gebhart/patrepeval huggingface dataset:
Visual-Inertial Monocular SLAM With Map Reuse (2017)

In recent years there have been excellent results in visual-inertial odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However, these approaches lack the capability to close loops and trajectory estimation accumulates drift even if the sensor is continually revisiting the same place. In this letter, we present a novel tightly coupled visual-inertial simultaneous localization and mapping system that is able to close loops and reuse its map to achieve zero-drift localization in already mapped areas. While our approach can be applied to any camera configuration, we address here the most general problem of a monocular camera, with its well-known scale ambiguity. We also propose a novel IMU initialization method, which computes the scale, the gravity direction, the velocity, and gyroscope and accelerometer biases, in a few seconds with high accuracy. We test our system in the 11 sequences of a recent micro-aerial vehicle public dataset achieving a typical scale factor error of 1% and centimeter precision. We compare to the state-of-the-art in visual-inertial odometry in sequences with revisiting, proving the better accuracy of our method due to map reuse and no drift accumulation.
Integration of Systemic Chemotherapy in the Management of Primary Breast Cancer (1998)

Breast cancer cells can metastasize early in the development of primary tumors. Adjuvant chemotherapy improves disease-free survival and overall survival (OS) in patients with early-stage breast cancer, both in premenopausal and postmenopausal women. Tamoxifen improves OS in patients whose tumors are estrogen-receptor-positive, regardless of age. Although the relative risk reduction with these interventions is the same for all patients, the absolute benefit is more prominent in patients at the highest risk of relapse. All patients with involved lymph nodes should receive adjuvant chemotherapy if no contraindications occur. In patients with negative lymph nodes, adjuvant chemotherapy is recommended if the invasive tumor is moderately or poorly differentiated, the tumor size is larger than 1 or 2 cm, or hormone receptors are negative. Other prognostic and predictive indicators of response to chemotherapy and hormonal therapy remain investigational. Models that combine several factors to determine a patient's risk of relapse and death are presented. Neoadjuvant chemotherapy in conjunction with radiation therapy and surgery is the treatment of choice for patients with locally advanced breast cancer. Recently, this approach has been extended to patients with small, operable tumors. Neoadjuvant chemotherapy can downstage tumors effectively, leading to improved cosmetic results and possibly to a reduction in local recurrence rate. Another advantage of neoadjuvant therapy is the in vivo assessment of tumor sensitivity to chemotherapy, which allows optimization of available therapeutic agents. One disadvantage of neoadjuvant chemotherapy is that preoperative treatment causes an alteration of information regarding lymph node status prior to systemic treatment. Although the optimal chemotherapy regimen has not been established, doxorubicin-containing regimens are considered superior to non-doxorubicin-containing regimens. The role of high-dose chemotherapy is not well defined in the adjuvant setting and remains investigational. The taxanes paclitaxel and docetaxel are moving rapidly from the metastatic setting to the adjuvant setting. A better understanding of the biology of breast cancer is providing molecular tools to study novel treatment approaches. Oncogenes and tumor suppressor genes are emerging as important indicators of response to chemotherapy. These molecules, in turn, become targets for therapy. Novel agents under development are presented.
POP3 AUTHentication command (1994)

This document describes the optional AUTH command, for indicating an
authentication mechanism to the server, performing an authentication
protocol exchange, and optionally negotiating a protection mechanism
for subsequent protocol interactions. [STANDARDS-TRACK]
Refractive index tomography of turbid media by bifocal optical coherence refractometry (2003)

We demonstrate tomographic imaging of the refractive index of turbid media using bifocal optical coherence refractometry (BOCR). The technique, which is a variant of optical coherence tomography, is based on the measurement of the optical pathlength difference between two foci simultaneously present in a medium of interest. We describe a new method to axially shift the bifocal optical pathlength that avoids the need to physically relocate the objective lens or the sample during an axial scan, and present an experimental realization based on an adaptive liquid-crystal lens. We present experimental results, including video clips, which demonstrate refractive index tomography of a range of turbid liquid phantoms, as well as of human skin in vivo.
Biphenylene Dimer. Molecular Fragment of a Two-Dimensional Carbon Net and Double-Stranded Polymer (1996)

