In times of digitalisation, visual assistance systems in assembly are increasingly important. The design of these assembly systems needs to be highly complex to meet the requirements. Due to the increasing number of v...In times of digitalisation, visual assistance systems in assembly are increasingly important. The design of these assembly systems needs to be highly complex to meet the requirements. Due to the increasing number of variants in production processes, as well as shorter innovation and product life cycles, assistance systems should improve quality and reduce complexity of assembly processes. However, many large kitchen manufacturers still assemble kitchen cabinets manually, due to the high variety of components, such as rails and fittings. This paper focuses on the analysis and evaluation of virtual assistance systems to improve quality and usability in individualised kitchen cabinet assembly processes at a large German manufacturer. A solution is identified and detailed.展开更多
Soybean(Glycine max)stands as a globally significant agricultural crop,and the comprehensive assembly of its genome is of paramount importance for unraveling its biological characteristics and evolutionary history.Nev...Soybean(Glycine max)stands as a globally significant agricultural crop,and the comprehensive assembly of its genome is of paramount importance for unraveling its biological characteristics and evolutionary history.Nevertheless,previous soybean genome assemblies have harbored gaps and incompleteness,which have constrained in-depth investigations into soybean.Here,we present Telomere-to-Telomere(T2T)assembly of the Chinese soybean cultivar Zhonghuang 13(ZH13)genome,termed ZH13-T2T,utilizing PacBio Hifi and ONT ultralong reads.We employed a multi-assembler approach,integrating Hifiasm,NextDenovo,and Canu,to minimize biases and enhance assembly accuracy.The assembly spans 1,015,024,879 bp,effectively resolving all 393 gaps that previously plagued the reference genome.Our annotation efforts identified 50,564 high-confidence protein-coding genes,707 of which are novel.ZH13-T2T revealed longer chromosomes,421 not-aligned regions(NARs),112 structure variations(SVs),and a substantial expansion of repetitive element compared to earlier assemblies.Specifically,we identified 25.67 Mb of tandem repeats,an enrichment of 5S and 48S rDNAs,and characterized their genotypic diversity.In summary,we deliver the first complete Chinese soybean cultivar T2T genome.The comprehensive annotation,along with precise centromere and telomere characterization,as well as insights into structural variations,further enhance our understanding of soybean genetics and evolution.展开更多
With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on diffe...With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.展开更多
Tau protein is encoded by the microtubuleassociated protein tau(MAPT)gene and stabilizes microtubules in the neurons.Tau has unique biophysical properties that make it both highly water-soluble and positively charged....Tau protein is encoded by the microtubuleassociated protein tau(MAPT)gene and stabilizes microtubules in the neurons.Tau has unique biophysical properties that make it both highly water-soluble and positively charged.Although tau is an intrinsically disordered protein lacking defined secondary structures,it can acquire highly organized-sheet structures and stack into a filamentous inclusion such as a paired helical filament(PHF).展开更多
Sorghum(Sorghum bicolor(L.)Moench)is a world cereal crop used in China for producing Baijiu,a distilled spirit.We report a telomere-to-telomere genome assembly of the Baijiu cultivar Hongyingzi,HYZ-T2T,using ultralong...Sorghum(Sorghum bicolor(L.)Moench)is a world cereal crop used in China for producing Baijiu,a distilled spirit.We report a telomere-to-telomere genome assembly of the Baijiu cultivar Hongyingzi,HYZ-T2T,using ultralong reads.The 10 chromosome pairs contained 33,462 genes,of which 93%were functionally annotated.The 20 telomeres and 10 centromeric regions on the HYZ-T2T chromosomes were predicted and two consecutive large inversions on chromosome 2 were characterized.A 65-gene reconstruction of the metabolic pathway of tannins,the flavor substances in Baijiu,was performed and may advance the breeding of sorghum cultivars for Baijiu production.展开更多
As the take-off of China’s macro economy,as well as the rapid development of infrastructure construction,real estate industry,and highway logistics transportation industry,the demand for heavy vehicles is increasing ...As the take-off of China’s macro economy,as well as the rapid development of infrastructure construction,real estate industry,and highway logistics transportation industry,the demand for heavy vehicles is increasing rapidly,the competition is becoming increasingly fierce,and the digital transformation of the production line is imminent.As one of themost important components of heavy vehicles,the transmission front andmiddle case assembly lines have a high degree of automation,which can be used as a pilot for the digital transformation of production.To ensure the visualization of digital twins(DT),consistent control logic,and real-time data interaction,this paper proposes an experimental digital twin modeling method for the transmission front and middle case assembly line.Firstly,theDT-based systemarchitecture is designed,and theDT model is created by constructing the visualization model,logic model,and data model of the assembly line.Then,a simulation experiment is carried out in a virtual space to analyze the existing problems in the current assembly line.Eventually,some improvement strategies are proposed and the effectiveness is verified by a new simulation experiment.展开更多
