The recognition of impassable terrain plays a vital role in the motion planning of a mobile robot, which generally relies on expensive sensors such as stereo vision cameras. This paper proposes a rapid impassable terrain recognition algorithm based on hypotheses testing theory using low-cost range finders with different diffusion angles. In this algorithm, a slope estimation model using two range finders mounted on different heights is first established, where the influence of the diffusion angle of the range sensor is considered. To deal with inaccurate measuring from low cost range finders, the hypothesis testing theory is then applied to judge whether there is an impassible terrain approaching, where the historical slope estimation results are treated as a sample set of the same slope, and the judgement of impassible terrain is then made based on the sampling set rather than the concurrent slope estimation. So the robot is only required to count the number of slope estimation that support the determination of a terrain as being impassible, and the judgement is confirmed only when that number is larger than a precisely designed threshold value. Then the stable recognition for impassable terrain would be acquired while the risk of wrong judgement is limited. The experiments' results indicate that this algorithm can provide a reliable recognition of impassable terrain using lower cost range finders with different diffusion angles with minimal computation.
PurposeMotivating users to self-disclose online is significant to the long-term development of social media. Therefore, research on emotional disclosure, a significant form of self-disclosure, is required. By developing a stimulus-organism-response model, this study aims to investigate the mechanisms by which the social media environment affects users' online emotional disclosure.Design/methodology/approachThis paper proposes two dimensions of social media environments, the online interpersonal environment (tie strength and network size) and the online information environment (self-reference). They are hypothesized to stimulate users' internal psychological needs (image management and emotional expression) which in turn will influence their emotional disclosure intentions. Using data from 489 users of WeChat Moments, the authors conduct partial least squares analysis to validate the research model.FindingsThe findings show that users' intrinsic psychological needs are stimulated by social media environments, but network size is not correlated with the need for emotional expression. The user's need for emotional expression promotes both positive and negative emotional disclosure intentions. The need for image management has a positive impact on positive emotion disclosure intentions but has a negative impact on negative emotion disclosure intentions.Originality/valueThis study contributes to the understanding of online emotional disclosure. It can also help social media managers create efficient plans to encourage users to create content.Peer reviewThe peer review history for this article is available at: https://publons.com/publon/10.1108/OIR-04-2022-0245.
Gut microbes play an essential role in the nutritional metabolism of
insects. In particular, they are critical to host health when challenged
with toxic substances, pathogens, or parasites. Therefore, gut
microbiota is a potential resource for developing microbial products for
pest control and management. Insect gut microbiota vary across the life
cycle, and successful application of microbes for pest control requires
precision in specific insect developmental stages. However, the dynamic
processes of gut microbiota are poorly understood, and the complexity of
ecological factors affecting gut microbiota and the nature of the
interactions have been little studied in natural populations. In this
study, we combined quantitative characterisation of microbial community
diversity, taxonomic analysis of microbial communities, and functional
prediction to explore gut microbiota dynamics of Locusta migratoria
throughout its life cycle. Proteobacteria and Firmicutes were the
dominant phyla throughout the life stages of Locusta migratoria;
Enterobacter, Pseudocitrobacter, and Enterococcus were consistently
present throughout all life stages. Weissella, which is associated with
grasshopper aggregation, was significantly higher in L1 and L2 than in
the other life stages. In addition, we analysed the functions of the
dominant bacterial flora of Locusta migratoria to screen for new control
grasshopper gut bacteria. Identifying and interpreting the various
ecological sources that shape individual gut bacteria is essential for
understanding the role of gut microbiota in animal health. Moreover, the
results of this study provide potential targets for future control of
harmful grasshoppers and lays the theoretical foundation for pest
control.
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