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。     

鸡Ii结合Rab5a和Rab7b分子的分析

本研究旨在探明鸡恒定链（invariant chain，Ii）与内吞体转运蛋白Rab5a和Rab7b结合的结构域和在细胞内共定位的特征。首先，用PCR和基因突变技术将Ii胞浆区与跨膜区[Ii_{（Cyt-Tra）}]、Ii CLIP （class Ⅱ-associated invariant chain peptide）-三聚体区[Ii_{（CLIP-TRIM）}]和Ii突变体[Ii_{（M81-87aa）}、Ii_{（M91-99aa）}和Ii_{（M81-99aa）}]分别插入pET-32a和pEGFP-C1构建相应的原核和真核重组质粒。其次，将构建的含有绿色荧光蛋白的重组质粒与实验室保存的含有红色荧光Rab5a和Rab7b的重组质粒共转染至人胚胎肾细胞系293 T，观察它们的共定位。将构建的原核重组质粒进行表达和纯化，最后用拉下法和免疫印迹检测Ii与Rab5a和Rab7b的结合域。结果表明，成功构建Ii结构域及Ii突变体的重组质粒。Ii_{（Cyt-Tra）}及Ii突变体均能与Rab5a和Rab7b在细胞内共定位，而Ii_{（CLIP-TRIM）}与空载体却不能。Ii的胞浆区和跨膜区是与Rab5a和Rab7b结合的功能结构域，而不是CLIP与三聚体区。综上所述，鸡Ii与Rab5a和Rab7b共定位和结合的区域是其胞浆区和跨膜区，而不是内质网腔区。这些结果提示Rab分子参与了Ii在胞内细胞器的转运机制，为进一步研究Ii及其载体在细胞内的转运机制和功能提供了新的途径。     

绵羊WNT5A基因克隆及其组织表达分析

WNT5A(Wnt family member 5A)参与了多种细胞的增殖、凋亡和分化等生物学过程,在乳腺形态发生、毛囊发育等方面发挥了重要作用。该试验利用RT-PCR获得绵羊WNT5A基因的CDS区,分析WNT5A蛋白的结构特征并利用RT-qPCR检测WNT5A基因在9个组织中的表达情况。绵羊WNT5A基因的CDS区全长1062 bp,编码353个氨基酸。该蛋白的二级结构主要以α-螺旋和无规则卷曲为主,β转角、延伸链贯穿于整个蛋白质结构中。String分析结果表明,WNT5A与卷曲蛋白受体、低密度脂蛋白相关蛋白和受体酪氨酸激酶有相互作用。RT-qPCR研究结果表明,WNT5A基因表达具有组织特异性及品种特异性。WNT5A基因在绵羊心脏、肝脏、肺脏、脾脏、肾脏、卵巢、背最长肌、乳腺和皮肤9个组织中均广泛表达,其中在皮肤中的表达量高于其他组织(P<0.05),而在脾脏中表达量较低。它在甘肃高山细毛羊皮肤、乳腺、背最长肌、肾脏、肺脏、脾脏和肝脏中的表达量高于小尾寒羊(P<0.05),而在甘肃高山细毛羊卵巢中的表达量低于小尾寒羊(P<0.05),在心脏中该基因的表达量无差异(P>0.05)。该结果为深入研究绵羊WNT5A基因的功能提供了重要依据,同时也丰富了绵羊基因组内容。     

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.     

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.     

Effect of DNA methylation of miR-30a-5p promoter region on hepatic injury induced by homocysteine

AIM: To explore the role of DNA methylation of microRNA-30a-5p(miR-30a-5p) promoter region in hepatic injury. METHODS: Four-week-old normal mice and cystathionine β-synthase (CBS) single gene knockout mice were used and divided into normal (CBS^+/+, n=12) group and single gene knockout (CBS^+/-, n=12) group, and the mice were fed with high methionine diet for 8 weeks. HL-7702 hepatic cells were routinely cultured in vitro and divided into control group, homocysteine (Hcy) group and Hcy+5-azacytidne (AZC) group. Serum Hcy, alanine aminotransferase (ALT) and aspartate aminotransferase (AST) levels were measured by automatic biochemical analyzer. The levels of ALT and AST in the cells culture medium were determined by the microplate method. Hepatic injury in the mice were observed with HE staining. Cell viability staining was used to measure the viability of hepatocytes. RT-qPCR was used to detect the expression of miR-30a-5p in the liver tissues and hepatocytes. The correlation between the expression of miR-30a-5p and serum ALT and AST levels was analyzed by Pearson correlation analysis. DNA methylation level of miR-30a-5p promoter region in the liver tissues and hepatocytes was detected by nested landing methylation-specific PCR (nMS-PCR). RESULTS: Compared with the CBS^+/+ mice, the serum levels of Hcy, ALT and AST in the CBS^+/- mice were significantly increased (P < 0.05). HE staining showed the hepatocyte swelling and nuclear fragmentation and dissolution. The expression level of miR-30a-5p in the liver tissues was decreased (P < 0.01). Besides, the expression level of miR-30a-5p in the mice was negatively correlated with serum ALT and AST levels (r²=0.4557, P=0.0003, r²=0.4626, P=0.0003), and the DNA methylation of miR-30a-5p promoter region was increased (P < 0.01). In the HL-7702 cells, compared with control group,the ALT and AST levels were increased in Hcy group (P < 0.05, P < 0.01), and the cell viability was remarkablely decreased. DNA methylation of miR-30a-5p promoter region was increased (P < 0.01), which decreased after treated the cells with AZC (P < 0.05), while the expression level of miR-30a-5p in the cells was increased (P < 0.05). CONCLUSION: Hypermethylation of miR-30a-5p promoter region may play an important role in hepatic injury.     

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.     

番茄斑萎病毒病抗性种质筛选及人工接种鉴定方法优化

对154份番茄材料(包括普通番茄76份,樱桃番茄78份)进行两年两次田间番茄斑萎病毒病的病情指数调查,筛选出14份对番茄斑萎病毒病具有稳定抗性的番茄材料,利用sw-5-2共显性SCAR标记对田间表现抗病的材料进行分子标记鉴定,发现3份抗病材料携带抗番茄斑萎病毒病的Sw-5基因。为缩短番茄斑萎病毒病人工接种鉴定周期,以含有sw-5的抗病材料H8和感病材料M82为研究对象,设置4、6、8、10片真叶4个接种时期,分别在接种后14、21、28 d进行病情指数调查和抗性分级,结果表明,6片真叶期接种,接种后28 d进行病情调查即可有效鉴别植株番茄斑萎病毒病抗性,与8、10片真叶期接种效果相同,人工接种抗病性鉴定效率显著提升。     

辣椒新品种桂牛5号的选育

桂牛5号是以自交系Ca1-5-1为母本,以自交系Ca1-3-8为父本配制而成的牛角椒一代杂种。中早熟,植株生长势较强,连续坐果能力强;果实长牛角形,果长25～30 cm,果肩宽3.5～4.0 cm,单果质量125 g左右;青熟果黄绿色,老熟果鲜红色,商品性好,微辣,果实干物质含量7.88%,VC含量1?530 mg · kg~(-1),辣椒素含量0.023%,宜鲜食,耐贮运;田间对病毒病、炭疽病、疫病的抗性强于对照黄美龙,露地栽培鲜椒产量3?500 kg · (667 m~2)~(-1)左右,适宜广西、广东等地春、秋露地种植。