The quality and aroma of strong-flavor Baijiu are mainly dependent on Daqu,pit mud(PM),and the interaction of both.However,little is known about how their combination patterns affect the microbiome and metabolome of Z...The quality and aroma of strong-flavor Baijiu are mainly dependent on Daqu,pit mud(PM),and the interaction of both.However,little is known about how their combination patterns affect the microbiome and metabolome of Zaopei,especially the metabolic function of rare taxa.Here,an experiment on industrial size was designed to assess the effects of 6 combinations(3 kinds of Daqu×2 kinds of PM)on the composition and assembly of different taxa,as well as the flavor profile.The results showed that Zaopei's microbiota was composed of a few abundant taxa and enormous rare taxa,and rare bacterial and abundant fungal subcommunities were significantly affected by combination patterns.The assembly processes of abundant/rare taxa and bacterial/fungal communities were distinct,and environmental changes mediated the balance between stochastic and deterministic processes in rare bacteria assembly.Furthermore,specific combination patterns improved the flavor quality of Zaopei by enhancing the interspecies interaction,which was closely related to rare taxa,especially rare bacteria.These findings highlighted that rare bacteria might be the keystone in involving community interaction and maintaining metabolic function,which provided a scientific foundation for better understanding and regulating the brewing microbiota from the viewpoint of microbial ecology.展开更多
Mercury ion(Hg^(2+)),a highly noxious of heavy metalion,has detrimental effects on the ecological environment and human health.Herein,we have developed an exonuclease III(Exo III)assisted catalytic hairpin assembly fo...Mercury ion(Hg^(2+)),a highly noxious of heavy metalion,has detrimental effects on the ecological environment and human health.Herein,we have developed an exonuclease III(Exo III)assisted catalytic hairpin assembly formation of a trivalent G-quadruplex/hemin DNAzyme for colorimetric detection of Hg^(2+).A hairpin DNA(Hr)was designed with thymine-Hg^(2+)-thymine pairs that catalyzed by Exo III is prompted to happen upon binding Hg^(2+).A released DNA fragment triggers the catalytic assembly of other three hairpins(H1,H2,and H3)to form many trivalent G-quadruplex/hemin DNA enzymes for signal output.The developed sensor shows a dynamic range from 2 pM to 2μM,with an impressively low detection limit of 0.32 pM for Hg^(2+)detection.Such a sensor also has good selectivity toward Hg^(2+)detection in the presence of other common metal ions.This strategy shows the great potential for visual detection with portable type.展开更多
Kiwifruit is an economically and nutritionally important fruit crop with extremely high contents of vitamin C.However,the previously released versions of kiwifruit genomes all have a mass of unanchored or missing regi...Kiwifruit is an economically and nutritionally important fruit crop with extremely high contents of vitamin C.However,the previously released versions of kiwifruit genomes all have a mass of unanchored or missing regions.Here,we report a highly continuous and completely gap-free reference genome of Actinidia chinensis cv.‘Hongyang’,named Hongyang v4.0,which is the first to achieve two de novo haploid-resolved haplotypes,HY4P and HY4A.HY4P and HY4A have a total length of 606.1 and 599.6 Mb,respectively,with almost the entire telomeres and centromeres assembled in each haplotype.In comparison with Hongyang v3.0,the integrity and contiguity of Hongyang v4.0 is markedly improved by filling all unclosed gaps and correcting some misoriented regions,resulting in∼38.6–39.5 Mb extra sequences,which might affect 4263 and 4244 protein-coding genes in HY4P and HY4A,respectively.Furthermore,our gap-free genome assembly provides the first clue for inspecting the structure and function of centromeres.Globally,centromeric regions are characterized by higher-order repeats that mainly consist of a 153-bp conserved centromere-specific monomer(Ach-CEN153)with different copy numbers among chromosomes.Functional enrichment analysis of the genes located within centromeric regions demonstrates that chromosome centromeres may not only play physical roles for linking a pair of sister chromatids,but also have genetic features for participation in the regulation of cell division.The availability of the telomere-to-telomere and gap-free Hongyang v4.0 reference genome lays a solid foundation not only for illustrating genome structure and functional genomics studies but also for facilitating kiwifruit breeding and improvement.展开更多
A high-quality genome is the basis for studies on functional,evolutionary,and comparative genomics.The majority of attention has been paid to the solution of complex chromosome structures and highly repetitive sequenc...A high-quality genome is the basis for studies on functional,evolutionary,and comparative genomics.The majority of attention has been paid to the solution of complex chromosome structures and highly repetitive sequences,along with the emergence of a new‘telomere-to-telomere(T2T)assembly’era.However,the bioinformatic tools for the automatic construction and/or characterization of T2T genome are limited.Here,we developed a user-friendly web toolkit,quarTeT,which currently includes four modules:AssemblyMapper,GapFiller,TeloExplorer,and CentroMiner.First,AssemblyMapper is designed to assemble phased contigs into the chromosome-level genome by referring to a closely related genome.Then,GapFiller would endeavor to fill all unclosed gaps in a given genome with the aid of additional ultra-long sequences.Finally,TeloExplorer and CentroMiner are applied to identify candidate telomere and centromere as well as their localizations on each chromosome.These four modules can be used alone or in combination with each other for T2T genome assembly and characterization.As a case study,by adopting the entire modular functions of quarTeT,we have achieved the Actinidia chinensis genome assembly that is of a quality comparable to the reported genome Hongyang v4.0,which was assembled with the addition of manual handling.Further evaluation of CentroMiner by searching centromeres in Arabidopsis thaliana and Oryza sativa genomes showed that quarTeT is capable of identifying all the centromeric regions that have been previously detected by experimental methods.Collectively,quarTeT is an efficient toolkit for studies of large-scale T2T genomes and can be accessed at http://www.atcgn.com:8080/quarTeT/home.html without registration.展开更多
