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African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also transporting it. Their multifunctional legs can be used as inspiration for the design of a multifunctional robot leg. Thus, in this paper, we present the development of real robot legs based on the study of the front legs of the beetle. The leg movements of the beetle, during walking as well as manipulating and transporting a dung ball, were observed and reproduced on the robot leg. Each robot leg consists of three main segments which were built using 3D printing. The segments were combined with four active joints in total (i.e., 4 degrees of freedom) to mimic the leg movements of the beetle for locomotion as well as object manipulation and transportation. Kinematics analysis of the leg was also performed to identify its workspace. The results show that the robot leg is able to perform all the movements with trajectories comparable to the beetle leg. To this end, the study contributes not only to the design of novel multifunctional robot legs but also to the methodology for bio-inspired leg design. [ABSTRACT FROM AUTHOR]

A typical approach when designing a bio-inspired robot is to simplify an animal model and to enhance the functionality of interest. For hexapod robots, this often leads to a need of supplementary mechanics to become multifunctional. However, a preferable solution is to employ the embodied multifunctional capabilities of the animal as inspiration for robot design. Using this approach, we present a method for translating the kinematic chain of a dung beetle from which an accurate kinematic model and a simplified one were simulated and compared. The beetle was selected due to its multifunctional locomotory capabilities including walking as well as standing on and rolling a ball. For testing the models, we developed a distributed sensor-driven controller that can generate walking and ball-rolling behaviors. A comparison of the two modeling approaches shows a similar performance with regards to walking stability and accuracy, but differences when it comes to speed and multifunctionality. This is because the accurate model is able to use its legs to walk faster and roll a ball, which the simplified one is not. In conclusion, the accurate model of a dung beetle-inspired robot is advantageous as it, together with our novel control mechanism, is able to elicit behaviors comparable to those of the real dung beetle (i.e., walking and rolling a dung ball). [ABSTRACT FROM AUTHOR]

This paper examines the electrostatic force on a microdroplet transported via electrowetting on dielectric (EWOD). In contrast with previous publications, this article details the force distribution on the advancing and receding fluid faces, in addition to presenting simple algebraic formulae for the net force in terms of system parameters. Dependence of the force distribution and its integral on system geometry, droplet location, and material properties is described. The consequences of these theoretically and numerically obtained results for design and fabrication of EWOD devices are considered. [ABSTRACT FROM AUTHOR]

Amplified fragment length polymorphisms (AFLPs) produced with EcoRI and PstI both in combination with MseI restriction enzymes have been studied in the parents of four barley mapping populations. Averages of 15.9 and 18.7 polymorphic products per assay were produced for the EcoRI/MseI and PstI/MseI combinations, respectively. There was some evidence of interaction between cross combinations and restriction enzyme combinations, with PstI/MseI generating relatively more polymorphic products than EcoRI/MseI in the Blenheim x E224/3 cross combination, the least polymorphic of the four. Three hundred and ninety-eight AFLP products, using both restriction enzyme combinations, were generated in a doubled haploid population of 68 lines produced from the Blenheim x E224/3 cross. These were added to existing marker data for the cross to study the effects of incorporation of AFLPs produced by different restriction enzyme combinations upon genetic maps. Addition of the AFLP data resulted in greater genome coverage, both through linking previously separate groups and extensions to other groups. This increase in coverage appeared to result from AFLPs sampling some different regions of the genome compared to RAPDs and RFLPs, as the map distances spanned by the RAPD and RFLP linkage groups were similar with and without incorporation of AFLPs. There was also evidence that the EcoRI and PstI restriction enzymes sampled different regions of the genome. The revised maps were used in scanning for QTLs controlling a subset of 12 economically important traits measured in the cross. Overall, the QTLs accounted for an average of 53 per cent of the phenotypic variation for the characters. Positive and negative alleles were present in each parent for each character, apart from hot water extract corrected to 1.5 per cent nitrogen (HWEc). Several regions of the genome appeared to be involved in the control of several characters, notably chromosome 2, the denso locus on chromosome 3, the... [ABSTRACT FROM AUTHOR]

