julilili42/papers huggingface dataset:
Adaptive bayesian filtering for vibration-based terrain classification
2009-05-01

Outdoor robots are faced with a variety of terrain types each possessing different characteristics. To ensure a safe traversal a robot has to infer the current ground surface from sensor readings. Recent techniques generate a model which predicts the terrain class from single vibration signals disregarding the temporal coherence between consecutive measurements. In this paper, we present a novel approach in which the final classification relies on the analysis of not only one, but several recent observations. Therefore, the probabilistic framework of the Bayes filter is adopted to the problem of terrain classification. We propose an adaptive approach which automatically adjusts its parameters according to the history of observations. To demonstrate the performance of our method we further describe and compare another technique based on temporal coherence. The evaluation using data collected from our RWI ATRV-Jr robot shows that our approach is both reactive and stable enough to detect fast terrain transitions and selective misclassifications.
The DabR - A multitouch system for intuitive 3D scene navigation
2009-05-01

Multi-touch capable displays are one of the central emerging technologies in Human Computer Interfaces and many commercial applications like the Apple iPhone or the Microsoft Surface already show the benefit of this interaction technique. But most of the applications are limited to 2D interaction and only little effort has been spent on intuitive 3D interaction techniques. Since 3D scene navigation is a central aspect of 3DTV applications we present easy and intuitive multi-touch gestures to control a virtual 3D camera. These gestures were implemented on The DabR - a complete and robust multi-touch system designed at our institute. The underlying computer vision algorithms to cover the tracking of the users' fingers are GPU accelerated to ensure very low latency for the interaction.
From Known Knowns to Known Unknowns: Predictingin VivoDrug Metabolites
2009-05-01

'It is better to be useful than perfect'. This review attempts to critically cover and assess the currently available approaches and tools to answer the crucial question: Is it possible (and if it is, to what extent is it possible) to predict in vivo metabolites and their abundances on the basis of in vitro and preclinical animal studies? In preclinical drug development, it is possible to produce metabolite patterns from a candidate drug by virtual means (i.e., in silico models), but these are not yet validated. However, they may be useful to cover the potential range of metabolites. In vitro metabolite patterns and apparent relative abundances are produced by various in vitro systems employing tissue preparations (mainly liver) and in most cases using liquid chromatography-mass spectrometry analytical techniques for tentative identification. The pattern of the metabolites produced depends on the enzyme source; the most comprehensive source of drug-metabolizing enzymes is cultured human hepatocytes, followed by liver homogenate fortified with appropriate cofactors. For specific purposes, such as the identification of metabolizing enzyme(s), recombinant enzymes can be used. Metabolite data from animal in vitro and in vivo experiments, despite known species differences, may help pinpoint metabolites that are not apparently produced in in vitro human systems, or suggest alternative experimental approaches. The range of metabolites detected provides clues regarding the enzymes attacking the molecule under study. We also discuss established approaches to identify the major enzymes. The last question, regarding reliability and robustness of metabolite extrapolations from in vitro to in vivo, both qualitatively and quantitatively, cannot be easily answered. There are a number of examples in the literature suggesting that extrapolations are generally useful, but there are only a few systematic and comprehensive studies to validate in vitro-in vivo extrapolations. In conclusion, extrapolation from preclinical metabolite data to the in vivo situation is certainly useful, but it is not known to what extent.
Myc Regulates Embryonic Vascular Permeability and Remodeling
2009-05-01

Previous work has shown that c-Myc is required for adequate vasculogenesis and angiogenesis. To further investigate the contribution of Myc to these processes, we conditionally expressed c-Myc in embryonic endothelial cells using a tetracycline-regulated system. Endothelial Myc overexpression resulted in severe defects in the embryonic vascular system. Myc-expressing embryos undergo widespread edema formation and multiple hemorrhagic lesions. They die between embryonic days 14.5 and 17.5. The changes in vascular permeability are not caused by deficiencies in vascular basement membrane composition or pericyte coverage. However, the overall turnover of endothelial cells is elevated as is revealed by increased levels of both proliferation and apoptosis. Whole-mount immunohistochemical analysis revealed alterations in the architecture of capillary networks. The dermal vasculature of Myc-expressing embryos is characterized by a reduction in vessel branching, which occurs despite upregulation of the proangiogenic factors vascular endothelial growth factor-A and angiopoietin-2. Thus, the net outcome of an excess of vascular endothelial growth factor-A and angiopoietin-2 in the face of an elevated cellular turnover appears to be a defect in vascular integrity.
Treatment of acute limb ischemia with focus on endovascular techniques
2009-05-01

