gebhart/patrepeval huggingface dataset:
Multi-robot 6D graph SLAM connecting decoupled local reference filters (2015)

Teams of mobile robots can be deployed in search and rescue missions to explore previously unknown environments. Methods for joint localization and mapping constitute the basis for (semi-)autonomous cooperative action, in particular when navigating in GPS-denied areas. As communication losses may occur, a decentralized solution is required. With these challenges in mind, we designed a submap-based SLAM system that relies on inertial measurements and stereo-vision to create multi-robot dense 3D maps. For online pose and map estimation, we integrate the results of keyframe-based local reference filters through incremental graph SLAM. To the best of our knowledge, we are the first to combine these two methods to benefit from their particular advantages for 6D multi-robot localization and mapping: Local reference filters on each robot provide real-time, long-term stable state estimates that are required for stabilization, control and fast obstacle avoidance, whereas online graph optimization provides global multi-robot pose and map estimates needed for cooperative planning. We propose a novel graph topology for a decoupled integration of local filter estimates from multiple robots into a SLAM graph according to the filters' uncertainty estimates and independence assumptions and evaluated its benefits on two different robots in indoor, outdoor and mixed scenarios. Further, we performed two extended experiments in a multi-robot setup to evaluate the full SLAM system, including visual robot detections and submap matches as inter-robot loop closure constraints.
A Dental Radiograph Registration Algorithm Using Phase-Based ImageMatching forHuman (2006)

Dental records areoftenusedtoidentify victims of massive disasters, wheretheconventional biometric features, e.g., face, fingerprint, iris, etc., arenotavailable. Humanidentification usingdental records istomatchan unidentified individual's postmortem radiographs against a setofidentified antemortem radiographs. Thispaperpresents anefficient dental radiograph registration algorithm usingphase-based imagematching for humanidentification. Theuseofphasecomponents in2D(two- dimensional) discrete Fourier transforms ofdental radiograph images makespossible toachieve highly robust imageregistration andrecognition. Experimental evaluation using asmalldatabase ofdentalradiographs indicates thattheproposed algorithm Fig.1.Example ofdental radiograph, whichisaperiapical imagearound exhibits efficient recognition performance forlow-quality images.molars.
Elastography: A New Dimension in Oral and Maxillofacial Imaging (2014)

ABSTRACT Elastography or elasticity imaging is a new non-invasive imaging modality that involves tissue stiffness assessment based on hardness (elasticity) of normal or pathological tissues. The principle being that tissue compression produces strain within the tissue leading to tissue displacement due to which tissue hardness can be estimated. This tissue elasticity resulting from compression is displayed as an image called elastogram. This technique can be particularly useful in preoperative assessment of pathological tissues which are generally harder than normal surrounding tissues. Hence, the purpose of this article is to highlight this technique and its various applications in oral and maxillofacial region. How to cite this article Gazge NM, Balaji P. Elastography: A New Dimension in Oral and Maxillofacial Imaging. J Health Sci Res 2014;5(2):6-9.
Solid Support Oligosaccharide Synthesis:  Construction of β-Linked Oligosaccharides by Coupling of Glycal Derived Thioethyl Glycosyl Donors (1998)

A solution to the problem of a solid-phase synthesis of β-(1→4) linked glucosides is described. The method involves conversion of polymer bound glycal to polymer bound thioethyl glucosyl donor bearing an α-oriented pivaloxy group at C2. The latter directs couplings with solution-based glycal acceptors in the β-sense. The ready-reiteratability of the method was demonstrated.
Study of cytokine induced neuropathology by high resolution proton NMR spectroscopy of rat urine (2004)