Biphenylene dimers, which may be considered as “macrocyclic” 2 × 2 fragments of net 1 and dimeric fragments of a double-stranded polymer, 5, are prepared. X-ray crystallography on two polymorphs of the dimer 9 reveals that its bond alternation is analogous to that in biphenylene; the tetraphenylene part of 9 has approximately C2h symmetry with a small dihedral angle (<12°) between the benzene rings in the adjacent biphenylenes. Cyclic voltammetry of 9 gives two reversible waves corresponding to a radical anion and a dianion; the lithium and potassium salts of these anions, 9•-,M+ (M = Li, K) and 92-,2M+ (M = Li, K), were generated and characterized by ESR, NMR, and UV−vis spectroscopies. The spectral data for the dianions are compatible with classical structures; no evidence for “in-plane aromaticity” is found. For polymer 5, a localized band and large density of states near the Fermi level are found, using extended Hückel theory calculations.
DNA typing with fluorescently tagged short tandem repeats: a sensitive and accurate approach to human identification. (1993)

Human identification through DNA analysis has faced tremendous changes in the past seven years. The advent of the polymerase chain reaction (PCR) technology coupled with the discovery of amplifiable minisatellites and microsatellites known as amplified fragment length polymorphisms and short tandem repeats (STRs), respectively, allow allelic profiles to be obtained with minute amounts of target DNA even in a degraded state. Very recently, a new dimension in DNA typing analysis was opened with the development of instruments for automated real-time analysis of fluorescent amplification products. In order to derive an automated approach to DNA typing, STR systems were evaluated for sensitivity and accuracy using the Gene Scanner and compared to other DNA typing methods currently in use. Eight different STR systems (encompassing tri-, tetra- and pentanucleotide repeats) were investigated, and conditions for their amplification with fluorescence-tagged primers, resolution on polyacrylamide gels and analysis on a fluorescent DNA fragment analyzer were optimized. Using these conditions, discrete allelic profiles were obtained following amplification of DNA extracted from various cell lines, liquid blood, dry bloodstains and hair samples. Amplification from serial dilutions of template DNA indicated that the minimal amount of target DNA required to detect a fluorescent signal on the Gene Scanner for any of the eight STR systems examined is approximately 100 picograms. The level of precision obtained for real-time allele size determination was observed to be +/- 0.2 to 0.5 base pair (intragel) and +/- 0.5 to 1.5 base pairs (intergel). Consequently, PCR-based DNA typing with fluorescent STR primers and automated analysis provides the enhanced level of precision, accuracy and sensitivity required for forensic casework analysis. Moreover, this approach offers significant advantages for the routine processing of large numbers of DNA samples, greatly facilitates and expedites the generation of allelic profile databases and enables investigators to perform the simultaneous survey of several different loci from single individuals and/or forensic samples.
Discovery of local packing motifs in protein structures (1999)

We present a language for describing structural patterns of residues in protein structures and a method for the discovery of such patterns that recur in a set of protein structures. The patterns impose restrictions on the spatial position of each residue, their order along the amino acid chain, and which amino acids are allowed in each position. Unlike other methods for comparing sets of protein structures, our method is not based on the use of pairwise structure comparisons which is often time consuming and can produce inconsistent results. Instead, the method simultaneously takes into account information from all structures in the search for conserved structure patterns which are potential structure motifs. The method is based on describing the spatial neighborhoods of each residue in each structure as a string and applying a sequence pattern discovery method to find patterns common to subsets of these strings. Finally it is checked whether the similarities between the neighborhood strings correspond to spatially similar substructures. We apply the method to analyze sets of very disparate proteins from the four different protein families: serine proteases, cuprodoxins, cysteine proteinases, and ferredoxins. The motifs found by the method correspond well to the site and motif information given in the annotation of these proteins in PDB, Swiss-Prot, and PROSITE. Furthermore, the motifs are confirmed by using the motif data to constrain the structural alignment of the proteins obtained with the program SAP. This gave the best superposition/alignment of the proteins given the motif assignment. Proteins 1999;34:206–219. © 1999 Wiley-Liss, Inc.
Hepatic Dysfunction as a Complication of Adenosine Deaminase Deficiency (1996)