Acute limb ischemia is still the most frequent cause of major limb loss. Timely and fast revascularization is the key for limb salvage and patient survival. Large randomized trials showed equivalency of surgical and endovascular revascularization by means of local lysis with urokinase (TOPAS, STILE). New lytic agents and their modified application such as via a pulse spray catheter or combined with an ultrasound catheter and the combination with glycoprotein IIb/IIIa receptor antagonists have increased the efficacy and speed of thrombolysis. Recently, mechanical thrombectomy devices have become more widespread because intervention time and bleeding complications can be reduced. This review article summarizes the clinical presentation of and the treatment options for acute arterial occlusive disease caused either by embolism or local thrombosis.
Regulation of the Intestinal Anion Exchanger DRA (Downregulated in Adenoma)
2009-05-01

Barrier function and transepithelial transport are intimately linked and are sometimes disturbed in parallel. DRA (downregulated in adenoma) is an intestinal chloride/bicarbonate exchanger that is functionally coupled to CFTR (cystic fibrosis transmembrane regulator) in the upper gastrointestinal tract to mediate chloride and bicarbonate secretion and to NHE3 (Na/H exchanger‐ isoform 3) in the lower gastrointestinal tract to mediate electroneutral NaCl absorption. All three transport proteins possess PDZ domain binding motifs that facilitate binding to members of the NHERF (Na/H exchanger regulatory factor) family of adapter proteins [NHERF, E3KARP (NHE3 kinase A regulatory protein), PDZK1 (PDZ protein kidney 1) and IKEPP (intestinal and kidney enriched PDZ protein)]. Regulation of DRA appears to depend on the presence of a partner transport protein, and this may involve the assembly of different complexes of transporters, adapter proteins, and signaling molecules. We have established stable expression of DRA in HEK cells. In these cells, that do not express significant amounts of CFTR or NHE3, DRA is inhibited by intracellular calcium but not by protein kinase C or protein kinase A. At high calcium concentrations induced by 4Br‐A23187 this inhibition is independent of the PDZ interaction of DRA. These data show that DRA can be individually regulated and may be confirmed in a more physiologically relevant expression system (i.e., Caco‐2/BBE cells) using natural agonists of the intracellular calcium signal.
Torpedoing the authorship of popular music: a reading of Gorillaz' ‘Feel Good Inc.’
2009-05-01

Abstract This article addresses problems of authorship and creative authority in popular music, in particular in view of a pervasive split between modes of aesthetic production (involving modernist assemblage, multiple authorship, and the late capitalist logic of major label policies) and modes of aesthetic reception (which tend to take popular music as the organic output of individual performers). While rock musicians have attempted to come to terms with this phenomenon by either performing a ‘Romantic’ sense of authenticity (basically by importing folk values to the production process) or ‘Modernist authenticity’ (by highlighting experimentation and alienation), Damon Albarn and Jamie Hewlett, creators of Gorillaz, found a third way which ingeniously allows them to do both. By creating a virtual rock band, and by hiding their own media personalities behind those of their virtual alter egos, they brought themselves into a position which allows them to produce ‘sincere’ popular music which ‘playfully’ stages the absurdities of major label music business while very successfully operating within its very confines.
Open-ended on-board Evolutionary Robotics for robot swarms
2009-05-01

The SYMBRION project stands at the crossroads of artificial life and evolutionary robotics: a swarm of real robots undergoes online evolution by exchanging information in a decentralized Evolutionary Robotics Scheme: the diffusion of each individual's genotype depends both on its ability to survive in an unknown environment as well as its ability to maximize mating opportunities during its lifetime, which suggests an implicit fitness. This paper presents early research and prospective ideas in the context of large-scale swarm robotics projects, focusing on the open-ended evolutionary approach in the SYMBRION project. One key issue of this work is to perform on-board evolution in a spatially distributed population of robots. A real-world experiment is also described which yields important considerations regarding open-ended evolution with real autonomous robots.
Thyroid Disorders and Occurrence of Nonorgan-specific Autoantibodies (NOSA) in Patients With Chronic Hepatitis C Before and During Antiviral Induction Therapy With Consensus Interferon (Interferon Alfacon-1)
2009-05-01

