Miracle-dz/UniFAR-FTUs huggingface dataset:
Visual-Inertial Simultaneous Localization and Mapping: Dynamically Fused Point-Line Feature Extraction and Engineered Robotic Applications

For robots in unknown environments, the visual-inertial simultaneous localization and mapping (SLAM) incorporates the multisensor data and enables a globally consistent trajectory tracking and mapping. Given the scene structures in the SLAM problem, the high-quality lines can serve as primitives and provide additional constraints for camera pose estimation. This study is devoted to a pipeline design of dynamically fused point-line visual-inertial navigation system (VINS). The design builds on the heritage of VINS-Mono but employs an ensemble pose estimation strategy to integrate point and line features. As far as we know, it is the first optimization-based monocular VINS method that gives an insight into the quantitative relationship between point and line feature numbers. Additionally, the measured pixels for line feature-length determination and two hidden parameters in line segment detector (LSD) extractor are investigated, guaranteeing the line feature extraction optimization in both quality and efficiency. The benchmark dataset and real-world tests are conducted. In terms of challenging scene tests in the EuRoc dataset, results are compared against ROVIO, VINS-Mono, and PL-VINS frameworks, revealing our design is substantially more accurate and robust than others with both locally and globally consistent pose estimates. The engineered algorithm in the camera “Mynteye” further enables the Bulldog-CX Robot platform verification. The results concerning the drifts, time taken for line feature extraction, and real-world trajectory consistency show our design outperforms the point-based VINS. The strong adaptability of our dynamically fused point-line VINS to the broad range of indoor and outdoor scenes is simultaneously verified.
Integrated Daylighting Design by Combining Passive Method with DaySim in a Classroom

This paper suggests a daylighting design method by combining a passive approach and advanced software to design external shading devices for daylighting in a classroom. A simplified method to predict and assess the indoor natural illuminance is a prerequisite for designers to design schools with better performance. Recently there has been growing demand for school refurbishment; mainly environmental improvement of classrooms in Korea. However, the passive approach of design has been neglected while the use of advanced simulation software has increased, requiring additional time and cost. Combining passive design methods with up-to-date numerical simulation is explored with shading devices to verify the daylighting distribution and daylight autonomy in classrooms with different orientations and shading forms. Weather tool Autodesk Ecotect, for the shading coefficient, and DaySim software (v3.0), for daylight autonomy, were adopted for the initial and the detail design stage, respectively. The findings support the linked design approaches of passive and advanced software would benefit designers in the strategic design process with further potential for design options and lighting electricity reduction.
Studying Chromatin Epigenetics with Fluorescence Microscopy

Epigenetic modifications of histones (methylation, acetylation, phosphorylation, etc.) are of great importance in determining the functional state of chromatin. Changes in epigenome underlay all basic biological processes, such as cell division, differentiation, aging, and cancerous transformation. Post-translational histone modifications are mainly studied by immunoprecipitation with high-throughput sequencing (ChIP-Seq). It enables an accurate profiling of target modifications along the genome, but suffers from the high cost of analysis and the inability to work with living cells. Fluorescence microscopy represents an attractive complementary approach to characterize epigenetics. It can be applied to both live and fixed cells, easily compatible with high-throughput screening, and provide access to rich spatial information down to the single cell level. In this review, we discuss various fluorescent probes for histone modification detection. Various types of live-cell imaging epigenetic sensors suitable for conventional as well as super-resolution fluorescence microscopy are described. We also focus on problems and future perspectives in the development of fluorescent probes for epigenetics.
Research on Novel Flat Wire Transposed Winding of PMSM for Electric Vehicle