Complete deficiency of adenosine deaminase causes severe combined immunodeficiency that is inherited as an autosomal recessive trait. The patients present in infancy with recurrent infections, lymphopenia, defective proliferative responses to mitogens, hypogammaglobulinemia, and an inability to mount specific antibody responses. Patients with a low level of residual adenosine deaminase activity have a later onset of clinical disease owing to a slower and sometimes less complete loss of immune function.1–3 Unlike other primary immunodeficiencies caused by defects in lymphocyte signaling pathways,4 adenosine deaminase deficiency is a systemic metabolic disorder. The enzymatic defect is expressed in all cells, and therefore the . . .
Nordihydroguairetic acid is a potent inhibitor of ferric-nitrilotriacetate-mediated hepatic and renal toxicity, and renal tumour promotion, in mice (1999)

Ferric-nitrilotriacetate (Fe-NTA) is a known renal carcinogen. In the present study, we report the effect of a potent lignin-derived herbal antioxidant, nordihydroguairetic acid (NDGA), against Fe-NTA-mediated tissue toxicity. Fe-NTA (alone) treatment of mice enhances ornithine decarboxylase activity to 259% in liver and 341% in kidney and increases [3H]thymidine incorporation in DNA to 250% in liver and 324% in kidney compared with the corresponding saline-treated controls. The enhanced ornithine decarboxylase activity and DNA synthesis showed a reduction to 138 and 123%, respectively, in liver at a higher dose of 2 mg NDGA/day/animal whereas in kidney the reduction was to 118 and 102%, respectively, compared with the corresponding saline-treated controls. In the Fe-NTA (alone)-treated group, a 12% renal tumour incidence was recorded whereas, in N-diethylnitrosamine (DEN)-initiated and Fe-NTA-promoted animals, the percentage tumour incidence was increased to 68% as compared with untreated controls. No tumour incidence was recorded in the DEN-initiated, non-promoted group. The administration of NDGA, afforded >80% protection against DEN- and Fe-NTA-mediated renal tissue injury in vivo. Fe-NTA treatment also enhanced hepatic and renal microsomal lipid peroxidation to 170 and 205% of saline-treated controls, respectively, and hydrogen peroxide generation by >2.5-fold in both tissues accompanied by a 51 and 21% decrease in the level of glutathione and 35-48 and 35-50% decrease in the activities of glutathione-metabolizing and antioxidant enzymes in liver and kidney, respectively. These changes were reversed significantly in animals receiving a pre-treatment of NDGA. Our data show that NDGA can abrogate the toxic and tumour-promoting effects of Fe-NTA in liver and kidney of mice and can serve as a potent chemopreventive agent to suppress oxidant-induced tissue injury and tumorigenesis.
The Global Regulator ArcA Controls Resistance to Reactive Nitrogen and Oxygen Intermediates in Salmonella enterica Serovar Enteritidis (2002)

Salmonella enterica serovar Enteritidis is a major cause of food-borne diseases associated with consumption of shell eggs. Clinical isolates of S. enterica serovar Enteritidis exhibit a wide spectrum of virulence in mice. A highly virulent isolate (SE2472) was previously shown to be more resistant in vitro than other clinical isolates to acidified sodium nitrite (ASN), a generator of reactive nitrogen and oxygen intermediates (RNI/ROI). SE2472 is also more resistant to S-nitrosoglutathione (GSNO) and hydrogen peroxide (H(2)O(2)) than an ASN-susceptible isolate of S. enterica serovar Enteritidis (SE8743). To investigate the molecular basis for the RNI/ROI resistance of S. enterica serovar Enteritidis, we transformed a genomic DNA library of SE2472 into SE8743. A plasmid clone conferred upon SE8743 enhanced resistance to ASN, GSNO, and H(2)O(2). The DNA insert in the clone encoded ArcA, a global regulator. An arcA mutant of SE2472 was constructed and was found to be more susceptible to GSNO and hydrogen peroxide but not more susceptible to ASN than wild-type SE2472. The susceptibility of the arcA mutant to GSNO and H(2)O(2) was complemented by a plasmid harboring arcA. The coding sequence of the arcA gene in SE2472 and the coding sequence of the arcA gene in SE8743 were identical, suggesting that the difference in resistance to RNI/ROI maybe due to the activity of genes regulated by ArcA. No significant difference in virulence between the wild type and the arcA mutant of SE2472 was observed in mice. These observations show that arcA is essential for resistance of S. enterica serovar Enteritidis to nitrosative and oxidative stress. However, additional genetic loci may contribute to the resistance to RNI/ROI and unusually high virulence for mice of SE2472.
Attachment of Helicobacter pylori to Human Gastric Epithelium Mediated by Blood Group Antigens (1993)

