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In orchard environments, negative obstacles such as ditches and potholes pose significant safety risks to robots working within them. This paper proposes a negative obstacle detection method based on LiDAR tilt mounting. With the LiDAR tilted at 40°, the blind spot is reduced from 3 m to 0.21 m, and the ground point cloud density is increased by an order of magnitude. Based on geometric features of laser point clouds (such as rear wall height and density, and spacing jump between points), a method for detecting negative obstacles is presented. This method establishes a mathematical model by analyzing changes in point cloud height, density, and point spacing, integrating features captured from multiple frames to enhance detection accuracy. Experiments demonstrate that this approach effectively detects negative obstacles in orchard environments, achieving a success rate of 92.7% in obstacle detection. The maximum detection distance reaches approximately 8.0 m, significantly mitigating threats posed to robots by negative obstacles in orchards. This research contributes valuable technological advancements for future orchard automation. [ABSTRACT FROM AUTHOR]

Rosa roxburghii, a calciphilic species native to the mountainous regions of Southwest China, is renowned for its high vitamin C and bioactive components, making it valuable for culinary and medicinal uses. This species exhibits remarkable tolerance to the high-calcium conditions typical of karst terrains. However, the underlying mechanisms of this calcium resilience remain unclear. The Ca2+/cation antiporter (CaCA) superfamily plays a vital role in the transport of Ca2+ and other cations and is crucial for plant tolerance to metal stress. However, the roles and evolutionary significance of the CaCA superfamily members in R. roxburghii remain poorly understood. This study identified 22 CaCA superfamily genes in R. roxburghii, categorized into four subfamilies. The gene structures of these RrCaCAs show considerable conservation across related species. Selection pressure analysis revealed that all RrCaCAs are subject to purifying selection. The promoter regions of these genes contain numerous hormone-responsive and stress-related elements. qRT-PCR analyses demonstrated that H+/cation exchanger (CAX) RrCAX1a and RrCAX3a were highly responsive to Ca2+ stress, cation/Ca2+ exchanger (CCX) RrCCX4 to Mg2+ stress, and RrCCX11a to Na+ stress. Subcellular localization indicated that RrCAX1a is localized to the plant cell membrane, and its stable transformation in tobacco confirmed its ability to confer enhanced resistance to heavy Ca2+ stresses, highlighting its crucial role in the high-calcium tolerance mechanisms of R. roxburghii. This research establishes a foundation for further molecular-level functional analyses of the adaptation mechanisms of R. roxburghii to high-calcium environments. [ABSTRACT FROM AUTHOR]

Phospholipase C (PLC) is an essential enzyme involved in lipid signaling pathways crucial for regulating plant growth and responding to environmental stress. In sorghum, 11 PLC genes have been identified, comprising 6 PI-PLCs and 5 NPCs. Through phylogenetic and interspecies collinearity analyses, structural similarities between SbPLCs and ZmPLCs proteins have been observed, with a particularly strong collinearity between SbPLCs and OsPLCs. Promoter function analysis has shown that SbPLCs are significantly enriched under abiotic stress and hormonal stimuli, like ABA, jasmonic acid, drought, high temperature, and salt. Gene co-expression networks, constructed using a weighted gene co-expression network analysis (WGCNA), highlight distinct expression patterns of SbPLC1, SbPLC3a, and SbPLC4 in response to abiotic stress, providing further insights into the expression patterns and interactions of SbPLCs under various environmental stimuli. qRT-PCR results reveal variations in expression levels among most SbPLCs members under different stress conditions (drought, NaCl, NaHCO3), hormone treatments (ABA), and developmental stages, indicating both specific and overlapping expression patterns. This comprehensive analysis offers valuable insights into the roles of SbPLCs in sorghum, shedding light on their specific expression patterns, regulatory elements, and protein interactions across different environmental stimuli and developmental stages. [ABSTRACT FROM AUTHOR]

Peanut (Arachis hypogaea L.) is one of the most important oil and food legume crops worldwide. ASR (abscisic acid, stress, ripening) plays extremely important roles in plant growth and development, fruit ripening, pollen development, and stress. Here, six ASR genes were identified in peanut. Structural and conserved motif analyses were performed to identify common ABA/WDS structural domains. The vast majority of ASR genes encoded acidic proteins, all of which are hydrophilic proteins and localized on mitochondria and nucleus, respectively. The cis-element analysis revealed that some cis-regulatory elements were related to peanut growth and development, hormone, and stress response. Under normal growth conditions, AhASR4 and AhASR5 were expressed in all tissues of peanut plants. Quantitative real-time PCR (qRT-PCR) results indicated that peanut ASR genes exhibited complex expression patterns in response to abiotic stress. Notably, under drought and cadmium (Cd) stress, the expression levels of AhASR4 and AhASR5 were significantly upregulated, suggesting that these genes may play a crucial role in the peanut plant's resistance to such stressors. These results provide a theoretical basis for studying the evolution, expression, and function of the peanut ASR gene family and will provide valuable information in the identification and screening of genes for peanut stress tolerance breeding. [ABSTRACT FROM AUTHOR]

Cadmium (Cd) is a toxic heavy metal that accumulates in plants, negatively affecting their physiological processes, growth, and development, and poses a threat to human health through the food chain. 6-phosphogluconolactonase (PGL) is a key enzyme in the Oxidative Pentose Phosphate Pathway(OPPP) in plant cells, essential for cellular metabolism. The OPPP pathway provides energy and raw materials for organisms and is involved in antioxidant reactions, lipid metabolism, and DNA synthesis. This study describes the Cd responsive gene AetPGL from Aegilops tauschii. Overexpression of AetPGL under Cd stress increased main root length and germination rate in Arabidopsis. Transgenic lines showed higher antioxidant enzyme activities and lower malondialdehyde (MDA) content compared to the wild type. The transgenic Arabidopsis accumulated more Cd in the aboveground part but not in the underground part. Expression levels of AtHMA3, AtNRAMP5, and AtZIP1 in the roots of transgenic plants increased under Cd stress, suggesting AetPGL may enhance Cd transport from root to shoot. Transcriptome analysis revealed enrichment of differentially expressed genes (DEGs) in the plant hormone signal transduction pathway in AetPGL-overexpressing plants. Brassinosteroids (BR), Gibbenellin acid (GA), and Jasmonic acid (JA) contents significantly increased after Cd treatment. These results indicate that AetPGL may enhance Arabidopsis' tolerance to Cd by modulating plant hormone content. In conclusion, AetPGL plays a critical role in improving cadmium tolerance and accumulation and mitigating oxidative stress by regulating plant hormones, providing insights into the molecular mechanisms of plant Cd tolerance. [ABSTRACT FROM AUTHOR]

