gebhart/patrepeval huggingface dataset:
A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel (2014)

The concept of two-wheeled mobile manipulator (TWMM) has been proposed for its significant advantage due to high maneuverability particularly in confined internal spaces. However, its unbalanced structure imposes restrictions for widespread application. Note that the nonholonomic property of a TWMM makes its control a more challenging task. In this paper, a new stabilization mechanism of TWMM is presented, and a new control method based on dynamical balancing algorithm is proposed that could effectively resolve those restrictions. To this end, a reaction wheel is considered to control the position of center of gravity (COG), leading to a smoother motion of the robot manipulator. To make the robot be able to manipulate an object, a double inverted pendulum model (DIPM) is considered as a simplified model of the system. DIPM dynamics is used to identify and simplify the dynamics of TWMM and subsequently a supervisory control is employed to stabilize the robot via its COG position. This in turn improves the robustness of the proposed algorithm during manipulation maneuver of an object with unknown mass parameters. Results are compared to those of an ideal model-based algorithm that reveal the merits of the proposed control strategy.
Fabry's disease: enzymatic diagnosis of hemizygotes and heterozygotes. Alpha-galactosidase activities in plasma, serum, urine, and leukocytes. (1973)

Abstract Fabry's disease is an X-linked, inborn error of glycosphingolipid metabolism resulting from the deficient activity of the enzyme, ceramide trihexosidase, a specific α-galactosidase. A sensitive, simple enzymatic assay was developed to measure α-galactosidase activity in plasma, serum, urine, and leukocytes; the demonstration of deficient α-galactosidase activity in these sources, utilizing synthetic fluorogenic substrate, proved to be diagnostic for hemizygotes and heterozygotes with Fabry's disease. The pH optima was the same for heterozygotes and normal control subjects for each enzyme source. Typical saturation kinetics were observed in all enzyme sources from all individuals studied. The apparent Km values were similar in respective enzyme sources from a hemizygote, heterozygote, and normal control subjects. Enzymatic activity measured in hemizygotes was approximately 10 per cent of normal nonspecific α-galactosidase activity in leukocytes, plasma, serum, and urine. Heat inactivation studies of the enzyme in leukocytes and plasma from hemizygotes, heterozygotes, and normal individuals indicated the presence of heat-stable and heat-labile components of α-galactosidase activity; these studies suggest that the residual α-galactosidase activity in hemizygotes with this disease is a heat-stable component and that the deficient enzyme in Fabry's disease, ceramide trihexosidase, is the heat-labile, myoinositol-inhibited α-galactosidase component.
A 2.6-GHz/5.2-GHz frequency synthesizer in 0.4-μm CMOS technology (2003)

This paper describes the design of a CMOS frequency synthesizer targeting wireless local area network applications in the 5 GHz range. Based on an integer-N architecture, the synthesizer produces a 5.2 GHz output as well as the quadrature phases of a 2.6 GHz carrier. Fabricated in a 0.4 /spl mu/m digital CMOS technology, the circuit provides a channel spacing of 23 MHz at 5.2 GHz while exhibiting a phase noise of -115 dBc/Hz at 2.6 GHz and -100 dBc/Hz at 5.2 GHz at 10 MHz offset. The reference sidebands are at -50 dBc at 2.6 GHz and the power dissipation from a 2.6 V supply is 47 mW.
Glucocerebrosidase Mutations and Synucleinopathies. Potential Role of Sterylglucosides and Relevance of Studying Both GBA1 and GBA2 Genes (2018)

