Miracle-dz/UniFAR-FTUs huggingface dataset:
Learning from Demonstration: Situation-Adaptive Lane Change Trajectory Planning for Automated Highway Driving

Trajectory planning is one of the key challenges to enable automated driving system on the road. In structured highway environment, lane change trajectory planning algorithm for automated driving has generally been formulated as optimizing complex cost functions which should be manually specified and tuned by experts. However, considering the highly dynamic environment in highway automation, a wide variety of cost functions may be designed to work in different driving situations, making the hand-tuning a recurring process and requires rich experience. This research proposes the driving situation-adaptive lane change trajectory planning approach by learning from expert demonstrations. Specifically, in offline learning process, the trajectory planning cost functions database is constructed by correlating the driving situation assessment result with the corresponding situation-specific planning cost function which can be learned from expert demonstration trajectory automatically via feature-based inverse reinforcement learning technique. In online trajectory optimization process, the lane change environment is evaluated by Bayesian Network firstly and then the situation-dependent cost function can be synthesized from database. The final planned lane change trajectory can be effectively calculated by optimizing the synthesized cost function. Simulation experiments in different driving environments demonstrate that the proposed method is capable of learning distinct cost functions and planning driving situation-adaptive lane change trajectory using data from expert demonstrated trajectories.
Prototyping Autonomous Robotic Networks on Different Layers of RAMI 4.0 with Digital Twins

In this decade, the amount of (industrial) Internet of Things devices will increase tremendously. Today, there exist no common standards for interconnection, observation, or the monitoring of these devices. In context of the German "Industrie 4.0" strategy the Reference Architectural Model Industry 4.0 (RAMI 4.0) was introduced to connect different aspects of this rapid development. The idea is to let different stakeholders of these products speak and understand the same terminology. In this paper, we present an approach using Digital Twins to prototype different layers along the axis of the RAMI 4.0, by the example of an autonomous ocean observation system developed in the project ARCHES.
A Review of Non-1H RF Receive Arrays in Magnetic Resonance Imaging and Spectroscopy

It is now common practice to use radiofrequency (RF) coils to increase the signal-to-noise ratio (SNR) in 1H magnetic resonance imaging and spectroscopy experiments. Use of array coils for non-1H experiments, however, has been historically more limited despite the fact that these nuclei suffer inherently lower sensitivity and could benefit greatly from an increased SNR. Recent advancements in receiver technology and increased support from scanner manufacturers have now opened greater options for the use of array coils for non-1H magnetic resonance experiments. This paper reviews the research in adopting array coil technology with an emphasis on studies of the most commonly studied non-1H nuclei including 31P, 13C, 23Na, and 19F. These nuclei offer complementary information to 1H imaging and spectroscopy and have proven themselves important in the study of numerous disease processes. While recent work with non-1H array coils has shown promising results, the technology is not yet widely utilized and should see substantial developments in the coming years.
Intelligent Maximum Power Factor Searching Control Using Recurrent Chebyshev Fuzzy Neural Network Current Angle Controller for SynRM Drive System

To develop a high-performance synchronous reluctance motor (SynRM) drive system, a novel maximum power factor control (MPFC) using a current angle controller with stator resistance and stator flux estimators is proposed. First, a traditional maximum power factor control system using a saliency ratio of the SynRM to generate a fixed current angle command is described. Since the saliency ratio requires offline prepreparation and cannot be adjusted automatically, it is difficult to improve the performance of the MPFC in different operating regions because of the increasing of manufacturing cost and time-consumption. Therefore, an intelligent-maximum power factor searching control (MPFSC) using a recurrent Chebyshev fuzzy neural network (RCFNN) current angle controller is developed for the speed control of a SynRM. In order to search the online optimal power factor (PF) points of the SynRM under different operating conditions, the RCFNN current angle controller is designed to produce the compensated current angle command. Moreover, a proportional-integral speed controller is adopted to generate the stator current magnitude command, and the proposed intelligent-MPFSC is employed to generate the current angle command. Furthermore, the proposed intelligent-MPFSC system is implemented in a 32-bit floating-point TMS320F28075 digital signal processor. Finally, from the experimental results, the current angle commands of the optimal PF can be effectively obtained online at different speed operating commands with varied load torque.
On the Application Level Impact of SSD Performance Anomalies