Polyploids are essential in plant evolution and species formation, providing a rich genetic reservoir and increasing species diversity. Complex polyploids with higher ploidy levels often have a dosage effect on the phenotype, which can be highly detrimental to gametes, making them rare. In this study, offspring plants resulting from an autoallotetraploid (RRRC) derived from the interspecific hybridization between allotetraploid Raphanobrassica (RRCC, 2n = 36) and diploid radish (RR, 2n = 18) were obtained. Fluorescence in situ hybridization (FISH) using C-genome-specific repeats as probes revealed two main genome configurations in these offspring plants: RRRCC (2n = 43, 44, 45) and RRRRCC (2n = 54, 55), showing more complex genome configurations and higher ploidy levels compared to the parental plants. These offspring plants exhibited extensive variation in phenotypic characteristics, including leaf type and flower type and color, as well as seed and pollen fertility. Analysis of chromosome behavior showed that homoeologous chromosome pairing events are widely observed at the diakinesis stage in the pollen mother cells (PMCs) of these allopolyploids, with a range of 58.73% to 78.33%. Moreover, the unreduced C subgenome at meiosis anaphase II in PMCs was observed, which provides compelling evidence for the formation of complex allopolyploid offspring. These complex allopolyploids serve as valuable genetic resources for further analysis and contribute to our understanding of the mechanisms underlying the formation of complex allopolyploids. [ABSTRACT FROM AUTHOR]

Wafer defect pattern recognition can help engineers improve the production process of semiconductor chips. In real industrial scenarios, the recognition of mixed-type wafer defects is difficult and the production scale of semiconductor wafers is large, which requires high accuracy and speed in wafer defect pattern recognition. This study proposes a light-weight neural network model to efficiently recognize mixed-type wafer defects. The proposed model is constructed via inverted residual convolution blocks with attention mechanisms and large kernel convolution downsampling layers. The inference speed of the inverted residual convolution block is fast, and the attention mechanism can enhance feature extraction capabilities. Large kernel convolutions help the network retain more important feature information during downsampling operations. The experimental results on the real Mixed-type WM38 dataset show that the proposed model achieves a recognition accuracy of 98.69% with only 1.01 M parameters. Compared with some popular high-performance models and light-weight models, our model has advantages in both recognition accuracy and inference speed. Finally, we deploy the model as a TensorRT engine, which significantly improves the inference speed of the model, enabling it to process more than 1300 wafer maps per second. [ABSTRACT FROM AUTHOR]

Liriodendron chinense (Hemsl.) Sarg. (Magnoliales: Magnoliaceae), valued for its medicinal properties and timber and as an ornamental plant, is now classified as an endangered species. Investigating how future climate-change scenarios might affect the potential geographic distribution of L. chinense will provide a crucial scientific basis for its protection and management strategies. The MaxEnt model was calibrated using the ENMeval optimization package, and then it was coupled with ArcGIS 10.8 to forecast the possible distribution areas of L. chinense in China, utilizing elevation data, bioclimatic factors, and human footprint as environmental variables. The results indicate: (1) The optimal model parameters were set as follows: FC = LQ, RM = 0.5, the MaxEnt model demonstrated high predictive accuracy and minimal overfitting; (2) The total suitable habitat area for the potential geographical distribution of L. chinense during the current period is estimated at 151.55 × 104 km2, predominantly located in central, eastern, and southwestern regions of China; (3) The minimum temperature of the coldest month (bio6), precipitation of the driest month (bio14), precipitation of the driest quarter (bio17), precipitation of the warmest quarter (bio18), elevation (alt), and human footprint (hf) are the main environmental variables determining the suitable habitat distribution of L. chinense; (4) During the period from 2041 to 2060, under the carbon emission scenarios of SSP126, SSP245, and SSP370, the suitable habitat for L. chinense shows varying degrees of increase compared to the current period. However, under the highest concentration scenario of SSP585, the suitable habitat area decreases to some extent; (5) The distribution of L. chinense is likely to move towards higher latitudes and elevations in the future due to changes in the climate. This research provides a comprehensive analysis of the potential impacts of climate change on L. chinense, offering valuable information for its protection and management under future climatic conditions. [ABSTRACT FROM AUTHOR]

Vaccinium duclouxii, a wild blueberry species native to the mountainous regions of southwestern China, is notable for its exceptionally high anthocyanin content, surpassing that of many cultivated varieties and offering significant research potential. Glutathione S-transferases (GSTs) are versatile enzymes crucial for anthocyanin transport in plants. Yet, the GST gene family had not been previously identified in V. duclouxii. This study utilized a genome-wide approach to identify and characterize the GST gene family in V. duclouxii, revealing 88 GST genes grouped into seven distinct subfamilies. This number is significantly higher than that found in closely related species, with these genes distributed across 12 chromosomes and exhibiting gene clustering. A total of 46 members are classified as tandem duplicates. The gene structure of VdGST is relatively conserved among related species, showing closer phylogenetic relations to V. bracteatum and evidence of purifying selection. Transcriptomic analysis and qRT-PCR indicated that VdGSTU22 and VdGSTU38 were highly expressed in flowers, VdGSTU29 in leaves, and VdGSTF11 showed significant expression in ripe and fully mature fruits, paralleling trends seen with anthocyanin accumulation. Subcellular localization identified VdGSTF11 primarily in the plasma membrane, suggesting a potential role in anthocyanin accumulation in V. duclouxii fruits. This study provides a foundational basis for further molecular-level functional analysis of the transport and accumulation of anthocyanins in V. duclouxii, enhancing our understanding of the molecular mechanisms underlying anthocyanin metabolism in this valuable species. [ABSTRACT FROM AUTHOR]