The nuclear fuel assembly is the core component of a nuclear reactor.In a pressurized water reactor fuel assembly,the top-connection structure connects the top nozzle to the guide thimble.Its performance reliability i...The nuclear fuel assembly is the core component of a nuclear reactor.In a pressurized water reactor fuel assembly,the top-connection structure connects the top nozzle to the guide thimble.Its performance reliability is essential for the stability of the nuclear fuel assembly.In this study,an assembly-oriented reliability analysis method for top-connection structures is presented by establishing an assembly-oriented top-connection structure parameter modeling method and a nonlinear contact gap and penetration correction method.A reliability model of the top-connection assembly structure,including multiple stochastic design variables,was constructed,and the overall reliability of the top-connection assembly structure was obtained via a Kriging model and Monte Carlo simulation.The acquired experimental data were consistent with real-world failure conditions,which verified the practicability and feasibility of the reliability analysis method proposed in this study.展开更多
Spatial and environmental processes are two ecological processes that have attracted considerable attention in plant community assembly,depending on sampling scale and life history.However,the processes that determine...Spatial and environmental processes are two ecological processes that have attracted considerable attention in plant community assembly,depending on sampling scale and life history.However,the processes that determine community assembly have not been studied in the karst region of southwest China.In this study,a 25-ha(500 m×500 m)monitoring plot within the subtropical climax forest in the karst region was established and canonical correspondence analysis was used to reveal the effects of topography and soil on the spatial patterns of tree community assembly.Our study suggests that spatial processes dominate species composition and the combined effects of spatial and environmental processes play an important role.Overall interpretation rate increases with enlarging the sampling scale.However,the pattern of variation partitioning was similar in different life stages.Environmental variables significantly affected species composition at different sampling sizes and life histories and had a higher interpretation rate of species composition on larger s ampling sizes.Topographic wetness index was the most important variable to explain species composition of the environmental variables.These results suggest that it is necessary to consider the relative importance of environmental and spatial factors on community assembly to better understand,conserve,and manage subtropical karst forests.展开更多
Denitrifying bacteria in epiphytic biofilms play a crucial role in nitrogen cycle in aquatic habitats.However,little is known about the connection between algae and denitrifying bacteria and their assembly processes i...Denitrifying bacteria in epiphytic biofilms play a crucial role in nitrogen cycle in aquatic habitats.However,little is known about the connection between algae and denitrifying bacteria and their assembly processes in epiphytic biofilms.Epiphytic biofilms were collected from submerged macrophytes(Patamogeton lucens and Najas marina L.)in the Caohai Lake,Guizhou,SW China,from July to November 2020 to:(1)investigate the impact of abiotic and biotic variables on denitrifying bacterial communities;(2)investigate the temporal variation of the algae-denitrifying bacteria co-occurrence networks;and(3)determine the contribution of deterministic and stochastic processes to the formation of denitrifying bacterial communities.Abiotic and biotic factors influenced the variation in the denitrifying bacterial community,as shown in the Mantel test.The co-occurrence network analysis unveiled intricate interactions among algae to denitrifying bacteria.Denitrifying bacterial community co-occurrence network complexity(larger average degrees representing stronger network complexity)increased continuously from July to September and decreased in October before increasing in November.The co-occurrence network complexity of the algae and nirS-encoding denitrifying bacteria tended to increase from July to November.The co-occurrence network complexity of the algal and denitrifying bacterial communities was modified by ammonia nitrogen(NH_(4)^(+)-N)and total phosphorus(TP),pH,and water temperature(WT),according to the ordinary least-squares(OLS)model.The modified stochasticity ratio(MST)results reveal that deterministic selection dominated the assembly of denitrifying bacterial communities.The influence of environmental variables to denitrifying bacterial communities,as well as characteristics of algal-bacterial co-occurrence networks and the assembly process of denitrifying bacterial communities,were discovered in epiphytic biofilms in this study.The findings could aid in the appropriate understanding and use of epiphytic biofilms denitrification function,as well as the enhancement of water quality.展开更多
