Miracle-dz/UniFAR-FTUs huggingface dataset:
Efficient Simultaneous Localisation and Mapping Using Local Submaps

Autonomous localisation and mapping requires a vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of landmarks present in this environment while simultaneously using this map to compute absolute vehicle location. The theoretical basis of the solution to this problem, known as Simultaneous Localisation and Mapping (SLAM) problem, is now well understood. This paper presents a novel method for building maps of the environment that substantially reduces the computational complexity of the algorithm and improves the data association process. Rather than incorporating every observation directly into the global map of the environment, the Constrained Local Submap Filter (CLSF) described in this paper relies on creating an independent, local submap of the features in the immediate vicinity of the vehicle. This local submap is then periodically fused into the global map of the environment providing improvements in computational efficiency and data association.
A novel approach to assess diet diversity: a development of the Nutritional Functional Diversity indicator

Background and aims Diversity is a key element of diet quality. The Food Variety Score (FVS) is used to assess diversity, especially in low- and middle-income countries. It sums up the number of foods consumed ignoring their nutrient content. A more suitable index should combine the number of foods consumed and their nutritional composition. We adapted the Nutritional Functional Diversity indicator (NFD), proposed by ecologists, to measure diversity in the human diet. We compared NFD and FVS evaluating subjects’ distributions across quartiles of the two diversity indices. To evaluate which one reflected a higher diet quality, we estimated associations between these two diversity indices and diet quality measures, i.e., the Mediterranean Diet Score (MDS) and the Healthy Eating Index-2015 (HEI-2015). Associations were expressed by odds ratios (OR) and corresponding 95% confidence intervals (CI). Materials and methods We used the data of controls only derived from an integrated series of hospital-based case-control cancer studies conducted in different Italian areas. The NFD identifies groups of foods based on a set of nutrients according to a cluster analysis. Some steps are required: creating a food-nutrient matrix; clustering of the Euclidean food-food distance matrix to identify groups of foods with nutritional (dis)similarities; and calculating the NFD as the ratio between the sum of branch lengths of the dendrogram belonging to the number of foods consumed by individuals (i.e., subject-specific diversity) and the sum of all branch lengths of the dendrogram (i.e., maximal diversity). Results More than one quarter of individuals (28.4%) were differently classified within quartiles of the two diversity indices. For both indices, increasing the diversity level increased the risk for adhering to MDS (OR for NFD = 11.26; 95% CI: 7.88–16.09, and OR for FVS = 6.80; 95% CI: 4.84–9.54) and to HEI-2015 (OR for NDF = 2.86; 95% CI: 2.39–3.42, and OR for FVS = 2.72; 95% CI: 2.27–3.26). Associations were stronger for NFD. Conclusion Our findings showed a greater ability of NFD to assess diet quality quantifying the degree of diversity.
The Effect of Tax Avoidance on Audit Costs

This research aims to analyze the impact of tax avoidance on audit fees in Indonesian Stock Exchange (IDX) companies in 2013-2015. This research used book-tax differences and book-tax conformity as a proxy for tax avoidance. The result of book-tax differences as a proxy of tax avoidance showed a significant effect on audit fees, indicating that the bigger the negative book-tax differences, the more the audit fees. On the other hand, the result of book-tax conformity as a proxy of tax avoidance showed that there is no significant effect on audit fees. Thus, book-tax differences is preferable to book-tax conformity as a proxy for tax avoidance. This research does a difference test of the impact of large book-tax differences and small book-tax differences on the audit fees as an additional analysis. The result showed that large book-tax differences is more significant than the other. This research also does a difference test of the impact of large positive book-tax differences and large negative book-tax differences on audit fees. It indicates no significant difference between the effect of large positive book-tax differences and large negative book-tax differences on audit fees.
Stem cell models of Angelman syndrome