Acyl carrier proteins (ACPs) have been reported to play a crucial role in responding to biotic and abiotic stresses, regulating growth and development. However, the biological function of the ACP gene family in the Brassica genus has been limited until now. In this study, we conducted a comprehensive analysis and identified a total of 120 ACP genes across six species in the Brassica genus. Among these, there were 27, 26, and 30 ACP genes in the allotetraploid B. napus, B. juncea, and B. carinata, respectively, and 14, 13, and 10 ACP genes in the diploid B. rapa, B. oleracea, and B. nigra, respectively. These ACP genes were further classified into six subclades, each containing conserved motifs and domains. Interestingly, the majority of ACP genes exhibited high conservation among the six species, suggesting that the genome evolution and polyploidization processes had relatively minor effects on the ACP gene family. The duplication modes of the six Brassica species were diverse, and the expansion of most ACPs in Brassica occurred primarily through dispersed duplication (DSD) events. Furthermore, most of the ACP genes were under purifying selection during the process of evolution. Subcellular localization experiments demonstrated that ACP genes in Brassica species are localized in chloroplasts and mitochondria. Cis-acting element analysis revealed that most of the ACP genes were associated with various abiotic stresses. Additionally, RNA-seq data revealed differential expression levels of BnaACP genes across various tissues in B. napus, with particularly high expression in seeds and buds. qRT-PCR analysis further indicated that BnaACP genes play a significant role in salt stress tolerance. These findings provide a comprehensive understanding of ACP genes in Brassica plants and will facilitate further functional analysis of these genes. [ABSTRACT FROM AUTHOR]

With the constant progress of urbanization and industrialization, cadmium (Cd) has emerged as one of the heavy metals that pollute soil and water. The presence of Cd has a substantial negative impact on the growth and development of both animals and plants. The allotetraploid Brasscia. carinata, an oil crop in the biofuel industry, is known to produce seeds with a high percentage of erucic acid; it is also known for its disease resistance and widespread adaptability. However, there is limited knowledge regarding the tolerance of B. carinata to Cd and its physiological responses and gene expressions under exposure to Cd. Here, we observed that the tested B. carinata exhibited a strong tolerance to Cd (1 mmol/L CdCl2 solution) and exhibited a significant ability to accumulate Cd, particularly in its roots, with concentrations reaching up to 3000 mg/kg. Additionally, we found that the total oil content of B. carinata seeds harvested from the Cd-contaminated soil did not show a significant change, but there were noticeable alterations in certain constituents. The activities of antioxidant enzymes, including catalase (CAT), superoxide dismutase (SOD), peroxidase (POD), and ascorbate peroxidase (APX), were observed to significantly increase after treatment with different concentrations of CdCl2 solutions (0.25 mmol/L, 0.5 mmol/L, and 1 mmol/L CdCl2). This suggests that these antioxidant enzymes work together to enhance Cd tolerance. Comparative transcriptome analysis was conducted to identify differentially expressed genes (DEGs) in the shoots and roots of B. carinata when exposed to a 0.25 mmol/L CdCl2 solution for 7 days. A total of 631 DEGs were found in the shoots, while 271 DEGs were found in the roots. It was observed that these selected DEGs, which responded to Cd stress, also showed differential expression after exposure to PbCl2. This suggests that B. carinata may employ a similar molecular mechanism when tolerating these heavy metals. The functional annotation of the DEGs showed enrichment in the categories of 'inorganic ion transport and metabolism' and 'signal transduction mechanisms'. Additionally, the DEGs involved in 'tryptophan metabolism' and 'zeatin biosynthesis' pathways were found to be upregulated in both the shoots and roots of B. carinata, suggesting that the plant can enhance its tolerance to Cd by promoting the biosynthesis of plant hormones. These results highlight the strong Cd tolerance of B. carinata and its potential use as a Cd accumulator. Overall, our study provides valuable insights into the mechanisms underlying heavy metal tolerance in B. carinata. [ABSTRACT FROM AUTHOR]

Soil salinization, an intractable problem, is becoming increasingly serious and threatening fragile natural ecosystems and even the security of human food supplies. Sorghum (Sorghum bicolor L.) is one of the main crops growing in salinized soil. However, the tolerance mechanisms of sorghum to saline–alkaline soil are still ambiguous. In this study, RNA sequencing was carried out to explore the gene expression profiles of sorghum treated with sodium bicarbonate (150 mM, pH = 8.0, treated for 0, 6, 12 and 24 h). The results show that 6045, 5122, 6804, 7978, 8080 and 12,899 differentially expressed genes (DEGs) were detected in shoots and roots after 6, 12 and 24 h treatments, respectively. GO, KEGG and weighted gene co-expression analyses indicate that the DEGs generated by saline–alkaline stress were primarily enriched in plant hormone signal transduction, the MAPK signaling pathway, starch and sucrose metabolism, glutathione metabolism and phenylpropanoid biosynthesis. Key pathway and hub genes (TPP1, WRKY61, YSL1 and NHX7) are mainly related to intracellular ion transport and lignin synthesis. The molecular and physiological regulation processes of saline–alkali-tolerant sorghum are shown by these results, which also provide useful knowledge for improving sorghum yield and quality under saline–alkaline conditions. [ABSTRACT FROM AUTHOR]

Recently, pollution caused by the heavy metal Cd has seriously affected the environment and agricultural crops. While Sinapis alba is known for its edible and medicinal value, its tolerance to Cd and molecular response mechanism remain unknown. This study aimed to analyze the tolerance of S. alba to Cd and investigate its molecular response mechanism through transcriptomic and physiological indicators. To achieve this, S. alba seedlings were treated with different concentrations of CdCl2 (0.25 mmol/L, 0.5 mmol/L, and 1.0 mmol/L) for three days. Based on seedling performance, S. alba exhibited some tolerance to a low concentration of Cd stress (0.25 mmol/L CdCl2) and a strong Cd accumulation ability in its roots. The activities and contents of several antioxidant enzymes generally exhibited an increase under the treatment of 0.25 mmol/L CdCl2 but decreased under the treatment of higher CdCl2 concentrations. In particular, the proline (Pro) content was extremely elevated under the 0.25 and 0.5 mmol/L CdCl2 treatments but sharply declined under the 1.0 mmol/L CdCl2 treatment, suggesting that Pro is involved in the tolerance of S. alba to low concentration of Cd stress. In addition, RNA sequencing was utilized to analyze the gene expression profiles of S. alba exposed to Cd (under the treatment of 0.25 mmol/L CdCl2). The results indicate that roots were more susceptible to disturbance from Cd stress, as evidenced by the detection of 542 differentially expressed genes (DEGs) in roots compared to only 37 DEGs in leaves. GO and KEGG analyses found that the DEGs induced by Cd stress were primarily enriched in metabolic pathways, plant hormone signal transduction, and the biosynthesis of secondary metabolites. The key pathway hub genes were mainly associated with intracellular ion transport and cell wall synthesis. These findings suggest that S. alba is tolerant to a degree of Cd stress, but is also susceptible to the toxic effects of Cd. Furthermore, these results provide a theoretical basis for understanding Cd tolerance in S. alba. [ABSTRACT FROM AUTHOR]