Permanent magnet synchronous motor (PMSM) for electric vehicles is developing higher frequency and speed but triggering a significant increase of eddy current loss. To resolve the eddy current loss issue, a novel flat wire transposed winding composed of double-row multiple parallel strands is proposed. Transposed winding techniques have been proved to be efficient in reducing eddy current loss by preventing the uneven leakage magnetic field induced by high frequency. The proposed transposition further improved this technique in reducing circulating current loss. Taking a 60-kW PMSM as an example, the novel flat wire transposed winding arrangement is carried out. The 3-D field-circuit coupled finite-element models of 360° complete transposed and incomplete transposed winding PMSM are established, and circulating current losses are compared. The analysis results show that incomplete transposed winding has a better performance in reducing the circulating current loss. The transposition method suitable for novel flat wire transposed winding is obtained, and the feasibility of PMSM with novel flat wire transposed winding to reduce winding losses is proven.
Comparative Analysis of the Effects of Retirement on Health Status of Older Adulthood

This study examines the causal effect of retirement on the health of middle-aged and older adults in China. We used the mandatory retirement age in China as an instrument variable with a fuzzy discontinuity design. This served to examine the exogenous impact on retirement behavior. Two regression analyses were used, each with the dependent variable as self-assessed health status (SAH) and depression levels, respectively. Changes in an individual’s internal and external environment after retirement were associated with an increase in SAH and a decrease in depression. Highly educated men are 93.5% more likely to improve their health. Women are 0.26% less likely to be depressed. People with higher education tend to reduce their vigorous activities and increase walking for over 10 minutes after retirement. This study may promote research on aging and the health status of the Chinese population. It may provide a scientific basis for formulating, revising, and improving social security policies in China.
PENGARUH LIKUIDITAS DAN SOLVABILITAS TERHADAP KINERJA PERUSAHAAN

Penelitian ini bertujuan untuk mengetahui pengaruh likuiditas (current ratio), dan solvabilitas (debt to total assets ratio dan debt to equity ratio) terhadap Kinerja Perusahaan ROA dan ROE (Return on Asset dan Return on Equity) baik secara simultan maupun parsial pada perusahaan manufaktur. perusahaan yang terdaftar di Bursa Efek Indonesia periode 2017-2019. Jenis penelitian yang digunakan dalam penelitian ini adalah penelitian asosiatif yang bertujuan untuk menjelaskan hubungan antara dua variabel atau lebih melalui pengujian hipotesis. Teknik pengambilan sampel yang digunakan adalah purposive sampling dan diperoleh sampel sebanyak 34 perusahaan. Data yang telah terkumpul diolah dengan uji asumsi klasik sebelum dilakukan uji hipotesis. Untuk menguji hipotesis yang diajukan dalam penelitian ini digunakan analisis regresi berganda. Hasil penelitian secara simultan dengan menggunakan uji F menunjukkan bahwa ketiga variabel bebas berpengaruh signifikan terhadap kinerja perusahaan (ROA dan ROE). Hasil penelitian secara parsial menggunakan uji t menunjukkan bahwa likuiditas (current ratio) dan ROE tidak berpengaruh signifikan positif terhadap ROA. Sedangkan solvabilitas (debt to total assets ratio dan debt to equity ratio) berpengaruh signifikan terhadap ROE.
A self-organized reciprocal control method for multi-robot simultaneous coverage and tracking

Purpose Multi-robots simultaneously coverage and tracking (SCAT) is the problem of simultaneously covering area and tracking targets, which is essential for many applications, such as delivery service, environment monitor, traffic surveillance, crime monitor, anti-terrorist mission and so on. The purpose of this paper is to improve the performance of detected target quantity, coverage rate and less deadweight loss by designing a self-organized method for multi-robots SCAT. Design/methodology/approach A self-organized reciprocal control method is proposed, coupling task assignment, tracking and covering, equipped with collision-avoiding ability naturally. First, SCAT problem is directly modeled as optimal reciprocal coverage velocity (ORCV) in velocity space. Second, the preferred velocity is generated by calculating the best velocity to the center of some robot detected targets. ORCV is given by adjusting the velocity relative to neighbor robots’ toward in optimal coverage velocity (OCV); it is proven that OCV is collision-free assembly. Third, some corresponding algorithms are designed for finding optimal velocity under two situations, such as no detected targets and empty ORCV. Findings The simulation results of two cases for security robots show that the proposed method has detected more targets with less deadweight loss and decision time and no collisions anytime. Originality/value In this paper, a self-organized reciprocal control method is proposed for multi-robots SCAT problem, which is modeled in velocity space directly, different to the traditional method modeling in configuration space. What is more, this method considers the reciprocal of robots that contributes to the better accomplishment of SCAT cooperatively.
Correlations between glycosylated hemoglobin and glucose levels in Chinese older adults with newly diagnosed type 2 diabetes mellitus