Multiple sclerosis is a major cause of non-traumatic neurological disability. The identification of markers that differentiate disease progression is critical to effective therapy. A combination of NMR spectroscopic metabolic profiling of urine and statistical pattern recognition was used to detect focal inflammatory central nervous system (CNS) lesions induced by microinjection of a replication-deficient recombinant adenovirus expressing TNF-alpha or IL1-beta cDNA into the brains of Wistar rats. These animals were compared with a group of naïve rats and a group of animals injected with an equivalent null adenovirus. Urine samples were collected 7 days after adenovirus injection, when the inflammatory lesion is maximally active. Principal components analysis and Partial Least Squares-Discriminate analysis of the urine (1)H NMR spectra revealed significant differences between each of the cytokine adenovirus groups and the control groups; for the TNF-alpha group the main differences lay in citrate and succinate, while for the IL-1beta group the predominant changes occurred in leucine, isoleucine, valine and myo-inositol. Thus, we can identify urinary metabolic vectors that not only separate rats with inflammatory lesions in the brain from control animals, but also distinguish between different types of CNS inflammatory lesions.
Ubiquitin Depletion and Dominant-Negative VPS4 Inhibit Rhabdovirus Budding without Affecting Alphavirus Budding (2007)

The budding reactions of a number of enveloped viruses use the cellular machinery involved in the formation of the luminal vesicles of endosomal multivesicular bodies (MVB). Budding of these viruses is dependent on the presence of specific late-domain motifs in membrane-associated viral proteins. Such budding reactions usually involve ubiquitin and are blocked by expression of an ATPase-deficient form of VPS4, a cellular AAA+ ATPase believed to be required late in the MVB pathway for the disassembly/release of the MVB machinery. Here we examined the role of the MVB pathway in the budding of the late-domain-containing rhabdovirus vesicular stomatitis virus (VSV) and the alphavirus Semliki Forest virus (SFV). We tested early and late steps in the MVB pathway by depleting ubiquitin with the proteasome inhibitor MG-132 and by using cell lines inducibly expressing VPS4A or VPS4B protein. As previously shown, VSV budding was strongly dependent on ubiquitin. In contrast to the findings of previous studies with VPS4A, expression of ATPase-deficient mutants of either VPS4A or VPS4B inhibited VSV budding. Inhibition by VPS4 required the presence of the PPPY late domain on the VSV matrix protein and resulted in the accumulation of nonreleased VSV particles at the plasma membrane. In contrast, SFV budding was independent of both ubiquitin and the activity of VPS4, perhaps reflecting the important role of the highly organized envelope protein lattice during alphavirus budding.
Vibrational structure analysis of cobalt fluoro-porphyrin surface coatings on gallium phosphide (2018)

Grazing angle attenuated total reflectance Fourier transform infrared (GATR–FTIR) spectroscopy is used to characterize chemically modified gallium phosphide (GaP) surfaces containing grafted cobalt(II) porphyrins with 3-fluorophenyl substituents installed at the meso-positions. In these hybrid constructs, porphyrin surface attachment is achieved using either a two-step method involving coordination of cobalt fluoro-porphyrin metal centers to nitrogen sites on an initially applied thin-film polypyridyl surface coating, or via a direct modification strategy using a cobalt fluoro-porphyrin precursor bearing a covalently bonded 4-vinylphenyl surface attachment group at a [Formula: see text]-position. Both surface-attachment chemistries leverage the UV-induced immobilization of alkenes but result in distinct structural connectivities of the grafted porphyrin units and their associated vibrational spectra. In particular, the in-plane deformation vibrational frequency of metalloporphyrin components in samples prepared via coordination to the polymeric interface is characterized by an eight wavenumber shift to higher frequencies compared to that measured on metalloporphyrin-modified surfaces prepared using the one-step attachment method. The more rigid ring structure in the polymeric architecture is consistent with coordination of porphyrin cobalt centers to pyridyl-nitrogen sites on the surface graft. These results demonstrate the use of GATR–FTIR spectroscopy as a sensitive tool for characterizing porphyrin-modified surfaces with absorption signals that are close to the detection limits of many common spectroscopic techniques.
On the Etiology of Listening Difficulties in Noise Despite Clinically Normal Audiograms (2016)

