Miracle-dz/UniFAR-FTUs huggingface dataset:
Visual terrain classification for outdoor mobile robots

In this thesis we present a comparison of multiple approaches to visual terrain classification for outdoor mobile robots based on local features. For this purpose, we put a camera on a mobile robot and use it to capture images which are then analyzed to recognize the terrains present in these images. There are two sets of approaches that we use to classify terrains. The first is based on greyscale images and the second one is based on color images. For greyscale images, we use two different robot platforms for two different scenarios. The first robot platform is a wheeled outdoor robot. The second platform is a flying robot. For terrain classification, we modify and test three approaches called SURF, Daisy and Contrast Context Histogram, which are traditionally not used for texture classification. We compare these with more traditional texture classification approaches, such as Local Binary Patterns (LBP), Local Ternary Patterns (LTP) and a newer extension Local Adaptive Ternary Patterns (LATP). The image is divided into a grid and local features are calculated on the cells of this grid. These features are then used to train a classifier that can differentiate between different terrain classes. Images of different terrain types are captured using a single camera mounted on a mobile outdoor robot. We drove our robot under different weather and ground conditions and captured data of different terrain types for our experiments. We did not filter out blurred images which occur due to robot motion and other artifacts caused by rain, etc. We used a Random Forest classifier for classification and cross-validation for the verification of our results. It is shown that SURF features perform better than other descriptors for smaller cell sizes and LTP works best for larger grid cell sizes. The results show that these approaches work well for terrain classification in a fast moving mobile robot, despite image blur and other artifacts induced due to variant weather conditions. Furthermore we investigate the effectiveness of local image features for visual terrain classification for outdoor flying robots. A quadrocopter fitted with a single camera is flown over different terrains to take images of the ground below. Six different terrain types are considered in this approach. The images captured have artifacts like blur and scale variations. It is shown that SURF features also perform better here than other descriptors for smaller grid cell sizes and LTP performs better for larger cell sizes. We also test color image based terrain classification. For this purpose, we use two different types of camera mounted on our wheeled outdoor robot and capture five different terrain types traversed by the robot. We use two different image descriptors that can work on color images. The first descriptor is the co-occurrence matrix and the second descriptor is the SURF descriptor. Each of these descriptors is applied to the color
Team DARwIn Team Description for Humanoid KidSize League of RoboCup 2013

This paper details the hardware, software, and electrical design of the humanoid robot family, DARwIn (Dynamic Anthropomorphic Robot with Intelligence) – a robot family designed as a platform for researching bipedal motions. The DARwIn family was the first US entry into the humanoid division of RoboCup.
DENSITY‐DEPENDENT NATURAL SELECTION IN DROSOPHILA: EVOLUTION OF GROWTH RATE AND BODY SIZE

Drosophila melanogaster populations subjected to extreme larval crowding (CU lines) in our laboratory have evolved higher larval feeding rates than their corresponding controls (UU lines). It has been suggested that this genetically based behavior may involve an energetic cost, which precludes natural selection in a density‐regulated population to simultaneously maximize food acquisition and food conversion into biomass. If true, this stands against some basic predictions of the general theory of density‐dependent natural selection. Here we investigate the evolutionary consequences of density‐dependent natural selection on growth rate and body size in D. melanogaster. The CU populations showed a higher growth rate during the postcritical period of larval life than UU populations, but the sustained differences in weight did not translate into the adult stage. The simplest explanation for these findings (that natural selection in a crowded larval environment favors a faster food acquisition for the individual to attain the same final body size in a shorter period of time) was tested and rejected by looking at the larva‐to‐adult development times. Larvae of CU populations starved for different periods of time develop into comparatively smaller adults, suggesting that food seeking behavior in a food depleted environment carries a higher cost to these larvae than to their UU counterparts. The results have important implications for understanding the evolution of body size in natural populations of Drosophila, and stand against some widespread beliefs that body size may represent a compromise between the conflicting effects of genetic variation in larval and adult performance.
Analytical Performance Evaluation of Different Switch Solutions