Hardware-induced performance variability has long been an undesirable fact of life in the storage stack. SSDs have not managed to break the trend. Despite continuous evolution in their internal design, SSD performance variability has remained a concern. This unfortunate trend is also bound to continue for SSDs for the foreseeable future due to increasingly complex controller design and responsibilities. Nevertheless, applications demand high, predictable and stable performance. It is therefore important to measure and understand the performance implications of this hardware-induced variability at the application layer. It is equally vital to assess to what extent the mechanisms available at the software level are able to alleviate or mask the variability. In this paper we uncover and analyze three novel and surprising performance anomalies induced by SSDs. We focus on reads. At the application layer, each anomaly leads to significant read throughput slowdown. The first anomaly, intrinsic slowdown, slows down reads for a variable amount of time when reading from new file system extents. Second, temporal slowdown slows down reads periodically, even in the absence of any writes. Third, in permanent slowdown, reads from some files eventually become consistently slow and never recover. Individually, each of the slowdowns can cause a read throughput loss of 10%-15%, but when they occur concurrently the cumulative throughput loss can reach 30%. We further analyze to what extent available software mechanisms can mask these performance anomalies. We find that only two of the three slowdowns can be masked via increased I/O request parallelism.
Precoding Optimization for Faster-Than-Nyquist Signaling With Probabilistic Shaping

A probabilistic shaping (PS) scheme applied to Faster-than-Nyquist (FTN) signaling is proposed firstly to obtain shaping gain. Secondly, a precoding optimization algorithm based on maximizing average mutual information (AMI) criterion for FTN PS system is proposed to get precoding gain, which uses bare bones particle swarms optimization (BB-PSO) algorithm. The theoretical AMI analysis of the proposed precoded FTN PS scheme are analyzed and turn out that the proposed precoded FTN PS scheme is superior to the conventional Nyquist regular system. Compared with the Nyquist regular system, we can get FTN gain, PS gain, and precoding gain for the proposed precoded FTN PS system. The gains of the simulation results coincide well with that obtained from the theoretical analysis. When spectral efficiency (SE) is 2.778 bits/s/Hz, compared with the 16QAM Nyquist regular system, the proposed 16QAM precoded FTN PS scheme has a total 1.85 dB theoretical gain, where the simulation results in the 16QAM precoded FTN PS scheme show that the simulated gain is 1.65 dB. When SE is 3.333 bits/s/Hz, compared with the 64QAM Nyquist regular system, the proposed 16QAM precoded FTN PS scheme has a total 1.65 dB theoretical gain, where the simulation results in the 16QAM precoded FTN PS scheme show that the simulated gain is 2.15 dB. The results show that the proposed precoded FTN PS scheme is an efficient scheme with a significant improvement in terms of the AMI and the system error performance, and thus suitable for the sixth generation (6G) communication system.
Cyclic Low Density Parity Check Codes With the Optimum Burst Error Correcting Capability

The paper presents a new scheme of cyclic codes suitable for the correction of burst errors. This is accomplished by the proper definition of their parity check polynomials in which the difference between orders of every two consecutive elements of the utilized polynomial is unique and in order of power of 2. In the proposed polynomials, the number of applied elements is much lower than their orders (or codes’ lengths). This leads to represent codes as a class of low-density parity check (LDPC) codes, while they do not have any 4 cycle in their Tanner graphs. Considering the properties of the circulant matrix and structure of the defined polynomials, it is proven that codes have the optimum burst error-correcting capability. This is evident for short and long length codes. Moreover, it is shown that constructed codes can be combined with Fire codes and demonstrate cyclic codes that are applicable for the simultaneous correction of random and burst errors.
Semantic Segmentation of Freshwater Fish Body Based on Generative Adversarial Network