Many people with difficulties following conversations in noisy settings have "clinically normal" audiograms, that is, tone thresholds better than 20 dB HL from 0.1 to 8 kHz. This review summarizes the possible causes of such difficulties, and examines established as well as promising new psychoacoustic and electrophysiologic approaches to differentiate between them. Deficits at the level of the auditory periphery are possible even if thresholds remain around 0 dB HL, and become probable when they reach 10 to 20 dB HL. Extending the audiogram beyond 8 kHz can identify early signs of noise-induced trauma to the vulnerable basal turn of the cochlea, and might point to "hidden" losses at lower frequencies that could compromise speech reception in noise. Listening difficulties can also be a consequence of impaired central auditory processing, resulting from lesions affecting the auditory brainstem or cortex, or from abnormal patterns of sound input during developmental sensitive periods and even in adulthood. Such auditory processing disorders should be distinguished from (cognitive) linguistic deficits, and from problems with attention or working memory that may not be specific to the auditory modality. Improved diagnosis of the causes of listening difficulties in noise should lead to better treatment outcomes, by optimizing auditory training procedures to the specific deficits of individual patients, for example.
Performance Comparison of Message Authentication Code (MAC) Algorithms for the Internet Protocol Security (IPSEC) (2003)

The cryptographic algorithms employed in Internet security must be able to handle packets which may vary in size over a large range. Most of the cryptographic hash algorithms process messages by partitioning them into large blocks. Due to this fact the messages have to be prepared by padding the required amount of zero bits to get an integer number of blocks. This process contributes a considerable overhead when the short messages are more dominant in the message stream. Hashed Message Authentication Code-Secure Hash Algorithm-1 (HMAC-SHA-1) [1] has been recommended for message authentication in several network security protocols. The MAC based block cipher CBC-MAC-DES [2] has been included in the international standards for data integrity and authentication. However, after selecting the Advanced Encryption Standard (AES) algorithm, the use of DES merits reevaluation as Rijndael [3] shows good performance in both hardware and software and it has better security features than DES. CBC-MAC is likely to be standardized as an AES mode of operation. In this paper we will analyze the hardware and software performance of Hashed Message Authentication Code (HMAC) and Cipher Block Chaining Message Authentication Code (CBC-MAC) in the context of the traffic characteristics of the Internet. Studying the behavior of IP packet size of the Internet messages allows the estimation of actual performance of these authentication functions. The probability density function (PDF) of the IP packet size is approximated as one of four models, each having different accuracy level. The PDF is then used to determine the rate at which authentication can be executed on average, based on the results of previous hardware and software implementation performance data for the hash and encryption algorithms.
Alternative synthesis of (.+-.)-trisporol B via (.+-.)-6-hydroxymethyl-2,6-dimethyl-2-cyclohexen-1-one. (1987)

(±)-Methyl 1, 3-dimethyl-2-oxo-3-cyclohexene-1-carboxylate (7) was synthesized from methyl propionate via Claisen condensation followed by Robinson annelation with acrolein. Lithium aluminum hydride reduction and manganese dioxide oxidation of 7 gave (±)-6-hydroxymethyl-2, 6-dimethyl-2-cyclohexen-1-one (3), which is a useful new building block for natural product syntheses. Next, 3 was converted to (±)-8'-acetoxy-3'-oxo-β-ionone (16). A Wittig reaction of 16 with 3-(2-methyl-1, 3-dioxolan-2-yl)propylidenetriphenylphosphorane in tetrahydrofuran, with subsequent deprotection, afforded the fungal sexual pro hormone, (±)-(7E, 9Z)-trisporol B (1), and its (9E)-isomer (19).
A Radiation-Hardened Fiber-Optic Transmission System Having a 400-MHz Bandwidth and Linear Response (1977)

A radiation-hardened fiber-optic signal transmission system has been built that has a bandwidth of over 400 MHz with linear response. An amplitude-modulated CW laser diode is used in the transmitter. Automatic bias compensation is applied to the laser in lieu of the typical temperature control. The system has provision to remotely select (via a fiber-optic control link) the attenuation between the signal input and the transmitter. A self-contained system-calibration pulse is also remotely triggerable. The transmitter has a volume of about 75 in3, including the battery power supply. The rise time of the system is 1.2 ns and the dynamic range is 35 dB. The transmitter and fiber-optic portions of the system are hardened to withstand a photon irradiation of more than 5 × 105 rad(Si)/s from a Febetron 705.
<i>The Fundamental Physical Constants and the Frontier of Measurement</i> (1986)

