557 resultados para Assignments
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Two new epimeric chlorinated withaphysalins, rel-(4 beta,5 beta,6 alpha,18S,22R)- and rel-(4 beta,5 beta,6 alpha,18R,22R)-6-chloro-18,20-epoxy-18-ethoxy-4,5-dihydroxy-1- oxowitha-2,24-diene-26,22-lactone (1 and 2 resp.), together with the new rel-(4 beta,5 beta,6a,18R,22R)-6-chloro-18,20-epoxy-4,5-dihydroxy-18-methoxy-1-oxowitha-2,24-diene-26,22-lactone (3) and rel-(3 beta,4 beta,5 beta,6 beta,18R,22R)-5,6:18,20-diepoxy-3,18-diethoxy-4-hydroxy-1-oxowith-24-ene-26,22-lactone (4) were isolated from the leaves of Acnistus arborescens and named withaphysalins TW, respectively. The final structures and the complete 1H- and 13C-NMR assignments of the three chlorowithaphysalins 13 were performed by means of HR-ESI-MS and 1D- and 2D-NMR experiments, including COSY, HSQC, and HMBC, beside comparison with spectral data of analogous compounds from the literature. The structure of 4 was also confirmed by means of a single-crystal X-ray diffraction analysis.
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Two new species of Caelopyginae are described: Pristocnemis caipira sp. nov. from Parque Nacional da Serra da Canastra, Minas Gerais, Brazil, and Thereza murutinga sp. nov., from Parati, Rio de Janeiro, Brazil. Pristocnemis caipira sp. nov. is diagnosed by shallow grooves on the dorsal scutum, a lower number of tarsal segments, presence of a spine on the anal operculum, large, pointed tubercles on the lateral margins of the dorsal scutum, and an absence of white patches on the dorsal scutum. Thereza murutinga sp. nov. is diagnosed by the combination of the following characters: incomplete median longitudinal groove on area III and absent on area II, prosoma much smaller than opisthosoma, and a large white patch covering the prosoma and whole areas of the opisthosomal scutum. A cladistic analysis including the two new species was performed to investigate their relationship within the subfamily. We obtained 927 trees of 185 steps (CI=0.4, RI=0.74), which corroborated the generic assignments of the new species, but infrageneric relationships remained unsolved. In addition, male genitalia of Ampheres luteus (Giltay) and genera Pristocnemis and Thereza are redescribed, new distribution records for Caelopyginae species are presented, and biogeographical implications are discussed.
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In this work is described a complete H-1 and C-13 NMR analysis for a group of four sesquiterpene lactones, three previously unknown. The unequivocal assignments were achieved by H-1 NMR, C-13{H-1} NMR, gCOSY. gHMQC, gHMBC and NOESY experiments and no ambiguities were left behind. All hydrogen coupling constants were measured, clarifying all hydrogen signals multiplicities. (C) 2011 Elsevier B.V. All rights reserved.
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Complexes of the type {[(pyS)Ru(NH3)(4)](2)-mu-L}(n), where pyS = 4-mercaptopyridine, L = 4,4'-dithiodipyridine (pySSpy), pyrazine (pz) and 1,4-dicyanobenzene (DCB), and n = +4 and +5 for fully reduced and mixed-valence complexes, respectively, were synthesized and characterized. Electrochemical data showed that there is electron communication between the metal centers with comproportionation constants of 33.2, 1.30 x 10(8) and 5.56 x 10(5) for L = pySSpy, pz and DCB, respectively. It was also observed that the electronic coupling between the metal centers is affected by the p-back-bonding interaction toward the pyS ligand. Raman spectroscopy showed a dependence of the intensity of the vibrational modes on the exciting radiations giving support to the assignments of the electronic transitions. The degree of electron communication between the metal centers through the bridging ligands suggests that these systems can be molecular wire materials.