Background/aim To explore the correlations between glycosylated hemoglobin (HbA1c) and glucose levels in older adults with newly diagnosed type 2 diabetes mellitus (T2DM). Materials and methods A total of 783 participants aged ≥60 years were enrolled. The 75-g oral glucose tolerance test (OGTT) was conducted and HbA1c was measured. The participants were divided into normal glucose tolerance (NGT)HbA1c, Pre-DMHbA1c, and T2DMHbA1c groups based on the HbA1c diagnostic criteria. The correlations between HbA1c and glucose levels of the OGTT were analyzed. Results When HbA1c ≥ 6.5% in older people, HbA1c was positively correlated with Glucose 0 min and 120 min of the OGTT (r = 0.335, 0.247; all p < 0.05, respectively). When HbA1c was between 5.7% and 6.4%, HbA1c was positively correlated with Glucose 0 min and 120 min (r = 0.298, 0.474; all p < 0.01, respectively). When HbA1c ≤ 5.6%, HbA1c was positively correlated with Glucose 0 min and 120 min (r = 0.301, 0.357; all p < 0.01, respectively). HbA1c was positively correlated with HOMA-IR (r = 0.368, p < 0.01), while it was negatively correlated with HOMA-β, ΔI30/ΔG30, IG120, and GDI(r = −0.267, −0.397,−0.364,−0.397; all p < 0.01, respectively). After adjustment for confounders, the correlations of HbA1c with Glucose 0 min and 120 min, insulin sensitivity and β-cell function indexes still existed. When HbA1c ≥ 6.5%, there were 93.3% T2DMOGTT and 6.7% Pre-DMOGTT subjects. When HbA1c < 6.5%, there were 17.7% T2DMOGTT, 39.5% Pre-DMOGTT (including 2.5% IFGOGTT, 36.1% IGTOGTT and 0.9% IGROGTT), and 42.8% NGTOGTT subjects. Conclusion When HbA1c ≥ 6.5% in older people, HbA1c shows the highest correlation with Glucose 0 min of the OGTT. When HbA1c < 6.5%, postprandial hyperglycemia is a main characteristic of older people, and HbA1c shows the highest correlation with Glucose 120 min of the OGTT.
Computation of 3D implant coordinates for prostate brachytherapy

Prostate Brachytherapy has emerged as a common and effective treatment modality for early stage low risk prostate cancer, wherein around 75 small radioactive seeds are implanted into the prostate to eradicate the cancer by emitting radiation. The subject of this dissertation is the capability to intra-operatively monitor the 3D seed locations using 2D X-ray images and make treatment adjustments, promising to make a significant improvement in cancer control. We modeled the overall medical problem as a cascade of computer science problems, predominantly in image processing, pose estimation, minimum-weight multipartite graph matching and 3D image reconstruction. The primary contribution of this dissertation is a theoretical and computational solution using techniques like linear algebra, error analysis, combinatorial and non-linear optimization. The solution is consolidated into a simple software module and integrated with a commercial Brachytherapy installation. The contributions of the dissertation have been extensively validated using simulation and phantom experiments. Furthermore, the software system has been successfully employed intraoperatively, for treatment control in a phase-I trial with six patients. From a clinical ii perspective, the proposed solution does not alter the current surgical workflow, uses already existing infrastructure and is economically feasible. Dissertation Advisor: Dr. Gabor Fichtinger Associate Professor, School of Computing Queen’s University Kingston, CANADA. Adjunct Associate Professor of Computer Science Johns Hopkins University Baltimore, USA. Industry Advisor: Dr. Clif Burdette Acoustic Medsystems, Inc Champaign, USA. Clinical Advisor: Dr. Danny Song Assistant Professor, Radiation Oncology and Molecular Radiation Sciences The Johns Hopkins University School of Medicine Baltimore, USA. Mentor, Reader: Dr. Russell Taylor Professor, Computer Science Johns Hopkins University Baltimore, USA. iii
The transgender and gender diverse and attention deficit hyperactivity disorder nexus: A systematic review

