Miracle-dz/UniFAR-FTUs huggingface dataset:
Planning near time-optimal trajectories in 3D

In context of human-machine-interaction trajectories need to be rerouted or re-planned with reduced dynamical constraints in order to avoid collisions. This requires online feasible algorithm for trajectory planning in space. In this paper a new method for planning time-optimal trajectories subject to dynamic and geometrical constraints is proposed. Distinctively to other work, both spatial and temporal variables are subject to optimization. Further the optimization can be performed on the fly and the computional complexity increases only linear with respect to the total number of waypoints. The dynamic constraints are deduced from safety concerns, it is assumed that those limits are stricter than those originating from the limits of the robot's dynamic, which are therefore neglected. The proposed concept relies on two components, on one hand a projection module which reduces the N-point trajectory planning problem in space to a sequence of 3-point problems in a plane and on the other hand a nonlinear two-phase model predictive control problem to solve the simplified sub-problems. A proof-of-concept shows that trajectories can be planned for a wide range of dynamical constraints in reasonable calculation times.
Vav1-phospholipase C-γ1 (Vav1-PLC-γ1) Pathway Initiated by T Cell Antigen Receptor (TCRγδ) Activation Is Required to Overcome Inhibition by Ubiquitin Ligase Cbl-b during γδT Cell Cytotoxicity*

Background: TCRγδ and NKG2D are two important receptors for γδT cell cytotoxicity. Results: γδT cell cytotoxicity is TCRγδ-dependent and requires the activation of Vav1-PLC-γ1 pathway. Conclusion: γδT cell cytotoxicity requires a strong signal to overcome the inhibitory threshold set by Cbl-b. Significance: Our finding provides new insights into the molecular mechanisms underlying the activation of γδT cell cytotoxicity. T cell antigen receptor γδ (TCRγδ) and natural killer group 2, member D (NKG2D) are two crucial receptors for γδT cell cytotoxicity. Compelling evidences suggest that γδT cell cytotoxicity is TCRγδ-dependent and can be co-stimulated by NKG2D. However, the molecular mechanism of underlying TCRγδ-dependent activation of γδT cells remains unclear. In this study we demonstrated that TCRγδ but not NKG2D engagement induced lytic granule polarization and promoted γδT cell cytotoxicity. TCRγδ activation alone was sufficient to trigger Vav1-dependent phospholipase C-γ1 signaling, resulting in lytic granule polarization and effective killing, whereas NKG2D engagement alone failed to trigger cytotoxicity-related signaling to overcome the inhibitory effect of Cbl-b; therefore, NKG2D engagement alone could not induce effective killing. However, NKG2D ligation augmented the activation of γδT cell cytotoxicity through the Vav1-phospholipase C-γ1 pathway. Vav1 overexpression or Cbl-b knockdown not only enhanced TCRγδ activation-initiated killing but also enabled NKG2D activation alone to induce γδT cell cytotoxicity. Taken together, our results suggest that the activation of γδT cell cytotoxicity requires a strong activation signal to overcome the inhibitory effect of Cbl-b. Our finding provides new insights into the molecular mechanisms underlying the initiation of γδT cell cytotoxicity and likely implications for optimizing γδT cell-based cancer immunotherapy.
Basal and Inducible Transcriptional Activity of an Upstream AP-1/CRE Element (DYNCRE3)in the Prodynorphin Promoter

During chronic pain and inflammation, prodynorphin gene expression is elevated in the spinal cord. To characterize the molecular regulation of prodynorphin gene expression, we examined an AP-1/CRE-like element, TGCGTCA, located at -1545 in the prodynorphin gene (the DYNCRE3 site). Previous work in our laboratory demonstrated by gel shift analysis that Fos and non-Fos-containing complexes formed with oligonucleotides containing this element. To examine the functional significance of this site, constructs containing variable length regions of the prodynorphin promoter were transiently transfected into PC12 or HeLa cells. Constructs containing the DYNCRE3 site consistently permitted higher levels of transcriptional activity than those lacking this site. Furthermore, placement of upstream regions containing the DYNCRE3 site adjacent to the minimal promoter yielded transcriptional activity much greater than that in the presence of the native constructs. PC12 cells transfected with constructs containing the DYNCRE3 site responded to a far greater degree to forskolin stimulation than those transfected with constructs that did not contain this site. Mutation of the DYNCRE3 site (CTcgtca) markedly reduced forskolin-induced increases in transcriptional activity. The phorbol ester 12-O-tetradecanoylphorbol 13-acetate produced little or no change in transcriptional activity. By examining successively more isolated fragments of prodynorphin promoter and by mutational analysis, we identify and characterize a 7-bp site, DYNCRE3, which, though largely unaffected by stimulations of the PKC pathway, dramatically responds to stimulations via the PKA second messenger pathway.
The relationship between respiratory syncytial virus infections and the development of wheezing and asthma in children