During CIFN induction therapy, alterations in TSH levels and an increased prevalence of TA and NOSA are quite common, especially in females. Clinically relevant symptoms occur, however, only in a small number (1.4%). Thus, treatment with daily and high-dose CIFN does not appear to increase the incidence of (severe) thyroidal or other autoimmune disorders compared with standard IFN in patients with CHC.
Identification of an Immunogenic HLA-A*0201-binding T-cell Epitope of the Transcription Factor PAX2
2009-05-01

PAX2 is a transcription factor and member of the highly conserved family of paired box genes. PAX2 is aberrantly expressed in a variety of solid and hematologic malignancies. PAX2 regulates the transcription factor Wilms tumor gene 1, which is a promising target of cancer immunotherapy. The aim of this study was to apply a modified reverse immunology strategy to identify immunogenic epitopes of PAX2 which could be useful for cancer immunotherapy. Thirteen potential HLA-A*0201 epitopes were predicted by a major histocompatibility complex binding algorithm (SYFPEITHI) and a proteasome cleavage algorithm (PAProC) and screened for recognition by T cells from HLA-A*02-positive cancer patients using intracellular cytokine cytometry. Epitope-specific T cells were generated from CD4CD25 regulatory T-cell-depleted peripheral blood mononuclear cell. Nine of 20 colorectal cancer patients, 1 of 13 renal cell carcinoma patients, and 2 of 17 lymphoma patients had a spontaneous CD8 T-cell response toward at least 1 of 6 PAX2 peptide pools. None of the 20 healthy subjects showed reactivity toward PAX2. PAX2.337-345 (TLPGYPPHV)-specific T cells could repeatedly be generated, which specifically lysed the PAX2 expressing colorectal tumor cell line SW480. In this study, a modified reverse immunology strategy was employed to identify a first immunogenic HLA-A*0201 restricted T-cell epitope and natural ligand of the tumor antigen PAX2. Thus, PAX2 is another embryonic transcription factor, which is of potential interest as immunotherapy target antigen.
Using genetic algorithms for planning of ASIC chip-design project flows
2009-05-01

Because of constantly improving technologies, the complexity of Integrated Circuits is continuously increasing. Consequently chip-design becomes more and more challenging. Therefore an approach that allows a fast and efficient application specific integrated circuit (ASIC) design is needed. Especially the organization of Chip-Design projects exhibits a very high complexity. Different tools can be used to execute the same task, resulting in a huge number of different possible design flows. The number of valid flows is delimited by different constraints. Resources are limited and different types of design tasks require different types of resources. Precedences between design tasks have to be considered. Because of these characteristics we developed an approach that uses a genetic algorithm to analyse and improve the organization of ASIC design projects.
Increased accuracy orientation estimation from omnidirectional images using the spherical Fourier transform
2009-05-01

Orientation estimation based on image data is a key technique in many applications and robust estimates are possible in case of omnidirectional images. A very efficient technique is to solve the problem in Fourier space. In this paper we present a fast and simple method to overcome one of the main draw-backs of this approach, namely the large quantization steps. Due to high memory demands, the Fourier-based solution can be computed on low-resolution input only and the resulting rotation estimate is given on an equiangular grid. We estimate the mode of the likelihood density based on the grid values in order to obtain a rotation estimate of increased accuracy. We show results on data captured with a spherical video camera and validate the approach comparing the orientation estimates of the real data to the ground-truth values.
Oxygen Transport In Kenyan Runners
2009-05-01