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Abstract Background Identification of nontuberculous mycobacteria (NTM) based on phenotypic tests is time-consuming, labor-intensive, expensive and often provides erroneous or inconclusive results. In the molecular method referred to as PRA-hsp65, a fragment of the hsp65 gene is amplified by PCR and then analyzed by restriction digest; this rapid approach offers the promise of accurate, cost-effective species identification. The aim of this study was to determine whether species identification of NTM using PRA-hsp65 is sufficiently reliable to serve as the routine methodology in a reference laboratory. Results A total of 434 NTM isolates were obtained from 5019 cultures submitted to the Institute Adolpho Lutz, Sao Paulo Brazil, between January 2000 and January 2001. Species identification was performed for all isolates using conventional phenotypic methods and PRA-hsp65. For isolates for which these methods gave discordant results, definitive species identification was obtained by sequencing a 441 bp fragment of hsp65. Phenotypic evaluation and PRA-hsp65 were concordant for 321 (74%) isolates. These assignments were presumed to be correct. For the remaining 113 discordant isolates, definitive identification was based on sequencing a 441 bp fragment of hsp65. PRA-hsp65 identified 30 isolates with hsp65 alleles representing 13 previously unreported PRA-hsp65 patterns. Overall, species identification by PRA-hsp65 was significantly more accurate than by phenotype methods (392 (90.3%) vs. 338 (77.9%), respectively; p < .0001, Fisher's test). Among the 333 isolates representing the most common pathogenic species, PRA-hsp65 provided an incorrect result for only 1.2%. Conclusion PRA-hsp65 is a rapid and highly reliable method and deserves consideration by any clinical microbiology laboratory charged with performing species identification of NTM.
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A comprehensive structural and vibrational study of the potential metal-protein attenuating compound 8-hydroxyquinoline-2-carboxaldehyde isonicotinoyl hydrazone is reported. X-ray diffraction data, as well as FT-IR and Raman frequencies, were compared with the respective theoretical values obtained from DFT calculations. Theory agrees well with experiment. In this context, an attempt of total assignment concerning the FT-IR and Raman spectra of the title compound was performed, shedding new light on previous partial assignments published elsewhere.
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[EN] This paper describes VPL, a Virtual Programming Lab module for Moodle, developed at the University of Las Palmas of Gran Canaria (ULPGC) and released for free uses under GNU/GPL license. For the students, it is a simple development environment with auto evaluation capabilities. For the instructors, it is a students' work management system, with features to facilitate the preparation of assignments, manage the submissions, check for plagiarism, and do assessments with the aid of powerful and flexible assessment tools based on program testing, all of that being independent of the programming language used for the assignments and taken into account critical security issues.
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The humans process the numbers in a similar way to animals. There are countless studies in which similar performance between animals and humans (adults and/or children) are reported. Three models have been developed to explain the cognitive mechanisms underlying the number processing. The triple-code model (Dehaene, 1992) posits an mental number line as preferred way to represent magnitude. The mental number line has three particular effects: the distance, the magnitude and the SNARC effects. The SNARC effect shows a spatial association between number and space representations. In other words, the small numbers are related to left space while large numbers are related to right space. Recently a vertical SNARC effect has been found (Ito & Hatta, 2004; Schwarz & Keus, 2004), reflecting a space-related bottom-to-up representation of numbers. The magnitude representations horizontally and vertically could influence the subject performance in explicit and implicit digit tasks. The goal of this research project aimed to investigate the spatial components of number representation using different experimental designs and tasks. The experiment 1 focused on horizontal and vertical number representations in a within- and between-subjects designs in a parity and magnitude comparative tasks, presenting positive or negative Arabic digits (1-9 without 5). The experiment 1A replied the SNARC and distance effects in both spatial arrangements. The experiment 1B showed an horizontal reversed SNARC effect in both tasks while a vertical reversed SNARC effect was found only in comparative task. In the experiment 1C two groups of subjects performed both tasks in two different instruction-responding hand assignments with positive numbers. The results did not show any significant differences between two assignments, even if the vertical number line seemed to be more flexible respect to horizontal one. On the whole the experiment 1 seemed to demonstrate a contextual (i.e. task set) influences of the nature of the SNARC effect. The experiment 2 focused on the effect of horizontal and vertical number