The virtualization of the network access layer has opened new doors in how we perceive networks. With this virtualization of the network, it is possible to transform a regular PC with several network interface cards into a switch. PC-based switches are becoming an alternative to off-the-shelf switches, since they are cheaper. For this reason, it is important to evaluate the performance of PC-based switches. In this paper, we present a performance evaluation of two PC-based switches, using Open vSwitch and LiSA, and compare their performance with an off-the-shelf Cisco switch. The RTT, throughput, and fairness for UDP are measured for both Ethernet and Fast Ethernet technologies. From this research, we can conclude that the Cisco switch presents the best performance, and both PC-based switches have similar performance. Between Open vSwitch and LiSA, Open vSwitch represents a better choice since it has more features and is currently actively developed.
Physical activity, genetic, and nutritional considerations in childhood weight management.

Almost one-quarter of U.S. children are now obese, a dramatic increase of over 20% in the past decade. It is intriguing that the increase in prevalence has been occurring while overall fat consumption has been declining. Body mass and composition are influenced by genetic factors, but the actual heritability of juvenile obesity is not known. A low physical activity (PA) is characteristic of obese children and adolescents, and it may be one cause of juvenile obesity. There is little evidence, however, that overall energy expenditure is low among the obese. There is a strong association between the prevalence of obesity and the extent of TV viewing. Enhanced PA can reduce body fat and blood pressure and improve lipoprotein profile in obese individuals. Its effect on body composition, however, is slower than with low-calorie diets. The three main dietary approaches are: protein sparing modified fast, balanced hypocaloric diets, and comprehensive behavioral lifestyle programs. To achieve long-standing control of overweight, one should combine changes in eating and activity patterns, using behavior modification techniques. However, the onus is also on society to reduce incentives for a sedentary lifestyle and over-consumption of food. To address the key issues related to childhood weight management, the American College of Sports Medicine convened a Scientific Roundtable in Indianapolis.
A Simple Visualization Technique To Understand the System Dynamics in Bioreactors

In this article, we present a graph theoretic method to visualize and analyze the system behavior under different operating conditions. The system attributes (or variables) are the nodes in the graphs, and partial correlation between a pair of attributes defines the distance between corresponding nodes, resulting in a fully connected graph. Then, the redundant links are reduced using Pathfinder Network Scaling technique to uncover the latent network structure. We use a simulated biological reactor dataset in normal and faulty operation to validate our method. The method is general and can be used to analyze several different systems.
Climate model bias correction and the role of timescales

Abstract. It is well known that output from climate models cannot be used to force hydrological simulations without some form of preprocessing to remove the existing biases. In principle, statistical bias correction methodologies act on model output so the statistical properties of the corrected data match those of the observations. However, the improvements to the statistical properties of the data are limited to the specific timescale of the fluctuations that are considered. For example, a statistical bias correction methodology for mean daily temperature values might be detrimental to monthly statistics. Also, in applying bias corrections derived from present day to scenario simulations, an assumption is made on the stationarity of the bias over the largest timescales. First, we point out several conditions that have to be fulfilled by model data to make the application of a statistical bias correction meaningful. We then examine the effects of mixing fluctuations on different timescales and suggest an alternative statistical methodology, referred to here as a cascade bias correction method, that eliminates, or greatly reduces, the negative effects.
Cell Culture-Taqman PCR Assay for Evaluation of Cryptosporidium parvum Disinfection

ABSTRACT Cryptosporidium parvum represents a challenge to the water industry and a threat to public health. In this study, we developed a cell culture-quantitative PCR assay to evaluate the inactivation of C. parvum with disinfectants. The assay was validated by using a range of disinfectants in common use in the water industry, including low-pressure UV light (LP-UV), ozone, mixed oxidants (MIOX), and chlorine. The assay was demonstrated to be reliable and sensitive, with a lower detection limit of a single infectious oocyst. Effective oocyst inactivation was achieved (>2 log10 units) with LP-UV (20 mJ/cm2) or 2 mg of ozone/liter (for 10 min). MIOX and chlorine treatments of oocysts resulted in minimal effective disinfection, with <0.1 log10 unit being inactivated. These results demonstrate the inability of MIOX to inactivate Cryptosporidium. The assay is a valuable tool for the evaluation of disinfection systems for drinking water and recycled water.
Schlieren Diagnostics of Fused Quartz Heated by Intense Ion Beams