Angelman syndrome (AS) is an imprinted neurodevelopmental disorder that lacks a cure, characterized by developmental delay, intellectual impairment, seizures, ataxia, and paroxysmal laughter. The condition arises due to the loss of the maternally inherited copy of the UBE3A gene in neurons. The paternally inherited UBE3A allele is unable to compensate because it is silenced by the expression of an antisense transcript (UBE3A-ATS) on the paternal chromosome. UBE3A, encoding enigmatic E3 ubiquitin ligase variants, regulates target proteins by either modifying their properties/functions or leading them to degradation through the proteasome. Over time, animal models, particularly the Ube3a mat−/pat+ Knock-Out (KO) mice, have significantly contributed to our understanding of the molecular mechanisms underlying AS. However, a shift toward human pluripotent stem cell models (PSCs), such as human embryonic stem cells (ESCs) and induced pluripotent stem cells (iPSCs), has gained momentum. These stem cell models accurately capture human genetic and cellular characteristics, offering an alternative or a complement to animal experimentation. Human stem cells possess the remarkable ability to recapitulate neurogenesis and generate “brain-in-a-dish” models, making them valuable tools for studying neurodevelopmental disorders like AS. In this review, we provide an overview of the current state-of-the-art human stem cell models of AS and explore their potential to become the preclinical models of choice for drug screening and development, thus propelling AS therapeutic advancements and improving the lives of affected individuals.
Applying Flipped Classroom Assisted Learning to English+Normal University Students under TBL Mode: Insights from Bruner's Discovery Learning Theory

: In the era of the scientific information network, English teaching in higher education faces numerous challenges under traditional teaching methods. Drawing from Bruner's "Discovery Learning" theory, this paper examines the feasibility of implementing flipped classroom learning for English majors in teacher training colleges within the TBL model. It delves into the current challenges and solutions posed by integrating the TBL model with flipped classroom teaching. To harmoniously meld teaching philosophies, encompassing "teaching and learning" and "tailored instruction," and to amplify teaching efficacy and students' academic achievements, this article aspires to provide innovative avenues and extensive practical orientations for the reform of English education in higher institutions.
Residents recreation satisfaction index of Beijing city parks based on SEM

City parks are the main spaces for residents' daily recreation.It is of important significance to measuring residents' recreation satisfaction so as to improve the quality of its recreation.In this paper,based on the advancement of currently internationally widely-used customer satisfaction models(CSM),and associated with the factors of city parks' recreation,a structural equation model of measuring residents' recreation satisfaction index(RRSI) of city parks was established.Taking Beijing as an example,and based on scale design,questionnaire and survey,we examined the model.According to results of the model,among three latent variables influencing residents' recreation satisfaction index,the impact of "the accessibility" is the largest,followed by "the perceived quality" and "the perceived value". Furthermore it is found that several observable variables,including "the distance from the residential areas" and "the public transports" inside "the accessibility" of latent variable,"the quality of landscape","the recreation facilities","the park security","the activities" and "signs system" inside "the perceived quality" of latent variable,and "the tickets and the expense" inside "the perceived value" of latent variable,have more significant impact on latent variables,which are main factors that can influence residents' recreation satisfaction.On this basis,this paper put forward suggestions in three aspects to improve the recreation quality of city parks: firstly,parks' accessibility should be advanced through perfecting traffic network and extending city parks' coverage to residential areas;secondly,construction of the parks' facilities and service should be enhanced;finally,residents in Beijing should be free from charge of city parks and openess of the "parks in parks be enlarged".
EFFECT OF NP DOSES BY NEW CaCO3 AGROFUNDS ON THE FORMATION OF SOYBEAN YIELDS

For the acid soils in the south of the country, it is more than necessary to apply calcareous amendments. Results in this sense were obtained over the years at the main crop plants in the station area. Considering the increasing importance of the soybean crop, it was considered necessary to resume these types of research, as new products based on limestone and dolomite appeared. Significant results were obtained by forming the total biomass of the plant as well as its components. In the case of the Cristina TD (00) variety, the interaction between several CaCOɜ formulations and NP fertilizers contributed as follows: plant biomass 6.46 t/ha (100%), pod biomass 4.16 t/ha (63%), and grains were 2.17 (33%). Of the two analyzed factors, NP fertilizer had the most important contribution to this variety, followed by the influence of the four CaCOɜ formulations. The interaction between the two factors was always negative demonstrating that there was some competition between the cations. The obtained correlations were in all cases positive, but of different intensities. Through the obtained results, it is recommended that new formulations of CaCOɜ be permanently used in the soybean cultivation technology on acid soils.
Application of Electromagnetic Field in Maize to Improve Productivity under Rain-fed Conditions

