Bivariate linkage analysis of cholesterol and triglyceride levels in the Framingham Heart Study

We performed a bivariate analysis on cholesterol and triglyceride levels on data from the Framingham Heart Study using a new score statistic developed for the detection of potential pleiotropic, or cluster, genes. Univariate score statistics were also computed for each trait. At a significance level 0.001, linkage signals were found at markers GATA48B01 on chromosome 1, GATA21C12 on chromosome 8, and ATA55A11 on chromosome 16 using the bivariate analysis. At the same significance level, linkage signals were found at markers 036yb8 on chromosome 3 and GATA3F02 on chromosome 12 using the univariate analysis. A strong linkage signal was also found at marker GATA112F07 by both the bivariate analysis and the univariate analysis, a marker for which evidence for linkage had been reported previously in a related study

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots. To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion

TacMMs: Tactile Mobile Manipulators for Warehouse Automation

Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each TacMM integrates a soft optical tactile sensor and a mobile robot with a load-lifting mechanism, enabling cooperative transportation in tasks requiring coordinated physical interaction. More specifically, we mount the TacTip (biomimetic optical tactile sensor) on the Distributed Organisation and Transport System (DOTS) mobile robot. The tactile information then helps the mobile robots adjust the relative robot-object pose, thereby increasing the efficiency of load-lifting tasks. This study compares the performance of using two TacMMs with tactile perception with traditional vision-based pose adjustment for load-lifting. The results show that the average success rate of the TacMMs (66%) is improved over a purely visual-based method (34%), with a larger improvement when the mass of the load was non-uniformly distributed. Although this initial study considers two TacMMs, we expect the benefits of tactile perception to extend to multiple mobile robots. Website: https://sites.google.com/view/tacmmsComment: 8 pages, accepted in IEEE Robotics and Automation Letters, 19 June 202

A method of attitude measurement and level assessment for skiers based on wearable inertial measurement

Quantitative analysis of sports is an important development direction of scientific skiing training, and the digital expression of human movement patterns during skiing is the basis for scientific quantitative analysis. A human motion capture and attitude reconstruction system based on a wearable BSBD inertial measurement unit was designed and built, combined with the human multi-rigid body motion model to realize the human body reconstruction during the skiing, and applied to the auxiliary training of slewing movements in alpine skiing. At the same time, for the indoor training scene based on the multi-degree-of-freedom simulated ski training platform, a digital evaluation method suitable for ski slalom is proposed. The method uses motion capture system and posture reconstruction system to extract five kinds of sliding characteristic data of skiers, and realizes the evaluation of skiers’ technical parameters through similarity measurement and linear fitting with high-level athletes’ motion parameters, so as to assist scientific training. Finally, experiments are carried out on the indoor Olymp simulated ski training bench to verify the effectiveness of the method

Sequencing bias: comparison of different protocols of MicroRNA library construction

<p>Abstract</p> <p>Background</p> <p>MicroRNAs(miRNAs) are 18-25 nt small RNAs playing critical roles in many biological processes. The majority of known miRNAs were discovered by conventional cloning and a Sanger sequencing approach. The next-generation sequencing (NGS) technologies enable in-depth characterization of the global repertoire of miRNAs, and different protocols for miRNA library construction have been developed. However, the possible bias between the relative expression levels and sequences introduced by different protocols of library preparation have rarely been explored.</p> <p>Results</p> <p>We assessed three different miRNA library preparation protocols, SOLiD, Illumina versions 1 and 1.5, using cloning or SBS sequencing of total RNA samples extracted from skeletal muscles from Hu sheep and Dorper sheep, and then validated 9 miRNAs by qRT-PCR. Our results show that SBS sequencing data highly correlate with Illumina cloning data. The SOLiD data, when compared to Illumina's, indicate more dispersed distribution of length, higher frequency variation for nucleotides near the 3'- and 5'-ends, higher frequency occurrence for reads containing end secondary structure (ESS), and higher frequency for reads that do not map to known miRNAs. qRT-PCR results showed the best correlation with SOLiD cloning data. Fold difference of Hu sheep and Dorper sheep between qRT-PCR result and SBS sequencing data correlated well (r = 0.937), and fold difference of miR-1 and miR-206 among SOLiD cloning data, qRT-PCR and SBS sequencing data was similar.</p> <p>Conclusions</p> <p>The sequencing depth can influence the quantitative measurement of miRNA abundance, but the discrepancy caused by it was not statistically significant as high correlation was observed between Illumina cloning and SBS sequencing data. Bias of length distribution, sequence variation, and ESS was observed between data obtained with the different protocols. SOLiD cloning data differ from Illumina cloning data mainly because of distinct methods of adapter ligation. The good correlation between qRT-PCR result and SOLiD data might be due to the similarities of the hybridization-based methods. The fold difference analysis indicated that methods based on hybridization may be superior for quantitative measurement of miRNA abundance. Because of the genome sequence of the sheep is not available, our data may not explain how the entire miRNA bias in the natural miRNAs in sheep or other mammal miRNA expression, unbiased artificially synthesized miRNA will help on evaluating the methodology of miRNA library preparation.</p

A modified method for constructing experimental rat periodontitis model

Background: Periodontitis is a prevalent disease caused teeth lost. The present rat models inducing periodontitis with thread ligature and metal steel ligature have some disadvantages.Methods: We modified the existing rat ligature periodontitis model by fixing the thread ligature on the metal steel ligature passed through the gap between the first and second molars of rats with detailed modeling steps and illustrations. We research the pathological process of the periodontitis induced by the modified model, and briefly compared the modified model with the thread ligature model and the metal steel ligature model.Result: Our experimental results showed that there was an aggravation in inflammatory infiltration and alveolar bone resorption in modeling area within 14 days of initial induction. After that, the inflammatory infiltration was reduced. And no significant increase in alveolar bone destruction appeared. The modified model was more reliable compared to the thread ligature model, and had greater ability of bacterial aggregation compared to the metal steel ligature model.Conclusion: The modified method covered pathological process of the periodontitis, and showed sufficient efficiency and reliability in inducing rat periodontitis