Gaucher's disease (GD) is the most prevalent lysosomal storage disorder. GD is caused by homozygous mutations of the GBA1 gene, which codes for beta-glucocerebrosidase (GCase). Although GD primarily affects peripheral tissues, the presence of neurological symptoms has been reported in several GD subtypes. GBA1 mutations have recently deserved increased attention upon the demonstration that both homo- and heterozygous GBA1 mutations represent the most important genetic risk factor for the appearance of synucleinopathies like Parkinson's disease (PD) and dementia with Lewy bodies (LBD). Although reduced GCase activity leads to alpha-synuclein aggregation, the mechanisms sustaining a role for GCase in alpha-synuclein homeostasis still remain largely unknown. Furthermore, the role to be played by impairment in the physiological function of endoplasmic reticulum, mitochondria and other subcellular membranous components is currently under investigation. Here we focus on the impact of GCase loss-of-function that impact on the levels of sterylglucosides, molecules that are known to trigger a PD-related synucleinopathy upon administration in rats. Moreover, the concurrence of another gene also coding for an enzyme with GCase activity (GBA2 gene) should also be taken into consideration, bearing in mind that in addition to a hydrolytic function, both GCases also share transglycosylation as a second catalytic activity. Accordingly, sterylglycoside levels should also be considered to further assess their impact on the neurodegenerative process. In this regard-and besides GBA1 genotyping-we suggest that screening for GBA2 mutations should be considered, together with analytical measurements of cholesterol glycosides in body fluids, as biomarkers for both PD risk and disease progression.
Laparoscopic Virtual Mirror New Interaction Paradigm for Monitor Based Augmented Reality (2007)

A major roadblock for using augmented reality in many medical and industrial applications is the fact that the user cannot take full advantage of the 3D virtual data. This usually requires the user to move the virtual object, which disturbs the real/virtual alignment, or to move his head around the real objects, which is not always possible and/or practical. This problem becomes more dramatic when a single camera is used for monitor based augmentation, such as in augmented laparoscopic surgery. In this paper we introduce an interaction and 3D visualization paradigm, which presents a new solution to this old problem. The interaction paradigm uses an interactive virtual mirror positioned into the augmented scene, which allows easy and complete interactive visualization of 3D virtual data. This paper focuses on the exemplary application of such visualization techniques to laparoscopic interventions. A large number of such interventions aims at regions inside a specific organ, e.g. blood vessels to be clipped for tumor resection. We use high-resolution intra-operative imaging data generated by a mobile C-arm with cone-beam CT imaging capability. Both the C-arm and the laparoscope are optically tracked and registered in a common world coordinate frame. After patient positioning, port placement, and carbon dioxide insufflation, a C-arm volume is reconstructed during patient exhalation and superimposed in real time on the laparoscopic live video without any need for an additional patient registration procedure. To overcome the missing perception of 3D depth and shape when rendering virtual volume data directly on top of the organ's surface view, we introduce the concept of a laparoscopic virtual mirror: A virtual reflection plane within the live laparoscopic video, which is able to visualize a reflected side view of the organ and its interior. This enables the surgeon to observe the 3D structure of, for example, blood vessels by moving the virtual mirror within the augmented monocular view of the laparoscope.
Building text classifiers using positive and unlabeled examples (2004)

We study the problem of building text classifiers using positive and unlabeled examples. The key feature of this problem is that there is no negative example for learning. Recently, a few techniques for solving this problem were proposed in the literature. These techniques are based on the same idea, which builds a classifier in two steps. Each existing technique uses a different method for each step. We first introduce some new methods for the two steps, and perform a comprehensive evaluation of all possible combinations of methods of the two steps. We then propose a more principled approach to solving the problem based on a biased formulation of SVM, and show experimentally that it is more accurate than the existing techniques.
A Theology of Small Groups (1996)

Kennedy, Darin (1996) "A Theology of Small Groups," Restoration Quarterly: Vol. 38 : No. 3. This repository hosts selected Restoration Quarterly articles in downloadable PDF format. For the benefit of users who would like to browse the contents of RQ, we have included all issue covers even when full-text articles from that issue are unavailable. All Restoration Quarterly articles are available in full text in the ATLA Religion Database, available through most university and theological libraries or through your local library’s inter-library loan service.
Deep Closest Point: Learning Representations for Point Cloud Registration (2019)

