Miracle-dz/UniFAR-FTUs huggingface dataset:
Simultaneous localization and mapping for tracked wheel robots combining monocular and stereo vision

This paper addresses an online 6D SLAM method for a tracked wheel robot in an unknown and unstructured environment. While the robot pose is represented by its position and orientation over a 3D space, the environment is mapped with natural landmarks in the same space, autonomously collected using visual data from feature detectors. The observation model employs opportunistically features detected from either monocular and stereo vision. These features are represented using an inverse depth parametrization. The motion model uses odometry readings from motor encoders and orientation changes measured with an IMU. A dimensional-bounded EKF (DBEKF) is introduced here, that keeps the dimension of the state bounded. A new landmark classifier using a Temporal Difference Learning methodology is used to identify undesired landmarks from the state. By forcing an upper bound to the number of landmarks in the EKF state, the computational complexity is reduced to up to a constant while not compromising its integrity. All experimental work was done using real data from RAPOSA-NG, a tracked wheel robot developed for Search and Rescue missions.
Qualitative and Quantitative Analysis of Primary Neocortical Areas in Selected Mammals

The present study focuses on the relationship between neocortical structures and functional aspects in three selected mammalian species. Our aim was to compare cortical layering and neuron density in the projection areas (somatomotor, M1; somatosensory, S1; auditory, A1; and visual, V1; each in a wider sense). Morphological and design-based stereological analysis was performed in the wild boar (Sus scrofa scrofa) as a representative terrestrial hoofed animal (artiodactyl) and the common dolphin (Delphinus delphis) as a highly derived related aquatic mammal (cetartiodactyl). For comparison, we included the human (Homo sapiens) as a well-documented anthropoid primate. In the cortex of many mammals, layer IV (inner granular layer) is the main target of specific thalamocortical inputs while layers III and V are the main origins of neocortical projections. Because the fourth layer is indistinct or mostly lacking in the primary neocortex of the wild boar and dolphins, respectively, we analyzed the adjacent layers III and V in these animals. In the human, all the three layers were investigated separately. The stereological data show comparatively low neuron densities in all areas of the wild boar and high cell counts in the human (as expected), particularly in the primary visual cortex. The common dolphin, in general, holds an intermediate position in terms of neuron density but exhibits higher values than the human in a few layers. With respect to the situation in the wild boar, stereological neuron counts in the dolphin are consistently higher, with a maximum in layer III of the visual cortex. The extended auditory neocortical field in dolphins and the hypertrophic auditory pathway indicate secondary neurobiological adaptations to their aquatic habitat during evolution. The wild boar, however, an omnivorous quadruped terrestrial mammal, shows striking specializations as to the sensorimotor neurobiology of the snout region.
The Indicators of Predicting Disease Outcome in HPV Carcinogenesis

Although essential for the transformation of cervical epithelial cells, HPV is not sufficient, a number of other cofactors and molecular events being also incriminated (Woodman et al., 2007). Cervical HPV infection is a sexually transmitted disease which occurs in women short time after beginning the sexual life. In young women, the disease is usually transient, its prevalence decreasing around 30 years (de Sanjose et al., 2007). A second peak of infection is found in older women and is superposed to the peak of cervical cancer incidence (Anton et al., 2011). Near 40 of the more than 140 HPV types identified so far can infect the cervix (Bernard et al., 2010). Differences in carcinogenicity of cervix specific HPV types are partially related to the expression of the E6 and E7 oncogenes which, among other functions, interfere with tumour suppressor proteins p53 and pRb, respectively (Sinal et al., 2005). By these interactions viral oncogenes abrogate the mechanisms of cell-cycle control and apoptosis.
1.55 µm high-speed VCSELs enabling error-free fiber-transmission up to 25 Gbit/s

We present 1.55-µm short-cavity VCSELs with modulation bandwidths beyond 17 GHz and extremely low parasitics. These devices are the first long-wavelength VCSELs enabling error-free data-transmission at 25-Gb/s over 4.2 km standard single-mode fiber.
Rapid excision of massive localized lymphedema of the male genitalia with vessel sealing device.