It is assumed that the excellent performance of Kenyan runners is mainly due to a high running economy in connection with high VO2max. To explain underlying physiological reasons research mainly focused on muscular oxygen consumption. PURPOSE: To investigate basic factors of oxygen transport, i.e. total hemoglobin mass (tHb-mass), blood volume (BV) and heart size in elite Kenyan runners and adaptation processes of these parameters during a sojourn at lowland. METHODS: Ten Kenyan runners (group K; competing between 1.500m and marathon) living and training at moderate altitude (∼2100m) performed a 6-weeks lasting training camp at 350m in Germany. Training (volume ∼210km/week) was similar to that normally performed in Kenya. tHb-mass and BV were determined using the optimized CO-rebreathing method on the first day after arrival to Germany and weekly during their whole stay. In addition BV and haemoglobin concentration [Hb] were also examined before departure at altitude. VO2max was determined in three field tests and running economy in a laboratory test on a treadmill. 11 German elite runners served as a control group (group G). RESULTS: The Kenyan runners had a significantly lower body mass (K 57.2 ±7.0kg; G 66.5 ±6.3kg) and BMI (K 18.5 ±0.9; G 20.4 ±0.9). Relative VO2max did not differ between the groups (K 71.5 ±5.0 ml/kg/min; G 70.7 ±3.7 ml/kg/min) and absolute VO2max did not change during the 6 weeks at low altitude. Relative tHb-mass (K 14.2 ±1.0g/kg; G 14.0 ±0.7g/kg) and BV (K 101.9 ±4.5ml/kg; G 99.6 ±5.8ml/kg) were similar in both groups but continuously decreased in K during the stay at lowland (absolute tHb-mass from 813 ±90g to 767 ±90g, p<0.001; BV from 5828 ±703ml to 5513 ±708ml, p<0.01). [Hb] tended to decrease (-0.7 ±0.7g/dl) when commuting altitude but did not differ at sea level between the groups (K 15.4 ±1.0g/dl, G 15.5 ±1.2g/dl). The relative heart volume was slightly lower in the Kenyans (K 14.0 ±1.5ml/kg; G 15.2 ±2.0ml/kg). Running economy was higher (p<0.05) in K at speeds of 18km/h and above and can partly be attributed to the smaller calve circumference (p<0.001) and lower BMI (p<0.001). CONCLUSIONS: The excellent running performance of Kenyans is not due to an improved oxygen transport system but due to a lower demand of oxygen at higher speeds compared to German runners. Supported by BISp, No.VF070121/05-06.
NEOMYCIN INDUCES APOPTOSIS IN THE INNER EAR
2009-05-01

Objectives: to study the apoptotic response of auditory hair cells in the organ of Cortiafter exposure to neomycin within the first 6 hours. Materials and methods: auditoryhair cells harvested on the postnatal day 7 from the cochleae of C57BL6 wild type micewere cultured in vitro in the presence (neomycin group, n= 59 cochleas) or absence ofneomycin (control group, n= 31 cochleas). Apoptotic cells were evaluated within 6 hoursof incubation for the expression of active caspases (8, 9 or 3) in the cytoplasm andcounterstained using propidium iodide to highlight apoptotic nuclei. Cells werestatistically quantified using average and standard deviation. The differences betweenthe averages were tested with the help of Student T test (threshold p&lt; 0,05). Results: Thestatistic comparison between the different caspase types (caspase 3, 8 and 9), theaverage and dispersion inside the cell groups, permitted us to detect the first step ofapoptosis taking place in the cytoplasm. The comparison of the cell group wherepropidium iodide was accumulated in the nucleus with the cell group where both thecaspase and propidium iodide appeared, permitted us to detect the initiation anddevelopment of the second step of apoptosis, the one where the nucleus has already beenaffected. Conclusions: Neomycin is initiating, right after 6 hours of incubation, theprocess of apoptosis in auditory hair cells, determining the activation of cytoplasmcaspases.
Influence Of Body Mass, Body Composition, And Performance State On Total Hemoglobin Mass
2009-05-01