Arabis paniculata is a newly discovered hyperaccumulator known for its ability to accumulate multiple metals. WRKY proteins play a significant role in plant responses to various stresses, including cadmium (Cd) stress. However, there is limited research on the molecular biology of Arabis paniculata, especially regarding the WRKY family. In this study, we conducted third-generation sequencing for functional annotation and structural analysis of Arabis paniculata. We obtained 41,196 high-quality isoforms from the full-length transcriptome, with an average length of 1043 bp. A total of 26,670 genes were predicted against NR, Swissprot, KOG, and KEGG databases. Functional comparison using the KOG database revealed excellent annotation in 25 functional categories, with general function prediction (1822 items) being the most predominant. MISA analysis identified 12,593 SSR loci, with single nucleotide repeats being the largest category (44.83% of the total). Moreover, our predictions provide insights into 20,022 coding sequences (CDS), 811 transcription factors, and 17,963 LncRNAs. In total, 34 WRKY gene sequences were identified in Arabis paniculata. Bioinformatics analysis revealed diverse numbers of amino acids in these WRKYs (113 to 545 aa), and a conserved WRKYGQK sequence within the N-terminus of the WRKY protein. Furthermore, all WRKYs were found to be localized in the nucleus. Phylogenetic analysis classified the WRKY genes into three categories: I (14 members), II (17 members), and III (3 members). Category II was subsequently divided into four sub-categories: II-a (8 members), II-b (1 member), II-c (1 member), and II-d (7 members). Our quantitative real-time polymerase chain reaction (qRT-PCR) experiments revealed that ApWRKY23 and ApWRKY34 exhibited the highest expression levels at the 24-h time point, suggesting their potential role as the candidate genes for Cd stress response. These findings contribute to our understanding of the genomic information of Arabis paniculata and provide a basis for the analysis of its genetic diversity. Additionally, this study paves the way for a comprehensive exploration of the molecular mechanisms underlying the WRKY genes in Arabis paniculata under Cd stress conditions. [ABSTRACT FROM AUTHOR]

Cadmium (Cd) is a toxic heavy metal that seriously affects metabolism after accumulation in plants, and it also causes adverse effects on humans through the food chain. The HIPP gene family has been shown to be highly tolerant to Cd stress due to its special domain and molecular structure. This study described the Cd-induced gene ApHIPP26 from the hyperaccumulator Arabis paniculata. Its subcellular localization showed that ApHIPP26 was located in the nucleus. Transgenic Arabidopsis overexpressing ApHIPP26 exhibited a significant increase in main root length and fresh weight under Cd stress. Compared with wild-type lines, Cd accumulated much more in transgenic Arabidopsis both aboveground and underground. Under Cd stress, the expression of genes related to the absorption and transport of heavy metals underwent different changes in parallel, which were involved in the accumulation and distribution of Cd in plants, such as AtNRAMP6 and AtNRAMP3. Under Cd stress, the activities of antioxidant enzymes (superoxide dismutase, peroxidase, catalase, and ascorbate peroxidase) in the transgenic lines were higher than those in the wild type. The physiological and biochemical indices showed that the proline and chlorophyll contents in the transgenic lines increased significantly after Cd treatment, while the malondialdehyde (MDA) content decreased. In addition, the gene expression profile analysis showed that ApHIPP26 improved the tolerance of Arabidopsis to Cd by regulating the changes of related genes in plant hormone signal transduction pathway. In conclusion, ApHIPP26 plays an important role in cadmium tolerance by alleviating oxidative stress and regulating plant hormones, which provides a basis for understanding the molecular mechanism of cadmium tolerance in plants and provides new insights for phytoremediation in Cd-contaminated areas. [ABSTRACT FROM AUTHOR]

Maize is often subjected to various environmental stresses. The strictosidine synthase-like (SSL) family is thought to catalyze the key step in the monoterpene alkaloids synthesis pathway in response to environmental stresses. However, the role of ZmSSL genes in maize growth and development and its response to stresses is unknown. Herein, we undertook the systematic identification and analysis of maize SSL genes. Twenty SSL genes were identified in the maize genome. Except for chromosomes 3, 5, 6, and 10, they were unevenly distributed on the remaining 6 chromosomes. A total of 105 SSL genes from maize, sorghum, rice, Aegilops tauschii, and Arabidopsis were divided into five evolutionary groups, and ZmSSL gene structures and conserved protein motifs in the same group were similar. A collinearity analysis showed that tandem duplication plays an important role in the evolution of the SSL family in maize, and ZmSSL genes share more collinear genes in crops (maize, sorghum, rice, and Ae. tauschii) than in Arabidopsis. Cis-element analysis in the ZmSSL gene promoter region revealed that most genes contained many development and stress response elements. We evaluated the expression levels of ZmSSL genes under normal conditions and stress treatments. ZmSSL4–9 were widely expressed in different tissues and were positively or negatively regulated by heat, cold, and infection stress from Colletotrichum graminicola and Cercospora zeina. Moreover, ZmSSL4 and ZmSSL5 were localized in the chloroplast. Taken together, we provide insight into the evolutionary relationships of the ZmSSL genes, which would be useful to further identify the potential functions of ZmSSLs in maize. [ABSTRACT FROM AUTHOR]

