基于逆运动学降维求解与YOLO v4的果实采摘系统研究

为提高采摘设备的执行效率，采用六自由度机械臂、树莓派、Android手机端和服务器设计了一种智能果实采摘系统，该系统可自动识别不同种类的水果，并实现自动采摘，可通过手机端远程控制采摘设备的起始和停止，并远程查看实时采摘视频。提出通过降低自由度和使用二维坐标系来实现三维坐标系中机械臂逆运动学的求解过程，从而避免了大量的矩阵运算，使机械臂逆运动学求解过程更加简捷。利用Matlab中的Robotic Toolbox进行机械臂三维建模仿真，验证了降维求解的可行性。在果实采摘流程中，为了使机械臂运动轨迹更加稳定与协调，采用五项式插值法对机械臂进行运动轨迹规划控制。基于Darknet深度学习框架的YOLO v4目标检测识别算法进行果实目标检测和像素定位，在Ubuntu 19.10操作系统中使用2000幅图像作为训练集，分别对不同种类的果实进行识别模型训练，在GPU环境下进行测试，结果表明，每种果实识别的准确率均在94%以上，单次果实采摘的时间约为17s。经过实际测试，该系统具有良好的稳定性、实时性以及对果实采摘的准确性。     

11份玉米自交系单株产量等性状的配合力与遗传参数研究

旨在研究玉米自交系单株产量等性状的配合力、遗传力及反交效应,为玉米自交系的选育和杂交种的组配提供依据。以11份玉米自交系为试材,按Griffing Ⅲ完全双列杂交法组配110个组合,观测杂交种的单株产量、株高、穗位高、雄穗分支数、雄穗主轴长、抽丝期和开花期等7个性状的表型数据,并对上述性状的一般配合力、特殊配合力、广义遗传力、狭义遗传力和反交效应进行估算。供试材料除雄穗主轴长的特殊配合力差异不显著外,其余性状的一般配合力和特殊配合力差异均达到极显著水平。JZ3和JZ6两个自交系单株产量的一般配合力为极显著正值,两对组合JZ9×JZ2和JZ2×JZ9、JZ6×JZ3和JZ3×JZ6的单株产量具有最大的正向SCA效应值,分别为40.68 g和35.24 g。单株产量的反交效应差异极显著,部分自交系的反交效应方差较大。7个性状的广义遗传力从大到小依次为,雄穗分支数、株高、开花期、穗位高、抽丝期、单株产量和雄穗主轴长;狭义遗传力从大到小依次为,雄穗分支数、株高、穗位高、开花期、雄穗主轴长、抽丝期和单株产量。试验结果表明单株产量性状的显性遗传方差占比最大,狭义遗传力最小,易受环境条件的影响,对该性状的选择适宜在晚代进行;单株产量性状具有显著的反交效应,故部分自交系需严格控制正反交方式。     

Verrucosamide,a Cytotoxic 1,4-Thiazepane-Containing Thiodepsipeptide from a Marine-Derived Actinomycete

A new cytotoxic thiodepsipeptide, verrucosamide (1), was isolated along with the known, related cyclic peptide thiocoraline, from the extract of a marine-derived actinomycete, a Verrucosispora sp., our strain CNX-026. The new peptide, which is composed of two rare seven-membered 1,4-thiazepane rings, was elucidated by a combination of spectral methods and the absolute configuration was determined by a single X-ray diffraction study. Verrucosamide (1) showed moderate cytotoxicity and selectivity in the NCI 60 cell line bioassay. The most susceptible cell lines were MDA-MB-468 breast carcinoma with an LD₅₀ of 1.26 µM, and COLO 205 colon adenocarcinoma with an LD₅₀ of 1.4 µM. Also isolated along with verrucosamide were three small 3-hydroxy(alkoxy)-quinaldic acid derivatives that appear to be products of the same biosynthetic pathway.     