In order to know the feasibility of using physical methods such as pre-sowing treatment and evaluated infield for maize production in agrosystems with moisture and inputs limitations, five varieties were used: “HS-2”, “CP-20”, “Promesa”, “HT-Precoz”, “CPV-20”, and “Criollo de Mineral de Pozos”, Gto. The seeds were treated with 560 mT variable electromagnetic field during 30 minutes before sowing. There were significant statistical differences among treatments for ear weight and for varieties in plant height and ear height and weight. The HS-2 hybrid had the lowest value for emergency velocity and emerged plants percentage, but yielded at 12% humidity 4,950 t ha -1
A Modified Frequency Domain Imaging Method for One-stationary Bistatic SAR

: Bistatic Synthetic Aperture Radar (BiSAR) in one-stationary mode has many advantages over the traditional monostatic SAR. Its echo, however, shows serious space variance in both range and azimuth directions due to its complex imaging geometry, making it hard to be processed by the frequency methods used in the monostatic SAR. To solve that problem, a method based on blocks and interpolation has been proposed by Wang Yu et al . With this method, points can be well focused except for those located on the edge of each block. In this paper, a modified method is put forward, which adopts new block-dividing strategy and new mapping relationship in the interpolation. With the proposed method, points on the edge can also be well focused, making the quality of the final image greatly improved
CHIKUNGUNYA CO-INFECTION AMONG DENGUE IGM POSITIVE CASES IN NORTH CHENNAI IN A TERTIARY CARE HOSPITAL

Background: Dengue virus (DENV) and Chikungunya virus (CHIKV) are transmitted by Aedes mosquitoes, and the regions of CHIKV prevalence often overlap with DENV-endemic areas. It is challenging to differentiate clinical signs and symptoms of CHIKV infection from DENV infection. The co-circulation and co-infection of DENV and CHIKV in patients is quite common and reported from several countries, including India. The aim of this study is to diagnose chikungunya co-infection among dengue positive (IgM) cases by serological and molecular method (RTPCR). Materials and Methods: All blood samples tested positive for dengue IgM antibody in the Microbiology lab were included in the study for testing Chikungunya IgM antibodies using Pan Bio MAC IgM ELISA. Co-infected samples were first subjected to RT-PCR for DENV, then for CHIKV. Result: Blood samples of 136 patients who tested positive for Dengue IgM antibodies were tested for Chikungunya IgM antibody by MAC ELISA and 16.91% (23) samples were found to be positive. RT-PCR test performed for DENV and CHIKV detection in 23 co-infected samples (IgM co-infection) showed positivity for DENV in 30.43% (7/23) samples and CHIKV in 39.13% (9/23) samples. Among them, 17.39% (4/23) had co-infection with DENV and CHIKV. Among the 7 DENV RT-PCR confirmed positive samples (30.43%), the predominant serotype was DENV-2 (57.14%) followed by DENV-1 (43.86%). Conclusion: Both DENV and CHIKV are common illnesses of the monsoon which favour vector-breeding sites and the mosquitoes become infected with both types of viruses which are frequently transmitted to humans causing coinfections. The present study supports a better understanding of the different dengue serotypes circulating in the study population, and its co-infection with Chikungunya virus.
Proteomic and Low-Polar Metabolite Profiling Reveal Unique Dynamics in Fatty Acid Metabolism during Flower and Berry Development of Table Grapes