Fundamental physical constants are used throughout the world by scientists and technologists in the course of every kind of theoretical and experimental research work. The book examines the present state of the measurement arts, and gives indications of likely future developments. This comprehensive and stimulating volume will certainly become a standard reference work in the field of measurement science for physicists, metrologists and workers in other physical science disciplines where a high accuracy of measurement is required.
Analytical Approach for Maximizing the Average Code Rate of Incremental Redundancy Schemes (2005)

An analytical design procedure for maximizing the average code rate of incremental redundancy retransmission schemes is presented. Union bounds are used as the tool to select good puncturing patterns and to obtain bounds on frame error rate for the punctured codes. This, in turn, is used for determining the optimal packet size of each retransmission, so that the average code rate is maximized
Integrin α <sub>IIb</sub> β <sub>3</sub> Inhibitor Preserves Microvascular Patency in Experimental Acute Focal Cerebral Ischemia (2000)

Platelet activation contributes significantly to ischemic microvascular occlusion. Occlusion formation may be prevented by this RGD-integrin alpha(IIb)beta(3) inhibitor at a dose that does not produce clinically significant parenchymal hemorrhage. The effect of microvascular patency on neuron recovery can now be tested.
An Algorithm for Buffer Cache Management (2009)

This paper proposes an algorithm for buffer cache management with prefetching. The buffer cache contains two units, the main cache unit and prefetch unit. The sizes of both the units are fixed. The total sizes of both the units are a constant. Blocks are fetched in one block look ahead prefetch principle. The block placement and replacement policies are defined. The replacement strategy depends on the most recently accessed block and the defined miss counts of the blocks. FIFO algorithm is used for the prefetch unit. The proposed algorithm is compared with W <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> R algorithm for sequential and random input. For sequential input, the performance is comparable with that of W <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> R algorithm. For random input, the proposed algorithm performs better than W <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> R by 9%.
Research on bipolar pulse current electroforming in precision molds and dies (2009)

Electroforming is a specialised electroplating process for the manufacture of precision metal parts and mold tooling. Because it can simplify technical process and shorten molding cycles, electroforming is also a rapid manufacturing technology. Compared with direct and unipolar pulse current, bipolar pulse current in electroforming can obtain fine structure and grain size as well as surface leveling, resulting in better precision and surface finish. In this paper, bipolar pulse current electroforming is introduced. The influencing parameters such as electrolyte parameter, additives, current density, pH, temperature, and pulse parameters have been studied by experiments. Experiments on nickel electroforming in molds and dies have been done. The results indicated that bipolar pulse current electroforming could improve the quality and precision further, while reducing internal stress.
A Novel Fabrication Technique for Producing Dense Li[Ni[sub x]Li[sub (1∕3–2x∕3)]Mn[sub (2∕3−x∕3)]]O[sub 2], 0≤x≤1∕2 (2005)

Using a novel synthesis technique similar to the Columbite method, we have prepared materials from the series , , with high density and average particle size greatly in excess of , without the aid of a sintering agent. The structure of precursors, as a function of temperature and composition, was studied in detail. These materials phase-separate into mixed oxides at approximately for most compositions, but compositions with convert to single-phase spinel upon further heating. This allows for the production of a single-phase precursor with a homogeneous cation distribution and large particle size and density. By reacting these mixed-metal oxide spinel precursors with , we have prepared dense materials without heating over . These dense materials will allow production of electrodes for advanced -ion cells with greater volumetric energy density.
Beat-to-beat prediction of left ventricular output during left ventricular bypass pumping (1988)