INTRODUCTION To present a series of patients who underwent surgical treatment for massive localized lymphedema (MLL) of the male genitalia and explore the utility of the LigaSure hemostatic vessel sealing device (VSD) for resection of advanced cases. MATERIALS AND METHODS Although conservative and microsurgical treatments have been reported, MLL of the male genitalia requires open surgical resection with primary reconstruction. We reviewed our prospectively maintained database of all lymphedema excisions performed between January 2007 and December 2014 comparing resection with Bovie electrocautery to resection with the LigaSure VSD. Our analysis focused on any significant differences in rate of resection, estimated blood loss (EBL), and recurrence. RESULTS Nineteen patients with MLL of the male genitalia underwent excision with either LigaSure (8 patients) or conventional Bovie electrocautery (11 patients). Rate of resection was significantly faster with LigaSure compared to Bovie (33.74 g/min versus 5.32 g/min, p = .035). Additionally, estimated EBL per gram of tissue resected was decreased in the LigaSure group (0.41 mL/g versus 0.17 mL/g, p = .057). Two of the 11 Bovie patients (18%) had recurrence of lymphedema requiring repeat resection, while none of the LigaSure patients developed recurrence. CONCLUSIONS Resection of genital lymphedema using the LigaSure device offers promising results in managing advanced MLL of the male genitalia with the potential for faster resections, less EBL per tissue resected, and a lower rate of recurrence.
Genetics of Asthma

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FHIT RNA and protein expression in oral squamous cell carcinomas.

BACKGROUND To investigate the possible role of FHIT, a possible tumour suppressor gene, in oral carcinogenesis, we examined 17 oral squamous cell carcinomas (OSCCs) for genetic alterations. MATERIALS AND METHODS Fresh tissue was obtained during surgery, snap-frozen in liquid nitrogen and stored at -70 degrees C. Nested PCR amplification to examine the integrity of FHIT mRNA was performed on the reverse transcribed complementary DNA obtained from the frozen normal and tumour tissue. Immunohistochemistry was done on formal in-fixed paraffin-embedded tissue protein from the same cases using a polyclonal antiserum against the full length Fhit. RESULTS Twelve out 17 (71%) OSCCs showed reduced or absent Fhit protein and half of the cases with reduced Fhit protein exhibited aberrant RT-PCR products. CONCLUSION Immunohistochemical detection of Fhit protein expression in OSCCs is the more sensitive method to determine the status of Fhit in these tumours, in agreement with previous studies of other tumour types.
Ribosomal Slowdown Mediates Translational Arrest during Cellular Division

ABSTRACT Global mRNA translation is transiently inhibited during cellular division. We demonstrate that mitotic cells contain heavy polysomes, but these are significantly less translationally active than polysomes in cycling cells. Several observations indicate that mitotic translational attenuation occurs during the elongation stage: (i) in cycling nonsynchronized cultures, only mitotic cells fail to assemble stress granules when treated with agents that inhibit translational initiation; (ii) mitotic cells contain fewer free 80S complexes, which are less sensitive to high salt disassembly; (iii) mitotic polysomes are more resistant to enforced disassembly using puromycin; and (iv) ribosome transit time increases during mitosis. Elongation slowdown guarantees that polysomes are retained even if initiation is inhibited at the same time. Stalling translating ribosomes during mitosis may protect mRNAs and allow rapid resumption of translation immediately upon entry into the G1 phase.
Formation of secretory granules in the Golgi apparatus of prolactin cells in the rat pituitary gland: A stereoscopic study

The mode of secretory granule formation in prolactin cells was analyzed in thin or thick sections of pituitary glands from non‐lactating or lactating female as well as from male rats. In all these animals, the Golgi apparatus of prolacting cells consists of a continuous twisted ribbon‐like structure that branches and anastomoses to form a hollow sphere located in the juxtanuclear area. The early signs of secretory granule formation are observed along the trans‐aspect of the Golgi ribbon where progranules appear as focal distensions simultaneously occurring anywhere in the last trans thiamine pyrophosphatase (TPPase)‐containing Golgi element. In the transmost Golgi saccule, such dilatations usually contain several nodular masses of electron opaque material which are separated from each other and from the saccular membrane by a less intensely stained material. While this transmost saccule becomes more fenestrated, its focal polynodular distensions seemingly yield polynodular tubular progranules which are initially closely apposed and usually parallel to the trans face of the Golgi ribbon. Subsequently, these progranules, which frequently show small membranous tubules or tubular networks attached to them, are seen some distance from the Golgi stacks and progresively transform into the more compact polymorphous granules characteristic of prolactin cells. These observations suggest that the polynodular tubular progranules arise by fragmentation of portions of the trans‐Golgi elements rather than by fusion of small uninodular granules budding from the edges of a trans‐Golgi saccule. Once the progranules have been liberated, the rest of the transmost Golgi element appears to break down into small residual networks, tubules, and vesicles. Thus, in prolactin cells as in other glandular cells, the whole transmost Golgi element would fragment during formation of prosecretory granules.
Novel molecular screening approaches in colorectal cancer

