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Autonomous exploration to build a map of an unknown environment is a fundamental robotics problem. However, the quality of the map directly influences the quality of subsequent robot operation. Instability in a simultaneous localization and mapping (SLAM) system can lead to poorquality maps and subsequent navigation failures during or after exploration. This becomes particularly noticeable in consumer robotics, where compute budget and limited field-of-view are very common. In this work, we propose (i) the concept of lighthouses: panoramic views with high visual information content that can be used to maintain the stability of the map locally in their neighborhoods and (ii) the final stabilization strategy for global pose graph stabilization. We call our novel exploration strategy SLAM-aware exploration (SAE) and evaluate its performance on real-world home environments., 7 pages, 7 figures

We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by optimizing over a trajectory cost function at each timestep. We present a novel trajectory cost formulation that significantly reduces the conservative and deadlock behaviors and generates smooth trajectories. In particular, we propose a new collision probability function that effectively captures the risk associated with a given configuration and the time to avoid collisions based on the velocity direction. Moreover, we propose a terminal state cost based on the expected time-to-goal and time-to-collision values that helps in avoiding trajectories that could result in deadlock. We evaluate our cost formulation in multiple simulated and real-world scenarios, including narrow corridors with dynamic obstacles, and observe significantly improved navigation behavior and reduced deadlocks as compared to prior methods.

Additional file 1: Figure S1. Protein sequence alignment between Pv4CL3a (Pavir.Da00296) and Pv4CL3b (Pavir.Db00533). PYSSGTTGMPKGV AMP-binding motif, GEICIRGR motif, VPP and VPL motifs are in red boxes. Figure S2. Identities among Pv4CL1 and its homologous proteins. Figure S3. Target region in the coding sequence of Pv4CL1s by CRISPR/Cas9. (a) Blue letters: a target site; dark red letters: SNPs. (b) Pv4CL1 (Pavir.Fa01395), Pv4CL2 (Pavir.J20148), Pv4CL3a (Pavir.Da00296) and Pv4CL3b (Pavir.Db00533) coding sequences were from Panicum virgatum v1.1. Red box: target site of Pv4CL1. Blue box: protospacer-adjacent motif (PAM). Figure S4. Schematic diagram of PCR/sequencing for screening of edited Pv4CLs. Steps in clockwise direction: (1) prepare transgenic plants; (2) extract genomic DNA; (3) amplify the target region of Pv4CL1, Pv4CL2 and Pv4CL3; (4) sequence the PCR products; (5) sort-out edited lines; (6) re-amplify the target region of the edited lines with fresh genomic DNA; (7) clone the PCR products into a TA vector; (8) re-sequence inserts in a TA vector; (9) analyze lignin phenotype. Figure S5. Results of 2nd PCR/sequencing. pv4cl1-25 had four different mutation patterns, − 29/+ 18, − 27, − 32 and − 213; pv4cl1-26 had two different mutation patterns, − 27 and − 32/+ 16; pv4cl1-28 had two different mutation patterns, − 27 and − 1; pv4cl1-29 had three different mutation patterns, − 44, − 22 and − 14/+ 7 in Pv4CL1. Red box: target site of Pv4CL1. Blue box: PAM. Figure S6. Histological staining for lignin deposition. C: cortex; CW: cell wall; Ph: phloem; X: xylem; VS: vascular sheath cell; XP: xylem parenchyma cell; XT: xylem tracheid; XV: xylem vessels. Scale bar: 50 µm.

Additional file 2: Table S1. Semi-quantitative analysis of hydroxycinnamates and inter-linkages in switchgrass. FA and pCA compositions are expressed as a fraction of total lignin subunits (S + G + H); FA: ferulate; pCA: p-coumarate; β-O-4: β-aryl ether; β-5: phenylcoumaran; β–β: resinol. Table S2. Carbohydrate contents in the control and the mutants. Table S3. A list of primers used in this study.