不同根系分泌物对土壤N2O排放及同位素特征值的影响

【目的】探究植物根系分泌的主要组分（有机酸、氨基酸、糖类）对土壤N₂O排放及其微生物过程的影响,为选择适宜的植物进而控制土壤N₂O排放提供支撑。【方法】通过室内试验分别添加草酸、丝氨酸、葡萄糖于土壤中模拟根系的3种主要分泌物,每种分泌物设置两个浓度水平：低浓度（150 μg C·d ^-1）和高浓度（300 μg C·d ^-1）,另设置添加蒸馏水的对照组,共7个处理。将土壤置于120 mL玻璃瓶中进行培养,24 h内采集气体样品7次,每次培养2 h,获取N₂O排放速率、日累积排放量和同位素特征值（δ ¹⁵N ^bulk、δ ¹⁸O和SP（site preference,SP=δ ¹⁵N ^α-δ ¹⁵N ^β））。【结果】添加3种根系分泌物组分后,土壤N₂O排放速率均逐渐升高,且均高于对照。高浓度处理组N₂O累积排放量为：葡萄糖（（3.2±1.3）mg·kg ^-1·d ^-1）处理>丝氨酸（（2.6±0.5）mg·kg ^-1·d ^-1）处理>草酸（（1.4±0.2）mg·kg ^-1·d ^-1）处理,低浓度处理组为：草酸（（2.7±1.3）mg·kg ^-1·d ^-1）处理>丝氨酸（（1.8±0.4）mg·kg ^-1·d ^-1）处理>葡萄糖（（1.6±0.8）mg·kg ^-1·d ^-1）处理;添加根系分泌物的不同处理间土壤N₂O的δ ¹⁸O值无明显差异,并稳定在24.1‰—25.6‰,且均显著高于对照（（20.1±1.5）‰）;土壤N₂O的δ ¹⁵N ^bulk值与添加根系分泌物的种类有关,其中草酸处理组为（-20.06±2.22）‰、丝氨酸处理组为（-22.33±1.10）‰、葡萄糖处理组为（-13.86±1.11）‰、对照组为（-23.14±3.72）‰。各处理土壤N₂O的SP值的变化范围为13.13‰—15.03‰,根系分泌物浓度越高,SP值越低。综合分析不同处理4个指标（N₂O排放速率、N₂O的δ ¹⁵N ^bulk、δ ¹⁸O和SP值）的不同时刻的检测值与日均值的校正系数,添加根系分泌物后第16小时各处理4个指标的校正系数最接近于1。【结论】在NH+ 4-300 mg N·kg ^-1的土壤环境下根系分泌物促进N₂O的排放,且在培养期间（24 h）土壤N₂O排放速率逐渐升高。高浓度处理组葡萄糖对土壤N₂O排放速率促进效果最强,低浓度处理组草酸对土壤N₂O排放速率促进效果最强。与对照组相比,根系分泌物的添加使N₂O的δ ¹⁸O值显著升高;与对照组相比,葡萄糖的添加使δ ¹⁵N ^bulk值显著升高。根系分泌物浓度越高,反硝化作用对N₂O的贡献越大。     

土壤氮素内循环对生态覆被变化响应的研究进展

随着人口增长对粮食需求的不断提高,人类对自然生态系统扰动频繁,生态覆被/土地利用变化伴随着土壤活性氮库、氮形态组分及氮素内循环过程的改变,直接影响生态系统的持续与稳定,进而引起全球气候变暖,生物多样性减少等诸多生态环境问题。生态覆被/土地利用变化是全球生态系统变化的重要内容。本综述探讨了活性氮的基本概念及其引发的环境效应,国内外自然生态系统中森林与草地间转换、自然生态系统开垦为农田、弃耕撂荒或退耕还林还草、城市化发展等生态覆被/土地利用变化对土壤氮库消长、氮矿化产物形态变化以及影响氮循环的关键土壤微生物影响等,并探讨了制约氮循环的土壤微生物研究进展。指出农业开垦或农田弃耕撂荒会导致土壤全氮大幅度下降,同时引起土壤硝态氮(NO3--N)增加,造成环境活性氮增加的风险;退耕还林修复生态覆被过程中氮库完全恢复需要漫长的时间;运用现代微生物分子生态学的前沿技术是研究土壤氮循环对生态覆被/土地利用变化响应机理的关键。本综述为自然生态系统的保护与开发利用、退化生态系统的修复与重建以及人工生态系统的科学规划等提供了理论依据。     