Abstract Introduction: Prior work suggests an increased prevalence of Attention Deficit Hyperactivity Disorder (ADHD) among transgender and/or gender diverse (TGD) individuals. This systematic review summarizes primary literature on TGD/ADHD experience. Methods: Texts from databases, reference lists, and referral were screened per PRISMA guidelines, with author consensus. Results: Since 2014, 17 articles have been published on the TGD/ADHD nexus. Gender-affirming care specialists authored 65%. Seventy-one percent reported prevalence, per medical records. Only case reports discussed implications. None avoided deficit-framing, nor included explicit TGD/ADHD authorship. Conclusions: The paucity of literature and lack of explicit TGD/ADHD community involvement are striking; each warrants increased attention.
Clinical Translationality of KCNJ5 Mutation in Aldosterone Producing Adenoma

Hypertension due to primary aldosteronism poses a risk of severe cardiovascular complications compared to essential hypertension. The discovery of the KCNJ5 somatic mutation in aldosteroene producing adenoma (APA) in 2011 and the development of specific CYP11B2 antibodies in 2012 have greatly advanced our understanding of the pathophysiology of primary aldosteronism. In particular, the presence of CYP11B2-positive aldosterone-producing micronodules (APMs) in the adrenal glands of normotensive individuals and the presence of renin-independent aldosterone excess in normotensive subjects demonstrated the continuum of the pathogenesis of PA. Furthermore, among the aldosterone driver mutations which incur excessive aldosterone secretion, KCNJ5 was a major somatic mutation in APA, while CACNA1D is a leading somatic mutation in APMs and idiopathic hyperaldosteronism (IHA), suggesting a distinctive pathogenesis between APA and IHA. Although the functional detail of APMs has not been still uncovered, its impact on the pathogenesis of PA is gradually being revealed. In this review, we summarize the integrated findings regarding APA, APM or diffuse hyperplasia defined by novel CYP11B2, and aldosterone driver mutations. Following this, we discuss the clinical implications of KCNJ5 mutations to support better cardiovascular outcomes of primary aldosteronism.
Reliability Study of a Functional Test for the Offensive Agility Performance in Water Polo

The aim of the study was to develop and assess the reliability of a functional agility test containing offensive elements for water polo players. Eighteen young male (15.3 ± 0.5 years, 178.3 ± 4.7 cm, 69.4 ± 10.0 kg) water polo players with a minimum of 5 years of sport-specific experience participated in this study. The test contained reactive high-intensity short-term swimming with changes in direction and manoeuvres after perceiving unknown stimuli given by tester players, and also included a shooting task at a goal, first from 7 m and then from 5 m. Execution time and shooting efficiency were measured by two experienced water polo coaches (Evaluators A and B). All statistical analyses were calculated using SPSS. The intrarater reliability between attempts showed good reliability for both evaluators (Evaluator A: ICC: 0.87; 95% CI: 0.66–0.95 and Evaluator B: ICC: 0.88; 95% CI: 0.68–0.96). Interrater reliability between Evaluators A and B was excellent at both attempts (Attempt 1: ICC: 0.97; 95% CI: 0.93–0.99 and Attempt 2: ICC: 0.98; 95% CI: 0.91–0.99). A lack of correlation between shooting performance from 7 m and 5 m distances and execution time was observed in the protocol. The test we presented in this study was found to be a reliable measurement tool for testing offensive agility performance based on open skill nature among water polo players.
Double adaptive power allocation strategy in electric vehicles with battery/supercapacitor hybrid energy storage system

