Robots are becoming an important part of our life and industry. Although a lot of robot control interfaces have been developed to simplify the control method and improve user experience, users still cannot control robots comfortably. With the improvements of the robot functions, the requirements of universality and ease of use of robot control interfaces are also increasing. This research introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to non-expert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can also allow users to customize the paths for this plan by sketching a set of reference trajectories. Given the custom paths by the user, the LTL specification and the environment, the interface generates a plan balancing the customized paths and the LTL specifications. We also show experimental results with the implemented interface.

Herbivores face various nutritional challenges in their life cycles, challenges that may become increasingly acute under ongoing environmental changes.
Here, focusing on calcium, phosphorus and nitrogen, we used nutritional geometry to analyse individual-based data on foraging and extraction efficiencies, and combined these with data on reproduction and migratory behaviour to understand how a large herbivorous carnivore can complete its life cycle on a narrow and seemingly low quality bamboo diet.
Behavioural results showed that pandas during the year switched between four main food categories involving the leaves and shoots of two bamboo species available. Nutritional analysis suggests that these diet shifts are related to the concentrations and balances of calcium, phosphorus and nitrogen. Notably, successive shifts in range use and food type corresponded with a transition to higher concentrations and/or a more balanced intake of these multiple key constituents.
Our study suggests that pandas obligatorily synchronize their seasonal migration and reproduction with the disjunct nutritional phenologies of two bamboo species. This finding has potentially important implications for habitat conservation for this species and, more generally, draws attention to the need for understanding the nutritional basis of food selection in devising management plans for endangered species.