-term variations of the vertical velocity. Shallow precipitation measured by TRMM precipitation radar is associated with “bottom heavy” upward motion. Temporal compositing with respect to intense precipitating events shows that strong upward motions tend to develop in the lower atmosphere first and then change to the more “top heavy” type of upward motion. The associated cloud systems show consistent temporal changes in which high-thick clouds develop first and extensive anvil clouds develop later. These results suggest that the elevated latent heating from stratiform precipitation and the development of “top heavy” upward motion profiles in the tropics are related to each other. The coherent relationships shown here between large-scale vertical velocity and independently measured cloud and precipitation data can be used to test the performance of climate models.
REP sequences: Mediators of the environmental stress response?

ABSTRACT Repetitive Extragenic Palindromic (REP) sequences are highly conserved, structured, 35- to 40-nt elements located at ∼500 positions around the Escherichia coli chromosome. They are found in intergenic regions and are transcribed together with their upstream genes. Although their stable stem-loop structures protect messages against exoribonuclease digestion, their primary function has remained unknown. Recently, we found that about half of all REP sequences have the potential to stall ribosomes immediately upstream of the termination codon, leading to endonucleolytic cleavage of the mRNA, and induction of the trans-translation process. As a consequence, the mRNA and almost completed protein are degraded, and protein production from the affected gene is down-regulated. The process is critically dependent on the location of the REP element, with an effect only if it is within 15 nt of the termination codon. Using nrdAB as a model, we found that its down-regulation is affected by RNA helicases. Elimination of 6 helicases lowered NrdA production further, whereas overexpression of any RNA helicase partially reversed the downregulation. UV stress completely reversed down-regulation of NrdA production. Analysis of genes containing a REP sequence within 15 nt of the termination codon revealed that most, if not all, are up-regulated by environmental stress, as are RNA helicases. Based on these findings, we propose that REP-dependent downregulation serves as a mechanism to allow a rapid response to environmental stresses whereby RNA helicases partially open the REP elements enabling ribosomes to complete translation immediately increasing protein production from the affected genes.
Genome-Wide Analysis of Lipoprotein Expression in Escherichia coli MG1655

ABSTRACT To gain insight into the cell envelope of Escherichia coli grown under aerobic and anaerobic conditions, lipoproteins were examined by using functional genomics. The mRNA expression levels of each of these genes under three growth conditions—aerobic, anaerobic, and anaerobic with nitrate—were examined by using both Affymetrix GeneChip E. coli antisense genome arrays and real-time PCR (RT-PCR). Many genes showed significant changes in expression level. The RT-PCR results were in very good agreement with the microarray data. The results of this study represent the first insights into the possible roles of unknown lipoprotein genes and broaden our understanding of the composition of the cell envelope under different environmental conditions. Additionally, these data serve as a test set for the refinement of high-throughput bioinformatic and global gene expression methods.
Three‐dimensional structure of bovine pancreatic DNase I at 2.5 A resolution.

The three‐dimensional structure of bovine pancreatic deoxyribonuclease I (DNase I) has been determined at 2.5 A resolution by X‐ray diffraction from single crystals. An atomic model was fitted into the electron density using a graphics display system. DNase I is an alpha, beta‐protein with two 6‐stranded beta‐pleated sheets packed against each other forming the core of a ‘sandwich’‐type structure. The two predominantly anti‐parallel beta‐sheets are flanked by three longer alpha‐helices and extensive loop regions. The carbohydrate side chain attached to Asn 18 is protruding by approximately 15 A from the otherwise compact molecule of approximate dimensions 45 A X 40 A. The binding site of CA2+‐deoxythymidine‐3′,5′‐biphosphate (Ca‐pdTp) has been determined by difference Fourier techniques confirming biochemical results that the active centre is close to His 131. Ca‐pdTp binds at the surface of the enzyme between the two beta‐pleated sheets and seems to interact with several charged amino acid side chains. Active site geometry and folding pattern of DNase I are quite different from staphylococcal nuclease, the only other Ca2+‐dependent deoxyribonuclease whose structure is known at high resolution. The electron density map indicates that two Ca2+ ions are bound to the enzyme under crystallization conditions.
A multi-criteria master nodes selection mechanism for knowledge dissemination in autonomic networks

