Longitudinal control for person-following robots

Purpose: This paper aims to address the longitudinal control problem for person-following robots (PFRs) for the implementation of this technology. Design/methodology/approach: Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control. Findings: A lab PFR with the bar-laser-perception device is developed and tested in the field, and the results indicate that the proposed models perform well in normal person-following scenarios. Originality/value: This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research

Di-μ-benzoato-κ3 O,O′:O;κ3 O:O,O′-bis­[(acetato-κO)(1,10-phenanthroline-κ2 N,N′)lead(II)] dihydrate

The title compound, [Pb2(CH3COO)2(C7H5O2)2(C12H8N2)2]·2H2O, consists of dimeric units built up around a crystallographic centre of symmetry and two non-coordinating water mol­ecules. Each PbII unit is six-coordinated by a bidentate 1,10-phenanthroline (phen) ligand, a monodentate acetate anion and a bidentate benzoate anion, which also acts as a bridge linking the two PbII atoms. The crystal packing is stabilized by O—H⋯O hydrogen bonds and by π–π inter­actions between the phen rings of neighboring mol­ecules, with a centroid–centroid distance of 3.577 (3) Å

De Novo Transcriptome of the Hemimetabolous German Cockroach (\u3ci\u3eBlattella germanica\u3c/i\u3e)

Background: The German cockroach, Blattella germanica, is an important insect pest that transmits various pathogens mechanically and causes severe allergic diseases. This insect has long served as a model system for studies of insect biology, physiology and ecology. However, the lack of genome or transcriptome information heavily hinder our further understanding about the German cockroach in every aspect at a molecular level and on a genome-wide scale. To explore the transcriptome and identify unique sequences of interest, we subjected the B. germanica transcriptome to massively parallel pyrosequencing and generated the first reference transcriptome for B. germanica. Methodology/Principal Findings: A total of 1,365,609 raw reads with an average length of 529 bp were generated via pyrosequencing the mixed cDNA library from different life stages of German cockroach including maturing oothecae, nymphs, adult females and males. The raw reads were de novo assembled to 48,800 contigs and 3,961 singletons with highquality unique sequences. These sequences were annotated and classified functionally in terms of BLAST, GO and KEGG, and the genes putatively coding detoxification enzyme systems, insecticide targets, key components in systematic RNA interference, immunity and chemoreception pathways were identified. A total of 3,601 SSRs (Simple Sequence Repeats) loci were also predicted. Conclusions/Significance: The whole transcriptome pyrosequencing data from this study provides a usable genetic resource for future identification of potential functional genes involved in various biological processes

De Novo Transcriptome of the Hemimetabolous German Cockroach (\u3ci\u3eBlattella germanica\u3c/i\u3e)

Background: The German cockroach, Blattella germanica, is an important insect pest that transmits various pathogens mechanically and causes severe allergic diseases. This insect has long served as a model system for studies of insect biology, physiology and ecology. However, the lack of genome or transcriptome information heavily hinder our further understanding about the German cockroach in every aspect at a molecular level and on a genome-wide scale. To explore the transcriptome and identify unique sequences of interest, we subjected the B. germanica transcriptome to massively parallel pyrosequencing and generated the first reference transcriptome for B. germanica. Methodology/Principal Findings: A total of 1,365,609 raw reads with an average length of 529 bp were generated via pyrosequencing the mixed cDNA library from different life stages of German cockroach including maturing oothecae, nymphs, adult females and males. The raw reads were de novo assembled to 48,800 contigs and 3,961 singletons with highquality unique sequences. These sequences were annotated and classified functionally in terms of BLAST, GO and KEGG, and the genes putatively coding detoxification enzyme systems, insecticide targets, key components in systematic RNA interference, immunity and chemoreception pathways were identified. A total of 3,601 SSRs (Simple Sequence Repeats) loci were also predicted. Conclusions/Significance: The whole transcriptome pyrosequencing data from this study provides a usable genetic resource for future identification of potential functional genes involved in various biological processes

Lowering minimum eye height to increase peak knee and hip flexion during landing

The purpose was to determine the effect of lowering minimum eye height through an externally focused object on knee and hip flexion and impact forces during jump-landing. Kinematics and ground reaction forces were collected when 20 male and 19 female participants performed jump-landing trials with their natural minimum eye height, and trials focusing on lowering their minimum eye height to an external object, which was set at 5% or 10% of standing height lower. Participants demonstrated decreased minimum eye height and increased peak knee and hip flexion during early-landing and stance phase when focusing on lowering eye height to the external object (p \u3c 0.01). Peak vertical ground reaction forces during early-landing also decreased for the greater force group (p \u3c 0.001). Jump-landing training through manipulating eye height provides a strategy that involves an external focus and intrinsic feedback, which may have advantages in promoting learning and practical application