Superior inbred lines are central to maize breeding as sources of natural variation.Although many elite lines have been sequenced,less sequencing attention has been paid to newly developed lines.We constructed a genom...Superior inbred lines are central to maize breeding as sources of natural variation.Although many elite lines have been sequenced,less sequencing attention has been paid to newly developed lines.We constructed a genome assembly of the elite inbred line KA105,which has recently been developed by an arti-ficial breeding population named Shaan A and has shown desirable characteristics for breeding.Its pedigree showed genetic divergence from B73 and other lines in its pedigree.Comparison with the B73 reference genome revealed extensive structural variation,58 presence/absence variation(PAV)genes,and 1023 expanded gene families,some of which may be associated with disease resistance.A network-based integrative analysis of stress-induced transcriptomes identified 13 KA105-specific PAV genes,of which eight were induced by at least one kind of stress,participating in gene modules responding to stress such as drought and southern leaf blight disease.More than 200,000 gene pairs were differentially correlated between KA105 and B73 during kernel development.The KA105 reference genome and transcriptome atlas are a resource for further germplasm improvement and surveys of maize genomic variation and gene function.展开更多
Microscopic vision has been widely applied in precision assembly.To achieve sufficiently high resolution in measurements for precision assembly when the sizes of the parts involved exceed the field of view of the visi...Microscopic vision has been widely applied in precision assembly.To achieve sufficiently high resolution in measurements for precision assembly when the sizes of the parts involved exceed the field of view of the vision system,an image mosaic technique must be used.In this paper,a method for constructing an image mosaic with non-overlapping areas with enhanced efficiency is proposed.First,an image mosaic model for the part is created using a geometric model of the measurement system installed on a X-Y-Z precision stages with high repeatability,and a path for image acquisition is established.Second,images are captured along the same path for a specified calibration plate,and an entire image is formed based on the given model.The measurement results obtained from the specified calibration plate are utilized to identify mosaic errors and apply compensation for the part requiring measurement.Experimental results show that the maximum error is less than 4μm for a camera with pixel equivalent 2.46μm,thereby demonstrating the accuracy of the proposed method.This image mosaic technique with non-overlapping regions can simplify image acquisition and reduce the workload involved in constructing an image mosaic.展开更多
In this paper,a flexible modular“Tetris”microsatellite platform is studied to implement the rapid integration and assembly of microsatellites.The proposed microsatellite platform is fulfilled based on a sandwich ass...In this paper,a flexible modular“Tetris”microsatellite platform is studied to implement the rapid integration and assembly of microsatellites.The proposed microsatellite platform is fulfilled based on a sandwich assembly mode which consists of the isomorphic module structure and the standard mechanical-electric-data-thermal interfaces.The advantages of the sandwich assembly mode include flexible reconfiguration and efficient assembly.The prototype of the sandwich assembly mode is built for verifying the performance and the feasibility of the proposed mechanical-electric-data-thermal interfaces.Finally,an assembly case is accomplished to demonstrate the validity and advantages of the proposed“Tetris”microsatellite platform.展开更多
A fuel cell is an energy conversion device that can continuously input fuel and oxidant into the device through an electrochemical reaction to release electrical energy.Although noble metals show good activity in fuel...A fuel cell is an energy conversion device that can continuously input fuel and oxidant into the device through an electrochemical reaction to release electrical energy.Although noble metals show good activity in fuel cell-related electrochemical reactions,their ever-increasing price considerably hinders their industrial application.Improvement of atom utilization efficiency is considered one of the most effective strategies to improve the mass activity of catalysts,and this allows for the use of fewer catalysts,saving greatly on the cost.Thus,single-atom catalysts(SACs)with an atom utilization efficiency of 100%have been widely developed,which show remarkable performance in fuel cells.In this review,we will describe recent progress on the development of SACs for membrane electrode assembly of fuel cell applications.First,we will introduce several effective routes for the synthesis of SACs.The reaction mechanism of the involved reactions will also be introduced as it is highly determinant of the final activity.Then,we will systematically summarize the application of Pt group metal(PGM)and nonprecious group metal(non-PGM)catalysts in membrane electrode assembly of fuel cells.This review will offer numerous experiences for developing potential industrialized fuel cell catalysts in the future.展开更多