Autonomic Networks represent a concept inspired by the biological world that aims at making a network independent of any human monitoring. To reach such autonomy, knowledge should be disseminated over the network, which remains an open problem. In fact, disseminating the knowledge over all nodes leads to a big overhead. That is why we need to select a subset of nodes in charge of knowledge management. A single criterion-based selection mechanism has been proposed in a previous work but such a mechanism seems to be very simplistic. In this paper, we present a new multi-criteria selection mechanism based on Pareto. The simulation results show that the proposed approach significantly improves performances compared to single criterion-based selection mechanism.
Queueing model for heterogeneous opportunistic spectrum access

In this study, we propose a queueing model to analyse the performance of an opportunistic spectrum access (OSA) system with service interruptions operating over heterogeneous channels in which the service transmission rate and the service interruption rate after the transmission is resumed are generally different than their value prior to the interruption. We first propose Markov chain models to analyse this system under memoryless service time and availability periods. On the basis of simplification assumptions, we also provide an analytical z-Transform analysis of the Markov models. The Markov model and approximations are validated with accurate system simulations. We also provide numerical results illustrating the non-convex relations between the traffic metrics and system parameters and that the proposed models are essential for optimal OSA network planning and operation. We further analyse and discuss the OSA queueing model for general distribution of service time and availability periods. The analytical and simulation results indicate that for usual system parameters, the queue average occupancy is similar for different distributions of service time and availability periods and that the memoryless Markov models can be used to accurately predict the heterogeneous OSA system traffic performance.
The urokinase plasminogen activator receptor (uPAR) as a target for the diagnosis and therapy of cancer

The identification and characterization of validated molecular targets for cancer drug and diagnostic development is rapidly changing the way that promising new anti-cancer compounds are developed and evaluated. A significant body of in vitro and in vivo data has established the urokinase plasminogen activator (uPA) system as a promising target for cancer drug development. The uPA system has been demonstrated to have pleiotropic activities in the development of tumors, and in tumor progression and angiogenesis. There are multiple ways to target this system, the most straightforward being the development of small molecule active site inhibitors of the serine protease, uPA. However, compounds of this type have not entered into clinical trials, and issues related to selectivity and specificity of this class of inhibitors have yet to be satisfactorily resolved. Recent evidence suggests that in addition to uPA, its specific cell surface receptor (uPAR) may also be a suitable target for the design and development of cancer therapeutic and diagnostic agents. uPAR is central to several pathways implicated in tumor progression and angiogenesis. The binding of the uPA zymogen (scuPA) to uPAR appears to be a pre-requisite for efficient cell-surface activation of scuPA to the active two-chain form (tcuPA) by plasmin, and simple ligand occupancy of uPAR by scuPA initiates various signaling pathways leading to alterations in cell motility and adhesion. One therapeutic rationale that is currently being investigated is the simple displacement of scuPA or tcuPA from suPAR, which may effectively inhibit both the proteolytic and signal-transducing cascades. In addition, other approaches to the modulation of the activity of this system that may also be useful include blocking the interaction of uPAR with integrins and extracellular matrix proteins as well as strategies to down-regulate the expression of uPA and uPAR in target cells. This review will summarize these approaches, and also describe the targeting of uPAR for diagnosis and imaging.
A remotely powered implantable IC for recording mouse local temperature with ±0.09 °C accuracy

Multiple techniques are presented to implement an ultra-low-power remotely powered implantable system. The temperature is monitored locally by a thermistor-type sensor. The resistive response of the sensor is amplified and resolved in the time-domain. The data is transmitted using a duty cycled free running oscillator operating at 868 MHz. In addition, the sensor interface and data transmitter are time interleaved to improve power link sensitivity. A prototype chip is fabricated in 0.18 μm CMOS. The implant is powered with a 13.56 MHz inductive link and operates with a minimum power of 53 μW. The system is capable of recording temperature with accuracy of ±0.09 °C when 8 times oversampling is done at the base station.
Quantitative analysis of the force control capability of standard industrial robot axes