This paper proposes a new energy management strategy (EMS) for electric vehicles (EVs) with battery/supercapacitor hybrid energy storage systems (HESS). Firstly, the battery/supercapacitor HESS configuration and obtaining the load current from the driving cycle are comprehensively explained. Secondly, fixed and adaptive frequency‐based (AFB) EMS are discussed in detail. In the proposed method, the current demanded by the load is separated into low and high‐frequency components with the help of an adaptive low‐pass filter (A‐LPF). In addition, adaptive battery current (ABC) is generated according to the supercapacitor (SC) state of charge (SoC), and a double adaptive power allocation strategy is performed. The proposed method is compared with the AFB‐EMS for load currents, load powers, DC link voltages, filter cut‐off frequencies, battery, and SC SoCs on the UDDS driving cycle. When the obtained results were evaluated together, it was observed that the proposed method completed the driving cycle with a higher battery SoC and realized the adaptive cut‐off frequency in a narrower band.
Generation of Digital Brain Phantom for Machine Learning Application of Dopamine Transporter Radionuclide Imaging

While machine learning (ML) methods may significantly improve image quality for SPECT imaging for the diagnosis and monitoring of Parkinson’s disease (PD), they require a large amount of data for training. It is often difficult to collect a large population of patient data to support the ML research, and the ground truth of lesion is also unknown. This paper leverages a generative adversarial network (GAN) to generate digital brain phantoms for training ML-based PD SPECT algorithms. A total of 594 PET 3D brain models from 155 patients (113 male and 42 female) were reviewed and 1597 2D slices containing the full or a portion of the striatum were selected. Corresponding attenuation maps were also generated based on these images. The data were then used to develop a GAN for generating 2D brain phantoms, where each phantom consisted of a radioactivity image and the corresponding attenuation map. Statistical methods including histogram, Fréchet distance, and structural similarity were used to evaluate the generator based on 10,000 generated phantoms. When the generated phantoms and training dataset were both passed to the discriminator, similar normal distributions were obtained, which indicated the discriminator was unable to distinguish the generated phantoms from the training datasets. The generated digital phantoms can be used for 2D SPECT simulation and serve as the ground truth to develop ML-based reconstruction algorithms. The cumulated experience from this work also laid the foundation for building a 3D GAN for the same application.
Evolution of clinically isolated syndrome to pediatric-onset multiple sclerosis and a review of the literature

Background/aim Clinically isolated syndrome (CIS) may be the first presentation of pediatric onset multiple sclerosis (POMS). We retrospectively evaluated the clinical and laboratory data of pediatric CIS (pCIS) patients who were diagnosed with POMS upon follow-up for any predictive variables. We also reviewed the literature concerning the management of pCIS. Materials and methods This single-center study involved patients who had pCIS in childhood that converted to POMS during follow-up between 2011 and 2021. Sixteen patients were included in the study. The data were evaluated retrospectively and analyzed with descriptive statistics. Results The majority of the pCIS patients were female (F/M: 10/6, 62/38%), and the first pCIS attack was at 13.3 ± 2.6 years old (mean ± SD). Mean follow-up was 3.1 ± 1.4 years; 6 of the patients relapsed within 1 year and 6 within 2 years. The time from the first pCIS attacks of the patients to the diagnosis of POMS was 15.75 ± 11.07 months. The annualized relapse rate (ARR) was 0.9 ± 0.7. The majority (68%) of the patients had a monosymptomatic onset, optic neuritis (ON) being the most common initial presentation (44%). Cerebrospinal fluid (CSF) oligoclonal bands (OCBs) were found in 9/12 (75%) and the immunoglobulin G index (IgG index) was elevated in 5/11 (45%). An autoimmune disorder was reported in the 1st or 2nd degree relatives of 6 patients: four (25%) MS, one ulcerative colitis, and one Hashimoto’s thyroiditis. Our pCIS patients did not receive any disease-modifying treatment (DMT) for their first attack. When the diagnosis changed to POMS, most (68%) were started on interferons. The Expanded Disability Status Scale (EDSS) increased in one patient during follow-up (EDSS: 3) while in the others it was 0 at the last visit. The literature is reviewed in order to compare results for suggestions regarding the management of pCIS. Conclusion The presence of OCBs in the initial episode, MS in the family, and monosymptomatic onset may increase the possibility of developing POMS. Whether DMTs given at the pCIS stage are effective in preventing relapses and disability needs to be evaluated in longitudinal follow-up of large cohorts.