Purpose of reviewThe relationship between respiratory syncytial virus lower-respiratory-tract infections in early childhood and asthma has been the subject of much debate. Most, but not all, previous cohort studies have failed to identify a link between early respiratory syncytial virus infection and atopic asthma. Recent studies have helped clarify some apparently contradictory findings. Recent findingsCohort studies focusing on wheezing in early childhood have indicated that this is associated with an increased incidence of atopic asthma but that this risk is not increased by respiratory syncytial virus infection. Indeed, wheeze associated with rhinovirus infection may be a better marker for possible asthma. In contrast, there is no increased risk of atopic disease in infants with respiratory syncytial virus ‘acute bronchiolitis’, a phenotype characterized by widespread crepitation. Post-bronchiolitic symptoms are associated with intercurrent viral infections in particular and the incidence of symptoms falls rapidly during infancy. SummaryThese studies confirm earlier suggestions that the phenotype of respiratory illness and hence the host response rather than the infecting organism is the best predictor of the future pattern of respiratory illness. Such considerations must be central to the design of any future intervention or cohort studies.
Selection by rank in K‐dimensional binary search trees

In this work we show how to augment general purpose multidimensional data structures, such as K‐d trees, to efficiently support search by rank (that is, to locate the i‐th smallest element along the j‐th coordinate, for given i and j) and to find the rank of a given item along a given coordinate. To do so, we introduce two simple, practical and very flexible algorithms – Select‐by‐Rank and Find‐Rank – with very little overhead. Both algorithms can be easily implemented and adapted to several spatial indexes, although their analysis is far from trivial. We are able to show that for random K‐d trees of size n the expected number of nodes visited by Find‐Rank is Pn,i=Θ(n1−1/K) for i=o(n) or i=n−o(n) , and Pn,i=fK(i/n)·nα+o(nα) for i=xn+o(n) (with 0
Spatial variability of soil total nitrogen in a natural broad-leaved Korean pine mixed forest

Geostatistics method was applied to study the spatial variability of soil total nitrogen in a natural broad-leaved Korean pine mixed forest in Changbai Mountain, Jilin province, China. Three plots, sized 50 m×50 m each, were setup to sample in 2009. The results show that the soil total nitrogen decreased as the depth of the soil increases, coefficient of variation of the soil total nitrogen varied between 20% and 60%. The soil total nitrogen in all soil layers of all plots followed normal distribution. The variograms of the nitrogen content could be well fitted with spherical model, and the mean range was 6.137 m. Soil total nitrogen in the study area had medium spatial correlation, and the spatial variability was affected by both structural factors and random factors.
TRANSFER FACTOR APPLIED TO INTENSIFY THE CELL‐MEDIATED IMMUNOLOGICAL REACTIONS AGAINST MYCOBACTERIUM AVIUM

Since Lawrence made the observations (11, 12) that tuberculin hypersensitivity can be transferred from a tuberculinpositive donor to a negative recipient by using either viable leucocytes or an extract from these, extensive research has been made to describe the nature of what is now called Transfer Factor (TF) (for a review, see 13, 14), and to evaluate the use of T F in the treatment of diseases in which an absolute or relative immunological defect in the cellmediated immune reactions of the patient is believed to play a role in the pathogenesis. Most of the investigations previously reported deal with the use of T F in the treatment of patients who have shown negative results in tests for cell-mediated immune reactions against the antigen in question. We report on our use of dialysable T F in the treatment of a patient Avith tuberculosis due to Mycobnctcrhim avUivi. Prior to the T F injections, the patient showed a positive skin reaction to tuberculin extracts from M. tuberculosis and M. aviiim. In vitro testing of the patient's leucocytes against the same extracts revealed weak responses in the lymphocyte-transformation test, whereas migration-inhibition tests were negative.
A Literature Review of Single Agent Treatment of Multiply Relapsed Aggressive Non-Hodgkin's Lymphoma