Force control is an essential feature for industrial robotics on its way towards new and challenging applications. However, in the field of industrial robots there is only very limited information available on the performance and limitations of industrial robot systems operated in force control mode. Against this background, the paper discusses the force control ability of standard industrial robot axes. Based on experimental analysis of two standard industrial robots (Reis RV6L, Reis RL50), this paper discusses the influence of the mechanical design, the feed-in level on joint space as well as the cycle time of the force controller on the overall force control performance. Investigations have been based on three different contact scenarios: “manual guidance”, “contact with a rigid environment” and “impact”.
INFANTILE GM1‐GANGLIOSIDOSIS WITH MARKED MANIFESTATION OF LUNGS

GM1‐gangliosidosis is a disease characterized by abnormal accumulation of GM1‐ganglioside in the brain and viscera. The disease is characterized by clinical findings similar to Hurler's disease and pathologic features resembling Niemann‐Pick's disease but with involvement of the glomerular epithelium. A 14‐month‐old boy, clinically diagnosed as GM1‐gangliosidosis, died of respiratory insufficency and was autopsied except for the brain. Biochemically, marked increase of GM‐ganglioside in the viscera was demonstrated. Pathologically, the foam cells were present in the viscera. Some parts of the cytoplasmic vacuoles in the lungs and spleen contained osmiophilic fibrillar material electron‐microscopically. This case was characterized by marked accumulation of foam cells in the pulmonary alveolar spaces.
Long‐lasting sensitization to food during the first two years precedes allergic airway disease

The purpose of the study was to investigate whether the duration of sensitization to food allergens during early childhood is related to later development of IgE mediated hypersensitivity to inhalant allergens and of allergic rhinitis and asthma in 5‐year‐old children and whether long‐lasting food‐sensitization may be used to predict subsequent allergic airway diseases. Five hundred and eight children of a prospective birth cohort study with available serum samples at one and two years of age were included and followed up until five years of age. Specific sensitization to food and inhalant allergens and the occurrence of subsequent allergic airway diseases were determined. Children with a long‐lasting sensitization to food allergens (persistently sensitized for more than one year) produced significantly higher total IgE and specific IgE levels than children who were only transiently food‐sensitized by two years of age. Children persistently sensitized to food had a 3.4 fold higher risk of developing allergic rhinitis and a 5.5 fold higher risk of developing asthma than infants who were only transiently food sensitized. Persistent food sensitization in combination with a positive atopic family history was a strong predictor for the development of allergic rhinitis and asthma at five years of age. The risks for these children are up to 50%, and 67% respectively. Persistently detectable sensitization to food over more than one year in early childhood is a strong prognostic factor for subsequent allergic airway disease. Persistently food‐sensitized children especially in atopic families have to be regarded as a high‐risk group and should be considered for preventive measures against respiratory atopy.
Trajectory planning of mobile manipulator with end-effector's specified path

In this paper, a trajectory planning method of a mobile manipulator with the end-effector's specified path is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesize the gradient function in a hierarchical manner based on the order of priority is used. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm.
Escherichia Coli and Fecal Coliforms in Freshwater and Estuarine Sediments

It has been known for some time that substantial populations of fecal coliforms and E. coli are harbored in freshwater bottom sediments, bank soils, and beach sands. However, the relative importance of sediments as bacterial habitats and as a source of water-borne fecal coliforms and E. coli has not been recognized until recently, when a large number of publications have shown that in many cases the resuspension of sediment, rather then runoff from surrounding lands, can create elevated E. coli concentrations in water. This review is an attempt to develop the first comprehensive single source of existing information about fecal coliforms and E. coli in sediments and adjacent soils and to outline the knowledge gaps and research needs. The authors summarize available information on variability and environmental correlations of E. coli and FC concentrations in sediments, genetic diversity of E. coli in sediments, survival of E. coli and FC in sediments, release with resuspended sediment and settling of E. coli and FC, modeling of sediment effects on fate and transport of E. coli in surface waters, and implications for monitoring and management of microbiological water quality. The demonstrated role of pathogenic E. coli strains in food and water quality challenges reinforces the need in better understanding ecological and hydrological factors that affect functioning of sediments as E. coli reservoirs.
Role of Sulfation in CD44-Mediated Hyaluronan Binding Induced by Inflammatory Mediators in Human CD14+ Peripheral Blood Monocytes1