Segregation of 850 polymorphic AFLP (amplified fragment length polymorphism) fragments was followed in three different doubled haploid (DH) barley populations, Dicktoo × Morex (DM), Igri × Franka (IF) and Blenheim × E224/3 (BE), which had previously been used to construct linkage maps using other molecular markers. The final maps consisted of 310, 655 and 474 markers, of which 234, 194 and 376, respectively, were AFLPs. A comparison of profiles from the parental lines identified 51 similar-sized AFLPs segregating in both DM and IF populations, 20 in the DM and BE populations and 18 in the IF and BE populations. Eight segregated in all three. Analysis of the complete datasets for each of the populations using Joinmap V.2. indicated that in general terms each of the AFLPs which were polymorphic in more than one population mapped to the same genetic locus. The number of co-dominant markers segregating in a single population ranged from 6% for DM to 12.6% for IF. These results are discussed in the context of using AFLP in genetic linkage and diversity studies. [ABSTRACT FROM AUTHOR]

A somatic hybridisation programme was undertaken to evaluate the expression of reducing sugar accumulation in potato. Interspecific hybrids created between the Solanum tuberosum cultivar Record and the diploid species Solanum phureja were evaluated at the morphological and molecular levels. These analyses indicated that the protoplast regenerants were partial (asymmetric) hybrids which had undergone elimination of S. phureja chromosomes. Tubers of the parents exhibited significant differences for reducing sugar accumulation during cold storage with S. phureja having lower levels of glucose and fructose than Record. The somatic hybrids resembled the S. phureja parent in terms of reducing sugar accumulation demonstrating that low reducing sugar accumulation is dominant to high reducing sugar accumulation in these particular genotypes. These results are discussed in relation to the exploitation of asymmetric hybridisation for the production of potato genotypes for the potato processing industry. [ABSTRACT FROM AUTHOR]

Randomly Amplified Polymorphic DNAs were employed to demonstrate that potato dihaploids generated after interspecific pollination of a tetraploid Solanum tuberosum cultivar (Pentland Crown) by Solanum phureja dihaploid inducer clones could not be of parthenogenetic origin. Of six different 10-mer oligonucleotides, four generated products from total potato dihaploid genomic DNAs which were not derived from the S. tuberosum parent. Gel electrophoresis and Southern analysis indicated that these amplified bands originated from S. phureja. The results are discussed in the context of recent cytological and molecular evidence which demonstrates that potato dihaploids are aneusomatic (Clulow et al. 1991) and emphasises this approach as a general methodology for the detection of alien gene introgression in both natural and cultivated plant populations. [ABSTRACT FROM AUTHOR]

Genome-analysis tools are useful for dissecting complex phenotypes and manipulating determinants of these phenotypes in breeding programs. Quantitative trait locus (QTL)-analysis tools were used to map QTLs conferring adult plant resistance to stripe rust (caused by Puccinia striiformis f.sp. hordei) in barley. The resistance QTLs were introgressed into a genetic background unrelated to the mapping population with one cycle of marker-assisted backcrossing. Doubled-haploid lines were derived from selected backcross lines, phenotyped for stripe-rust resistance, and genotyped with an array of molecular markers. The resistance QTLs that were introgressed were significant determinants of resistance in the new genetic background. Additional resistance QTLs were also detected. The susceptible parent contributed resistance alleles at two of these new QTLs. We hypothesize that favorable alleles were fixed at these new QTLs in the original mapping population. Genetic background may, therefore, have an important role in QTL-transfer experiments. A breeding system is described that integrates single-copy and multiplex markers with confirmation of the target phenotype in doubled-haploid lines phenotyped in field tests. This approach may be useful for simultaneously producing agronomically useful germplasm and contributing to an understanding of quantitatively inherited traits. [ABSTRACT FROM AUTHOR]