生物炭连续施用对农田土壤氮转化微生物及N2O排放的影响

【目的】研究连续添加生物炭6年后对农田土壤氮转化相关微生物功能基因的影响,揭示生物炭影响作物产量和N₂O排放的微生物学机制,并为生物炭的推广使用提供理论依据。【方法】通过在潮土农田设置0（BC0,对照)、2.25（BCL,低量）、6.75（BCM,中量）和11.25 t·hm^-2（BCH,高量）4个秸秆生物炭量处理的田间定位试验,采用田间观测、化学分析、荧光定量PCR（qPCR）技术,系统研究施用生物炭对氧化亚氮（N₂O）排放、氨单加氧酶（amoA）、亚硝酸还原酶（nirK、nirS）、氧化亚氮还原酶（nosZ）基因丰度及夏玉米产量的影响。【结果】与对照BC0处理相比,施用生物炭可显著提高夏玉米籽粒产量,且BCM处理籽粒产量达到最大值10 811 kg·hm^-2,显著降低夏玉米生育期N₂O累积排放量,并以BCM处理减少N₂O排放效果最优。研究还发现,在夏玉米多个生育时期,与对照比较,生物炭施用可以显著提高耕层土壤无机氮储量和土壤含水量。此外,随着生物炭施用量增加,土壤氨氧化古菌（AOA）基因拷贝数在夏玉米大喇叭口期和成熟期均表现为先上升后下降趋势,且两个时期均以BCM处理最高,而氨氧化细菌（AOB）基因拷贝数在夏玉米大喇叭口期和成熟期分别为BCH处理和BCM处理最高。与对照相比,中、高量生物炭施用（BCM、BCH处理）可显著提高夏玉米大喇叭口期和成熟期土壤反硝化作用功能相关基因（nirK、nirS、nosZ）拷贝数。相关性分析表明,夏玉米成熟期土壤N₂O排放通量与土壤硝态氮、土壤含水量、AOA、AOB、nirK、nirS、nosZ呈显著负相关关系。【结论】施用生物炭通过增加土壤微生物氮转化功能基因丰度进而降低土壤N₂O排放,通过增加土壤耕层无机氮储量和土壤水分含量进而提高作物产量,并以中等用量（6.75 t·hm^-2）施用效果最优。     

无机碳源对零价铁介导的自养脱氮序批式反应器处理高氨氮废水的影响

无机碳源作为自养微生物的能量来源,是影响自养脱氮细菌富集的重要因素。文章通过添加不同量的KHCO3作为ZVI介导的自养脱氮体系中无机碳源,研究反应体系的脱氮效果影响趋势以及适宜的无机碳源添加量。结果如下:1)KHCO3作为无机碳源可以显著提高NH^+4-N去除率,KHCO3添加量越多,其NH^+4-N去除率越高。KHCO3添加量分别为2 g,1 g,0.5 g的SBR反应器R2,R1,R0.5的NH^+4-N去除率分别为98.39%,65.18%,44.56%,相较不添加KHCO3的R0分别提高86.5%,53.29%,32.67%。ZVI的添加会降低KHCO3对NH^+4-N氧化的促进作用。2)KHCO3可明显提高TIN去除效果,促进总氮脱除的高低顺序是R1>R0.5>R2,SBR反应器R2,R1,R0.5的平均TIN去除率分别为19.01%,32.04%,27.62%,相较于空白组R0分别提高了10.60%,23.63%,19.21%。3)KHCO3可中和硝化反应产生的H^+,对反应体系具有缓冲作用,可使微生物处于较适宜的酸碱环境中,更有利于反应器的稳定运行。4)适量的无机碳源KHCO3可以促进氨氧化细菌和厌氧氨氧化细菌的活性。该研究探讨了无机碳源在零价铁脱氮体系中的影响趋势,为铁型脱氮技术提供了理论支撑。     