Activation of T cells by Ag or stimulation of monocytes with inflammatory cytokines induces CD44 to bind to hyaluronan (HA), an adhesion event implicated in leukocyte-leukocyte, leukocyte-endothelial cell, and leukocyte-stromal cell interactions. We have previously shown that TNF-α induces CD44 sulfation in a leukemic cell line, which correlated with the induction of HA binding and CD44-mediated adhesion. In this study, we establish that TNF-α and IFN-γ induce HA binding and the sulfation of CD44 in CD14+ PBMC, whereas no induced HA binding or CD44 sulfation was observed in CD14− PBMC stimulated with TNF-α. Treatment of cells with NaClO3, an inhibitor of sulfation, prevented HA binding in a significant percentage of CD14+ PBMC induced by TNF-α, LPS, IL-1β, or IFN-γ. Furthermore, stimulation with TNF-α or IFN-γ in the presence of NaClO3 reduced the ability of isolated CD44H to bind HA, demonstrating a direct effect of CD44H sulfation on HA binding. In contrast, the transient induction of HA binding in T cells by PHA was not affected by NaClO3, suggesting that activated T cells do not use sulfation as a mechanism to regulate HA binding. Overall, these results demonstrate that inducible sulfation of CD44H is one mechanism used by CD14+ peripheral blood monocytes to induce HA binding in response to inflammatory agents such as TNF-α and IFN-γ.
Combination therapy for multiple myeloma

The effect of six different chemotherapy regimens were evaluated in 462 previously untreated patients with multiple myeloma. In comparison with other treatments, drug combinations that included vincristine and were given at 3‐week intervals were associated with higher response rates and longer survival times. No gain was noted from the use of Adriamycin or from combinations of alkylating agents unless vincristine was given and the treatment intervals were short. Seventy‐one responding patients were allocated at random to maintenance treatment with intermittent courses of either azathioprine‐prednisone or a combination of melphalan‐cyclophosphamide‐carmustine (BCNU)‐prednisone. The survival time was not prolonged with either maintenance treatment in comparison with that for responding patients continued on other therapies or on no therapy in previous studies. Attempts to reduce tumor mass maximally with a change in the therapeutic modality, such as with immunotherapy or radiotherapy, remain to be evaluated. Cancer 40:2765‐2771, 1977.
Vascular methylglyoxal metabolism and the development of hypertension

Objectives The pathogenic process of diabetes mellitus is associated with increased methylglyoxal (MG). MG causes non-enzymic glycation of proteins to form irreversible advanced glycation endproducts (AGEs). However, the correlation between MG and essential hypertension is unknown. The aim of the present study was to investigate whether MG, MG-induced AGEs, and oxidative stress were increased in the aorta of spontaneously hypertensive rats (SHR) and whether an increased formation of MG and related AGEs was correlated with the development of high blood pressure in these rats. Methods High-performance liquid chromatography (HPLC) was used to determine MG and reduced glutathione levels in plasma and aorta. MG-induced AGEs, Nϵ-carboxyethyl-lysine (CEL) and Nϵ-carboxymethyl-lysine (CML), in aorta were determined using immunohistochemistry. Hydrogen peroxide and superoxide levels in aorta and glutathione peroxidase and reductase activities were also determined. Results Aortic and plasma MG levels were significantly elevated in SHR, but not in Wistar–Kyoto (WKY) rats, at 8, 13 and 20 weeks of age, in parallel with blood pressure increase. Immunohistochemistry revealed more intense staining for CML and CEL in aorta from SHR than those of WKY rats from 8 weeks onwards. Most of the staining was localized to endothelial cells. Superoxide and hydrogen peroxide levels were significantly elevated in aorta of SHR at 13 weeks, whereas reduced glutathione levels, glutathione peroxidase and glutathione reductase activities were significantly decreased compared to WKY rats. Conclusions Increased aortic MG, AGE formation and oxidative stress were associated with blood pressure increase in SHR, which may cause endothelial dysfunction and altered vascular reactivity.