Seventeen potato dihaploids, produced by pollinating the tetraploid (2n = 48) cv 'Pentland Crown' with pollen from Solanum phureja (2n = 24) dihaploid inducer clones, were studied. Since dihaploids are thought to develop parthenogenetically from unfertilized ovules they were expected to be euploid (2n = 24), but somatic chromosome counts showed that 15 of the 17 dihaploids were aneusomatic. Ten of the clones were predominantly diploid (2n = 24) with a proportion of hyperploid cells that contained 25 or 26 chromosomes. Five of the dihaploids contained variable numbers of triploid cells (2n = 36). RFLP analysis was used to determine whether the additional chromosomes were from S. phureja or S. tuberosum. Unique hybridizing fragments present in S. phureja but not in 'Pentland Crown' were identified. These S. phureja-specific restriction fragments were present in some of the dihaploid offspring of 'Pentland Crown'. Of the 5 clones that contained triploid cells 4 had S. phureja type banding. Four of the 10 aneusomatic clones that contained hyperploid cells had the unique S. phureja hybridizing fragments. We propose that ovules of 'Pentland Crown' were fertilized by pollen from S. phureja and that the aneusomatic clones were derived from triploid zygotes from which some of the S. phureja chromosomes were eliminated. We consider that this is an additional mechanism of dihaploid formation in potato. [ABSTRACT FROM AUTHOR]

A molecular marker map, including Mlo mildew resistance, of the spring barley cross Derkado (Mlo-resistant) × B83-12/21/5 (Mlo-susceptible) was scanned for yield QTLs to determine whether the association of Mlo resistance with reduced yield was due to linkage or pleiotropy. Over the mapped portion of the genome of the cross, the QTL with the greatest effect upon yield was located within a 22 cM region between mlo and the simple sequence repeat HVM67 on chromosome 4(4H). The association of Mlo resistance with lower yield was therefore due to a repulsion linkage. Analysis of yield component characters revealed QTL alleles for reduced grain number and earlier heading date in the same region, also associated with Mlo resistance. Genotyping of a range of cultivars and sources of Mlo resistance with the HVM67 simple sequence repeat showed that the Derkado HVM67 allele was rare as it was found only in one other cultivar and four land-races or sources of disease resistance. Grannenlose Zweizeilige, the source, and Salome, the carrier of Mlo resistance in Derkado, have the same HVM67 genotype, although Salome was a mixture of two genotypes. The entire mlo-HVM67 chromosomal segment from Grannenlose Zweizeilige is therefore thought to have been transmitted to Derkado, possibly through joint selection for Mlo resistance and early heading. L92, synonym EP79, was another source of Mlo resistance with the same HVM67 allele as Derkado but recombination must have occurred during the breeding of Atem as it possesses a different HVM67 allele which is present in all the other Mlo sources and cultivars surveyed. Abbreviations: GN, grains per main stem ear; HD, heading date; MSTGW, thousand grain weight derived from GN and MSY; MSY, yield of grain on the main stem; PY, yield of grain from the whole plot; sCIM, simplified compound interval mapping; SIM, simple interval mapping; SPY, single plant yield; S-SAP, sequence-specific amplification polymorphism; TGW, thousand grain weight derived from bulk of plot seed; TN, number of fertile stems per plant. [ABSTRACT FROM AUTHOR]

Global expansion of human activities is associated with the introduction of novel stimuli, such as anthropogenic noise, artificial lights and chemical agents. Progress in documenting the ecological effects of sensory pollutants is weakened by sparse knowledge of the mechanisms underlying these effects. This severely limits our capacity to devise mitigation measures. Here, we integrate knowledge of animal sensory ecology, physiology and life history to articulate three perceptual mechanisms-masking, distracting and misleading-that clearly explain how and why anthropogenic sensory pollutants impact organisms. We then link these three mechanisms to ecological consequences and discuss their implications for conservation. We argue that this framework can reveal the presence of 'sensory danger zones', hotspots of conservation concern where sensory pollutants overlap in space and time with an organism's activity, and foster development of strategic interventions to mitigate the impact of sensory pollutants. Future research that applies this framework will provide critical insight to preserve the natural sensory world.