representations on spatial biases in a paper-and-pencil bisecting tasks. In the experiment 2A the participants were requested to bisect physical and number (2 or 9) lines horizontally and vertically. The findings demonstrated that digit 9 strings tended to generate a more rightward bias comparing with digit 2 strings horizontally. However in vertical condition the digit 2 strings generated a more upperward bias respect to digit 9 strings, suggesting a top-to-bottom number line. In the experiment 2B the participants were asked to bisect lines flanked by numbers (i.e. 1 or 7) in four spatial arrangements: horizontal, vertical, right-diagonal and left-diagonal lines. Four number conditions were created according to congruent or incongruent number line representation: 1-1, 1-7, 7-1 and 7-7. The main results showed a more reliable rightward bias in horizontal congruent condition (1-7) respect to incongruent condition (7-1). Vertically the incongruent condition (1-7) determined a significant bias towards bottom side of line respect to congruent condition (7-1). The experiment 2 suggested a more rigid horizontal number line while in vertical condition the number representation could be more flexible. In the experiment 3 we adopted the materials of experiment 2B in order to find a number line effect on temporal (motor) performance. The participants were presented horizontal, vertical, rightdiagonal and left-diagonal lines flanked by the same digits (i.e. 1-1 or 7-7) or by different digits (i.e. 1-7 or 7-1). The digits were spatially congruent or incongruent with their respective hypothesized mental representations. Participants were instructed to touch the lines either close to the large digit, or close to the small digit, or to bisected the lines. Number processing influenced movement execution more than movement planning. Number congruency influenced spatial biases mostly along the horizontal but also along the vertical dimension. These results support a two-dimensional magnitude representation. Finally, the experiment 4 addressed the visuo-spatial manipulation of number representations for accessing and retrieval arithmetic facts. The participants were requested to perform a number-matching and an addition verification tasks. The findings showed an interference effect between sum-nodes and neutral-nodes only with an horizontal presentation of digit-cues, in number-matching tasks. In the addition verification task, the performance was similar for horizontal and vertical presentations of arithmetic problems. In conclusion the data seemed to show an automatic activation of horizontal number line also used to retrieval arithmetic facts. The horizontal number line seemed to be more rigid and the preferred way to order number from left-to-right. A possible explanation could be the left-to-right direction for reading and writing. The vertical number line seemed to be more flexible and more dependent from the tasks, reflecting perhaps several example in the environment representing numbers either from bottom-to-top or from top-to-bottom. However the bottom-to-top number line seemed to be activated by explicit task demands.
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The present work tries to display a comprehensive and comparative study of the different legal and regulatory problems involved in international securitization transactions. First, an introduction to securitization is provided, with the basic elements of the transaction, followed by the different varieties of it, including dynamic securitization and synthetic securitization structures. Together with this introduction to the intricacies of the structure, a insight into the influence of securitization in the financial and economic crisis of 2007-2009 is provided too; as well as an overview of the process of regulatory competition and cooperation that constitutes the framework for the international aspects of securitization. The next Chapter focuses on the aspects that constitute the foundations of structured finance: the inception of the vehicle, and the transfer of risks associated to the securitized assets, with particular emphasis on the validity of those elements, and how a securitization transaction could be threatened at its root. In this sense, special importance is given to the validity of the trust as an instrument of finance, to the assignment of future receivables or receivables in block, and to the importance of formalities for the validity of corporations, trusts, assignments, etc., and the interaction of such formalities contained in general corporate, trust and assignment law with those contemplated under specific securitization regulations. Then, the next Chapter (III) focuses on creditor protection aspects. As such, we provide some insights on the debate on the capital structure of the firm, and its inadequacy to assess the financial soundness problems inherent to securitization. Then, we proceed to analyze the importance of rules on creditor protection in the context of securitization. The corollary is in the rules in case of insolvency. In this sense, we divide the cases where a party involved in the transaction goes bankrupt, from those where the transaction itself collapses. Finally, we focus on the scenario where a substance over form analysis may compromise some of the elements of the structure (notably the limited liability of the sponsor, and/or the transfer