Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

Robotic Operation System (ROS) is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR), which can be considered as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM)

Additional file 1: of Infectious Diseases of Poverty, the first five years

Multilingual abstracts in the six official working languages of the United Nations. (PDF 402 kb

Analysis of seed germination and root elongation of <i>GhMPK17</i> overexpression transgenic <i>Arabidopsis</i> under NaCl stress.

<p>(<b>A</b> to <b>C</b>) Seed germination rate of <i>GhMPK17</i> overexpression lines and wild type on MS medium containing different concentrations of NaCl. (<b>A</b>) Seeds germinated on MS medium (control). (<b>B</b>) Seeds germinated on MS medium with 50 mM NaCl. (<b>C</b>) Seeds germinated on MS medium with 100 mM NaCl. Each curve represents an average of three replicates. (<b>D</b> to <b>G</b>): Phenotype of wild type and <i>GhMPK17</i> overexpression seedlings under NaCl treatment. Seeds were germinated on MS medium under normal condition for 7 days and then the seedlings were transferred onto MS medium supplemented with 0 (<b>D</b>), 100 (<b>E</b>), 150 (<b>F</b>) and 200 (<b>G</b>) mM NaCl for 7 days. Each experiment was repeated at least three times with identical results. Bars = 1 cm. (<b>H</b> to <b>I</b>) Statistical analysis of root elongation of wild type and <i>GhMPK17</i> overexpression seedlings grown on MS medium as control (<b>H</b>) or MS medium supplemented 100 mM NaCl (<b>I</b>). Data were shown from three independent experiments, and bars indicate SDs. **, P<0.01. WT, wild type; L11, L24 and L46, <i>GhMPK17</i> transgenic line 11, 24 and 46.</p

Assays of H₂O₂ accumulation and the expression levels of ABA- and abiotic stress-related genes in <i>GhMPK17</i> overexpression transgenic <i>Arabidopsis</i>.

<p>(<b>A</b> to <b>P</b>) Histochemical assay of H₂O₂ accumulation in wild type (<b>A</b>, <b>E</b>, <b>I</b>, <b>M</b>) and <i>GhMPK17</i> transgenic seedlings (<b>B</b> to <b>D</b>, <b>F</b> to <b>H</b>, <b>J</b> to <b>L</b>, <b>N</b> to <b>P</b>) on MS medium (<b>A</b> to <b>D</b>), MS medium supplemented with 50 µM ABA (<b>E</b> to <b>H</b>), 100 mM NaCl (<b>I</b> to <b>L</b>) and 100 mM mannitol (<b>M</b> to <b>P</b>). (<b>Q</b> to <b>T</b>) Quantitative RT-PCR analysis of expression of ABA-related genes (<b>Q</b> and <b>R</b>) and abiotic stress-related genes (<b>S</b> and <b>T</b>) in wild type and <i>GhMPK17</i> transgenic seedlings. Total RNA was isolated from two-week-old <i>Arabidopsis</i> seedlings grown under normal conditions (MS) and under ABA (MS+ABA), NaCl (MS+NaCl), mannitol (MS+Man) treatments for 6 h. Relative value of the expression of <i>ABI1</i>, <i>ABF4</i>, <i>SOS2</i> and <i>RAB18</i> in <i>Arabidopsis</i> was shown as percentage of <i>AtACTIN2</i> expression activity. Mean values and standard errors (bar) were shown from three independent experiments. *, P<0.05 and **, P<0.01. WT, wild type; L11, L24 and L46, <i>GhMPK17</i> overexpression transgenic line 11, 24 and 46; MAPK17OE, <i>GhMPK17</i> overexpression transgenic lines.</p

Assays of seed germination and root growth of transgenic Arabidopsis expressing <i>GhMPK17</i> under abscisic acid (ABA) treatment.