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative Closest Point (ICP) and its variants provide simple and easily-implemented iterative methods for this task, but these algorithms can converge to spurious local optima. To address local optima and other difficulties in the ICP pipeline, we propose a learning-based method, titled Deep Closest Point (DCP), inspired by recent techniques in computer vision and natural language processing. Our model consists of three parts: a point cloud embedding network, an attention-based module combined with a pointer generation layer, to approximate combinatorial matching, and a differentiable singular value decomposition (SVD) layer to extract the final rigid transformation. We train our model end-to-end on the ModelNet40 dataset and show in several settings that it performs better than ICP, its variants (e.g., Go-ICP, FGR), and the recently-proposed learning-based method PointNetLK. Beyond providing a state-of-the-art registration technique, we evaluate the suitability of our learned features transferred to unseen objects. We also provide preliminary analysis of our learned model to help understand whether domain-specific and/or global features facilitate rigid registration.
Modulation of inflammation in brain: a matter of fat (2007)

Neuroinflammation is a host defense mechanism associated with neutralization of an insult and restoration of normal structure and function of brain. Neuroinflammation is a hallmark of all major CNS diseases. The main mediators of neuroinflammation are microglial cells. These cells are activated during a CNS injury. Microglial cells initiate a rapid response that involves cell migration, proliferation, release of cytokines/chemokines and trophic and/or toxic effects. Cytokines/chemokines stimulate phospholipases A2 and cyclooxygenases. This results in breakdown of membrane glycerophospholipids with the release of arachidonic acid (AA) and docosahexaenoic acid (DHA). Oxidation of AA produces pro-inflammatory prostaglandins, leukotrienes, and thromboxanes. One of the lyso-glycerophospholipids, the other products of reactions catalyzed by phospholipase A2, is used for the synthesis of pro-inflammatory platelet-activating factor. These pro-inflammatory mediators intensify neuroinflammation. Lipoxin, an oxidized product of AA through 5-lipoxygenase, is involved in the resolution of inflammation and is anti-inflammatory. Docosahexaenoic acid is metabolized to resolvins and neuroprotectins. These lipid mediators inhibit the generation of prostaglandins, leukotrienes, and thromboxanes. Levels of prostaglandins, leukotrienes, and thromboxanes are markedly increased in acute neural trauma and neurodegenerative diseases. Docosahexaenoic acid and its lipid mediators prevent neuroinflammation by inhibiting transcription factor NFkappaB, preventing cytokine secretion, blocking the synthesis of prostaglandins, leukotrienes, and thromboxanes, and modulating leukocyte trafficking. Depending on its timing and magnitude in brain tissue, inflammation serves multiple purposes. It is involved in the protection of uninjured neurons and removal of degenerating neuronal debris and also in assisting repair and recovery processes. The dietary ratio of AA to DHA may affect neurodegeneration associated with acute neural trauma and neurodegenerative diseases. The dietary intake of docosahexaenoic acid offers the possibility of counter-balancing the harmful effects of high levels of AA-derived pro-inflammatory lipid mediators.
PP.11.09 (2015)

Objective: Lipid abnormalities are still insuperable complications for maintenance hemodialysis(HD) patients. This retrospective longitudinal observational study was performed to determine the pattern of lipid profile for each two years before and after hemodialysis in patients on maintenance HD. Design and method: We observed the serum lipid profile of sixty two maintenance HD patients for each two years before and after hemodialysis(Male: Female; 43: 19, age; 65.97 + 12.00 years old, hemodialysis duration; 46.95 + 49.16 months, body weight; 22.98 + 3.46 kg/m2). After fasting for at least 8 hours, blood samples were drawn from the arterio-venous fistula before starting dialysis. Dyslipidemia is defined according to the National Cholesterol Education Program-Adult Treatment Panel III. Descriptive and inferential statistical analysis were performed using SPSS version 16.0. Results: The prevalence of hypercholesterolemia, hyper-LDL-cholesterolemia, hypertriglycemia and hypo-HDL-cholesterolemia were 28.85%, 28.85%, 19.61% and 62.75% at the time of starting HD. The prevalence of hypercholesterolemia and hyper-LDL-cholesterolemia decreased from 51.85% and 51.85 at 2 year before HD to 18.18% and 12.15% at 2 year after HD(P < 0.05 for each). The prevalence of hypertriglycemia and hypo-HDL-cholesterolemia were not significantly different in the before and after HD. Conclusions: Our study suggests that abnormalities of lipid metabolism like hypercholesterolemia, hyper-LDL-cholesterolemia, hypertriglycemia and hypo-HDL-cholesterolemia of ESRD patients are improved after HD.
A graph-based approach to API usage adaptation (2010)

