Rawseeds ground truth collection systems for indoor self-localization and mapping

A trustable and accurate ground truth is a key requirement for benchmarking self-localization and mapping algorithms; on the other hand, collection of ground truth is a complex and daunting task, and its validation is a challenging issue. In this paper we propose two techniques for indoor ground truth collection, developed in the framework of the European project Rawseeds, which are mutually independent and also independent on the sensors onboard the robot. These techniques are based, respectively, on a network of fixed cameras, and on a network of fixed laser scanners. We show how these systems are implemented and deployed, and, most importantly, we evaluate their performance; moreover, we investigate the possible fusion of their outputs.     

- : an executable specification language for solving all problems in NP

In this paper a logic-based specification language, called - , is presented. The language is obtained by extending through allowing a limited use of some second-order predicates of predefined form. - programs specify solutions to problems in a very abstract and concise way, and are executable. In the present prototype they are compiled to code, which is run to construct outputs. Second-order predicates of suitable form allow to limit the size of search spaces in order to obtain reasonably efficient construction of problem solutions. - expressive power is precisely characterized as to express exactly the problems in the class NP. The specification of several combinatorial problems in - is shown, and the efficiency of the generated programs is evaluated.     

Liquid-liquid phase transition and glass transition in a monoatomic model system

We review our recent study on the polyamorphism of the liquid and glass states in a monatomic system, a two-scale spherical-symmetric Jagla model with both attractive and repulsive interactions. This potential with a parametrization for which crystallization can be avoided and both the glass transition and the liquid-liquid phase transition are clearly separated, displays water-like anomalies as well as polyamorphism in both liquid and glassy states, providing a unique opportunity to study the interplay between the liquid-liquid phase transition and the glass transition. Our study on a simple model may be useful in understanding recent studies of polyamorphism in metallic glasses.     

Papillary carcinoma arising in thyroglossal duct cyst: a case report and review of the literature

While thyroglossal duct cysts are a frequent cause of cervical masses, carcinomas arising in thyroglossal duct remnants are rare. In this paper the Authors report a new case, which occurred in a young woman. The diagnosis of carcinomas in thyroglossal duct cysts almost always comes as a surprise upon pathologic examination. The type of neoplasia most frequently described in Literature is that of the papillary carcinoma (82%). Other types of carcinomas are also reported in Literature: mixed follicular-papillary carcinomas (9 cases), squamous cell carcinomas (10 cases) and follicular carcinomas (3 cases). There are different theories regarding the origin of and therapy for these malignancies. In the sixties some Authors thought that these carcinomas were metastases of thyroid carcinomas. Now, following demonstration of normal thyroid tissue occurrence in the wall of thyroglossal duct cysts, it is almost universally accepted that a carcinoma may arise from thyroglossal remnants. The foci of cancer found in the thyroid reported only infrequently in Literature are a result of the plurifocality of papillary carcinoma. The Authors suggest that the Sistrunk procedure is an adequate, sufficient treatment if the carcinoma is limited to the cyst's walls. They also recommend postoperative administration of substitution therapy of thyroid hormones. Indications for thyroidectomy are then discussed.     

GFAP, S-100 and vimentin proteins in rat after cerebral post-ischemic reperfusion

Mutation of the TP53 gene is one of the most common molecular alterations in a variety of tumors, but it occurs infrequently in childhood and adult hematological malignancies. Protein accumulation often results from mutations that lead to inactivation of the p53 protein. Other causes of functional inactivation of the p53 protein include stabilization of p53 via proteins such as MDM2, an oncoprotein capable of forming specific complexes with p53. In the present study, protein expressions of MDM2 and p53 were investigated by immunohistochemistry from bone marrow samples in 23 patients with acute lymphoblastic leukemia aged 1-13 years at diagnosis. p53 protein overexpression was detected in only one case, while overexpression of MDM2 was detected in samples from five patients. All five patients overexpressing MDM2 belonged to a group with unfavorable prognostic signs at diagnosis and three of them relapsed or died within 6 months after diagnosis.     

Quantitative analysis of stool losses in adult celiac disease: use of near-infrared analysis reconsidered

Reoperative coronary artery bypass grafting (CABG) are still associated with higher mortality than primary CABG. This is due in part to the potential for cardiac and patent graft injury during their dissection and the reopening of the sternum. Therefore, in two patients with recurrent angina attributable to occlusion of the old vein graft to the LAD, we performed reoperative CABG by the minimally invasive direct coronary artery bypass (MIDCAB) procedures. The left internal thoracic artery was anastomosed to the LAD through small anterolateral thoracotomy without cardiopulmonary bypass. Both patients recovered fast and underwent postoperative angiogram, showing the new grafts widely patent. About two weeks later, both discharged in the conditions of nearly normal activities. The reoperative MIDCAB grafting might be expected to be as safe and promising as the primary one.     

Static and dynamic heterogeneities in water

The thermodynamic behaviour of water seems to be related to static heterogeneities. These static heterogeneities are related to the local structure of water molecules and, when properly characterized, may offer an economical explanation of thermodynamic data. 'What matters' most in determining some of the unusual properties of liquid water may be the fact that the local geometry of the liquid molecules is not spherical or oblong, but rather tetrahedral. In respect to static heterogeneities, this local geometry is critical. The dynamic behaviour of water seems to be related to dynamic heterogeneities, which seem to explain the dynamics of supercooled liquid water well.     

Accelerated myelopoietic recovery in irradiated mice treated with Photofrin

Spatial autocorrelation analysis performed on published data pertaining to caste and tribal populations of the Indian subcontinent has revealed that the surfaces of A, B and O allele frequencies are highly fractured. The only significant spatial autocorrelation was observed in respect of the A allele frequency among caste populations.