Traditional methods for colorectal cancer (CRC) screening have reduced rates of malignancy and death; however, low compliance and morbidities associated with invasive techniques have encouraged efforts for establishing equally effective, less invasive novel screening approaches. We review the current state of novel screening approaches in CRC to include CT colonography, fecal DNA, DNA methylation, micro‐RNA, and protein and molecular markers. J. Surg. Oncol. 2012; 105:459–467. © 2012 Wiley Periodicals, Inc.
Identification of the broken bar fault in induction motors with rotor air ducts through the torque spectrum

Large induction motors contain axial air ducts in their rotor body for cooling purposes. It has been noted lately that, the presence of the rotor air ducts affects the rotating magnetic field by introducing asymmetries. Those asymmetries produce higher harmonic content in the induction motor electromagnetic variables, same like the broken bar fault. So, the diagnostic procedure of a healthy motor with axial rotor air ducts could lead to a false broken bar fault alarm, which leads to unnecessary inspection cost, as well a significant cost because of the production process interruption for the motor inspection. In this paper, it is shown that the higher harmonic index of the electromagnetic torque can reliably be used to distinguish the healthy from the broken bar case reliably in induction motors with rotor axial air ducts.
A Simplified Maximum Likelihood Detector for OFDM-SDM Systems in Wireless LAN

This paper presents a reduced-complexity maximum likelihood detection (MLD) scheme for orthogonal frequency division multiplexing with space division multiplexing (OFDM-SDM) systems. Original MLD is known to be an optimal scheme for detecting the spatially multiplexed signals. However, MLD suffers from an exponentially computational complexity because it involves an exhaustive search for the optimal result. In this paper, we propose a novel detection scheme, which drastically reduce the complexity of MLD while keeping performance losses small. The proposed scheme decouples the spatially multiplexed signals in two stages. In stage one, the estimated symbols obtained from zero-forcing (ZF) are used to limit the candidate symbol vectors. In stage two, to form a final estimate of the transmitted symbol vector, the Euclidean or original defined likelihood metric is examined over all symbol vectors obtained from stage 1. Both the bit error rate (BER) and packet error rate (PER) performances are evaluated over a temporally and spatially uncorrelated frequency selective channel through the computer simulations. For a four-transmit and four-receive OFDM-SDM system transmitting data at 144 Mbit/s and 216 Mbit/ss i.e., employing 16 Quadrature Amplitude Modulation (16QAM) and 64QAM subcarrier modulation over 16.6 MHz bandwidth channel, the degradation in required SNR from MLD for PER = 1% are about 0.6 dB and 1.5 dB, respectively. However, the complexity of MLD is reduced to 0.51000% and 0.01562%.
Coronary heart disease risk factors in middle‐aged former top‐level athletes

A cross‐sectional study was conducted to determine the impact of previous athleticism on coronary heart disease (CHD) risk factors in 168 middle‐aged men and 147 middle‐aged women in Estonia. Participants were divided into four groups: physically active ex‐athletes (AA), sedentary ex‐athletes (SA), recreational exercisers (RE), and non‐exercisers (NE). The Sharkey's questionnaire was applied to determine the CHD risk factors, health habits, medical, safety, personal, psychological and women's risk factors scores. Anthropometric characteristics, resting systolic and diastolic blood pressure values (SBP, DBP), and physical working capacity (PWC170) were measured. Concentrations of total cholesterol (CHOL), high‐density lipoprotein cholesterol (HDL‐C), triacylglycerols (TG), and glucose were determined. Low‐density lipoprotein cholesterol (LDL‐C) and HDL‐C/CHOL ratio were computed. From the questionnaire results, significant differences in CHD risk scores in both sex groups in favour of AA and RE were found. DBP in men was significantly higher in SA, and SBP in women was significantly higher in NE in comparison with other groups. PWC170 and PWC170/kg was highest in AA and lowest in NE in both sex groups. There were no significant differences for blood biochemical parameters between women's groups. In men, AA had a lower CHOL level in comparison with SA and NE, and lower concentrations of TG and LDL‐C than other groups. AA and RE had a higher HDL‐C concentration and HDL‐C/CHOL ratio in comparison with the other groups. In conclusion, differences in CHD risk factors were related to current physical activity, and were more expressed in men than in women.
Hormone replacement therapy and coronary artery disease: buried alive?

