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This report is on the design, control strategy, implementation, and performance evaluation of a novel leg–wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination and transitions in wheeled mode, in legged trotting, and in legged walking while in motion. This functionality was achieved by including two novel setups in the robot that were not included in its predecessor, Quattroped. First, a new leg–wheel mechanism was used, in which the leg/wheel operation and its in situ transition can be driven by the same set of motors, so the actuation system and power can be utilized efficiently. Second, a bio-inspired control strategy was applied based on the central pattern generator and coupled oscillator networks, in which the gait/mode generation, coordination, and transitions can be integrally controlled. The robot was empirically built and its performances in the described three gaits/modes as well as the transitions among them were experimentally evaluated and will be discussed in this paper. [ABSTRACT FROM AUTHOR]

Robot manipulators enable large-scale factory automation of simple and repeated tasks. Each manipulation is the result of the robot design and the command inputs provided by the operator. In this study, we focus on the accuracy improvement of practical robot manipulation under uncertainty, resulting in path-specific error values. Existing techniques for reducing the errors use high-precision sensors and measurements to obtain the values of a manipulator to provide feedback control. Instead of compensating errors in operation, this study designs a calibration table to obtain the error value for a designated path. This error is then used to adjust important parameters in the kinematic closed chain models of a manipulators via optimization. The proposed method reduces the cost and the dependence on the calibration process. Experimental results show that the overall accuracy of the manipulator is improved. The proposed method can also be extended to develop the optimal robotic manipulation planning and reliability assessment in the future. [ABSTRACT FROM AUTHOR]

Background: yqiC is required for colonizing the Salmonella enterica serovar Typhimurium (S. Typhimurium) in human cells; however, how yqiC regulates nontyphoidal Salmonella (NTS) genes to influence bacteria–host interactions remains unclear. Methods: The global transcriptomes of S. Typhimurium yqiC-deleted mutant (ΔyqiC) and its wild-type strain SL1344 after 2 h of in vitro infection with Caco-2 cells were obtained through RNA sequencing to conduct comparisons and identify major yqiC-regulated genes, particularly those involved in Salmonella pathogenicity islands (SPIs), ubiquinone and menaquinone biosynthesis, electron transportation chains (ETCs), and carbohydrate/energy metabolism. A Seahorse XFp Analyzer and assays of NADH/NAD+ and H2O2 were used to compare oxygen consumption and extracellular acidification, glycolysis parameters, adenosine triphosphate (ATP) generation, NADH/NAD+ ratios, and H2O2 production between ΔyqiC and SL1344. Results: After S. Typhimurium interacts with Caco-2 cells, yqiC represses gene upregulation in aspartate carbamoyl transferase, type 1 fimbriae, and iron–sulfur assembly, and it is required for expressing ilvB operon, flagellin, tdcABCD, and dmsAB. Furthermore, yqiC is required for expressing mainly SPI-1 genes and specific SPI-4, SPI-5, and SPI-6 genes; however, it diversely regulates SPI-2 and SPI-3 gene expression. yqiC significantly contributes to menD expression in menaquinone biosynthesis. A Kyoto Encyclopedia of Genes and Genomes analysis revealed the extensive association of yqiC with carbohydrate and energy metabolism. yqiC contributes to ATP generation, and the analyzer results demonstrate that yqiC is required for maintaining cellular respiration and metabolic potential under energy stress and for achieving glycolysis, glycolytic capacity, and glycolytic reserve. yqiC is also required for expressing ndh, cydA, nuoE, and sdhB but suppresses cyoC upregulation in the ETC of aerobically and anaerobically grown S. Typhimurium; priming with Caco-2 cells caused a reversed regulation of yiqC toward upregulation in these ETC complex genes. Furthermore, yqiC is required for maintaining NADH/NAD+ redox status and H2O2 production. Conclusions: Specific unreported genes that were considerably regulated by the colonization-associated gene yqiC in NTS were identified, and the key role and tentative mechanisms of yqiC in the extensive modulation of virulence factors, SPIs, ubiquinone and menaquinone biosynthesis, ETCs, glycolysis, and oxidative stress were discovered. [ABSTRACT FROM AUTHOR]