Trisomy harbouring an extra copy of the chromosome generally causes a variety of physical and intellectual disabilities in mammals but is an extremely rare and important genetic stock in plants. In this study, a spontaneous trisomy plant in a Chinese kale accession (Brassica oleracea var. alboglabra, CC, 2n = 18) that showed significantly smaller plant architecture when compared to other normal plants was found and subsequently confirmed by cytological analysis in which the chromosome set of 2n = 19 and abnormal chromosome behaviour were observed. Then, based on the gene expression deviation determined by RNA-seq, the extra chromosome copy in this trisomy was identified as chromosome C2 (TC2). Compared to normal plants, TC2 not only showed generally upregulated differentially expressed genes (DEGs) on chromosome C2 (97.21% of 573 DEGs in chromosome C2) but also exhibited a whole-genome expression perturbation, in which 1329 DEGs (69.87% of total DEGs) were observed along two-copy chromosomes (trans-effect). The genes in the high (gene expression value > 100) and medium (100 > gene expression value > 10) groups were more prone to decreased gene expression, but the genes in the low group (10 > gene expression value > 0.1) showed upregulated expression deviation. In addition, GO (Gene ontology) annotation analysis revealed that the upregulated DEGs in the trans-effect group were overrepresented by the genes involved in the response to stress category, while the downregulated DEGs in the trans-effect group were mostly enriched in pathways related to DNA synthesis. In conclusion, we think our results can provide important resources for genetic analysis in B. oleracea and show some novel insights for understanding trisomy plant biology. [ABSTRACT FROM AUTHOR]

In plants, expansin genes are responsive to heavy metal exposure. To study the bioremediary potential of this important gene family, we discovered a root-expressed expansin gene in sorghum, SbEXPA11, which is notably upregulated following cadmium (Cd) exposure. However, the mechanism underlying the Cd detoxification and accumulation mediated by SbEXPA11 in sorghum remains unclear. We overexpressed SbEXPA11 in sorghum and compared wild-type (WT) and SbEXPA11-overexpressing transgenic sorghum in terms of Cd accumulation and physiological indices following Cd. Compared with the WT, we found that SbEXPA11 mediates Cd tolerance by exerting reactive oxygen species (ROS)-scavenging effects through upregulating the expression of antioxidant enzymes. Moreover, the overexpression of SbEXPA11 rescued biomass production by increasing the photosynthetic efficiency of transgenic plants. In the pot experiment with a dosage of 10 mg/kg Cd, transgenic sorghum plants demonstrated higher efficacy in reducing the Cd content of the soil (8.62 mg/kg) compared to WT sorghum plants (9.51 mg/kg). Subsequent analysis revealed that the SbbHLH041 transcription factor has the ability to induce SbEXPA11 expression through interacting with the E-box located within the SbEXPA11 promoter. These findings suggest that the SbbHLH041–SbEXPA11 cascade module may be beneficial for the development of phytoremediary sorghum varieties. [ABSTRACT FROM AUTHOR]

Simple Summary: Hyperthermophilic Thermotoga spp. are promising candidates for the metabolic engineering of cellulosic ethanol producing strains. However, Thermotoga spp. are hydrogen producers, and none of them have been found to produce significant amount of ethanol. In this study, we focused on the enzymes responsible for the part of the ethanol production pathway from ac-CoA to ethanol. Aldehyde dehydrogenases (Aldhs) and alcohol dehydrogenases (Adhs) are the vital enzymes involved in the metabolism of ethanol in Thermotoga spp.. However, the biochemical properties of a number of Adhs related to ethanol formation and consumption have not been identified until now. The aim of this study was to determine the role of putative Adhs in T. neapolitana (Tne) in the pathway from ac-CoA to ethanol. We found that the Fe-AAdh (encoded by CTN_0580) and Fe-Adh2 (encoded by CTN_1756) were the main enzymes responsible for ethanol production in Tne. While Zn-Adh (encoded by CTN_0257) was identified as the main protein responsible for ethanol consumption in the acid environment and Fe-Adh1 (encoded by CTN_1655) played a minor role in ethonal production and consumption in Tne. Basing on these results, it will be helpful to construct and assemble a novel hyperthermophilic strain to produce cellulosic ethanol. Hyperthermophilic Thermotoga spp. are candidates for cellulosic ethanol fermentation. A bifunctional iron-acetaldehyde/alcohol dehydrogenase (Fe-AAdh) has been revealed to catalyze the acetyl-CoA (Ac-CoA) reduction to form ethanol via an acetaldehyde intermediate in Thermotoga neapolitana (T. neapolitana). In this organism, there are three additional alcohol dehydrogenases, Zn-Adh, Fe-Adh1, and Fe-Adh2, encoded by genes CTN_0257, CTN_1655, and CTN_1756, respectively. This paper reports the properties and functions of these enzymes in the fermentation pathway from Ac-CoA to ethanol. It was determined that Zn-Adh only exhibited activity when oxidizing ethanol to acetaldehyde, and no detectable activity for the reaction from acetaldehyde to ethanol. Fe-Adh1 had specific activities of approximately 0.7 and 0.4 U/mg for the forward and reverse reactions between acetaldehyde and ethanol at a pHopt of 8.5 and Topt of 95 °C. Catalyzing the reduction of acetaldehyde to produce ethanol, Fe-Adh2 exhibited the highest activity of approximately 3 U/mg at a pHopt of 7.0 and Topt of 85 °C, which were close to the optimal growth conditions. These results indicate that Fe-Adh2 and Zn-Adh are the main enzymes that catalyze ethanol formation and consumption in the hyperthermophilic bacterium, respectively. [ABSTRACT FROM AUTHOR]

Interspecific hybridization and accompanying backcross between crops and relatives have been recognized as a powerful method to broaden genetic diversity and transfer desirable adaptive traits. Crosses between radish (Raphanus sativus, RR, 2n = 18) and Brassica oleracea (CC, 2n = 18), which formed allotetraploid Raphanobrassica (RRCC, 2n = 36), initiated the construction of resynthetic allopolyploids. However, these progenies from the backcrosses between Raphanobrassica and the two diploid parents have not been well deciphered. Herein, thousands of backcrosses using both Raphanobrassica and the two diploid parents as pollen donors were employed. Several hybrids with expected (2n = 27) and unexpected chromosome numbers (2n = 26 and 2n = 36) were obtained. Fluorescence in situ hybridization (FISH) analysis with R-genome-specific sequences as probes demonstrated that the genome structures of the two expected hybrids were RRC and CCR, and the genome structures of the three unexpected hybrids were RRRC, CCCR, and RRC' (harbouring an incomplete C genome). The unexpected hybrids with extra R or C genomes showed similar phenotypic characteristics to their expected hybrids. FISH analysis with C-genome-specific sequences as probes demonstrated that the unexpected allotetraploid hybrids exhibited significantly more intergenomic chromosome pairings than the expected hybrids. The expected and unexpected hybrids provide not only novel germplasm resources for the breeding of radish and B. oleracea but also very important genetic material for genome dosage analysis. [ABSTRACT FROM AUTHOR]