© 2016 Dr. Jong Jin Park, In contemporary stadium architecture, there is a growing interest in pursuing environmental adaptability and multi-functionality for stadiums, due to the negative socioeconomic effect caused by the excessive energy consumption during the mega-event and low efficiency of the post-event use of these venues. To achieve these goals, most preceding research on contemporary multi-functional stadiums has focused on either one-dimensional mechanical transformation in stadium façades to expose part of the stadium to daylight, or limited reconfigurations of the interior architectural elements for various needs. Only few research studies and projects have explored dynamic adaptations of the stadium façade via novel transformations that could constantly attune the shape and structural configurations to reduce building energy consumption and meet diverse functional demands. The aim of my thesis is to introduce a novel design strategy to generate an architectural design concept for adaptive building façades that are capable of regulating environmental factors with adaptation strategies inspired by nature. The emphasis is on the potential of integrating two different biomimetic design strategies to create a synergetic effect from a daylight-related performative perspective: an evolutionary design process to generate the façade’s form via the genetic algorithm and adaptive mechanism inspired by the optical principles of the reflecting superposition compound eye. The hypothesis tested in this thesis is that the adaptive façade system developed by the compound bio-inspired design strategy from these two inspirational design approaches has profound implications in improving multi-functionality and adaptivity of the stadium by regulating the indoor illuminances conditions. This hypothesis was tested in three ways: -by analysing stadium design paradigms and multi-functional strategies adopted by the contemporary stadiums -by developing an integrated bio-inspired design strategy according to the problem-based biomimetic design approach ii -by evaluating the significance of the proposed design strategy via design prototype simulations. I assessed the design prototypes in simulation environments based on dynamic daylight performance metrics in consideration of their responses to the functional illuminance requirements. The integration of the proposed biomimetic strategies resulted in the enhancement of the level of adaptiveness of stadium façades in response to the external (lighting) and internal (functional) stimuli. As a result, the proposed compound bio-inspired design strategy led to the rich diversity of geometric forms via the evolutionary design process and dynamic adaptation for the stadium façade via exploratory investigations on nature’s strategies. My thesis concludes that the proposed compound biomimetic design strategy can establish more synergistic and interconnected relationships between nature and design activities, and facilitate the transitions of biological knowledge to the architectural design context. Further, the proposed biomimetic design exploration models and biological analogy search method can potentially be tailored for various design scenarios in different contexts. The integration of the strategic design approaches from multiple perspectives can create a novel design strategy that can expand the realm of design research on building performance and identify new possibilities of regulating environmental factors towards adaptive architecture.

Objective Limited data are available concerning sexual behavior of Korean men. This study aimed to perform the national sex survey and to collect the basic data for establishment of the prevention strategies of sexually transmitted infections (STIs) and HIV/AIDS. Methods This is a national survey performed on a sample of 2,500 individuals (1,273 men and 1,227 women) aged 18-69 years old. The online surveys were carried out on a national scale in South Korea. Subjects were randomly selected from resident registration. A structured questionnaire was developed which elicited information concerning: demographic information, information on their sexual behavior, sexual identity, prostitution, experience of STIs, and experience of sex education. Results The majority of the subjects were either married or living with a partner. Mean number of sexual intercourse is 3.0±3.3 times a month. Mean sexual satisfaction score using visual analog scale is 63.2±24.6. Eighty-four percent had a fixed sex partner; 13.1% (22.6% of men; 2.5% of women) had experience through a speed dating or prostitution; 0.9% of men and 1.1% of women were sexually attracted to the same gender only, 1.5% of men and 2.0% of women were sexually attracted to both gender; 1.8% of participants had the experience of the STIs. Only 10.4% of the respondents had received sex education in the past year. Conclusions We performed the National Sex Survey according to the nationwide distribution of population. It would be useful for establishment of the prevention strategies of STIs and HIV/AIDS. To control STIs and HIV/AIDS, powerful policies containing sex education and medical services will be needed.

The effects of the imidization temperature of poly(imide-siloxane) on the adhesion strength of epoxy resin/poly(imide-siloxane) joints were studied. The effects of the content and molecular weight of polydimethylsiloxane in poly(imide-siloxane) on the adhesion strength were also examined with samples of pyromellitic dianhydride-4,4'-oxydianiline (PMDA-ODA) containing various amounts and molecular weights of aminopropyl-terminated polydimethylsiloxane (SDA). The adhesion strength increased with increasing imidization temperature in the air environment and was found to be sensitive to the content and molecular weight of SDA. The adhesion mechanism of epoxy resin/poly(imide-siloxane) joints was investigated using various analytical techniques. The failure mode of the joint was found to be cohesive in the poly(imide-siloxane) layer very close to the interface.