Regulatory effect of astragaloside IV on SDF-1α/CXCR4 in EPCs

AIM: To investigate the effects of astragaloside IV (AS-IV) on chemokine receptor 4 (CXCR4) and stromal cell-derived factor 1α (SDF-1α) in endothelial progenitor cells (EPCs) and its mechanism. METHODS: Rat bone marrow-derived EPCs were cultured in vitro. The proliferation, adhesion, migration, apoptosis and tube formation capacity of EPCs treated with AS-IV and AMD3100, a specific blocker of CXCR4, were observed. The effects of AS-IV on the expression of SDF-1α/CXCR4 at mRNA and protein levels and the protein level of p-CXCR4 in the EPCs were determined. RESULTS: AS-IV significantly enhanced the proliferation, adhesion, migration and tube formation abilities of EPCs, reduced the apoptosis of EPCs, and up-regulated the mRNA and protein expression of SDF-1α and CXCR4 and the p-CXCR4 protein level in the EPCs. On the other hand, AMD3100 blocked the up-regulating effect of AS-IV on the mRNA and protein expression of CXCR4 and the p-CXCR4 protein level in the EPCs, but did not affect the effect of AS-IV on the expression of SDF-1α. CONCLUSION: AS-IV might enhance the biological function of EPCs by regulating the expression of SDF-1α/CXCR in EPCs.     

Sulodexide protects against hyperglycemia-induced retinal vascular injury via suppressing NOX4/NLRP3 pathway

AIM To investigate the effect of sulodexide (SDX) on high glucose-induced damage in retinal microvascular endothelial cells. METHODS (1) High-fat diet combined with intraperitoneal injection of streptozocin were used to induce type 2 diabetes mellitus (DM) followed by injection of saline or SDX in C57BL/6J male mice. Retinal microvascular leakage and density, and the protein levels of NLRP3 inflammasome-related proteins, zonula occludens-1 (ZO-1) and NADPH oxidase 4 (NOX4) were measured. (2) Human retinal microvascular endothelial cells (HRMECs) were treated with normal glucose or high glucose with or without SDX, and were further transfected with siRNA to knock down NOX4, or infected by adenovirus to over-express NOX4. The protein levels of ZO-1, VE-cadherin (VE-Cad), NOX4 and NLRP3 inflammasome-related proteins as well as the level of reactive oxygen species (ROS) were detected. RESULTS Treatment with SDX increased the protein level of ZO-1, attenuated retinal leakage and NLRP3 inflammasome activation, and enhanced the density of microvasculature and the number of ganglion cells in diabetic retinas. The protein levels of ZO-1 and VE-Cad were decreased, while the levels of NOX4, NLRP3 inflammasome-related proteins and ROS generation were increased in high glucose-treated HRMECs. Silencing of NOX4 inhibited high glucose-induced increases in NLRP3 inflammasome and ROS generation, and decreases in the protein levels of ZO-1 and VE-Cad. Over-expression of NOX4 significantly increased the levels of NLRP3 inflammasome-related proteins and ROS generation in HRMECs, and reduced the protein levels of ZO-1 and VE-Cad. Treatment with SDX partly reversed NOX4 over-expression-induced changes. CONCLUSION SDX alleviates hyperglycemia-induced retinal microvascular endothelial injury via inhibiting NOX4/ROS/NLRP3 pathways.     

Role of IP3R in LH-EGFR-induced mouse oocyte meiotic resumption

AIM: To explore the effect of inositol 1, 4, 5-trisposphate receptor (IP₃R) in luteinizing hormone-epidermal growth factor receptor (LH-EGFR)-induced oocyte meiotic resumption. METHODS: Models of mouse cumulus-oocyte complexs (COCs) culture and follicle culture in vitro were generated to study the effects of 2-aminoethyl diphenyl borate (2-APB) and heparin (IP₃R specific inhibitors) on LH/EGF-induced oocyte meiotic resumption and EGF-induced cumulus cell expansion. Real-time PCR was used to detect the mRNA expression of cumulus expansion-related factors. The changes of the intracellular calcium level were monitored using Fluo 3-AM, and the cGMP level was measured by ELISA. RESULTS: The inhibitors of IP₃R, 2-APB and heparin, dramatically reversed EGF-induced oocyte maturation (P<0.05) and decreased cGMP levels in COCs (P<0.05). In addition, 2-APB and heparin reversed EGF-induced cumulus expansion, and significantly inhibited EGF-induced cumulus expansion-related factor expression (P<0.05). The activation of IP₃R increased intracellular calcium level, and the study found that 2-APB and heparin dramatically reversed EGF-induced elevation of calcium level in cumulus cells (P<0.05). Follicular culture in vitro showed that 2-APB and heparin significantly reversed the LH-induced oocyte maturation (P<0.05). CONCLUSION: LH-EGFR signaling pathway increases calcium level in cumulus cells through IP₃R, resulting in meiotic resumption.