Reusing existing library components is essential for reducing the cost of software development and maintenance. When library components evolve to accommodate new feature requests, to fix bugs, or to meet new standards, the clients of software libraries often need to make corresponding changes to correctly use the updated libraries. Existing API usage adaptation techniques support simple adaptation such as replacing the target of calls to a deprecated API, however, cannot handle complex adaptations such as creating a new object to be passed to a different API method, or adding an exception handling logic that surrounds the updated API method calls. This paper presents LIBSYNC that guides developers in adapting API usage code by learning complex API usage adaptation patterns from other clients that already migrated to a new library version (and also from the API usages within the library's test code). LIBSYNC uses several graph-based techniques (1) to identify changes to API declarations by comparing two library versions, (2) to extract associated API usage skeletons before and after library migration, and (3) to compare the extracted API usage skeletons to recover API usage adaptation patterns. Using the learned adaptation patterns, LIBSYNC recommends the locations and edit operations for adapting API usages. The evaluation of LIBSYNC on real-world software systems shows that it is highly correct and useful with a precision of 100% and a recall of 91%.
Microglia-derived TNFα induces apoptosis in neural precursor cells via transcriptional activation of the Bcl-2 family member Puma (2013)

Neuroinflammation is a common feature of acute neurological conditions such as stroke and spinal cord injury, as well as neurodegenerative conditions such as Parkinson's disease, Alzheimer's disease, and amyotrophic lateral sclerosis. Previous studies have demonstrated that acute neuroinflammation can adversely affect the survival of neural precursor cells (NPCs) and thereby limit the capacity for regeneration and repair. However, the mechanisms by which neuroinflammatory processes induce NPC death remain unclear. Microglia are key mediators of neuroinflammation and when activated to induce a pro-inflammatory state produce a number of factors that could affect NPC survival. Importantly, in the present study we demonstrate that tumor necrosis factor α (TNFα) produced by lipopolysaccharide-activated microglia is necessary and sufficient to trigger apoptosis in mouse NPCs in vitro. Furthermore, we demonstrate that microglia-derived TNFα induces NPC apoptosis via a mitochondrial pathway regulated by the Bcl-2 family protein Bax. BH3-only proteins are known to play a key role in regulating Bax activation and we demonstrate that microglia-derived TNFα induces the expression of the BH3-only family member Puma in NPCs via an NF-κB-dependent mechanism. Specifically, we show that NF-κB is activated in NPCs treated with conditioned media from activated microglia and that Puma induction and NPC apoptosis is blocked by the NF-κB inhibitor BAY-117082. Importantly, we have determined that NPC apoptosis induced by activated microglia-derived TNFα is attenuated in Puma-deficient NPCs, indicating that Puma induction is required for NPC death. Consistent with this, we demonstrate that Puma-deficient NPCs exhibit an ∼13-fold increase in survival as compared with wild-type NPCs following transplantation into the inflammatory environment of the injured spinal cord in vivo. In summary, we have identified a key signaling pathway that regulates neuroinflammation induced apoptosis in NPCs in vitro and in vivo that could be targeted to promote regeneration and repair in diverse neurological conditions.
Thermal injury-induced peroxynitrite production and pulmonary inducible nitric oxide synthase expression depend on JNK/AP-1 signaling (2005)