The spliceosome is formed on pre-mRNA substrates from five small nuclear ribonucleoprotein particles (U1, U2, U4/U6 and U5 snRNPs), and numerous non-snRNP factors. Saccharomyces cerevisiae U4/U6.U5 tri-snRNP comprises U5 snRNA, U4/U6 snRNA duplex and approximately 30 proteins and represents a substantial part of the spliceosome before activation. Schizosaccharomyces pombe U2.U6.U5 spliceosomal complex is a post-catalytic intron lariat spliceosome containing U2 and U5 snRNPs, NTC (nineteen complex), NTC-related proteins (NTR), U6 snRNA, and an RNA intron lariat. Two recent papers describe near-complete atomic structures of these complexes based on cryoEM single-particle analysis. The U4/U6.U5 tri-snRNP structure provides crucial insight into the activation mechanism of the spliceosome. The U2.U6.U5 complex reveals the striking architecture of NTC and NTR and important features of the group II intron-like catalytic RNA core remaining after spliced mRNA is released. These two structures greatly advance our understanding of the mechanism of pre-mRNA splicing. [ABSTRACT FROM AUTHOR]

Individual gameplay interest is affected by numerous factors and a competition setting is also of importance as there are factors that need to be managed. To understand the motivational variables related to an educational game competition, this study explored the interrelatedness between self-efficacy, competitive anxiety, and gameplay interest in a one-on-one Chinese idiom string up game competition. Effective data from 278 elementary school students from grades five to six were collected and subjected to confirmatory factor analysis and structural equation modeling. The results of this study showed that the higher the level of competitive anxiety, the lower the degree of gameplay interest (i.e. Like, Enjoyment, and Engagement). In addition, self-efficacy in learning Chinese idioms was negatively associated with competitive anxiety. The implication of this study contributed towards understanding that low competitive anxiety is more facilitative to interest in gameplay. The results also suggested that enhancing self-efficacy in a specific task can eliminate anxiety and support players' interests to play the game in a competitive setting. [ABSTRACT FROM AUTHOR]

• Development of a spherical robot that can leap while rolls. • Using a five-bar linkage mechanism and a release/retract mechanism for leaping. • Using a differential drive to actuate two semi spheres for rolling and turning. • Dynamics of rolling and leaping are analyzed. • The robot can leap up to 1.14-times of radius to overcome a barrier while rolls. To improve robots' mobility on flat ground and rough terrain, we designed and implemented a novel spherical robot with a combined rolling and leaping capability. The robot has two individually driven semi-spheres, which generate rolling and turning motions. The robot also has a five-bar linkage with a release/retract mechanism for leaping. The release/retract mechanism only uses one DOF to control and switch the mechanism in three different stages: retracting, maintaining, and releasing. In this paper, the dynamics of the robot in rolling and leaping are analyzed. The robot was empirically built, and its performance was experimentally evaluated. The results confirm that the robot can leap close to 25.4 cm diameter of the sphere, which, to the best of our knowledge, is the best among reported spherical robots. The robot can also leap while rolling over a 14 cm barrier, which is equal to 1.14 times the sphere's radius. [Display omitted] [ABSTRACT FROM AUTHOR]

We report on the model-based development of leaping behavior in a RHex-style hexapod robot. A three-legged model is proposed to analyze the dynamic behavior of leaping, and this serves as a guide for implementing the behavior on the empirical robot. The model has a rigid body and three massless and compliant legs, which have rolling contact with the ground for better modeling the leg behavior of the empirical robot. By investigating the model's behavior, a two-step leaping maneuver is developed. The first step is utilized for adjusting the body pitch, synchronizing the phases of all six legs, and speeding up the body's forward velocity. This provides adequate initial conditions for the second step leaping, which creates a long-distance flight and adequate landing for follow-up running. In addition, we also report on the strategy of stride length regulation. With implementation of the range sensor, the robot can regulate its stride in order to reach a specific and desired position for leaping. The gait transition and initiation of leaping is fully autonomous. The behavioral development is implemented in the RHex-style robot and is evaluated experimentally. [ABSTRACT FROM PUBLISHER]