In order to estimate left-ventricular output from the pulse-pressure and pressure-flow relationship during left-ventricular-assist-device (LVAD) pumping, three methods were compared. The first method is based on the aortic compliance, while the second and third methods are based on the peripheral vascular resistance and the aortic impedance, respectively. Prior to clinical application, these methods were evaluated in a mock circulatory loop. The in vitro study revealed that in comparison to the electromagnetic flowmetering the second and third methods yielded higher correlation coefficients than the first method, indicating that they are more suitable for practical application during LVAD pumping.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
A finite element/Fourier expansion technique for the design of a pulsed radial gradient system for magnetic resonance imaging (MRI) (1985)

A finite element/Fourier expansion technique is presented for use in the design of a coil system for producing pulsed radial gradients for Magnetic Resonance Imaging (MRI). The technique employs the high magnetic Reynolds number approximation and a Fourier expansion technique to the three dimensional eddy current problem to allow the solution of a sequence of two dimensional axisymmetric problems. The details of the algorithm will be presented along with examples of its application to the design of a radial gradient system for a whole-body MRI system.
Direct Block of Ca2+ Channels by Calmidazolium in Cultured Vascular Smooth Muscle Cells (1999)

We investigated the action of calmidazolium (CMZ), an inhibitor of calmodulin (CaM), on the L-type Ca2+ currents (ICa(L)) of cultured vascular smooth muscle (VSM) cells (A7r5 cell line), by using the whole-cell voltage-clamp method. All experiments were conducted at room temperature (24-25 degrees C). The peak IBa (Ca2+ channel current with 5 mM Ba2+ as charge carrier) was evoked every 15 s by a test potential to +10 mV from a holding potential of -60 mV. To elevate intracellular free Ca2+ concentration ([Ca]i) to pCa 6.5, the pipette solution contained a Ca2+-EGTA buffer (pCa 6.5) to allow equilibration with the cells. Bath application of 1 microM CMZ reduced the peak amplitude of IBa to 36.7+/-4.9% (n = 8); maximal effect occurred within 7-8 min. Peak IBa continued to decrease even after washing out the CMZ. Recovery of IBa was not observed even after 10 min of washout. Even in presence of an peptide inhibitor of CaM-dependent protein kinase-II (5.2 microM) in the pipette solution, CMZ inhibited IBa to 27.8 +/-5.3% (n = 7). To exclude the possibility that other Ca2+/ CaM-dependent kinases and phosphatases may regulate Ca2+ channel activity, we examined the effect of CMZ on IBa when [Ca]i was reduced by use of Ca2+/EGTA-buffered pipette solutions. At pCa approximately equal to 10 (10 mM EGTA and only contaminant Ca2+), CMZ inhibited IBa to 33.4+/-5.9% (n = 14) with a median inhibitory concentration (IC50) value of 0.29 microM. The activation curve (pCa approximately equal to 10) was shifted in the positive direction by 6.3 mV; the inactivation curve was shifted in the negative direction by 5.0 mV. CMZ decreased IBa progressively during repetitive step depolarizations. CMZ did not slow the rate of recovery from inactivation. In conclusion, CMZ inhibits Ca2+ channel current in a use-dependent manner. This inhibition is independent of CaMK-II and other Ca2+/CaM-dependent pathways. Therefore it is likely due to direct blockade of Ca2+ channels by CMZ. CMZ may reduce the outer surface charge and block the open state of the Ca2+ channels.
Growth and properties of nanocrystalline diamond films (2006)

Abstract The aim of this paper is to summarise recent progress in the growth of small grain‐sized Chemical Vapor Deposition (CVD) diamond often called nanocrystalline diamond, i.e., diamond with grains typically smaller than 500 nm. Nanocrystalline (NCD) and Ultrananocrystalline diamond (UNCD) films are new materials offering interesting applications to nanobioelectronics and electrochemistry. However NCD and UNCD thin films comprise of entirely different structures which is highlighted here in this paper. We discuss in detail the main differences in Raman spectra, optical properties and electrical transport properties. Finally we present a simple model of the conductivity mechanism in nitrogenated UNCD (N‐UNCD) and boron doped NCD (B‐NCD) films, and show the possibility of achieving the superconductive transition in B‐NCD films. (© 2006 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)