artificial control
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Speed breeding by artificial control of photothermal conditions facilitates generation advancement but was limited in scale and cost. In this study, we demonstrated a cost-saving off-site summer nursery pattern, taking full advantage of shorter daylength and higher temperature with lower latitude compared to the origin of the soybean cultivars used in the study. This substantially reduced the generation cycles under totally natural conditions. Using this approach, two generations of soybean cultivars from Northeastern Spring Planting Region (NE) and Yellow-Huai-Hai Valleys Summer Planting Region (YHH) were successfully obtained in Beijing and Hainan, respectively, compared to one generation in origin. Fresh-seeding method was also used to further shorten the generation duration by 7–10 days, thereby allowing at least four generations per year. Using DNA markers to define haplotypes of maturity genes E1–E4, we proposed a model to predict the optimum adaptation region of the advanced generation lines. Taken together, we present a speed-breeding methodology combining off-site nursery, fresh-seeding method, and marker-assisted selection, aimed at accelerating soybean improvement.

Intelligent wheelchairs are motorized resting media designed to help users with physical limitations, where an artificial control system is added or used to replace user controls. The aim is to reduce or eliminate the user's duty to drive a motorized wheelchair. At the station there are still many places that are still not accessible by persons with disabilities. As the difference between platform and train height, usually there are stairs that support to enter the train. Therefore the writer makes an innovation so that it can make it easier for people with disabilities to move up stairs in a wheelchair. The design of the wheelchair design uses a crawler type with the help of universal plates from Tamiya, the gearbox uses Twin Motor with a rotation ratio of 204: 1. Servo motor mounted on the seat which is supported by a gyro sensor as a counterweight to the chair when the position of the chair up or down. In the DC motor and servo PID method is added so that the motion changes can be smooth. PID is installed when testing the equilibrium results obtained a little stable oscillation at Kp = 0.27, Ki = 0.0004, and Kd = 0.0001, while when testing the speed obtained the most stable conditions at Kp = 2, Ki = 1, Kd = 0.25.