The onset of the menopause has been linked to a rise in cardiovascular risk in women. Epidemiologic studies have shown that the risk of cardiovascular events rises steadily with increasing age in the postmenopausal period. Data from the Framingham Heart Study showed that the annual incidence of myocardial infarction (MI) in the age group 45–64 years was 424 000 in men and 136 000 in women; this increased to 440 000 in men and 374 000 in women in those >65 years of age. 1 As life expectancy increases, more women spend a longer period in the estrogen-depleted state. The public health importance of this increased cardiovascular risk is evident from the mortality data available from developed countries—more than 250 000 deaths/year in women in the United States result from MI alone. 2 Also, the mortality rate in women with established coronary artery disease (CAD) is much higher than that in men. Cardiovascular diseases are also a leading cause of disability. The economic impact of cardiovascular diseases for 1999 in the United States— including leave absences, lost productivity and premature death—has been estimated to be nearly $ 300 billion. 2 As epidemiological data strongly suggested that the incidence of CAD in women rose dramatically after the age of 50 years, the approximate age of natural menopause when endogenous estrogen levels dropped, exogenous estrogens have increasingly been used to restore the “hormonal imbalance”. Results from numerous case–control, observational and angiographic trials as well as from meta-analysis of these trials supported the use of hormone replacement therapy (HRT) for the prevention of CAD in postmenopausal women. 3–6 Data from these trials showed a 35%–50% reduction in coronary events in women on HRT. Both estrogen replacement therapy and combination estrogen– progestin therapy have been shown to reduce the incidence of fatal and nonfatal MI in these studies. Numerous biologically plausible mechanisms support these epidemiological observations. Hormone replacement therapy has been shown to favorably affect the lipid profile; it lowers LDL-cholesterol and total cholesterol levels and increases HDL-cholesterol levels. 7 It also favorably affects other biochemical factors such as fibrinogen, lipoprotein (a) [Lp(a)], tissue plasminogen activator, plasminogen activator inhibitor-1, insulin resistance and homocysteine. 7,8 By acting on estrogen receptors on the vasculature, estrogen also modulates vasomotor tone and improves endothelial cell function. However, these favorable results on CAD were not replicated in the only large, randomized, placebo-controlled, secondary prevention trial conducted so far, 9 prompting a serious re-look at the body
Analysis of the risk of introduction and spread of porcine reproductive and respiratory syndrome virus through importation of raw pigmeat into New Zealand

Abstract AIMS: To determine the frequency with which porcine reproductive and respiratory syndrome (PRRS) virus (PRRSv) would become established in a non-commercial pig herd in New Zealand due to illegal feeding of uncooked food waste containing virus-contaminated pigmeat. To determine the likelihood of a single incursion resulting in a multi-farm outbreak of the disease, and describe the spatio-temporal characteristics of such an outbreak. METHODS: A Monte Carlo simulation model was constructed to determine the expected annual frequency of PRRSv infection being initiated in a non-commercial pig herd as a result of inadvertent feeding of pigmeat imported from countries endemically infected with the disease. Once the likelihood of PRRSv becoming established in a single pig herd was determined, stochastic spatially explicit infectious disease modelling software was utilised to model the temporal and spatial characteristics of the resulting epidemic. RESULTS: Assuming the proportion of imported pigmeat remained at current levels, consumption patterns of pigmeat in households in New Zealand remained steady, and limited compliance with recently reintroduced regulations to prevent feeding of uncooked food waste, at least 4.3 pig herds per year were predicted to become infected with PRRSv. Simulation modelling of PRRSv epidemics related to initial infection of a non-commercial farm produced an estimate that 36% of these incursions would spread from the initial herd, and that these outbreaks would involve 93 herds on average in the first year. By increasing the estimated persistence of PRRSv infection in small herds, an average of 205 herds became infected in the first year. CONCLUSIONS: Given a mean of 4.3 infected premises per year and a 36% probability of infection spreading beyond the initial infected herd, there was a 95% likelihood of a multi-farm PRRS outbreak occurring within 3 years. CLINICAL RELEVANCE: Introduction of PRRSv through importation of virus-contaminated pigmeat presents a high risk for establishment of the disease in the pig industry in New Zealand.
Circulation of dengue serotypes in five provinces of northern Thailand during 2002-2006

Dengue haemorrhagic fever is an epidemic infectious diseases caused by dengue virus. It is a major disease prevalent in all provinces of Thailand. This study was to determine the circulating dengue serotypes by reverse transcription polymerase chain reaction (RT-PCR). A total of 1116 seropositive acute samples were analysed from DF/DHF patients in five provinces of northern Thailand (Chiangmai, Lampang, Lamphun, Mae Hong Son and Phrae) during the period January 2002 to December 2006. Five hundred and fifty-nine samples were found positive, of which 47.2%, 30.6%, 18.4% and 3.8% were affected with DENV-2, DENV-1, DENV-4 and DENV-3 respectively. From 2002 to 2005, the predominant dengue serotype was DENV-2, whereas DENV-1 was predominant in 2006. There was an apparent increase in the percentage of DENV-4 from 2005 to 2006. Our results indicated that all four dengue serotypes were circulating in this region and the annual change of predominant serotypes was the cause of the severity of the disease.
En undersøgelse af skolers betydning for den sociale kapital i lokalsamfund

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