In order to realize direct manufacturing of cavity inside metal without assembly, this paper investigates the mechanism of cavity manufacturing inside metals under compound acoustic fields. First, a local acoustic cavitations model is established to study the single bubble generation at fixed point in Ga-In metal droplets, which has a low melting point. Second, cavitation-levitation acoustic composite fields are integrated with the experimental system for simulation and experimentation. Through COMSOL simulation and experimentation, this paper expounds the manufacturing mechanism of metal internal cavity under acoustic composite fields. The key problem is to control the duration of the cavitation bubble by controlling the driving acoustic pressure's frequency and the magnitude of ambient acoustic pressure. Under the condition of composite acoustic fields, this method realizes the direct fabrication of cavity inside Ga-In alloy for the first time. [ABSTRACT FROM AUTHOR]

Cadmium (Cd) is a heavy metal nonessential for plants; this toxic metal accumulation in crops has significant adverse effects on human health. The crosstalk between copper (Cu) and Cd has been reported; however, the molecular mechanisms remain unknown. The present study investigated the function of wheat Cu transporter 3D (TaCOPT3D) in Cd tolerance. The TaCOPT3D transcripts significantly accumulated in wheat roots under Cd stress. Furthermore, TaCOPT3D-overexpressing lines were compared to wildtype (WT) plants to test the role of TaCOPT3D in Cd stress response. Under 20 mM Cd treatment, TaCOPT3D-overexpressing lines exhibited more biomass and lower root, shoot, and grain Cd accumulation than the WT plants. In addition, overexpression of TaCOPT3D decreased the reactive oxygen species (ROS) levels and increased the active antioxidant enzymes under Cd conditions. Moreover, the transcription factor (TF) TaWRKY22, which targeted the TaCOPT3D promoter, was identified in the regulatory pathway of TaCOPT3D under Cd stress. Taken together, these results show that TaCOPT3D plays an important role in regulating plant adaptation to cadmium stress through bound by TaWRKY22. These findings suggest that TaCOPT3D is a potential candidate for decreasing Cd accumulation in wheat through genetic engineering. [ABSTRACT FROM AUTHOR]

Femtosecond laser ablation spark-induced breakdown spectroscopy (fs LA-SIBS) was developed to quantitatively analyze vanadium, molybdenum, chromium, manganese, aluminum, nickel, and copper in a steel alloy. In the experiment, a femtosecond laser operating at a repetition rate of 1 kHz was used as the laser ablation source, and spark discharge was utilized to re-excite the plasma and enhance the atomic intensity. A compact fiber spectrometer was used to record and analyze the plasma emission spectra in a nongated signal-recording mode. The calibration curves of V, Mo, Cr, Mn, Al, Ni, and Cu elements in steel alloy samples were established, and the detection limits of these elements were determined to be 10.9, 12.6, 4.0, 5.7, 8.7, 7.9, and 3.1 ppm with fs LA-SIBS, respectively, which were 4–12-fold better than those achieved with femtosecond laser-induced breakdown spectroscopy (fs LIBS). Compared with conventional LIBS, the fs LA-SIBS technique provided a rapid and high spatial resolution approach to quantitative elemental analysis, with better analytical sensitivity. [ABSTRACT FROM AUTHOR]

Aimed at the current major problems of "slipping, misstep and misplace" in the robot stair climbing process and at reaching the goals of being "flexible, adaptive and stable" in multiple scenarios, a two-wheeled robot with a "4R+2P" pattern that can independently climb different structures of stairs is proposed, and a gait pattern for stair climbing through a four-step cycle of "approaching, lifting, putting and retraction" based on this pattern is proposed. Relevant kinematic and dynamic models are established to study the constraint relation. In the experiment, the robot goes up and down different stairs. The simulation and experimental results showed that the two-wheeled robot with a "4R+2P" configuration fundamentally realized up–down stair climbing, adaptive steering and multiscene functions. [ABSTRACT FROM AUTHOR]

Although microbial fuel cells (MFCs) have been developed over the past decade, they still have a low power production bottleneck for practical engineering due to the ineffective interfacial bioelectrochemical reaction between exoelectrogens and anode surfaces using traditional carbonaceous materials. Constructing anodes from biomass is an effective strategy to tackle the current challenges and improve the efficiency of MFCs. The advantage features of these materials come from the well-decorated aspect with an enriched functional group, the turbostratic nature, and porous structure, which is important to promote the electrocatalytic behavior of anodes in MFCs. In this review article, the three designs of biomass-derived carbon anodes based on their final products (i.e., biomass-derived nanocomposite carbons for anode surface modification, biomass-derived free-standing three-dimensional carbon anodes, and biomass-derived carbons for hybrid structured anodes) are highlighted. Next, the most frequently obtained carbon anode morphologies, characterizations, and the carbonization processes of biomass-derived MFC anodes were systematically reviewed. To conclude, the drawbacks and prospects for biomass-derived carbon anodes are suggested. [ABSTRACT FROM AUTHOR]

Collecting sweat and monitoring its rate is important for determining body condition and further sweat analyses, as this provides vital information about physiologic status and fitness level and could become an alternative to invasive blood tests in the future. Presented here is a one-dollar, disposable, paper-based microfluidic chip for real-time monitoring of sweat rate. The chip, pasted on any part of the skin surface, consists of a skin adhesive layer, sweat-proof layer, sweat-sensing layer, and scale layer with a disk-shape from bottom to top. The sweat-sensing layer has an impressed wax micro-channel containing pre-added chromogenic agent to show displacement by sweat, and the sweat volume can be read directly by scale lines without any electronic elements. The diameter and thickness of the complete chip are 25 mm and 0.3 mm, respectively, permitting good flexibility and compactness with the skin surface. Tests of sweat flow rate monitoring on the left forearm, forehead, and nape of the neck of volunteers doing running exercise were conducted. Average sweat rate on left forearm (1156 g·m−2·h−1) was much lower than that on the forehead (1710 g·m−2·h−1) and greater than that on the nape of the neck (998 g·m−2·h−1), in good agreement with rates measured using existing common commercial sweat collectors. The chip, as a very low-cost and convenient wearable device, has wide application prospects in real-time monitoring of sweat loss by body builders, athletes, firefighters, etc., or for further sweat analyses. [ABSTRACT FROM AUTHOR]

