A Preliminary Linkage Map of the Hard Tick, Ixodes Scapularis

Blackwell Publishing Ltd. A linkage map of the Ixodes scapularis genome was constructed, based upon segregation amongst 127 loci. These included 84 random amplified polymorphic DNA (RAPD) markers, 32 Sequence-Tagged RAPD (STAR) markers, 5 cDNAs, and 5 microsatellites in 232 F1 intercross progeny from a single, field-collected P1 female. A preliminary linkage map of 616 cM was generated across 14 linkage groups with one marker every 10.8 cM. Assuming a genome size of ~ 10 9 bp, the relationship of physical to genetic distance was found to be ~ 300 kb/cM in the I. scapularis genome.

A preliminary linkage map of the tick, Ixodes scapularis

A linkage map of the Ixodes scapularis genome was constructed based upon segregation amongst 127 loci. These included 84 random amplified polymorphic DNA (RAPD) markers, 32 Sequence-Tagged RAPD (STAR) markers, 5 cDNAs, and 5 microsatellites in 232 F1 intercross progeny from a single, field-collected P1 female. A preliminary linkage map of 616 cM was generated across 14 linkage groups with one marker every 10.8 cM. Assuming a genome size of ∼109 bp, the relationship of physical to genetic distance is ∼300 kb/cM in the I. scapularis genome.

Linkage & Selective Mapping and QTL Analysis in a Harosoy x Clark population of 300 RILs

Four of the 12 major Glycine max ancestors of all modern elite U.S.A. soybean cultivars were the grandparents of Harosoy and Clark, so a Harosoy x Clark population would include some of that genetic diversity. A mating of eight Harosoy and eight Clark plants generated eight F1 plants. The eight F1:2 families were advanced via a plant-to-row selfing method to produce 300 F6-derived RILs that were genotyped with 266 SSR, 481 SNP, and 4 classical markers. SNPs were genotyped with the Illumina 1536-SNP assay. Three linkage maps, SSR, SNP, and SSR-SNP, were constructed with a genotyping error of < 1 %. Each map was compared with the published soybean consensus map. The best subset of 94 RILs for a high-resolution framework (joint) map was selected based on the expected bin length statistic computed with MapPop. The QTLs of seven traits measured in a 2-year replicated performance trial of the 300 RILs were identified using composite interval mapping (CIM) and multiple-interval mapping (MIM). QTL x Year effects in multiple trait analysis were compared with results of multiple-interval mapping. QTL x QTL effects were identified in MIM.

DESIGN AND ANALYSIS OF MULTIFUNCTIONAL ROBOT FOR NOTES

The elimination of all external incisions is an important step in reducing the invasiveness of surgical procedures. Natural Orifice Translumenal Endoscopic Surgery (NOTES) is an incision-less surgery and provides explicit benefits such as reducing patient trauma and shortening recovery time. However, technological difficulties impede the widespread utilization of the NOTES method. A novel robotic tool has been developed, which makes NOTES procedures feasible by using multiple interchangeable tool tips. The robotic tool has the capability of entering the body cavity through an orifice or a single incision using a flexible articulated positioning mechanism and once inserted is not constrained by incisions, allowing for visualization and manipulations throughout the cavity. Multiple interchangeable tool tips of the robotic device initially consist of three end effectors: a grasper, scissors, and an atraumatic Babcock clamp. The tool changer is capable of selecting and switching between the three tools depending on the surgical task using a miniature mechanism driven by micro-motors. The robotic tool is remotely controlled through a joystick and computer interface. In this thesis, the following aspects of this robotic tool will be detailed. The first-generation robot is designed as a conceptual model for implementing a novel mechanism of switching, advancing, and controlling the tool tips using two micro-motors. It is believed that this mechanism achieves a reduction in cumbersome instrument exchanges and can reduce overall procedure time and the risk of inadvertent tissue trauma during exchanges with a natural orifice approach. Also, placing actuators directly at the surgical site enables the robot to generate sufficient force to operate effectively. Mounting the multifunctional robot on the distal end of an articulating tube provides freedom from restriction on the robot kinematics and helps solve some of the difficulties otherwise faced during surgery using NOTES or related approaches. The second-generation multifunctional robot is then introduced in which the overall size is reduced and two arms provide 2 additional degrees of freedom, resulting in feasibility of insertion through the esophagus and increased dexterity. Improvements are necessary in future iterations of the multifunctional robot; however, the work presented is a proof of concept for NOTES robots capable of abdominal surgical interventions.