Abstract: We designed and implemented a novel omnidirectional spherical robot. Instead of using wheels or flywheels, a driven ball is installed inside the spherical shell and driven by two orthogonally-mounted rollers; thus, the omnidirectional mobility of the robot with no singularity can be achieved by simple forward kinematic mapping. The dynamic model of the robot is derived, and effect of the model's parameters is evaluated in simulation and discussed. The simulation results also serve as the design guideline for building the empirical system. Several design issues are addressed to ensure the robot's proper development. Finally, the spherical robot is built, and its performance is quantitatively and experimentally evaluated, thus proving its omnidirectional and trajectory-controllable mobility. [Copyright &y& Elsevier]

The role of medical librarians is transforming to meet the unique demands of their users who need rapid access to a constantly evolving body of information. Competence in Web 2.0 and other contemporary information and communication technologies is critically important. Search engines like Google and Yahoo that are popular among library users are becoming overloaded and therefore less effective tools. Also, library users tend to overestimate their search skills. Medical librarians are directing users back to traditional databases, fielded searches, and paper resources. Three possible roles are proposed to meet the challenges facing medical librarians in view of these developments: (1) blended librarianship involving both traditional librarians' skills and expertise in both contemporary information technology and pedagogy; (2) skills facilitating use of information and communication technology; and (3) building library users' learning behavior through a problem-based learning (PBL) process. Additionally, health care professionals need to keep abreast of the latest research in their respective fields by being trained in research skills that will accompany them throughout their careers. Because of these, medical librarians, who are ideally placed to design instructional tools that can support these processes, have an essential role to play in the health care system. [ABSTRACT FROM AUTHOR]

• A novel module capable of fast transforming its shape between a wheel and a leg. • The maximum leg length approximately 3.4 times the wheel radius. • Can perform wheel-to-leap behavior. • Leaping height up to 4.6 times the wheel radius. We report on the development of a novel two-degrees-of-freedom module capable of transforming its shape between a wheel and a leg, with the length of the latter approximately 3.4 times the wheel radius. The leg-wheel module was empirically built and experimentally evaluated. It utilizes a linkage mechanism and can perform a smooth yet rapid leg-wheel transition within 0.25 s. The design concept, selection of the linkage parameters, and kinematics are described in this paper. The rapid transition from a wheel to a leg endows the robot with wheel-to-leap behavior. The general motion planning strategy of the leg-wheel, as well as the wheel-to-leap behavior, are explained in the demonstration example. The results confirm that the module can perform wheel-to-leap behavior with a height of up to 4.6 times the wheel radius. [ABSTRACT FROM AUTHOR]

We demonstrate a novel, vertical temperature-mapping incubator utilizing eight layers of thermoelectric (TE) modules mounted around a test tube. The temperature at each layer of the TE module is individually controlled to simulate the vertical temperature profile of geo-temperature variations with depth. Owing to the constraint of non-intrusion to the filled geo-samples, the temperature on the tube wall is adopted for measurement feedback. The design considerations for the incubator include spatial arrangement of the energy transfer mechanism, heating capacity of the TE modules, minimum required sample amount for follow-up instrumental or chemical analysis, and the constraint of non-intrusion to the geo-samples during incubation. The performance of the incubator is experimentally evaluated with two tube conditions and under four preset temperature profiles. Test tubes are either empty or filled with quartz sand, which has comparable thermal properties to the materials in the geo-environment. The applied temperature profiles include uniform, constant temperature gradient, monotonic-increasing parabolic, and parabolic. The temperature on the tube wall can be controlled between 20 °C and 90 °C with an averaged root mean squared error of 1 °C. [ABSTRACT FROM AUTHOR]