Helicobacter pylori is associated with development of gastritis, gastric ulcers, and adenocarcinomas in humans. The Lewis(b) (Le(b)) blood group antigen mediates H. pylori attachment to human gastric mucosa. Soluble glycoproteins presenting the Leb antigen or antibodies to the Leb antigen inhibited bacterial binding. Gastric tissue lacking Leb expression did not bind H. pylori. Bacteria did not bind to Leb antigen substituted with a terminal GalNAc alpha 1-3 residue (blood group A determinant), suggesting that the availability of H. pylori receptors might be reduced in individuals of blood group A and B phenotypes, as compared with blood group O individuals.
Activation-induced nuclear translocation of RING3 (2000)

RING3 is a novel protein kinase linked to human leukaemia. Its Drosophila homologue female sterile homeotic is a developmental regulator that interacts genetically with trithorax, a human homologue of which is also associated with leukaemia. The RING3 structure contains two mutually related bromodomains that probably assist in the remodelling of chromatin and thereby affect transcription. Consistent with this hypothesis, a RING3-like protein has been identified in the mouse Mediator complex, where it is associated with transcription factors. We show that, whilst RING3 is constitutively localised to the nucleus of exponentially growing HeLa cells, it is delocalised throughout serum-starved fibroblasts. We use immunostaining and confocal microscopy to demonstrate that RING3 translocates to the fibroblast nucleus upon serum stimulation. After translocation, RING3 participates in nuclear protein complexes that include E2F proteins; it transactivates the promoters of several important mammalian cell cycle genes that are dependent on E2F, including dihydrofolate reductase, cyclin D1, cyclin A and cyclin E. We use site-directed mutagenesis of a putative nuclear localisation motif to show that the activation-induced nuclear localisation and consequent transcriptional activity of RING3 depends on a monopartite, classical nuclear localisation sequence. These observations refine and extend the mechanism by which RING3 contributes to E2F-regulated cell cycle progression. Deregulation of this mechanism may be leukaemogenic.
3D shape regression for real-time facial animation (2013)

We present a real-time performance-driven facial animation system based on 3D shape regression. In this system, the 3D positions of facial landmark points are inferred by a regressor from 2D video frames of an ordinary web camera. From these 3D points, the pose and expressions of the face are recovered by fitting a user-specific blendshape model to them. The main technical contribution of this work is the 3D regression algorithm that learns an accurate, user-specific face alignment model from an easily acquired set of training data, generated from images of the user performing a sequence of predefined facial poses and expressions. Experiments show that our system can accurately recover 3D face shapes even for fast motions, non-frontal faces, and exaggerated expressions. In addition, some capacity to handle partial occlusions and changing lighting conditions is demonstrated.
Preliminary Investigation of the NCP Parameter-Choice Method for Inverse Scattering Problems Using BIM: 2-D TM Case (2008)

A new method of choosing the regularization parameter, originally developed for a general class of discrete ill-posed problems, is investigated for electromagnetic inverse scattering problems that are formulated using a penalty method. This so-called normalized cumulative periodogram (NCP) parameter- choice method uses more information available in the residual vector, as opposed to just its norm, and attempts to choose the largest regularization parameter that makes the residual resemble white noise. This is done by calculating the NCP of the residual for each choice of the regularization parameter, starting from large values and stopping at the first parameter which puts the NCP inside the Kolmogorov-Smirnov limits. The main advantage of this method, as compared, for example, to the L-curve and Generalized Cross-Validation (GCV) techniques, is that it is computationally inexpensive and therefore makes it an appropriate technique for large-scale problems arising in inverse imaging. In this paper, we apply this technique to the general-form Tikhonov- regularized functional arising in the 2-D/TM inverse electromagnetic problem, which is formulated via an integral equation and solved using the Born Iterative Method (BIM).
Topological QSAR modeling of cytotoxicity data of anti-HIV 5-phenyl-l-phenylamino-imidazole derivatives using GFA, G/PLS, FA and PCRA techniques (2006)