Objective: To determine whether burn-induced peroxynitrite production and expression of lung inducible nitric oxide synthase (iNOS), intercellular adhesion molecule (ICAM)-1, vascular cell adhesion molecule (VCAM)-1, CXCR2, macrophage inflammatory protein (MIP)-2, and neutrophil chemokine (KC) are mediated by the c-Jun NH2-terminal kinase (JNK). Design: Prospective, experimental study. Setting: Research laboratory at a university hospital. Subjects: Thermal injury models in the mice. Interventions: In experiment 1, specific pathogen-free C57/BL6 mice were subjected to 30% total body surface area third-degree burn over shaved back. At 0 hr, 2 hrs, 4 hrs, and 6 hrs after burn, lung tissues of those mice were harvested for JNK activity assay, AP-1 DNA-binding activity, and pJNK immunohistochemistry. In experiment 2, a specific JNK inhibitor, SP600125, was given (30 mg/kg intraperitoneally) to mice immediately postburn to suppress the JNK activity. At 8 hrs after burn, blood was assayed for the peroxynitrite-mediated dihydrorhodamine (DHR) 123 oxidation. Lung tissues were harvested for myeloperoxidase (MPO) determination, ICAM-1, VCAM-1, CXCR2, KC, MIP-2, interleukin-1β, and interleukin-6 messenger RNA expression; iNOS immunohistochemical staining; and histologic studies. Pulmonary microvascular dysfunction was quantified by measuring the extravasations of Evans blue dye. Measurements and Main Results: The JNK activity and AP-1 DNA-binding activity of lung tissue significantly increased to a peak at 2 hrs and 4 hrs, respectively, after thermal injury. Immunohistochemical study demonstrated that the increase of the pJNK was mostly from the bronchiole epithelial cells. This increase of MPO activity in lung, blood DHR 123 oxidation level, and lung permeability increased six-fold, nine-fold, and four-fold after burn. SP600125 administration obliterated the thermal injury-induced JNK activity, AP-1 DNA-binding activity, and iNOS expression in lung tissue. SP600125 treatment also significantly decreased MPO activity, blood DHR 123 oxidation, and lung permeability by 54%, 8%, and 47%, respectively, and markedly decreased the thermal injury-induced perivascular and interstitial inflammatory cell infiltration and septum edema. Furthermore, SP600125 abolished thermal injury-induced ICAM-1, VCAM-1, CXCR2, MIP-2, and KC but not interleukin-1β and interleukin-6 messenger RNA levels of lung tissues. Conclusions: Thermal injury induces lung tissue JNK activation and AP-1 DNA-binding activity mainly from airway epithelial cells. Thermal injury-induced peroxynitrite production and lung iNOS, ICAM-1, and VCAM-1 expression are mediated by the JNK signaling. JNK inhibition decreases thermal injury-induced lung neutrophil infiltration and subsequently pulmonary hyperpermeability.
BING: Binarized Normed Gradients for Objectness Estimation at 300fps (2014)

Training a generic objectness measure to produce a small set of candidate object windows, has been shown to speed up the classical sliding window object detection paradigm. We observe that generic objects with well-defined closed boundary can be discriminated by looking at the norm of gradients, with a suitable resizing of their corresponding image windows in to a small fixed size. Based on this observation and computational reasons, we propose to resize the window to 8 × 8 and use the norm of the gradients as a simple 64D feature to describe it, for explicitly training a generic objectness measure. We further show how the binarized version of this feature, namely binarized normed gradients (BING), can be used for efficient objectness estimation, which requires only a few atomic operations (e.g. ADD, BITWISE SHIFT, etc.). Experiments on the challenging PASCAL VOC 2007 dataset show that our method efficiently (300fps on a single laptop CPU) generates a small set of category-independent, high quality object windows, yielding 96.2% object detection rate (DR) with 1, 000 proposals. Increasing the numbers of proposals and color spaces for computing BING features, our performance can be further improved to 99.5% DR.
Triggering T cells by otherwise inert hybrid anti-CD3/antitumor antibodies requires encounter with the specific target cell. (1989)

We used a purified bispecific antibody (Ab) against CD3 and an ovarian carcinoma (OVCA) antigen to ask whether the binding of a monovalent ligand to CD3 can induce triggering of T cells. In the presence of OVCA cells, this Ab bridges the CD3 complex to the target cell and triggers proliferation and cytotoxicity in T cells. In the absence of target cells, however, this monovalent Ab, even when bound to T cells at high levels, fails to induce any increase in cytosolic Ca2+, nor does it induce responsiveness to IL-2 or modulation of the CD3 complex. Because it is inert when bound monovalently, this hybrid Ab can be used to arm in vitro CTL clones, which then retain the capacity to kill the specific tumor for up to 2 d.