The thermodynamic response of matter heated with intense ion beams was analyzed using the schlieren technique. The energy deposition zone and the propagation of the thermal wave were visualized in the experiment. Fused quartz has been chosen as a target to investigate the phenomena in a material with high yield point. The temperature in the ion beam heated region was estimated using the schlieren data and by analysis of the material changes after irradiation
Polarization-dependent artificial magnetic conductor structures using asymmetrical frequency selective surface

An artificial magnetic conductor (AMC) which is illuminated by normally incident plane waves has an identical reflection phases for TE and TM polarizations. This paper presents novel methods for designing polarization-dependent AMC (PDAMC) where the reflection phases for both polarizations are not the same. This unique property of PDAMC structures make them desirable for designing low-profile antenna. The PDAMC surfaces are composed of an array of asymmetrical frequency selective surfaces (FSSs) at the interface of grounded dielectric slab that may or may not be connected to the ground plane through vias. The polarization-dependent reflection phase feature is realized by modification of the FSS geometries such as changing the length of capacitive components and the gap distance between two units.
Bone loss associated with use of antiepileptic drugs

Importance of the field: Epilepsy is a neurological disorder associated with several comorbidities, one of them being reduced bone health. As the bone loss most often is insidious and asymptomatic, they are usually not recognized, and thus untreated. The key message of this paper is to make clinicians aware of the problem. Areas covered in this review: This article reviews data from basic and clinical studies of bone loss associated with usage of antiepileptic drugs (AEDs) within the last 4 decades. What the reader will gain: The reader will learn that there is accumulating evidence of biochemical abnormalities indicating a disturbed bone metabolism, a decreased bone density and a 2 – 6 times increased risk of fractures among those with epilepsy compared to the general population. These findings most likely have many causes, both internal and external, but long-term use of AEDs seems to play an important role. Enzyme-inducing drugs, such as phenytoin, phenobarbital and carbamazepine, but also the enzyme inhibitor valproate, appear to have bone-depleting properties. Reduced bone density may be detected during the first 1 – 5 years of treatment. Although many theories have been launched, the exact mechanisms by which the the drugs affect bone architecture are not fully understood. Take home message: We recommend clinicians to promote osteoprotective behavior among their epilepsy patients; that is, sunlight exposure and weight-bearing exercise as well as avoidance of risk factors such as bone-depleting drugs other than AEDs, smoking and heavy alcohol consumption. Enzyme inducing drugs should be avoided, if possible. Bone mineral density screening should be assessed on an individual basis, taking risk factors for bone loss into account. All patients taking AEDs on long-term basis ought to have adequate amounts of dietary calcium and vitamin D, and those who have developed bone loss should in addition be given specific antiosteoporotic treatment.
Activation of NF-κB by XIAP, the X Chromosome-linked Inhibitor of Apoptosis, in Endothelial Cells Involves TAK1*

Exposure of endothelial and many other cell types to tumor necrosis factor α generates both apoptotic and anti-apoptotic signals. The anti-apoptotic pathway leads to activation of the transcription factor NF-κB that regulates the expression of genes such as A20 or members of the IAP gene family that protect cells from tumor necrosis factor α-mediated apoptosis. In turn, some anti-apoptotic genes have been shown to modulate NF-κB activity. Here we demonstrate that XIAP, a NF-κB-dependent member of the IAP gene family, is a strong stimulator of NF-κB. Expression of XIAP leads to increased nuclear translocation of the p65 subunit of NF-κB via a novel signaling pathway that involves the mitogen-activated protein kinase kinase kinase TAK1. We show that TAK1 physically interacts with NIK and with IKK2, and both XIAP or active TAK1 can stimulate IKK2 kinase activity. Thus, XIAP may be part of a system of regulatory loops that balance a cell's response to environmental stimuli.
L'utilisation de la littérature de jeunesse dans l'enseignement de l'anglais