The identification and precise positioning of freshwater fish heads, belly, and fins are the prerequisites for the robot to realize the key technology of fast grasping, precise cutting, and improving operation efficiency of freshwater fish. In order to solve the problem that the accuracy of identification and segmentation of freshwater fish is reduced due to imbalanced samples, poor imaging quality at the slaughter site, and small parts of the fish body. The paper proposes an algorithm for semantic segmentation of freshwater fish head, belly, and fin based on Generative Adversarial Networks (GAN). Add additional conditional features to the generator and discriminator of the image generation model to GAN theory, clearly instruct the model to generate freshwater fish information, improve image imaging quality, and expand freshwater fish images reasonably and efficiently; then input the data set into deeplabv3+semantic segmentation In the model, compared with the traditional sample expansion method, the GAN-based sample generation method better fits the semantic segmentation network, and the ratio of each part of the two groups of freshwater fish of the Mean Intersection over Union (MIOU) has reached 95%. The experimental results show that it is of great significance to apply image processing, deep learning to image optimization, expand sample data sets, and establish semantic segmentation of various parts of freshwater fish.
Maternal Plasma 25-Hydroxyvitamin D during Gestation Is Positively Associated with Neurocognitive Development in Offspring at Age 4-6 Years.

BACKGROUND Vitamin D is critical to embryonic neuronal differentiation and other developmental processes that may affect future neurocognitive function. However, observational studies have found inconsistent associations between gestational vitamin D and neurocognitive outcomes. OBJECTIVES We examined the association of gestational 25-hydroxyvitamin D [25(OH)D] with children's IQ at 4-6 y, and explored whether associations differed by race. METHODS This study used data from the CANDLE (Conditions Affecting Neurocognitive Development and Learning in Early Childhood) cohort. Between 2006 and 2011, CANDLE recruited 1503 women in their second trimester of healthy singleton pregnancies. Inclusion criteria for this analysis were gestation of ≥34 wk and availability of 25(OH)D and IQ data. Associations between second-trimester 25(OH)D plasma concentration and Stanford-Binet IQ scores in offspring at 4-6 y were examined using multivariable linear regression; interaction terms were used to explore possible effect modification by race. RESULTS Mean ± SD 25(OH)D concentration among 1019 eligible dyads was 21.6 ± 8.4 ng/mL, measured at a mean ± SD gestational age of 23.0 ± 3.0 wk. Vitamin D deficiency [25(OH)D < 20 ng/mL] was observed in 45.6%. Maternal 25(OH)D differed by race with a mean ± SD of 19.8 ± 7.2 ng/mL in Blacks sand 25.9 ± 9.3 ng/mL in Whites ( P < 0.001). In adjusted models a 10-ng/mL increase in 25(OH)D was associated with a 1.17-point higher Full Scale IQ (95% CI: 0.27, 2.06 points), a 1.17-point higher Verbal IQ (95% CI: 0.19, 2.15 points), and a 1.03-point higher Nonverbal IQ (95% CI: 0.10, 1.95 points). We observed no evidence of effect modification by race. CONCLUSIONS Second-trimester maternal 25(OH)D was positively associated with IQ at 4-6 y, suggesting that gestational vitamin D status may be an important predictor of neurocognitive development. These findings may help inform prenatal nutrition recommendations and may be especially relevant for Black and other dark-skinned women at high risk of vitamin D deficiency.
Meta-analysis based gene expression profiling reveals functional genes in ovarian cancer