Grapevine development and ripening are complex processes that involve several biochemical pathways, including fatty acid and lipid metabolism. Fatty acids are essential components of lipids, which play crucial roles in fruit maturation and flavor development. However, the dynamics of fatty acid metabolism in grape flowers and berries are poorly understood. In this study, we present those dynamics and investigate the mechanisms of fatty acid homeostasis on ‘Thompson Seedless’ berries using metabolomic and proteomic analyses. Low-polar metabolite profiling indicated a higher abundance of fatty acids at the pre-flowering and pre-veraison stages. Proteomic analyses revealed that grape flowers and berries display unique profiles of proteins involved in fatty acid biosynthesis, triacylglycerol assembly, fatty acid β-oxidation, and lipid signaling. These findings show, for the first time, that fatty acid metabolism also plays an important role in the development of non-oil-rich tissues, opening new perspectives about lipid function and its relation to berry quality.
Intraoperative Complications of the Anterior Retroperitoneal Approach to the Lumbosacral Spine in the Supine Position: A Proposal for an Algorithm to Predict the Degree of Difficulty of the Surgical Procedure

The main concern in anterior exposure of the lumbosacral spine is the risk of vascular injury during mobilization and retraction of the blood vessels. Preoperative planning is considered essential to reducing the incidence of vascular injury, although no consensus has been reached on the preferred methodology for such planning. This is a retrospective study, including all patients operated on by a single surgeon, who received anterior lumbar-spine surgery in the supine position as a primary procedure before undergoing an anterior lumbar interbody fusion (ALIF) or an artificial disc replacement (ADR). The aim of this study was to list the intraoperative complications observed. We included 156 patients (87 women; mean age, 48 years) who met the inclusion criteria. The overall complication rate was 6.4% (10/156). The most frequent complications were an incidental peritoneal opening (seven patients, 4.4%); two left–iliac-vein injuries (1.28%) that were sutured; and one dural tear during a decompression maneuver of the canal. No neurological, arterial, or ureteral injury or retrograde ejaculation was reported. The use of a sound protocol that includes planning, assessment of approach difficulty, and step-by-step surgical technique can reduce the rate of vascular injury in anterior lumbosacral-spine surgery.
Spatiotemporal Dengue Fever Incidence Associated with Climate in a Brazilian Tropical Region

Dengue is a serious infectious disease worldwide and a climate-sensitive disease. Thus, our goals were to (i) evaluate the relationship between dengue incidence and meteorological variables (rainfall and air temperature); (ii) identify the spatiotemporal pattern of dengue incidence in the municipalities of Mato Grosso from 2001 to 2020; and (iii) verify the spatial dependence of dengue incidence in the dry and wet seasons. We used dengue data from 2001 to 2020, monthly rainfall estimates from GPM, and daily air temperature estimates from ERA-5. The municipalities of the Mato Grosso state are included in 16 healthcare territories. The seasonal rainfall pattern indicates that the peak of the dengue endemic occurred in the wet season. However, drier and/or warmer places had a lower incidence of dengue in the dry season. Furthermore, a lagged effect of meteorological variables on dengue incidence has been identified, ranging from 0 to 7 months. Hotspot areas were identified which might have the potential for an intense spreading of dengue in Mato Grosso. They were mainly concentrated in the healthcare territory of Teles Pires (ID 14) in the dry season, while they were concentrated in the healthcare territories of Garças Araguaia (ID 5), Oeste (ID 11), and Teles Pires (ID 14) in the wet season. In addition, they are located in the Am climate and in the Amazon Forest and Brazilian savanna biomes, which have higher dengue incidence values. These results help to highlight which municipalities decision-makers must intervene in the public health system to prevent and control future epidemics.
Investigation of Weak Noncovalent Interactions Directed by the Amino Substituent of Pyrido- and Pyrimido-[1,2-a]benzimidazole-8,9-diones