Cornus wilsoniana W.is a woody oil plant with high oil content and strong hypolipidemic effects,making it a valuable species for medicinal,landscaping,and ecological purposes in China.To advance genetic research on th...Cornus wilsoniana W.is a woody oil plant with high oil content and strong hypolipidemic effects,making it a valuable species for medicinal,landscaping,and ecological purposes in China.To advance genetic research on this species,we employed PacBio together with Hi-C data to create a draft genome assembly for C.wilsoniana.Based on an 11-chromosome anchored chromosome-level assembly,the estimated genome size was determined to be 843.51 Mb.The N50 contig size and N50 scaffold size were calculated to be 4.49 and 78.00 Mb,respectively.Furthermore,30474 protein-coding genes were annotated.Comparative genomics analysis revealed that C.wilsoniana diverged from its closest species∼12.46 million years ago(Mya).Furthermore,the divergence between Cornaceae and Nyssaceae occurred>62.22 Mya.We also found evidence of whole-genome duplication events and whole-genome triplicationγ,occurring at∼44.90 and 115.86 Mya.We further inferred the origins of chromosomes,which sheds light on the complex evolutionary history of the karyotype of C.wilsoniana.Through transcriptional and metabolic analysis,we identified two FAD2 homologous genes that may play a crucial role in controlling the oleic to linoleic acid ratio.We further investigated the correlation between metabolites and genes and identified 33 MADS-TF homologous genes that may affect f lower morphology in C.wilsoniana.Overall,this study lays the groundwork for future research aimed at identifying the genetic basis of crucial traits in C.wilsoniana.展开更多
Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.I...Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.展开更多
Kinematic semantics is often an important content of a CAD model(it refers to a single part/solid model in this work)in many applications,but it is usually not the belonging of the model,especially for the one retriev...Kinematic semantics is often an important content of a CAD model(it refers to a single part/solid model in this work)in many applications,but it is usually not the belonging of the model,especially for the one retrieved from a common database.Especially,the effective and automatic method to reconstruct the above information for a CAD model is still rare.To address this issue,this paper proposes a smart approach to identify each assembly interface on every CAD model since the assembly interface is the fundamental but key element of reconstructing kinematic semantics.First,as the geometry of an assembly interface is formed by one or more adjacent faces on each model,a face-attributed adjacency graph integrated with face structure fingerprint is proposed.This can describe each CAD model as well as its assembly interfaces uniformly.After that,aided by the above descriptor,an improved graph attention network is developed based on a new dual-level anti-interference filtering mechanism,which makes it have the great potential to identify all representative kinds of assembly interface faces with high accuracy that have various geometric shapes but consistent kinematic semantics.Moreover,based on the abovementioned graph and face-adjacent relationships,each assembly interface on a model can be identified.Finally,experiments on representative CAD models are implemented to verify the effectiveness and characteristics of the proposed approach.The results show that the average assembly-interface-face-identification accuracy of the proposed approach can reach 91.75%,which is about 2%–5%higher than those of the recent-representative graph neural networks.Besides,compared with the state-of-the-art methods,our approach is more suitable to identify the assembly interfaces(with various shapes)for each individual CAD model that has typical kinematic pairs.展开更多
文摘In times of digitalisation, visual assistance systems in assembly are increasingly important. The design of these assembly systems needs to be highly complex to meet the requirements. Due to the increasing number of variants in production processes, as well as shorter innovation and product life cycles, assistance systems should improve quality and reduce complexity of assembly processes. However, many large kitchen manufacturers still assemble kitchen cabinets manually, due to the high variety of components, such as rails and fittings. This paper focuses on the analysis and evaluation of virtual assistance systems to improve quality and usability in individualised kitchen cabinet assembly processes at a large German manufacturer. A solution is identified and detailed.
基金This work has been supported by the National Key Research and Development Program of China(2021YFF1200105)National Natural Science Foundation of China(62172125,62371161).
文摘Soybean(Glycine max)stands as a globally significant agricultural crop,and the comprehensive assembly of its genome is of paramount importance for unraveling its biological characteristics and evolutionary history.Nevertheless,previous soybean genome assemblies have harbored gaps and incompleteness,which have constrained in-depth investigations into soybean.Here,we present Telomere-to-Telomere(T2T)assembly of the Chinese soybean cultivar Zhonghuang 13(ZH13)genome,termed ZH13-T2T,utilizing PacBio Hifi and ONT ultralong reads.We employed a multi-assembler approach,integrating Hifiasm,NextDenovo,and Canu,to minimize biases and enhance assembly accuracy.The assembly spans 1,015,024,879 bp,effectively resolving all 393 gaps that previously plagued the reference genome.Our annotation efforts identified 50,564 high-confidence protein-coding genes,707 of which are novel.ZH13-T2T revealed longer chromosomes,421 not-aligned regions(NARs),112 structure variations(SVs),and a substantial expansion of repetitive element compared to earlier assemblies.Specifically,we identified 25.67 Mb of tandem repeats,an enrichment of 5S and 48S rDNAs,and characterized their genotypic diversity.In summary,we deliver the first complete Chinese soybean cultivar T2T genome.The comprehensive annotation,along with precise centromere and telomere characterization,as well as insights into structural variations,further enhance our understanding of soybean genetics and evolution.