Abstract Background: Ovarian cancer causes high mortality rate worldwide, and despite numerous attempts, the outcome for patients with ovarian cancer are still not well improved. Microarray-based gene expressional analysis provides with valuable information for discriminating functional genes in ovarian cancer development and progression. However, due to the differences in experimental design, the results varied significantly across individual datasets. Methods: In the present study, the data of gene expression in ovarian cancer were downloaded from Gene Expression Omnibus (GEO) and 16 studies were included. A meta-analysis based gene expression analysis was performed to identify differentially expressed genes (DEGs). The most differentially expressed genes in our meta-analysis were selected for gene expression and gene function validation. Results: A total of 972 DEGs with P-value < 0.001 were identified in ovarian cancer, including 541 up-regulated genes and 431 down-regulated genes, among which 92 additional DEGs were found as gained DEGs. Top five up- and down-regulated genes were selected for the validation of gene expression profiling. Among these genes, up-regulated CD24 molecule (CD24), SRY (sex determining region Y)-box transcription factor 17 (SOX17), WFDC2, epithelial cell adhesion molecule (EPCAM), innate immunity activator (INAVA), and down-regulated aldehyde oxidase 1 (AOX1) were revealed to be with consistent expressional patterns in clinical patient samples of ovarian cancer. Gene functional analysis demonstrated that up-regulated WFDC2 and INAVA promoted ovarian cancer cell migration, WFDC2 enhanced cell proliferation, while down-regulated AOX1 was functional in inducing cell apoptosis of ovarian cancer. Conclusion: Our study shed light on the molecular mechanisms underlying the development of ovarian cancer, and facilitated the understanding of novel diagnostic and therapeutic targets in ovarian cancer.
CHARACTERISTIC OF ATMOSPHERIC BTEX CONCENTRATIONS AND THEIR HEALTH IMPLICATIONS IN URBAN ENVIRONMENT

The atmospheric concentrations of BTEX (benzene, toluene, ethylbenzene, m,p-xylene and oxylene) were measured in five different urban cities in Kuwait through the year of 2016. The overall mean of total BTEX in all sites tested in this study was 5.21 μg/m and it was found that the toluene level was the highest in all monitored sites. In terms of seasonal variations, BTEX concentrations were slightly higher in the winter than in the summer. This is plausibly due to higher chemical removal reaction rates of BTEX and to dust storm in the summer that eventually removes BTEX from the atmosphere. The diurnal patterns showed high records of BTEX concentrations in the morning (07:00–8:00 h) and during rush hours (19:00–21:00 h) in the evening, due to high volume of traffic and weak atmospheric dispersion and photochemical reactivity. Low records of BTEX concentrations were detected during midday, probably due to the high rate of photochemical reactions, to the increased mixing depth, to the upshifting of the urban boundary layer, and to the decreased traffic volume. Benzene/Toluene (B/T) and Xylene/ethylbenzene (X/E) ratios suggested that vehicular emissions were the main source of BTEX. Since individual pollutant exposure is associated with cancer risk (CR), BTEX concentrations are far from being safe for the population residing in these urban cities. According to individual hazard quotient (HQ), there is no serious threat of chronic noncancer health effects in specific target organs for the urban cities population. A quite extensive review of BTEX in atmosphere was presented and it was found that the amount of BTEX in Kuwait was among the lowest compared with that of other cities in the world.
Dimeric Hold States of Anti-HIV Protein SAMHD1 are Redox Tunable

The sterile α motif and histidine-aspartate domain-containing protein 1 (or SAMHD1) is a human protein that restricts HIV-1 in select terminally differentiated cells of the immune system by acting as a triphosphohydrolase, lowering dNTP pools. The functionally active form of the protein has been reported to be a tetramer where adjacent monomers are linked by GTP-Mg+2-dNTP cross-bridges, although some studies have also suggested the existence of a dimeric form of this protein. In this in silico study, we have investigated the stability of SAMHD1 dimeric "hold states" as well as the role of intrachain disulfide bonds. We have found that dimeric-GTP bound SAMHD1 can exist as a viable meso-stable hold state with extensive motion in the C-terminal domain, which is quenched upon tetramer assembly. The redox switch comprised of residues C341, C350, and C522 was found to be linked to changes in the allosteric site, suggesting a mechanism for initiating tetramer disassembly. The disulfide state of the protein dimer (C341-S-S-C350 vs C341-S-S-C522) also plays a role in driving affinities for the allosteric dATP molecules. In sum, our results suggest a model wherein dimeric SAMHD1 exists as a "hold state" in the cytosol, ready to be activated by dATP concentrations, where the "tunability" of this activation is further regulated by the redox state of the enzyme.
Evaluating the Effectiveness of a Brief Mindfulness Activity in University Students With Non-Suicidal Self-Injury Engagement