Unstable growth, unlimited urban sprawl, and multiple fragmentations are contemporary urban phenomena requiring new investigations and interpretations of the physical impact of form on today's cities. The city as a living organism with an evolving structure adopts a principle of economy in its form generating process. The city is indeed capable of auto-organization by interaction of its programs. In the frame of this research, this dynamic process named "urban morphogenesis", originating from a logic of nature, is an engineering approach which uses concepts of symmetry – invariance, transformation, and reorganization – from local to global scales. The evolution and complexity of the contemporary city's form could be explained in a new and simple model operating with dynamic notions. A theoretical "multi-scale" model based on ascendant process that uses a set of dynamic notions was set up to accurately describe the city's transformations. The dynamics are mainly applied to the appearance of programs, to the reproduction of habitat groups, to the movement of urban centres due to the presence of new collective programs and to the flexible limit of continuous urban systems. The model can also contribute to explain strategic (de) localizations of important public programs in unsteady areas. To test the new model, the agglomeration areas of Lausanne located in the middle of "Métropole lémanique" were chosen as experiment subjects. Hopefully, this polyvalent "morphogenesis representation" model based on the following simple geometric codes: "—, Δ, ◻, ○" will serve to generate new insights and analyses of metropolitan areas. Evolution of the research will make progress the following debate: "Are both nature's forms and the urban form symmetrical in their morphogenesis? "

Unstable growth, unlimited urban sprawl, and multiple fragmentations are contemporary urban phenomena requiring new investigations and interpretations of the physical impact of form on today's cities. The city as a living organism with an evolving structure adopts a principle of economy in its form generating process. The city is indeed capable of auto-organization by interaction of its programs. In the frame of this research, this dynamic process named "urban morphogenesis", originating from a logic of nature, is an engineering approach which uses concepts of symmetry – invariance, transformation, and reorganization – from local to global scales. The evolution and complexity of the contemporary city's form could be explained in a new and simple model operating with dynamic notions. A theoretical "multi-scale" model based on ascendant process that uses a set of dynamic notions was set up to accurately describe the city's transformations. The dynamics are mainly applied to the appearance of programs, to the reproduction of habitat groups, to the movement of urban centres due to the presence of new collective programs and to the flexible limit of continuous urban systems. The model can also contribute to explain strategic (de) localizations of important public programs in unsteady areas. To test the new model, the agglomeration areas of Lausanne located in the middle of "Métropole lémanique" were chosen as experiment subjects. Hopefully, this polyvalent "morphogenesis representation" model based on the following simple geometric codes: "—, Δ, ◻, ○" will serve to generate new insights and analyses of metropolitan areas. Evolution of the research will make progress the following debate: "Are both nature's forms and the urban form symmetrical in their morphogenesis? "

L'île n'est pas seulement un endroit isolé. Elle se montre comme un espace séduisant autour de l'eau et fonctionne comme une zone intermédiaire qui met en lien les autres territoires. Les parcs urbains à Paris sont des éléments structurant indispensables à la morphologie de Paris. Ils sont des vides dans la densité de la ville et deviennent des îles mentales et symboliques dans la vie parisienne. De plus, associés aux îles naturelles de la Seine, ils pourraient former une chaîne de grands espaces publics. Le projet est de faire d'une zone industrielle réservée au milieu de Seine-Amont, dont le potentiel est aujourd'hui si peu valorisé, un parc public, Parc Agri-Cultures, caractérisé par des jardins en graminées, un théâtre et une piscine. Il sera une nouvelle île symbolique dans un point sensible, restructurant la ville. De plus, la piscine sera un grand équipement important qui redessinera le paysage entre le parc et la Seine. La Seine traverse la complexité de Paris et pourrait être le vecteur d'une nouvelle image du territoire de la ville-région parisienne. De plus, les îles ayant chacune leur propre rapport à l'eau, entre la terre et le fleuve, pourraient devenir le cœur d'une nouvelle promenade urbaine avec les séquences de paysage identifié vers Un Paris insulaire.