of assets) by means of veil piercing, substantive consolidation, or recharacterization theories. Once these elements have been covered, the next Chapters focus on the regulatory aspects involved in the transaction. Chapter IV is more referred to “market” regulations, i.e. those concerned with information disclosure and other rules (appointment of the indenture trustee, and elaboration of a rating by a rating agency) concerning the offering of asset-backed securities to the public. Chapter V, on the other hand, focuses on “prudential” regulation of the entity entrusted with securitizing assets (the so-called Special Purpose vehicle), and other entities involved in the process. Regarding the SPV, a reference is made to licensing requirements, restriction of activities and governance structures to prevent abuses. Regarding the sponsor of the transaction, a focus is made on provisions on sound originating practices, and the servicing function. Finally, we study accounting and banking regulations, including the Basel I and Basel II Frameworks, which determine the consolidation of the SPV, and the de-recognition of the securitized asset from the originating company’s balance-sheet, as well as the posterior treatment of those assets, in particular by banks. Chapters VI-IX are concerned with liability matters. Chapter VI is an introduction to the different sources of liability. Chapter VII focuses on the liability by the SPV and its management for the information supplied to investors, the management of the asset pool, and the breach of loyalty (or fiduciary) duties. Chapter VIII rather refers to the liability of the originator as a result of such information and statements, but also as a result of inadequate and reckless originating or servicing practices. Chapter IX finally focuses on third parties entrusted with the soundness of the transaction towards the market, the so-called gatekeepers. In this respect, we make special emphasis on the liability of indenture trustees, underwriters and rating agencies. Chapters X and XI focus on the international aspects of securitization. Chapter X contains a conflicts of laws analysis of the different aspects of structured finance. In this respect, a study is made of the laws applicable to the vehicle, to the transfer of risks (either by assignment or by means of derivatives contracts), to liability issues; and a study is also made of the competent jurisdiction (and applicable law) in bankruptcy cases; as well as in cases where a substance-over-form is performed. Then, special attention is also devoted to the role of financial and securities regulations; as well as to their territorial limits, and extraterritoriality problems involved. Chapter XI supplements the prior Chapter, for it analyzes the limits to the States’ exercise of regulatory power by the personal and “market” freedoms included in the US Constitution or the EU Treaties. A reference is also made to the (still insufficient) rules from the WTO Framework, and their significance to the States’ recognition and regulation of securitization transactions.
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Die Dissertation untersucht die geistige Produktion im Erziehungssystem anhand des Unterrichtsgegenstands populäre Musik. Hiermit ist sie im Kernbereich der musikpädagogischen Disziplin angesiedelt – Musik und Schule. Ferner rückt die Festlegung auf populäre Musik den Schüler in seinem Alltagswissen in den Vordergrund der Betrachtung. Die Frage nach dem Umgang mit populärer Musik ist somit indirekt eine Frage nach dem Umgang mit schülernahen Erfahrungswelten in der Schule. Innerhalb dieses Forschungsprofils erhält die Arbeit ihre eigentliche Relevanz - sie zeigt auf, wie eine moderne, selbstreferentielle Musikpädagogik eigene bedeutsame Kommunikationen beobachten kann. Entworfen in Anlehnung an die Systemtheorie nach Niklas Luhmann, werden in der Arbeit die unikalen Reflexionszusammenhänge von Pädagogik und Musikpädagogik anhand der folgenden Operationsfelder offengelegt: pädagogische und musikpädagogische Fachliteratur, Lehrpläne und Schulbücher. Nach Luhmann ist es erforderlich verstehend in die Unikalität systemischer Reflexionsleistungen einzudringen, um inkonsistente Anforderungen an die Aufgabe (Musik-)Erziehung und ihre Gegenstände aufzudecken und zukünftige Systemhandlungen zu optimieren. Die Arbeit ist in drei große historische Zeitblöcke gegliedert, die ihrerseits in verschiedene disziplinäre Operationsfelder unterteilt sind. Mit Hilfe dieser zweidimensionalen historisch-interdisziplinären Sichtweise wird populäre Musik als Bezugsgröße aufgewiesen, an der die zentralen Debatten von Pädagogik und Musikpädagogik kondensieren. Anhand von Schlüsselbegriffen wie Kultur, Gesellschaft und Ästhetik aber auch didaktischen Prinzipien wie Schüler- und Handlungsorientierung oder ganzheitliche (Musik-)Pädagogik lässt sich die Vielfalt historisch gewachsener inkonsistenter/konsistenter Forderungen belegen. Aus den Beobachtungen im Umgang mit populärer Musik werden Aufgaben deutlich, die die Disziplinen, vor allem die Musikpädagogik, in der Zukunft zu leisten haben. Diese beschäftigen sich auf der einen Seite mit dem disziplinären Selbstverständnis und auf der anderen Seite mit unbeantworteten didaktischen Fragestellungen wie den Möglichkeiten und Grenzen des einzelnen populären Musikstücks im konkret-situativen Lernkontext von Musikunterricht.