Ce memoire concerne l’enseignement d’une langue vivante etrangere, plus particulierement l’anglais car c’est cette langue que j’ai enseigne dans ma classe de CE2 cette annee. Dans cet enseignement, je me suis demandee comment utiliser la litterature jeunesse et en quoi ce type de support pouvait etre un atout dans l’enseignement d’une langue etrangere. Pour cela, je me suis appuyee sur la theorie des intelligences multiples de Howard Gardner et sur la methode Total Physical Response de James Asher. J’ai egalement utilise la theorie de Deci et Ryan sur l’autodetermination afin de mesurer la motivation de mes eleves.
GraphoGame : un outil numérique pour enfants en difficultés d’apprentissage de la lecture

Un enseignement systematique des relations graphophonologiques (le decodage) est necessaire pour apprendre a lire. Des outils numeriques, tel que GraphoGame, un logiciel audiovisuel finlandais, peuvent faciliter la mise en place et l’automatisation du decodage. L’article presente une adaptation en francais de GraphoGame sur tablette qui tient compte de l’orthographe de cette langue. Un premier essai de validation, qui a ete effectuee aupres d’enfants de CP et CE1 a risques de dyslexie, a permis de constater une progression en lecture de mots plus importante apres l’entrainement GraphoGame qu’apres un entrainement non-informatise ou un entrainement mathematique informatise. Ces premiers resultats suggerent que les outils du type GraphoGame presentent un interet pour les enfants a risque de dyslexie.
A Privacy-Preserving Mutual Authentication Resisting DoS Attacks in VANETs

Providing efficient anonymous authentication in vehicular ad hoc networks (VANETs) is a challenging issue. Identity-based signature schemes have been used to provide privacy-preserving authentication effectively for VANETs. In such scenario, mutual authentication between vehicles is critical to ensure only legitimate vehicles can involve in the inter-vehicle communication, and how to resist denial-of-service attack should be carefully addressed due to the regionally central signature verification in vehicle-roadside communications. In this paper, we propose a conditional privacy-preserving mutual authentication framework with denial-of-service attack resistance called MADAR. The authentication framework combines different identity-based signature schemes and distinguishes inner-region and cross-region authentications to increase efficiency. Beyond the privacy preservation and non-repudiation achieved by the existing framework, our authentication framework provides asymmetric inter-vehicle mutual authentication and strength-alterable computational DoS-attack resistance. We have formally proved the privacy preservation, unlinkability, mutual authenticity, and correctness of pseudonym with ProVerif, and analyzed other security objectives. The performance evaluations are conducted and the results demonstrate that our framework can achieve these security objectives with moderate computation and communication overheads.
MicroRNA regulation of T‐cell development

MicroRNAs are short, 19–24 nucleotide long, RNA molecules capable of regulating the longevity and, to a lesser extent, translation of messenger RNA (mRNA) species. The function of the microRNA network, and indeed, even that of individual microRNA species, can have profoundly different roles in even a single cell type as the microRNA/mRNA composition evolves. As the role of microRNA within T cells has come under increasing scrutiny, several distinct checkpoints have been demonstrated to have a particular reliance on microRNA regulation. MicroRNAs are arguably most important in T cells during the earliest and last stages in T‐cell biology. The first stages of early thymic differentiation have a crucial reliance on the microRNA network, while later stages and peripheral homeostasis are largely, although not completely, microRNA‐independent. The most profound effects on T cells are in the activation of effector and regulatory functions of conventional and regulatory T cells, where microRNA deficiency results in a near‐complete loss of function. In this review, we focus on integrating the research on individual microRNA into a more global understanding of the function of the microRNA regulatory network in T cells.
RL-based superframe order adaptation algorithm for IEEE 802.15.4 networks