Cytotoxicity data of anti-HIV 5-phenyl-l-phenylamino-imidazole derivatives have been subjected to QSAR study using topological and structural descriptors applying techniques like stepwise regression, multiple linear regression with genetic function approximation, genetic partial least squares, multiple linear regression with factor analysis as the preprocessing step and principal component regression analysis. Presence of hydrogen bond donor groups appear to be an important feature for reducing the cytotoxicity. Molecular size, shape and branching are also found important for determining the cytotoxicity. Different fragments of the molecules have been identified as significant contributors in modulating the cytotoxicity. Among all parameters used, H_bond_donor and E-state parameters are most prevalent in different models. The quality of equations obtained from the different techniques are in the comparable range (explained variance ranging from 63.9-68.8% while predicted variance ranging from 61.5-64.5%). However, the best equation statistics were obtained with principal component regression analysis (explained variance and predicted variance being 81.0% and 75.8%, respectively).
Nanospray desorption electrospray ionization: an ambient method for liquid-extraction surface sampling in mass spectrometry (2010)

Nanospray desorption electrospray ionization (nano-DESI) mass spectrometry is presented as an ambient pressure liquid extraction-ionization technique for analysis of organic and biological molecules on substrates. Analyte is desorbed into a solvent bridge formed between two capillaries and the analysis surface. One capillary supplies solvent to create and maintain the bridge, while the second capillary transports the dissolved analyte from the bridge to the mass spectrometer. A high voltage applied between the inlet of mass spectrometer and the primary capillary creates a self-aspirating nanospray. This approach enables the separation of desorption and ionization events, thus providing independent control of desorption, ionization, and transport of the analyte. We present analytical capabilities of the method and discuss its potential for imaging applications.
Mammalian Distal Tubule: Physiology, Pathophysiology, and Molecular Anatomy (2000)

The distal tubule of the mammalian kidney, defined as the region between the macula densa and the collecting duct, is morphologically and functionally heterogeneous. This heterogeneity has stymied attempts to define functional properties of individual cell types and has led to controversy concerning mechanisms and regulation of ion transport. Recently, molecular techniques have been used to identify and localize ion transport pathways along the distal tubule and to identify human diseases that result from abnormal distal tubule function. Results of these studies have clarified the roles of individual distal cell types. They suggest that the basic molecular architecture of the distal nephron is surprisingly similar in mammalian species investigated to date. The results have also reemphasized the role played by the distal tubule in regulating urinary potassium excretion. They have clarified how both peptide and steroid hormones, including aldosterone and estrogen, regulate ion transport by distal convoluted tubule cells. Furthermore, they highlight the central role that the distal tubule plays in systemic calcium homeostasis. Disorders of distal nephron function, such as Gitelman's syndrome, nephrolithiasis, and adaptation to diuretic drug administration, emphasize the importance of this relatively short nephron segment to human physiology. This review integrates molecular and functional results to provide a contemporary picture of distal tubule function in mammals.
Synthesis, Structure, and Properties of PBO/SWNT Composites& (2002)

Poly(p-phenylene benzobisoxazole) (PBO) has been synthesized in the presence of single-wall carbon nanotubes (SWNTs) in poly(phosphoric acid) (PPA) using typical PBO polymerization conditions. PBO and PBO/SWNT lyotropic liquid crystalline solutions in PPA have been spun into fibers using dry-jet wet spinning. The tensile strength of the PBO/SWNT fiber containing 10 wt % SWNTs is about 50% higher than that of the control PBO fibers containing no SWNTs. The structure and morphology of these fibers have been studied.