基金supported in part by the National Nature Science Foundation of China[No.62073229]Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016)EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127).
文摘With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
基金supported by grants from the National Research Foundation of Korea (2021 R1A2C2008023,2020R1A5A 1019023RS-2023-00261784 to MJL2021R1/1A1A 01051245to JHL)。
文摘Tau protein is encoded by the microtubuleassociated protein tau(MAPT)gene and stabilizes microtubules in the neurons.Tau has unique biophysical properties that make it both highly water-soluble and positively charged.Although tau is an intrinsically disordered protein lacking defined secondary structures,it can acquire highly organized-sheet structures and stack into a filamentous inclusion such as a paired helical filament(PHF).
基金supported by the Scientific Research Project of Kweichow Moutai Liquor Co.,Ltd.(MTGF2023007)the National Natural Science Foundation of China(32160459,32172036)+2 种基金the Guizhou Natural Science Foundation of China(QKHJC[2023]YB169)the Innovation Capacity Building Project of Guizhou Scientific Institutions(QKFQ[2022]007])the Guizhou Academy of Agricultural Sciences Project(Guizhou Agricultural Germplasm Resources(2023)06)。
文摘Sorghum(Sorghum bicolor(L.)Moench)is a world cereal crop used in China for producing Baijiu,a distilled spirit.We report a telomere-to-telomere genome assembly of the Baijiu cultivar Hongyingzi,HYZ-T2T,using ultralong reads.The 10 chromosome pairs contained 33,462 genes,of which 93%were functionally annotated.The 20 telomeres and 10 centromeric regions on the HYZ-T2T chromosomes were predicted and two consecutive large inversions on chromosome 2 were characterized.A 65-gene reconstruction of the metabolic pathway of tannins,the flavor substances in Baijiu,was performed and may advance the breeding of sorghum cultivars for Baijiu production.
基金supported by China National Heavy Duty Truck Group Co.,Ltd.(Grant No.YF03221048P)the Shanghai Municipal Bureau of Market Supervision and Administration(Grant No.2022-35)New Young TeachersResearch Start-Up Foundation of Shanghai Jiao Tong University(Grant No.22X010503668).
文摘As the take-off of China’s macro economy,as well as the rapid development of infrastructure construction,real estate industry,and highway logistics transportation industry,the demand for heavy vehicles is increasing rapidly,the competition is becoming increasingly fierce,and the digital transformation of the production line is imminent.As one of themost important components of heavy vehicles,the transmission front andmiddle case assembly lines have a high degree of automation,which can be used as a pilot for the digital transformation of production.To ensure the visualization of digital twins(DT),consistent control logic,and real-time data interaction,this paper proposes an experimental digital twin modeling method for the transmission front and middle case assembly line.Firstly,theDT-based systemarchitecture is designed,and theDT model is created by constructing the visualization model,logic model,and data model of the assembly line.Then,a simulation experiment is carried out in a virtual space to analyze the existing problems in the current assembly line.Eventually,some improvement strategies are proposed and the effectiveness is verified by a new simulation experiment.
基金supported by the Cooperation Project of Luzhou Laojiao Co.,Ltd.Sichuan University (21H0997)。
文摘The quality and aroma of strong-flavor Baijiu are mainly dependent on Daqu,pit mud(PM),and the interaction of both.However,little is known about how their combination patterns affect the microbiome and metabolome of Zaopei,especially the metabolic function of rare taxa.Here,an experiment on industrial size was designed to assess the effects of 6 combinations(3 kinds of Daqu×2 kinds of PM)on the composition and assembly of different taxa,as well as the flavor profile.The results showed that Zaopei's microbiota was composed of a few abundant taxa and enormous rare taxa,and rare bacterial and abundant fungal subcommunities were significantly affected by combination patterns.The assembly processes of abundant/rare taxa and bacterial/fungal communities were distinct,and environmental changes mediated the balance between stochastic and deterministic processes in rare bacteria assembly.Furthermore,specific combination patterns improved the flavor quality of Zaopei by enhancing the interspecies interaction,which was closely related to rare taxa,especially rare bacteria.These findings highlighted that rare bacteria might be the keystone in involving community interaction and maintaining metabolic function,which provided a scientific foundation for better understanding and regulating the brewing microbiota from the viewpoint of microbial ecology.
基金Supported by The Science and Technology Project of General Administration of Quality Supervision,Inspection and Quarantine (2015IK126)The Science and Technology Project of Changsha City of Hunan Province of China (KQ1602124).