To analyze the available literature describing the treatment of relapsed aggressive non-Hodgkin's lymphoma (NHL) with single-agent chemotherapies, several comprehensive electronic and manual inspections of the literature were performed for the period from 1966 to the present. Each paper was examined to capture the following data: study type; patient demographics and characteristics; study endpoints, including responses, and method used to evaluate response; toxicities, and the power of the study. A wide variety of single-agent protocols continue to be studied, indicating no currently accepted standard therapy in this patient population. Reported response rates varied between 0 and 67%. The majority of trials were small, uncontrolled studies that used widely varying inclusion/exclusion criteria and had limited reporting of histology, response, prior treatments, and other key parameters. We were able to find only four agents, etoposide, vincristine, vinorelbine and possibly rituximab, with sufficient reproducible evidence to suggest greater than 30% activity (CR+PR rate) when given to patients with second or greater relapse of aggressive NHL. Consequently, the usefulness of the agents in these reports remains to be established in larger trials with more detailed reporting. The advantages that would be brought by an active non-myelosuppressive agent for patients having this condition emerge clearly from this review.
Lateralized attention in the brain : Top-down versus bottom-up biases in human search behavior

Session II 14.00 – 14.45 Thomas Töllner: “Orienting attention to locations in visual versus mental space: Same or different mechanisms? ” 14.45 – 15.30 Veronica Mazza: “Electrophysiological correlates of object individuation in the enumeration process” 15.30 – 16.00 Tea & Coffee 16.00 – 16.45 Jens-Max Hopf: “Neural mechanisms of global feature-based attentional selection in humans” 17.00 – 18.30 Poster session
Novel role of TGF‐β in differential astrocyte‐TIMP‐1 regulation: Implications for HIV‐1‐dementia and neuroinflammation

Astrocyte production of tissue inhibitor of metalloproteinase (TIMP)‐1 is important in central nervous system (CNS) homeostasis and inflammatory diseases such as HIV‐1‐associated dementia (HAD). TIMPs and matrix metalloproteinases (MMPs) regulate the remodeling of the extracellular matrix. An imbalance between TIMPs and MMPs is associated with many pathologic conditions. Our recently published studies uniquely demonstrate that HAD patients have reduced levels of TIMP‐1 in the brain. Astrocyte‐TIMP‐1 expression is differentially regulated in acute and chronic inflammatory conditions. In this and the adjoining report (Gardner et al., 2006 ), we investigate the mechanisms that may be involved in differential TIMP‐1 regulation. One mechanism for TIMP‐1 downregulation is the production of anti‐inflammatory molecules, which can activate signaling pathways during chronic inflammation. We investigated the contribution of transforming growth factor (TGF)‐signaling in astrocyte‐MMP/TIMP‐1‐astrocyte regulation. TGF‐β1 and β2 levels were upregulated in HAD brain tissues. Co‐stimulation of astrocytes with IL‐1β and TGF‐β mimicked the TIMP‐1 downregulation observed with IL‐1β chronic activation. Measurement of astrocyte‐MMP protein levels showed that TGF‐β combined with IL‐1β increased MMP‐2 and decreased proMMP‐1 expression compared to IL‐1β alone. We propose that one of the mechanisms involved in TIMP‐1 downregulation may be through TGF‐signaling in chronic immune activation. These studies show a novel extracellular regulatory loop in astrocyte‐TIMP‐1 regulation. © 2006 Wiley‐Liss, Inc.
Dietary consistency and craniofacial development related to masticatory function in minipigs.