Quinones are small redox-active molecules that are able to form intra- and intermolecular interactions both in the solid state and in solution. On the basis of 6-amino-substituted pyrido- and pyrimido-[1,2-a]benzimidazole-8,9-diones, weak interactions were investigated by single-crystal X-ray and 1H NMR spectroscopy methods. Crystallization of quinone derivatives containing a –NH–CH2– fragment led to the formation of both chiral and achiral crystals. The presence of two forms with (endo form) and without (exo form) an intramolecular hydrogen bond was experimentally detected by X-ray crystallography analysis and variable-temperature (VT) 1H NMR experiments in the cases of isopentylamino- and benzylamino-substituted derivatives. Interestingly, the exo form dominates both in the solid state and in solution.
The influence of traffic-related air pollution on the ventilation efficiency of persons living in the proximity of main roads

The influence of traffic-related air pollutants on inhabitants of Warsaw living in the vicinity of busy roads has been investigated. Residents of a rural area were taken as a control group. Pulmonary function tests were carried out on local residents to assess the risk of obstruction to their airways. The results show that, for Warsaw inhabitants, the most important spirometric parameters are significantly lower compared to the rural area group. Logistic regression models demonstrate that living in the proximity of a main road in Warsaw increases the risk of pulmonary obstruction among non-smokers more than fourfold compared with persons residing in the country.
Epidemiology of multiple sclerosis in Spain. Prevalence and incidence data

INTRODUCTION: Traditionally, Spain has been considered to be an area with a low prevalence of multiple sclerosis. However, the most recent studies show much higher figures than those previously described. OBJECTIVE: We aim to summarize the current data on prevalence and incidence of the disorder in Spain so as to determine the true situation regarding multiple sclerosis in this country. DEVELOPMENT: We have evaluated all the epidemiological data published on the descriptive epidemiology of multiple sclerosis in Spain, and analyzed the differences in method which might explain the disparity between the figures quoted. We also studied the data on incidence available, mainly in the Alcoi health district, where we carried out the most prolonged incidence study in Spain. CONCLUSIONS: The figures for prevalence given by the most recent studies include Spain in the area of moderate risk. The analysis of prevalence figures seem to indicate that these have varied with time and, at least in some zones, the incidence has increased in recent years.
African elephant status report 2007 : an update from the African elephant database

The African Elephant Database is a spatial database used to store, manage, analyze and disseminate information on the distribution and abundance of elephant populations on the African continent, in order to provide a current and accurate picture of the status African elephants. Elephants are the largest living land mammals, and their potential impact on their habitats raises important management issues both for protected areas and unprotected land. This Status Report is rich in data and information on numbers, distribution and current issues, and provides continent-wide information that is vital for conservation. It will help wildlife management authorities to harmonize their policy and management decisions across regions, as well as the continent, to reduce conflict and relax the pressure on habitats.
Unifying Structure Reasoning and Language Model Pre-training for Complex Reasoning

Recent knowledge enhanced pre-trained language models have shown remarkable performance on downstream tasks by incorporating structured knowledge from external sources into language models. However, they usually suffer from a heterogeneous information alignment problem and a noisy knowledge injection problem. For complex reasoning, the contexts contain rich knowledge that typically exists in complex and sparse forms. In order to model structured knowledge in the context and avoid these two problems, we pro-pose to unify structure reasoning and language model pre-training. It identiﬁes four types of elementary knowledge structures from contexts to construct structured queries, and utilizes the box embedding method to conduct explicit structure reasoning along queries during language modeling. To fuse textual and structured semantics, we utilize contextual language representations of knowledge structures to initialize their box embeddings for structure reasoning. We conduct experiments on complex language reasoning and knowledge graph (KG) reasoning tasks. The results show that our model can effectively enhance the performance of complex reasoning of both language and KG modalities.
Solving Spatial Sampling Problems in 2D-CSEM Interferometry using Elongated Sources

With interferometry by multidimensional deconvolution (MDD), all effects from the air-water interface in marine Controlled Source Electromagnetics (CSEM) data can be removed. Unfortunately, to apply interferometry byMDD, a very dense receiver sampling is necessary. We show, that the critical sampling distance is equal to the larger of the two parameters: source height and source length. Consequently, by using an elongated source, the sampling criteria can be relaxed also for small vertical source-receiver distances.