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Nell’alveo delle indagini sulla storia del commercio librario nell’Italia del Settecento, attente a individuare i legami fra circolazione del libro, diffusione delle idee illuministe e riforme politiche nella seconda metà del secolo, la ricerca ha l’obiettivo di offrire un quadro articolato della fisionomia di un mercante del libro attivo nel periodo più intenso del riformismo estense nel ducato di Modena: Moïsè Beniamino Foà (1730-1821). Il primo capitolo della tesi riguarda le cariche ufficiali che questi ricoprì al servizio delle istituzioni culturali promosse da Francesco III d’Este, le vicende che lo implicarono nelle maglie della censura e il suo impegno civile e politico a favore dei processi di emancipazione degli ebrei in età giacobina e napoleonica. Il secondo tenta di interpretare la genesi della sua fortuna economica attraverso l’esame del testamento e dell’inventario dell’asse ereditario: nel panorama di precarietà dei mestieri del libro dal secolo dei lumi ai primi decenni della Restaurazione, pare arduo individuare un libraio comparabile a Foà per solidità e capacità di investimento. All’analisi della clientela del mercante è dedicato il terzo capitolo, che si sviluppa seguendo il filo dei rapporti diplomatici intessuti da Francesco III con le corti italiane nell’orbita dell’influenza politica e culturale asburgica. Si descrivono, quindi, i viaggi europei e la rete dei contatti commerciali che garantirono la ricchezza dell’offerta rispecchiata dai numerosi cataloghi librari pubblicati nel corso di oltre un cinquantennio. Di questi si offre una descrizione bibliografica e quantitativa con un affondo sulla diffusione del libro scientifico. Con la fisionomia del mercante viaggiatore, Foà coniugava quella dell’erudito bibliofilo: la ricerca si conclude con la presentazione della sua biblioteca e dei suoi rapporti con i filologi dell’epoca.
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La presente ricerca affronta lo studio della formazione delle realtà urbane nell'area dell'antico Ager Gallicus, grossomodo corrispondente all'attuale territorio delle Marche settentrionali. Nel quadro della colonizzazione romana il fenomeno urbano rappresenta, infatti, l'elemento cardine nell'organizzazione di un territorio. Per tale ragione, si è scelto di condurre un lavoro finalizzato alla comprensione dei tempi e dei modi che portarono alla formazione dei municipi e delle colonie nella strutturazione romana del territorio, cercando anche di comprendere le scelte insediative alla base delle singole forme strutturali. L'analisi della genesi e dello sviluppo del fenomeno urbano nell'ager Gallicus ha come obiettivo ultimo l'approfondimento della conoscenza sulla colonizzazione e romanizzazione in area medio adriatica. La ricerca si articola in: uno stato dell'arte delle più recenti interpretazioni storiografiche; una sintesi sulle cosiddette “forme della conquista” (frequentazioni “precoloniali”, realtà santuariali, fondazioni coloniarie, realtà proto-urbane legate all'agro); una dettagliata e aggiornata schedatura storico-archeologica e urbanistico-topografica delle singole realtà urbane dell'ager Gallicus (le colonie di Sena Gallica, Pisaurum, Fanum Fortunae e Aesis, e i municipi di Forum Sempronii, Suasa e Ostra, e Sentinum); una parte conclusiva dove, mettendo a confronto gli elementi alla base della definizione urbana delle realtà esaminate, vengono delineati e sintetizzati i principali modelli di formazione delle città nell'ager Gallicus così individuati (fondazione coloniaria; fondazione coloniaria preceduta da una fase precoloniale nella forma di conciliabulum; nucleo di aggregazione precedente (conciliabulum) scelto quale polo di riferimento del popolamento sparso nel territorio al momento delle distribuzioni viritane; centro di servizio creato in funzione di assegnazioni di terre ai coloni). Infine, viene tracciato un quadro complessivo della romanizzazione dell'ager Gallicus, che, in estrema sintesi, si configura come un processo progressivo di occupazione del territorio rispecchiato dallo sviluppo stesso del fenomeno urbano, ma che si differenzia dalle aree limitrofe o dall'area cisalpina per alcune importanti dinamiche etnico-demografiche.