PURPOSE: To define the separate impact of lean body mass and of endurance performance state on total haemoglobin mass and to evaluate its influence on VO2max. METHODS: In total, 114 male subjects categorized into 7 performance groups which were characterized by extremely different inter-group body dimensions and endurance performance participated at the study (I. German elite rowers (R, n=15, VO2max 65.7±6.3 ml/kg/min), II. German elite runners (GR, n=13, 69.0±3.0ml/kg/min), III. Kenyan elite runners (KR, n=10, 71.5±5.0ml/kg/min), IV. Body Builders (BB, n=20, 48.2±7.7ml/kg/min), V. leisure athletes (LA, n=14, 59.5±6.0ml/kg/min), VI. fit but untrained subjects (UTr, n=10, 51.1±6.0ml/kg/min), and VII 10.4 ±2.4 yrs old fit boys (Y, n=32, 56.6±6.2ml/kg/min)). tHb-mass was determined using the optimized CO-rebreathing method and VO2 max was measured on a discipline-specific ergometer and calculated to treadmill conditions. Lean body mass was determined using skin fold measurement and was calculated by age-adjusted formulas. RESULTS: Absolute VO2max ranged from 1010 to 6320 ml/min and tHb-mass from 242g to 1453g showing a very close relationship. Except BB all groups fit well in this relationship (regression analysis without BB: r = 0.973, BB included: r = 0.92). tHb-mass was best related to lean body mass (LBM, r = 0. 964) and less to body surface area (BSA, r = 0.935) and body mass (r = 0.919). At identical body mass those groups characterized by high performance state (R, GR, KR) showed ∼25% higher tHb-mass than those with low performance (LA, UTr, Y). Comparing both subgroups at identical lean body mass the difference in tHb-mass was reduced to 11.5%. CONCLUSION: In athletes and fit sedentary subjects VO2max is closely related to tHb-mass over the whole physiological range indicating that the change in 1g haemoglobin is associated with a change in VO2max by 4.4 ml. tHb-mass mostly depends on lean body mass (16.8g haemoglobin per 1kg LBM), whereas endurance performance has only minor impact. BBs, however, differ from all other groups. Although their tHb-mass is very high due to high LBM, this beneficial precondition can not be converted into high aerobic performance. It is concluded that although high tHb-mass is a prerequisite metabolic adaptations are necessary for high VO2max.
Voice over Wireless Mesh Networks: A Case Study in the Brazilian Amazon Region during the Rainy Season
2009-05-01

In this paper we present the results of an experimental analysis of the behavior and performance of VoIP calls using different codecs in a wireless mesh network (WMN) based on the IEEE 802.11g standard. Most measurements were done during the rainy season in a Brazilian Amazon region.We assessed the call quality of codecs using real measurement conditions showing the codecs coding performance over wireless mesh networks.Both between unidirectional and bidirectional transmissions were studied.
Platelet Interactions as Therapeutic Targets for Prevention of Atherothrombosis
2009-05-01

Physiologically, platelets perform important tasks to maintain the homeostasis of the vascular wall and the surrounding environment. In pathologic conditions, however, platelets contribute to the formation of atherosclerotic plaques as well as to atherothrombotic events (i.e., acute myocardial infarction). This review aims to elucidate the role of platelets in atherogenesis and atherothrombosis and to provide an insight into current and future strategies for platelet inhibition.
Radiopeptide therapy with Y-90 or Lu-177 DOTATOC: Is treatment response predictable by pretherapeutic uptake of Ga-68 DOTATOC?
2009-05-01

212 Objectives In this retrospective study we analyzed whether pretherapeutic Ga-68 DOTATOC-PET/CT is able to predict response to radiopeptide therapy with fixed doses of Y-90 (3700 MBq) or Lu-177 DOTATOC (7400 MBq). Methods Thirty-six patients with advanced stage neuroendocrine tumors were treated with either Y-90 (30/36) or Lu-177 DOTATOC (6/36). Prior to therapy each patient received PET/CT with 150 MBq Ga-68 DOTATOC. Treatment results were evaluated after 3 months by CT, tumor markers and clinical course and correlated with Ga-68 DOTATOC uptake (SUV) of tumor manifestations and a target dose equivalent derived from PET (therapeutic radioactivity / body weight x pretherapeutic SUV). Results According to conventional criteria (tumor shrinkage, decrease of tumor markers) 13 patients were classified as responders, 15 as non-responders, and in 8 patients follow-up findings were equivocal. Using a SUV of 20 as cut-off for favorable outcome PET was able to predict treatment response of all responders and 13/15 non responders. Two non-responders presented SUV ́s >20 (22.5 and 26.7). In 5/8 patients with equivocal findings SUV was 20 (24.8; 34.9 and 35.6). Using the target dose equivalent as predictor and 2 MBq/g as cut-off 12/13 responders and 14/15 non-responders were correctly classified. Seven of 8 patients with equivocal findings had a target dose equivalent Conclusions Pretherapeutic DOTATOC tumor uptake as well as target dose equivalent were highly predictive for the results of subsequent radiopeptide therapy. This might provide the rationale for prospective studies to evaluate individual dosing and selecting patients with high likelihood of favorable treatment outcome.