Aiming at the key factors affecting the quality and efficiency of high-energy in-beam machining, this paper studies the broadband acoustic focusing effect based on a discrete temperature gradient. Firstly, the basic theory and mathematical model of temperature-controlled acoustic focusing are established. Secondly, the acoustic focusing effect is achieved by combining the design of metasurfaces and discrete temperature. Then, the acoustic pressure and intensity distribution of acoustic focusing under a discrete temperature gradient are simulated and experimentally studied. The results show that the phase delay of transmission and reflection of acoustic wave covers the 2π interval by changing the temperature in different transmission units, which provides a theoretical basis for the processing of the acoustic focusing cavity. [ABSTRACT FROM AUTHOR]

Micro-dosing of fine cohesive powders is the key technology in additive manufacturing and especially in high-potency active pharmaceutical ingredients (HPAPI). However, high accuracy micro-dosing (<5 mg) of fine cohesive powder is less trivial and still remains a challenge because it is difficult to eliminate the aggregation phenomena caused by the strong interparticle cohesive forces (in small capillaries). This paper presents a novel micro-dose method of fine cohesive powders via a pulse inertia force system. A piezoelectric actuator is used to provide a high enough pulse inertia force for a tapered glass nozzle and drive powder particles in the nozzle to be discharged from the nozzle orifice with the help of particle self-gravity. The nozzles with outlet diameters in the range of 100-2000 μm were fabricated via a glass heating process. The α-lactose monohydrate powder is used as the micro-dosing powder. The influences of the tapered nozzle outlet diameter, amplitude of the applied pulse voltage, and angle of the nozzle axis on micro-dosing mass are researched. The minimum mean dose mass is 0.6 mg for a single pulse inertia force. The coefficient of variation of dose mass, which represents the micro-dosing stability, can be controlled below 5% when the dose mass is relatively small. [ABSTRACT FROM AUTHOR]

GaN crystals are synthesized by recrystallization technique in Na-Li-Ca alloy melt under different N2 pressure. X-ray powder diffraction results confirm that the structure of crystals is GaN with wurtzite type and there still have raw powders remaining. The total mass of GaN decreases with the nitrogen pressure reduces. No GaN crystals are found in the solution under N2 pressure of 0.4 MPa. The morphologies of the crystal are mainly prism and pyramid. The size of the crystal increases when closer to the liquid surface. Raman spectra indicates that these crystals are stress-free and crystal grown at 3.6 MPa has high structural quality or low impurity concentrations. The results reveal that the solubility and supersaturation of the solution are controlled by N2 pressure. The principle of GaN crystal synthesis by recrystallization is discussed. [ABSTRACT FROM AUTHOR]

This work proposes a detailed process of micro/nano-structure surface modification in relation to temperature field. In this paper, a femtosecond laser is used to induce the surface morphology of a silicon substrate. We provide a new method for the fabrication of a micro/nano-cantilever probe by controlling the aspect ratio of the silicon surface morphology. A computational method is used to investigate the mechanical behaviors of early perturbation to late-stage structure. A diffuse interface model is employed to describe the evolution and provide a general framework. The theoretical model of femtosecond laser control surface morphology is verified by the experiments. For systematic study, the model involves the interface energy and kinetics of diffusion. This method provides an effective way to improve the sensitivity of micro/nano-cantilever sensors. [ABSTRACT FROM AUTHOR]

Catalytic gas sensors are widely used for measuring concentrations of combustible gases to prevent explosive accidents in industrial and domestic environments. The typical structure of the sensitive element of the sensor consists of carrier and catalyst materials, which are in and around a platinum coil. However, the size of the platinum coil is micron-grade and typically has a cylindrical shape. It is extremely difficult to control the amount of carrier and catalyst materials and to fulfill the inner cavity of the coil, which adds to the irreproducibility and uncertainty of the sensor performance. To solve this problem, this paper presents a new method which uses a drop-on-demand droplet generator to add the carrier and catalytic materials into the platinum coil and fabricate the micropellistor. The materials in this article include finely dispersed Al2O3 suspension and platinum palladium (Pd-Pt) catalyst. The size of the micropellistor with carrier material can be controlled by the number of the suspension droplets, while the amount of Pd-Pt catalyst can be controlled by the number of catalyst droplets. A bridge circuit is used to obtain the output signal of the gas sensors. The original signals of the micropellistor at 140 mV and 80 mV remain after aging treatment. The sensitivity and power consumption of the pellistor are 32 mV/% CH4 and 120 mW, respectively. [ABSTRACT FROM AUTHOR]

Due to the fact that the green features of papaya skin are the same colour as the leaves, the dense growth of fruits causes serious overlapping occlusion phenomenon between them, which increases the difficulty of target detection by the robot during the picking process. This study proposes an improved YOLOv5s-Papaya deep convolutional neural network for achieving dense multitarget papaya detection in natural orchard environments. The model is based on the YOLOv5s network architecture and incorporates the Ghost module to enhance its lightweight characteristics. The Ghost module employs a strategy of grouped convolutional layers and weighted fusion, allowing for more efficient feature representation and improved model performance. A coordinate attention module is introduced to improve the accuracy of identifying dense multitarget papayas. The fusion of bidirectional weighted feature pyramid networks in the PANet structure of the feature fusion layer enhances the performance of papaya detection at different scales. Moreover, the scaled intersection over union bounding box regression loss function is used rather than the complete intersection over union bounding box regression loss function to enhance the localisation accuracy of dense targets and expedite the convergence of the network model training. Experimental results show that the YOLOv5s-Papaya model achieves detection average precision, precision, and recall rates of 92.3%, 90.4%, and 83.4%, respectively. The model's size, number of parameters, and floating-point operations are 11.5 MB, 6.2 M, and 12.8 G, respectively. Compared to the original YOLOv5s network model, the model detection average precision is improved by 3.6 percentage points, the precision is improved by 4.3 percentage points, the number of parameters is reduced by 11.4%, and the floating-point operations are decreased by 18.9%. The improved model has a lighter structure and better detection performance. This study provides the theoretical basis and technical support for intelligent picking recognition of overlapping and occluded dense papayas in natural environments. [ABSTRACT FROM AUTHOR]