Abstract Current theoretical frameworks posit that engagement in non-suicidal self-injury (NSSI) is due to an inability to regulate one’s emotions. In turn, mindfulness-based interventions have been shown to enhance emotion regulatory processes in those who engage in NSSI. Objective. The purpose of the present study was to determine whether a brief mindfulness activity was differentially effective at increasing state mindfulness and decreasing stress following a stress induction task in university students with versus without a history of NSSI engagement. Method. The sample consisted of two groups of participants who identified as women: participants with a history of NSSI engagement (NSSI; n = 57; Mage =20.09, SD = 2.05) and participants without (no-NSSI; n = 87; M age=20.22, SD = 1.94). All participants were asked to complete pre-intervention measures of state mindfulness and stress and were randomly assigned to either a mindfulness activity (body scan) or control task condition. Following the completion of their respective activities, a Stroop stress induction task was conducted and participants completed post-intervention measures of state mindfulness and stress. Results. Two 3-way mixed ANOVAs (Time X NSSI status X Condition) were conducted and revealed significant time by condition interactions for both state mindfulness, Wilk’s Λ = . 93, F(1, 140) = 10.70, p = . 001, ηp 2 = . 07, and stress, Wilk’s Λ = . 97, F(1, 140) = 4.21, p = . 04, ηp 2 = . 03. As such, both groups (NSSI/no-NSSI) demonstrated similar increases in state mindfulness and decreases in stress in response to the brief mindfulness activity following the stress induction. Implications for future research and practice will be discussed. HIGHLIGHTS The brief mindfulness activity effectively increased state mindfulness. The brief mindfulness activity effectively decreased stress. Benefits were experienced similarly among both groups (NSSI/no-NSSI).
A new regulator in the crossroads of oxidative stress resistance and virulence in Candida glabrata: The transcription factor CgTog1

ABSTRACT Candida glabrata is a prominent pathogenic yeast which exhibits a unique ability to survive the harsh environment of host immune cells. In this study, we describe the role of the transcription factor encoded by the gene CAGL0F09229g, here named CgTog1 after its Saccharomyces cerevisiae ortholog, as a new determinant of C. glabrata virulence. Interestingly, Tog1 is absent in the other clinically relevant Candida species (C. albicans, C. parapsilosis, C. tropicalis, C. auris), being exclusive to C. glabrata. CgTog1 was found to be required for oxidative stress resistance and for the modulation of reactive oxygen species inside C. glabrata cells. Also, CgTog1 was observed to be a nuclear protein, whose activity up-regulates the expression of 147 genes and represses 112 genes in C. glabrata cells exposed to H2O2, as revealed through RNA-seq-based transcriptomics analysis. Given the importance of oxidative stress response in the resistance to host immune cells, the effect of CgTOG1 expression in yeast survival upon phagocytosis by Galleria mellonella hemocytes was evaluated, leading to the identification of CgTog1 as a determinant of yeast survival upon phagocytosis. Interestingly, CgTog1 targets include many whose expression changes in C. glabrata cells after engulfment by macrophages, including those involved in reprogrammed carbon metabolism, glyoxylate cycle and fatty acid degradation. In summary, CgTog1 is a new and specific regulator of virulence in C. glabrata, contributing to oxidative stress resistance and survival upon phagocytosis by host immune cells.