Scaling hard vertical surfaces with compliant microspine arrays

A new approach for climbing hard vertical surfaces has been developed that allows a robot to scale concrete, stucco, brick and masonry walls without using suction or adhesives. The approach is inspired by the mechanisms observed in some climbing insects and spiders and involves arrays of microspines that catch on surface asperities. The arrays are located on the toes of the robot and consist of a tuned, multi-link compliant suspension. In this paper we discuss the fundamental issues of spine allometric scaling versus surface roughness and the suspension needed to maximize the probability that each spine will find a useable surface irregularity and to distribute climbing tensile and shear loads among many spines. The principles are demonstrated with a new climbing robot that can scale a wide range of exterior walls

Genome-wide Association Study for Beta-glucan Concentration in Elite North American Oat

Genome-wide association studies (GWAS) can be a useful approach to detect quantitative trait loci (QTL) controlling complex traits in crop plants. Oat (Avena sativa L.) β-glucan is a soluble dietary fiber and has been shown to have positive health benefits. We report a GWAS involving 446 elite oat breeding lines from North America genotyped with 1005 diversity arrays technology (DArT) markers and with phenotypic data from both historical and balanced 2-yr data. Association analyses accounting for pair-wise relationships and population structure were conducted using single-marker tests and least absolute shrinkage and selection operator (LASSO). Single-marker tests yielded six and 15 significant markers for the historical and balanced data sets, respectively. The LASSO method selected 24 and 37 markers as the most important in explaining β-glucan concentration for the historical and balanced data sets, respectively. Comparisons of genetic location showed that 15 of the markers in our study were found on the same linkage groups as QTL identified in previous studies. Four of the markers colocalized to within 4 cM of three previously detected QTL, suggesting concordance between QTL detected in our study and previous studies. Two of the significant markers were also adjacent to a β-glucan candidate gene in the rice (Oryza sativa L.) genome. Our findings suggest that GWAS can be used for QTL detection for the purpose of gene discovery and for marker-assisted selection to improve β-glucan concentration in elite oat