Images taken in low-light situations frequently have a significant quality reduction. Taking care of these degradation problems in low-light images is essential for raising their visual quality and enhancing high-level visual task performance. However, because of the inherent information loss in dark images, conventional Retinex-based approaches for low-light image enhancement frequently fail to accomplish real denoising. This research introduces DEGANet, a revolutionary deep-learning framework created particularly for improving and denoising low-light images. To overcome these restrictions, DEGANet makes use of the strength of a Generative Adversarial Network (GAN). The Decom-Net, Enhance-Net, and an Adversarial Generative Network (GAN) are three linked subnets that make up our novel Retinex-based DEGANet architecture. The Decom-Net is in charge of separating the reflectance and illumination components from the input low-light image. This decomposition enables Enhance-Net to effectively enhance the illumination component, thereby improving the overall image quality. Due to the complicated noise patterns, fluctuating intensities, and intrinsic information loss in low-light images, denoising them presents a significant challenge. By incorporating a GAN into our architecture, DEGANet is able to effectively denoise and smooth the enhanced image as well as retrieve the original data and fill in the gaps, producing an output that is aesthetically beautiful while maintaining key features. Through a comprehensive set of studies, we demonstrate that DEGANet exceeds current state-of-the-art methods in both terms of image enhancement and denoising quality. [ABSTRACT FROM AUTHOR]

Flexible pressure sensors play an important role in flexible robotics, human-machine interaction (HMI), and human physiological information. However, most of the reported flexible pressure sensors suffer from a highly nonlinear response and a significant decrease in sensitivity at high pressures. Herein, we propose a flexible novel iontronic pressure sensor based on monolayer molybdenum disulfide (MoS2). Based on the unique structure and the excellent mechanical properties as well as the large intercalation capacitance of MoS2, the prepared sensor holds an ultra-high sensitivity (Smax = 89.75 kPa−1) and a wide sensing range (722.2 kPa). Further, the response time and relaxation time of the flexible sensor are only 3 ms, respectively, indicating that the device can respond to external pressure rapidly. In addition, it shows long-term cycling stability (over 5000 cycles with almost no degradation) at a high pressure of 138.9 kPa. Finally, it is demonstrated that the sensor can be used in physiological information monitoring and flexible robotics. It is anticipated that our prepared sensor provide a reliable approach to advance the theory and practicality of the flexible sensor electronics. [ABSTRACT FROM AUTHOR]

Wear is one of the main factors of machine failure. If abnormal wear was not detected in time during the operation of a mechanical system, it probably leads to catastrophic consequences. The wear debris in the lubricating oil circuit contains much information about equipment wear. Consequently, debris detection is regarded as an effective way to detect mechanical faults. In this paper, an inductive debris sensor based on a high-gradient magnetic field is presented for high-throughput lubricating oil circuits. The excitation coil of the sensor is driven by a constant current to generate a high-gradient magnetic field, and the induction coil is wound around the flow path. When wear debris cuts the magnetic line through the flow path, a corresponding induced voltage is generated. The experimental results show that the sensor output signal is linear with the drive current and the wear debris velocity. In addition, the shortest distance between the particles that the sensor output signals can be completely separated is 25 mm. When the distance is smaller, the induced signals are superimposed. [ABSTRACT FROM AUTHOR]

As an emerging orbital system with flexibility and brand application prospects, the highly elliptical orbit synthetic aperture radar (HEO SAR) can achieve both a low orbit detailed survey and continuous earth surface observation in high orbit, which could be applied to marine reconnaissance and surveillance. However, due to its large eccentricity, two challenges have been faced in the signal processing of HEO SAR at present. The first challenge is that the traditional equivalent squint range model (ESRM) fails to accurately describe the entire range for the whole orbit period including the perigee, the apogee, and the squint subduction section. The second one is to exploit an efficient HEO SAR imaging algorithm in the squinted case which solves the problem that traditional imaging algorithm fails to achieve the focused imaging processing of HEO SAR during the entire orbit period. In this paper, a novel imaging algorithm for HEO SAR is presented. Firstly, the signal model based on the geometric configuration of the large elliptical orbit is established and the Doppler parameter characteristics of SAR are analyzed. Secondly, due to the particularity of Doppler parameters variation in the whole period of HEO, the equivalent velocity and equivalent squint angle used in MESRM can no longer be applied, a refined fourth-order equivalent squint range model(R4-ESRM) that is suitable for HEO SAR is developed by introducing fourth-order Doppler parameter into Modified ESRM (MESRM), which accurately reconstructs the range history of HEO SAR. Finally, a novel imaging algorithm combining azimuth resampling and time-frequency domain hybrid correlation based on R4-ESRM is derived. Simulation is performed to demonstrate the feasibility and validity of the presented algorithm and range model, showing that it achieves the precise phase compensation and well focusing. [ABSTRACT FROM AUTHOR]

So far, it is still a great challenge to prepare high efficiency organic–inorganic perovskite solar cells in ambient air. Specifically, moisture is easily combined with the perovskite material during the spin-coating process, which result in porous perovskite films with poor surface morphology. In this study, we investigated crystalline Ag-doped perovskite films by a one-step spin-coating method in air with 30–40% relative humidity (RH), in which ethyl acetate (EA) was used as antisolvent can absorb moisture in air to reduced nucleation density. More significantly, EA is a feasible and environmentally friendly solvent to replace highly toxic solvent. Moreover, 1.0% Ag-doped device shows a highest power conversion efficiency (PCE) of 14.36%. The improved performance is not only ascribed to the superior CH3NH3PbI3 film with high crystallinity but to the versatile tunability of energy band structure. [ABSTRACT FROM AUTHOR]

The integration of distributed generation (DG) into a distribution network changes the network's topology. Three-stage current protection for a radial distribution network cannot meet the requirements of relay protection for a distribution network with DG. A directional relay that is based on the positive sequence fault component (PSFC) can effectively identify faults in the positive and negative directions and can be used to solve the adaptability problem with three-stage current protection in a multi-source distribution network. However, DG and the traditional generators have different fault characteristics and are affected by different control strategies, which may lower the sensitivity of a directional relay based on the PSFC or even cause mal-operation. Focusing on this problem, this paper proposes an improved directional relay that is adapted to a distribution network with inverter-interfaced generation (IIG) integration. The improved scheme divides the operation zone of the directional relay based on the PSFC into sensitive and insensitive areas. If the result of a phase comparison is located in the insensitive area, further identification is needed according to a comparison of the current amplitudes. Simulation experiments are carried out based on PSCAD/EMTDC, and their results verify the correctness of the proposed scheme. [ABSTRACT FROM AUTHOR]