Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach

Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning

Mushroom: Nature’s Treasure in Ethiopia

Mushroom is a form of fungus having distinct fruit body produced either above ground or below ground. It can be easily noticed in moist habitat in and around forest, grassland, on tree trunks due to their peculiar appearance. Present communication discusses important habit and habitats, medicinal and culinary uses, status of mushrooms in Ethiopia, and sustainable use for sustenance and food security.Keywords: Mushroom, Fungus, Status, Tigray, Ethiopia

Optimisation and Evaluation of Ricebean (Vigna Umbellata) Extrusion Process for Downstream Food Processability

Ricebean(Vigna umbellata), a native bean of North-Eastern part of India has not been explored fully for development of convenience foods although it is loaded with various vitamins, minerals, dietary fiber, phytochemicals and bioactive compounds. The effect of extrusion parameters namely moisture content, barrel temperature and screw speed on expansion ratio, extrudate density, and breaking strength was investigated by using response surface methodology. It was observed that moisture content of flour had significant (p<0.05) affect on expansion ratio, extrudate density, and breaking strength of extrudates. The optimal combination of process parameters which resulted in extrudates with maximum expansion ratio but minimum extrudate density and breaking strength were 15 per cent moisture content, 110°C barrel temperature and 350 rpm screw speed. The value of water absorption index, water solubility index, swelling power, oil absorption index, bulk density, true density and colour for optimally extruded ricebean flour (OEF) was found significantly different (p<0.05) whereas value of proximate parameters were insignificant (P>0.05) than the native flour. The OEF was used for different downstream processings such as papadability, friability, steamability, cakeability, gravyability and porridgability and compared with that of native flour for their process quality parameters. The cake prepared with OEF had significantly (p<0.05) less baking time (25 min) than the cake of native ricebean flour (35 min). However, consistency and over all acceptability (OAA) of porridge from OEF was found significantly (p<0.05) higher than porridge of native ricebean flour. Hierarchical cluster analysis on OAA showed that porridgability and cakeability were most influential downstream processe

Integrated Natural Resource Management: Approaches and Lessons from the Himalaya

Losses of forest cover, biodiversity, agricultural productivity, and ecosystem services in the Himalayan mountain region are interlinked problems and threats to the sustainable livelihoods of 115 x 106 mountain people as well as the inhabitants of the adjoining Indo-gangetic plains. Until the 1970s, environmental conservation, food security, and rural economic development were treated as independent sectors. The poor outcomes of sector-oriented approaches catalyzed efforts to address environmental and socioeconomic problems concurrently. The identification of "key" natural resource management interventions is an important dimension of integrated management. Projects to rehabilitate the degraded lands that cover 40% of the Indian Himalaya could be key interventions provided that they address both socioeconomic and environmental concerns across spatial and temporal scales. However, projects of this type, e.g., investments in conifer plantations on degraded forest lands, have failed because their designs did not take into account the needs of local residents. This study illustrates a case of land rehabilitation in a small isolated village close to the alpine zone. Vital elements of this project strategy included identifying local perceptions and knowledge and involving the local people in the selection and implementation of the interventions needed to restore the land. Communities were found to be more concerned with the immediate economic benefits from bamboo and medicinal species than the long-term benefits of tree planting. The villagers eventually reached a consensus to plant broadleaved multipurpose trees in association with bamboo and medicinal species. Despite assurances that all the economic benefits from rehabilitation would go to the community, the people would not agree to voluntary labor, although they did absorb significant costs by providing social fencing, farmyard manure, and propagules from community forests. Households shared costs and benefits according to traditional norms. The economic benefits to the local people exceeded the rehabilitation cost over the 7-yr life of the project. There were significant on-site environmental benefits in terms of improvements in soil fertility, biodiversity, protective cover, and carbon sequestration, and off-site benefits from more productive use of labor, reduced pressure on protected areas, and the introduction of rare and threatened medicinal species onto private farmland

Multiple small-effect alleles of Indica origin enhance high iron-associated stress tolerance in rice under field conditions in west Africa

Open Access Journal; Published online: 15 Jan 2021Understanding the genetics of field-based tolerance to high iron-associated (HIA) stress in rice can accelerate the development of new varieties with enhanced yield performance in West African lowland ecosystems. To date, few field-based studies have been undertaken to rigorously evaluate rice yield performance under HIA stress conditions. In this study, two NERICA × O. sativa bi-parental rice populations and one O.sativa diversity panel consisting of 296 rice accessions were evaluated for grain yield and leaf bronzing symptoms over multiple years in four West African HIA stress and control sites. Mapping of these traits identified a large number of QTLs and single nucleotide polymorphisms (SNPs) associated with stress tolerance in the field. Favorable alleles associated with tolerance to high levels of iron in anaerobic rice soils were rare and almost exclusively derived from the indica subpopulation, including the most favorable alleles identified in NERICA varieties. These findings highlight the complex genetic architecture underlying rice response to HIA stress and suggest that a recurrent selection program focusing on an expanded indica genepool could be productively used in combination with genomic selection to increase the efficiency of selection in breeding programs designed to enhance tolerance to this prevalent abiotic stress in West Africa

Comprehensive phenotyping of 1,807 Indian barnyard millet (Echinochloa frumentacea Link) accessions from Indian national genebank: unlocking diversity for core set development

IntroductionA comprehensive characterization of 1,807 barnyard millet (Echinochloa frumentacea Link.) accessions conserved in the Indian National Genebank (INGB) was conducted to assess genetic variability and develop a representative core set.MethodsThirteen qualitative and ten quantitative traits were evaluated. Five core sets were created using Core Hunter 3, utilizing optimization approaches to enhance representativeness and diversity. Comparisons were made between the entire collection and the developed core sets using diversity indices, statistical parameters, correlation analysis, and principal component analysis (PCA).ResultsSignificant diversity was revealed across traits. Predominant qualitative traits included pyramidal inflorescence shape (89%), green inflorescence color (57%), and intermediate inflorescence compactness (46%). Plant height ranged from 72.36 to 213.96 cm, inflorescence length from 6.73 to 35.65 cm, and 1000-seed weight from 1.01 to 5.55 g, demonstrating a wide range of quantitative characteristics. High heritability values (82.08–94.42%) and substantial genetic advances highlighted their agronomic importance. Among the five cores, core set-3 comprising 271 accessions achieved the best balance of genetic diversity, trait representativeness, and low redundancy, with a variable rate of coefficient of variance (VR) of 110.41%, coincidence rate (CR) of 85.97%, and mean difference percentage (MD) of 30%. Shannon–Weaver diversity indices and evenness values confirmed superior diversity representation. Comparisons showed non-significant differences in means, variances, and frequency distributions for most traits between the core and entire collection. Correlation and PCA confirmed conservation of trait associations and genetic structure, with the first five principal components explaining 74.9% of total variance in the core set, closely aligning with the entire collection (70.8%).ConclusionThis study highlights the utility of the INGB barnyard millet core set as a valuable genetic resource for breeding programs. The core set provides opportunities for the effective use and preservation of barnyard millet genetic resources by improving access to genetically diverse and agronomically significant germplasm