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Die politische Rolle der Hofmusik in der ersten Hälfte des 18. Jahrhunderts ist im Kontext der repräsentativen Machtmittel innerhalb des höfischen Kräftefeldes verortet. Die höfischen Zeremonielle bildeten nicht nur den Aufführungsrahmen, sondern legten sämtliche Determinanten für die musikalischen Ereignisse fest. Zu den Aufgaben der Hofkapellmeister im kleinen, aber innerhalb des Reiches nicht ganz unbedeutenden und durchaus paradigmatisch stehenden Fürstentum Hessen-Darmstadt gehörten die musikalischen Umrahmungen der fürstlichen Hochzeiten, Trauerfälle, Geburtstage sowie politischer und kirchenpolitischer Anlässe. Christoph Graupner wirkte hier als Hofkapellmeister zwischen 1709 und 1760; bis zu seiner Erblindung im Jahr 1754 schuf er ein umfangreiches Werk, das die Verhältnisse dieser Landgrafschaft in signifikanter Weise spiegelt. Graupners Musiken zu den Festen der Landgrafen umfassten immer Kirchenkantaten für den Gottesdienst, daneben oft auch weltliche Musik zur Unterhaltung der Gäste. Obwohl die – damals hochmoderne und in der Entwicklung begriffenen – Gattung der Kantate bei weitem überwiegt, sind es auch Bühnenwerke, die diese Funktion erfüllten, aber lediglich im ersten Jahrzehnt von Graupners Dienstzeit in Darmstadt aufgeführt wurden. 83 panegyrische Werke (57 geistliche, 24 weltliche Kantaten, 2 Bühnenwerke) konnten als Zeremonialmusiken systemisch in ihrem Aufführungskontext analysiert werden. Dabei ergaben sich etliche neue Erkenntnisse wie Datierungen, Zuordnungen zu Anlässen, auch Funde von bisher als verschollen geltenden Textdrucken. Der Geheimrat Johann Jacob (von) Wieger konnte als mutmaßlicher Textdichter identifiziert werden. Insbesondere ist deutlich geworden, dass der Bedeutungsverlust höfischer Repräsentation am Ende der absolutistischen Epoche wie in anderen Residenzen auch in Darmstadt die Zeremonialmusik tangierte. Für Graupner blieb vor diesem Hintergrund einerseits die ungebrochene Unterordnung unter die hierarchischen Verhältnisse, was die Huldigung als Form der Pflichterfüllung einschloss. Andererseits jedoch zeigten sich latente Distanzierungsversuche: zum einen die Schaffung musikalischer Subtexte in gewissen panegyrischen Werken, zum anderen aber vor allem die Hinwendung zur Kirchenmusik und damit zu einer Religiosität, die nicht nur die Anmahnung der christlichen Tugenden ermöglichte, sondern auch mit dem “Schaffen zur Ehre Gottes” eine persönliche Rechtfertigung jenseits von allem tagespolitischen Geschehen bot.
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The use of water suppression for in vivo proton MR spectroscopy diminishes the signal intensities from resonances that undergo magnetization exchange with water, particularly those downfield of water. To investigate these exchangeable resonances, an inversion transfer experiment was performed using the metabolite cycling technique for non-water-suppressed MR spectroscopy from a large brain voxel in 11 healthy volunteers at 3.0 T. The exchange rates of the most prominent peaks downfield of water were found to range from 0.5 to 8.9 s(-1), while the T(1) relaxation times in absence of exchange were found to range from 175 to 525 ms. These findings may help toward the assignments of the downfield resonances and a better understanding of the sources of contrast in chemical exchange saturation transfer imaging.
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Iterative Closest Point (ICP) is a widely exploited method for point registration that is based on binary point-to-point assignments, whereas the Expectation Conditional Maximization (ECM) algorithm tries to solve the problem of point registration within the framework of maximum likelihood with point-to-cluster matching. In this paper, by fulfilling the implementation of both algorithms as well as conducting experiments in a scenario where dozens of model points must be registered with thousands of observation points on a pelvis model, we investigated and compared the performance (e.g. accuracy and robustness) of both ICP and ECM for point registration in cases without noise and with Gaussian white noise. The experiment results reveal that the ECM method is much less sensitive to initialization and is able to achieve more consistent estimations of the transformation parameters than the ICP algorithm, since the latter easily sinks into local minima and leads to quite different registration results with respect to different initializations. Both algorithms can reach the high registration accuracy at the same level, however, the ICP method usually requires an appropriate initialization to converge globally. In the presence of Gaussian white noise, it is observed in experiments that ECM is less efficient but more robust than ICP.