In wireless sensor networks, it is an important problem to adjust the work time window in each working/sleeping period to save energy under light network loads and decrease the packet delay under heavy network loads. In this paper, we introduce reinforcement learning method into this problem. We discuss the algorithm design method in a simple IEEE 802.15. 4 network, where an RL-based adaptive algorithm is proposed. Simulation results show that this RL-based algorithm can adapt to the change of data flow and make a good tradeoff between the energy-saving performance and the packet delay performance.
FAUNA EPIEDÁFICA ASSOCIDA A FRAGMENTOS FLORESTAIS DE Araucaria angustifolia EM DIFERENTES CONDIÇÕES EDAFOCLIMÁTICAS NO SUDOESTE DO PARANÁ

Este estudo objetivou avaliar a diversidade de organismos epiedaficos em fragmentos florestais de Araucaria angustifolia na regiao Sudoeste do Parana sob diferentes condicoes edafoclimaticas. Para isso, a captura dos organismos da fauna epiedafica foi realizada nos municipios de Dois Vizinhos, Pato e Branco e Mangueirinha. Em cada area utilizou-se 8 armadilhas do tipo Pitfall Traps, as quais foram instaladas a 2m das araucarias selecionadas, permanecendo no campo por 7 dias. A identificacao dos organismos amostrados foi realizada com auxilio de microscopio estereoscopico e chaves dicotomicas de classificacao. Os dados obtidos foram analisados quanto a riqueza, abundância e pelos indices de diversidade de Shannon (H) e equitabilidade de Pielou (J). Nao foram observadas diferencas significativas entre as diferentes condicoes edafoclimaticas estudadas. Palavras-chave : fauna de solo, floresta Ombrofila Mista, biologia de solo
Bacterial production of tetrodotoxin in the pufferfish Arothron hispidus

This study evaluates the presence, location and production source of tetrodotoxin (TTX) in two species of pufferfish, Diodon histrix and Arothron hispidus, common to Hawaiian waters. Organs from each fish were analysed for TTX and used to isolate bacteria for evaluation of possible TTX production. Comparative analyses of extracts of fish and bacterial culture media were performed with liquid chromatography–mass spectrometry (LC-MS) and a sodium channel specific bioassay. Bacterial cultivation experiments were performed in two different growth media and bacteria were identified through sequence homology of the 16S rRNA gene. Forty-two and forty-seven distinct strains were cultivated from D. histrix and A. hispidus, respectively. However, no commonality was found between the populations of bacteria isolated from the two fish. TTX was detected only in A. hispidus and was present in the flesh, pectoral fin and kidneys, as well as the skin slime. Sixteen of the forty-seven bacterial species isolated from A. hispidus were cultivated for further evaluation of TTX production. Among these sixteen bacterial species, Vibrio harveyi strains isolated from the skin slime and kidneys of A. hispidus were found to produce TTX, being the source of TTX produced in the pufferfish.
Cooperative and independent roles of the Drp1 adaptors Mff, MiD49 and MiD51 in mitochondrial fission

ABSTRACT Cytosolic dynamin-related protein 1 (Drp1, also known as DNM1L) is required for both mitochondrial and peroxisomal fission. Drp1-dependent division of these organelles is facilitated by a number of adaptor proteins at mitochondrial and peroxisomal surfaces. To investigate the interplay of these adaptor proteins, we used gene-editing technology to create a suite of cell lines lacking the adaptors MiD49 (also known as MIEF2), MiD51 (also known as MIEF1), Mff and Fis1. Increased mitochondrial connectivity was observed following loss of individual adaptors, and this was further enhanced following the combined loss of MiD51 and Mff. Moreover, loss of adaptors also conferred increased resistance of cells to intrinsic apoptotic stimuli, with MiD49 and MiD51 showing the more prominent role. Using a proximity-based biotin labeling approach, we found close associations between MiD51, Mff and Drp1, but not Fis1. Furthermore, we found that MiD51 can suppress Mff-dependent enhancement of Drp1 GTPase activity. Our data indicates that Mff and MiD51 regulate Drp1 in specific ways to promote mitochondrial fission. Highlighted Article: MiD51 and Mff coordinate and regulate the action of Drp1 at the mitochondrial outer membrane during homeostatic mitochondrial fission, as assessed with gene-editing technology.