Since the 1890s oral biological researchers have been interested in the idea that strenuous mastication of unprocessed food will stimulate proper oral-facial growth and occlusal relationships. Conversely, lack of such function due to consumption of refined food is one hypothesis among many for the etiology of malocclusion in industrialized humans. Adequately controlled experimental testing of the idea has been limited to rats. To investigate the "disuse" theory in a larger-bodied and more occlusally relevant animal model, we raised four Yucatan minipigs from weaning on hard diet (HD) and another four on softened but equivalent diet (SD). The animals were monitored for eight months, sacrificed, and then occlusal and osteometric data collected. Variations due to dietary regime are pervasive and not due to caries, periodontitis, or attrition differences. Whereas HD body weight is 10% greater than SD, the deep masseter is 25% greater, with similar disproportion in superficial masseter and temporalis weight. Facial prognathism, arch narrowness, tooth crowding/maleruption and posterior cranial tapering are markedly different in the two groups. A curious posterior torsional difference in the mandibular rami, as well as broadness and flatness of the mandibular symphysis, also occur in SD. We performed a Q-mode principal coordinates analysis of the 19 logged variables for the specimens, bootstrapping the variable list, to demonstrate a statistically significant (P < .01) overall pattern of dramatic differences. Having controlled other celebrated orthodontic etiologies (genetic background, respiratory mode, infectious degeneration and interproximal attrition), these results support the proposition that dietary consistency relates directly to human craniofacial growth.
A randomized controlled trial of influenza vaccine in the elderly. Scientific scrutiny and ethical responsibility.

Influenza viruses have arguably caused more morbidity and mortality than any infectious agent in recorded history. Seven pandemics of influenza have occurred during the past century alone, one of which—the infamous Spanish (swine) flu—was responsible for at least 20 million deaths worldwide. Of even greater concern has been the occurrence of annual epidemics of varying severity that have resulted in more than 599 000 excess deaths in the United States during the past 40 years. 1-3 Although complacency regarding influenza is widely prevalent owing to the misperception that it is simply a mild respiratory or gastrointestinal infection, 2 one needs only to briefly examine accounts of recent outbreaks to appreciate the explosive potential for influenza viruses to cause life-threatening illness. 4 The unusual properties of the virus' genome, including a high frequency of point mutations (which cause the hemagglutinin [HA] and neuraminidase [NA] molecules to drift See also p 1661.
Biochemical and Structural Insights into Microtubule Perturbation by CopN from Chlamydia pneumoniae*

Background: Although parasites commonly hijack the actin cytoskeleton, the Chlamydia pneumoniae CopN protein interferes with microtubules. Results: CopN targets the β-tubulin longitudinal interface and inhibits microtubule assembly through a dual mechanism. Conclusion: In addition to regulating type III secretion, C. pneumoniae CopN has evolved microtubule-related specific functions. Significance: A framework for understanding the CopN role in the chlamydial infectious cycle is provided. Although the actin network is commonly hijacked by pathogens, there are few reports of parasites targeting microtubules. The proposed member of the LcrE protein family from some Chlamydia species (e.g. pCopN from C. pneumoniae) binds tubulin and inhibits microtubule assembly in vitro. From the pCopN structure and its similarity with that of MxiC from Shigella, we definitively confirm CopN as the Chlamydia homolog of the LcrE family of bacterial proteins involved in the regulation of type III secretion. We have also investigated the molecular basis for the pCopN effect on microtubules. We show that pCopN delays microtubule nucleation and acts as a pure tubulin-sequestering protein at steady state. It targets the β subunit interface involved in the tubulin longitudinal self-association in a way that inhibits nucleotide exchange. pCopN contains three repetitions of a helical motif flanked by disordered N- and C-terminal extensions. We have identified the pCopN minimal tubulin-binding region within the second and third repeats. Together with the intriguing observation that C. trachomatis CopN does not bind tubulin, our data support the notion that, in addition to the shared function of type III secretion regulation, these proteins have evolved different functions in the host cytosol. Our results provide a mechanistic framework for understanding the C. pneumoniae CopN-specific inhibition of microtubule assembly.
Docking and Assembly of the Type II Secretion Complex of Vibrio cholerae