文摘Mercury ion(Hg^(2+)),a highly noxious of heavy metalion,has detrimental effects on the ecological environment and human health.Herein,we have developed an exonuclease III(Exo III)assisted catalytic hairpin assembly formation of a trivalent G-quadruplex/hemin DNAzyme for colorimetric detection of Hg^(2+).A hairpin DNA(Hr)was designed with thymine-Hg^(2+)-thymine pairs that catalyzed by Exo III is prompted to happen upon binding Hg^(2+).A released DNA fragment triggers the catalytic assembly of other three hairpins(H1,H2,and H3)to form many trivalent G-quadruplex/hemin DNA enzymes for signal output.The developed sensor shows a dynamic range from 2 pM to 2μM,with an impressively low detection limit of 0.32 pM for Hg^(2+)detection.Such a sensor also has good selectivity toward Hg^(2+)detection in the presence of other common metal ions.This strategy shows the great potential for visual detection with portable type.
基金supported by funds from the National Natural Science Foundation of China(31972474,90717110)Hubei Natural Science Fund for Distinguished Young Scholars(2020CFA062).
文摘Kiwifruit is an economically and nutritionally important fruit crop with extremely high contents of vitamin C.However,the previously released versions of kiwifruit genomes all have a mass of unanchored or missing regions.Here,we report a highly continuous and completely gap-free reference genome of Actinidia chinensis cv.‘Hongyang’,named Hongyang v4.0,which is the first to achieve two de novo haploid-resolved haplotypes,HY4P and HY4A.HY4P and HY4A have a total length of 606.1 and 599.6 Mb,respectively,with almost the entire telomeres and centromeres assembled in each haplotype.In comparison with Hongyang v3.0,the integrity and contiguity of Hongyang v4.0 is markedly improved by filling all unclosed gaps and correcting some misoriented regions,resulting in∼38.6–39.5 Mb extra sequences,which might affect 4263 and 4244 protein-coding genes in HY4P and HY4A,respectively.Furthermore,our gap-free genome assembly provides the first clue for inspecting the structure and function of centromeres.Globally,centromeric regions are characterized by higher-order repeats that mainly consist of a 153-bp conserved centromere-specific monomer(Ach-CEN153)with different copy numbers among chromosomes.Functional enrichment analysis of the genes located within centromeric regions demonstrates that chromosome centromeres may not only play physical roles for linking a pair of sister chromatids,but also have genetic features for participation in the regulation of cell division.The availability of the telomere-to-telomere and gap-free Hongyang v4.0 reference genome lays a solid foundation not only for illustrating genome structure and functional genomics studies but also for facilitating kiwifruit breeding and improvement.
基金This work was supported by funds from the National Natural Science Foundation of China(31972474,31471157)the Open Fund of State Key Laboratory of Tea Plant Biology and Utilization(SKLTOF20150103).
文摘A high-quality genome is the basis for studies on functional,evolutionary,and comparative genomics.The majority of attention has been paid to the solution of complex chromosome structures and highly repetitive sequences,along with the emergence of a new‘telomere-to-telomere(T2T)assembly’era.However,the bioinformatic tools for the automatic construction and/or characterization of T2T genome are limited.Here,we developed a user-friendly web toolkit,quarTeT,which currently includes four modules:AssemblyMapper,GapFiller,TeloExplorer,and CentroMiner.First,AssemblyMapper is designed to assemble phased contigs into the chromosome-level genome by referring to a closely related genome.Then,GapFiller would endeavor to fill all unclosed gaps in a given genome with the aid of additional ultra-long sequences.Finally,TeloExplorer and CentroMiner are applied to identify candidate telomere and centromere as well as their localizations on each chromosome.These four modules can be used alone or in combination with each other for T2T genome assembly and characterization.As a case study,by adopting the entire modular functions of quarTeT,we have achieved the Actinidia chinensis genome assembly that is of a quality comparable to the reported genome Hongyang v4.0,which was assembled with the addition of manual handling.Further evaluation of CentroMiner by searching centromeres in Arabidopsis thaliana and Oryza sativa genomes showed that quarTeT is capable of identifying all the centromeric regions that have been previously detected by experimental methods.Collectively,quarTeT is an efficient toolkit for studies of large-scale T2T genomes and can be accessed at http://www.atcgn.com:8080/quarTeT/home.html without registration.
基金supported by the National Natural Science Foundation of China(No.52075350)the Major Science and Technology Projects of Sichuan Province(No.2022ZDZX0001)the Special City School Strategic Cooperation Project of Sichuan University and Zigong(No.2021CDZG-3).
文摘The nuclear fuel assembly is the core component of a nuclear reactor.In a pressurized water reactor fuel assembly,the top-connection structure connects the top nozzle to the guide thimble.Its performance reliability is essential for the stability of the nuclear fuel assembly.In this study,an assembly-oriented reliability analysis method for top-connection structures is presented by establishing an assembly-oriented top-connection structure parameter modeling method and a nonlinear contact gap and penetration correction method.A reliability model of the top-connection assembly structure,including multiple stochastic design variables,was constructed,and the overall reliability of the top-connection assembly structure was obtained via a Kriging model and Monte Carlo simulation.The acquired experimental data were consistent with real-world failure conditions,which verified the practicability and feasibility of the reliability analysis method proposed in this study.