<p>(<b>A</b> to <b>D</b>) Seed germination rate of <i>GhMPK17</i> overexpression transgenic lines and wild type on MS medium containing different concentrations of ABA. Each curve represents an average of three replicates. (<b>E</b> to <b>H</b>) Phenotype of wild type and <i>GhMPK17</i> overexpression seedlings under ABA treatment. Seeds were germinated on MS medium under normal condition for 7 days and then the seedlings were transferred and cultured on MS medium supplemented with 0, 50, 100 and 200 µM ABA for 7 days. Each experiment was repeated at least three times with identical results. Bars = 1 cm. (<b>I</b> to <b>L</b>) Statistical analysis of root elongation of wild type and <i>GhMPK17</i> overexpression plants. Seeds were germinated on MS medium under normal condition for 7 days, and then the seedlings were transferred and cultured on MS medium with 0, 50, 100 and 200 µM ABA for 7 days. Data were shown from three independent experiments. (<b>M</b> and <b>N</b>): Post-germination seedling establishment analysis of <i>GhMPK17</i> overexpressing plants. (<b>M</b>) Seedlings of wild type and <i>GhMPK17</i> transgenic lines grew on MS medium without ABA for 10 days. (<b>N</b>) Seedlings of wild type and <i>GhMPK17</i> transgenic lines grew on MS medium with 0.5 µM ABA for 10 days. (<b>O</b> and <b>P</b>) Partial magnified drawing of wild type (<b>O</b>) and transgenic line 46 (<b>P</b>) in N. Bars = 1 cm. (<b>Q</b>) statistical analysis of the cotyledon greening/expansion ratio of wild type and transgenic seedlings grown on MS medium containing 0.5 µM ABA. *, P<0.05 and **, P<0.01. WT, wild type; L11, L24 and L46, <i>GhMPK17</i> transgenic line 11, 24 and 46.</p

Characterization of GhMPK17 protein.

<p>Alignment of the deduced amino acid sequence of GhMPK17 with MAPKs from other plant species: AtMPK17 (NM001035863), ZmMPK17 (NM001154688.1), OsMPK17-2 (DQ826423.2). Protein kinase subdomains are shown by lines with numerals (I – XI), activation-loop motifs are boxed, and the conserved motif TDY is indicated by arrows.</p

Analysis of seed germination and root elongation of <i>GhMPK17</i> overexpression transgenic <i>Arabidopsis</i> under mannitol treatment.

<p><b>(A</b> to <b>C</b>) Seed germination rate of <i>GhMPK17</i> overexpression lines and wild type on MS medium containing 0 (<b>A</b>), 100 (<b>B</b>) and 200 (<b>C</b>) mM mannitol. Germination rate (root emergence) was evaluated at indicated time after sowing. (<b>D</b> to <b>G</b>) Phenotype of wild type and <i>GhMPK17</i> overexpression seedlings under mannitol treatment. <i>Arabidopsis</i> seeds were germinated on MS medium under normal condition for 7 days and then the seedlings were transferred onto MS medium supplemented with 0 (<b>D</b>), 100 (<b>E</b>), 200 (<b>F</b>) and 300 (<b>G</b>) mM mannitol for 7 days. Bars = 1 cm. (<b>H</b> to <b>K</b>) Average root elongation histogram of wild type and <i>GhMPK17</i> overexpression transgenic lines grown on MS medium (<b>H</b>), or MS medium supplemented 100 (<b>I</b>), 200 (<b>J</b>) and 300 (<b>K</b>) mM mannitol, respectively. (<b>L</b> and <b>M</b>) Statistical analysis on the quantity and length of the lateral roots of <i>GhMPK17</i> transgenic lines and wild type on MS medium (<b>L</b>) or supplemented 100 mM mannitol (<b>M</b>). The lateral roots of <i>GhMPK17</i> transgenic lines and wild type were divided into several groups according to their length (mm) and the quantity that each group occupied is shown. (<b>N</b> and <b>O</b>) Histogram of lateral roots quantity of wild type and <i>GhMPK17</i> overexpression lines on MS medium (<b>N</b>) or supplemented 100 mM mannitol (<b>O</b>). Data were shown from three independent experiments, and bars indicate SDs. *, P<0.05 and **, P<0.01. WT, wild type; L11, L24 and L46, <i>GhMPK17</i> transgenic line 11, 24 and 46.</p

Phylogenetic relationship of GhMPK17 and other plant MAPK proteins.

<p>All 17 MAPK proteins can be divided into four groups (A, B, C, and D) based on their sequence similarities. Numbers above or below branches indicate bootstrap values from 1000 replicates. The plant MAPK proteins used for the phylogenetic tree are AtMPK1(NP172492), AtMPK3((NP190150), AtMPK4((NP192046), AtMPK5((NP567378), AtMPK6(NP181907), AtMPK7(NP179409), AtMPK8(NP173253), AtMPK9(NP566595), AtMPK11(NP001117210), AtMPK12(NP182131), AtMPK13(NP172266), AtMPK15(NP565070), AtMPK16(NP197402), AtMPK17(NP001030941), OsBIMK1(AAK01710.1), OsBIMK2(AAS18417), NtWIPK(BAA09600).</p

Additional file 1: of Hypermethylation of the GATA binding protein 4 (GATA4) promoter in Chinese pediatric acute myeloid leukemia

Analysis of promoter methylation in pediatric AML using NimbleGen Human DNA Methylation 385 K Promoter Plus CpG Island Arrays. (JPEG 777 kb