ABSTRACT Secretion of cholera toxin and other virulence factors from Vibrio cholerae is mediated by the type II secretion (T2S) apparatus, a multiprotein complex composed of both inner and outer membrane proteins. To better understand the mechanism by which the T2S complex coordinates translocation of its substrates, we are examining the protein-protein interactions of its components, encoded by the extracellular protein secretion (eps) genes. In this study, we took a cell biological approach, observing the dynamics of fluorescently tagged EpsC and EpsM proteins in vivo. We report that the level and context of fluorescent protein fusion expression can have a bold effect on subcellular location and that chromosomal, intraoperon expression conditions are optimal for determining the intracellular locations of fusion proteins. Fluorescently tagged, chromosomally expressed EpsC and EpsM form discrete foci along the lengths of the cells, different from the polar localization for green fluorescent protein (GFP)-EpsM previously described, as the fusions are balanced with all their interacting partner proteins within the T2S complex. Additionally, we observed that fluorescent foci in both chromosomal GFP-EpsC- and GFP-EpsM-expressing strains disperse upon deletion of epsD, suggesting that EpsD is critical to the localization of EpsC and EpsM and perhaps their assembly into the T2S complex.
Comparison of the adaptive inertia weight PSOs based on chaotic logistic map and tent map

The adaption of inertia weight in particle swarm optimization (PSO) is important manner for balance the capabilities of exploration and exploitation. According to the concept, we had completed the test for two chaotic maps called logistic map and tent map to opportunely give the adaption for the inertia weight of a PSO. Six test functions with 10 dimensions are used to evaluate their efficiency. By the comparison of the performed values, we get using logistic map is better than using tent map when to perform the adaption for the inertia weight of the PSO. Furthermore, from the convergence conditions, we also get using the logistic map is better than using tent map for the adaption of the inertia weight of the PSO. The result will be helpful for researchers to select chaotic logistic map as the adaptive manner of the inertia weight for PSOs when applying to other issues.
18 GHz propagation measurements and analysis in Belo Horizonte/Brazil

This paper presents a 18 GHz cm-Wave measurement-based campaign and path-loss analysis and a comparison with the traditional Alpha-Beta (AB) and the Close-in (CI) propagation models. A suburban scenario in the city of Belo Horizonte, Minas Gerais, Brazil, was considered and measurements were done considering LOS and NLOS conditions. The recorded samples data were processed and an outdoor propagation path loss was obtained, and then fitted in a curve to compare with the reference propagation models. It was observed a path loss exponent of 4.737 for the AB model, an exponent of 2.923 and 2.472 for the CI model with reference distances of 1 m and 2.5 m, respectively. A Beam Combining Gain (BCG) analysis was also performed and a mean value of 3.4 dB was obtained when using the 3 strongest components of two measurement points.
Fetal hand movements and facial expression in normal pregnancy studied by four-dimensional sonography

Abstract Aim: To evaluate the developmental pattern of fetal hand movements and facial activity and expression during the second and third trimester of pregnancy by four-dimensional ultrasound (4D-US). Subjects and methods: A total of 25 fetuses in uncomplicated pregnancies were analyzed; 15 fetuses at 13 to 16 weeks and 10 fetuses at 30 to 33 weeks of gestation were studied with abdominal 4D-US. After standard assessment in two dimensional (2D) real-time B mode, a 4D mode was switched on. Further examination lasted a maximum of 15 minutes. Results: Isolated hand movement and subtypes of hand movements were easily recognized by 4D-US. The subtypes of hand to head movement are: hand to head, hand to mouth, hand near mouth, hand to face, hand near face, hand to eye and hand to ear. All subtypes of hand to head movement can be seen from 13 weeks of gestation, with fluctuating incidence. Facial activities and different forms of expression are easily recognized by 4D-US. Among these, two types can be easily differentiated: smiling and scowling. Conclusions: 4D-US is superior over real-time two-dimensional ultrasound (2D-US) for qualitative, but inferior for quantitative analysis of hand movements. Thus 4D-US makes it possible to determine exactly the direction of the fetal hand, but the exact number of each type of hand movements can still not be determined. 4D-US is superior over two- and three-dimensional sonography in the evaluation of complex facial activity and expression. Among facial activities observed by 4D-US, simultaneous eyelid and mouthing movements dominate between 30 and 33 weeks of gestation. Pure mouth movements such as mouth opening, tongue expulsion, yawning and pouting are present, but at a significantly lower incidence. Facial expressions such as smiling and scowling can be precisely observed using 4D-US.