基金supported by the National Natural Science Foundation of China (42071073,31971487)Youth Innovation Promotion Association of the Chinese Academy of Sciences (2021366)+2 种基金Guangxi Key Research and Development Program (AB17129009)the Hechi Distinguished Expert Program to Fuping Zengthe Guangxi Bagui Scholarship Program to Dejun Li。
文摘Spatial and environmental processes are two ecological processes that have attracted considerable attention in plant community assembly,depending on sampling scale and life history.However,the processes that determine community assembly have not been studied in the karst region of southwest China.In this study,a 25-ha(500 m×500 m)monitoring plot within the subtropical climax forest in the karst region was established and canonical correspondence analysis was used to reveal the effects of topography and soil on the spatial patterns of tree community assembly.Our study suggests that spatial processes dominate species composition and the combined effects of spatial and environmental processes play an important role.Overall interpretation rate increases with enlarging the sampling scale.However,the pattern of variation partitioning was similar in different life stages.Environmental variables significantly affected species composition at different sampling sizes and life histories and had a higher interpretation rate of species composition on larger s ampling sizes.Topographic wetness index was the most important variable to explain species composition of the environmental variables.These results suggest that it is necessary to consider the relative importance of environmental and spatial factors on community assembly to better understand,conserve,and manage subtropical karst forests.
基金Supported by the National Natural Science Foundation of China(No.41867056)the Guizhou Provincial Key Technology R&D Program(Nos.2021470,2023216)。
文摘Denitrifying bacteria in epiphytic biofilms play a crucial role in nitrogen cycle in aquatic habitats.However,little is known about the connection between algae and denitrifying bacteria and their assembly processes in epiphytic biofilms.Epiphytic biofilms were collected from submerged macrophytes(Patamogeton lucens and Najas marina L.)in the Caohai Lake,Guizhou,SW China,from July to November 2020 to:(1)investigate the impact of abiotic and biotic variables on denitrifying bacterial communities;(2)investigate the temporal variation of the algae-denitrifying bacteria co-occurrence networks;and(3)determine the contribution of deterministic and stochastic processes to the formation of denitrifying bacterial communities.Abiotic and biotic factors influenced the variation in the denitrifying bacterial community,as shown in the Mantel test.The co-occurrence network analysis unveiled intricate interactions among algae to denitrifying bacteria.Denitrifying bacterial community co-occurrence network complexity(larger average degrees representing stronger network complexity)increased continuously from July to September and decreased in October before increasing in November.The co-occurrence network complexity of the algae and nirS-encoding denitrifying bacteria tended to increase from July to November.The co-occurrence network complexity of the algal and denitrifying bacterial communities was modified by ammonia nitrogen(NH_(4)^(+)-N)and total phosphorus(TP),pH,and water temperature(WT),according to the ordinary least-squares(OLS)model.The modified stochasticity ratio(MST)results reveal that deterministic selection dominated the assembly of denitrifying bacterial communities.The influence of environmental variables to denitrifying bacterial communities,as well as characteristics of algal-bacterial co-occurrence networks and the assembly process of denitrifying bacterial communities,were discovered in epiphytic biofilms in this study.The findings could aid in the appropriate understanding and use of epiphytic biofilms denitrification function,as well as the enhancement of water quality.
基金the China Agriculture Research System(CARS-02-77)the Shaanxi Province Research and Development Project(2021LLRH-07)the Yangling Seed Industry Innovation Center Project(YLZY-YM-01).
文摘Superior inbred lines are central to maize breeding as sources of natural variation.Although many elite lines have been sequenced,less sequencing attention has been paid to newly developed lines.We constructed a genome assembly of the elite inbred line KA105,which has recently been developed by an arti-ficial breeding population named Shaan A and has shown desirable characteristics for breeding.Its pedigree showed genetic divergence from B73 and other lines in its pedigree.Comparison with the B73 reference genome revealed extensive structural variation,58 presence/absence variation(PAV)genes,and 1023 expanded gene families,some of which may be associated with disease resistance.A network-based integrative analysis of stress-induced transcriptomes identified 13 KA105-specific PAV genes,of which eight were induced by at least one kind of stress,participating in gene modules responding to stress such as drought and southern leaf blight disease.More than 200,000 gene pairs were differentially correlated between KA105 and B73 during kernel development.The KA105 reference genome and transcriptome atlas are a resource for further germplasm improvement and surveys of maize genomic variation and gene function.
基金supported by the Liaoning Revitalization Talents Program(Grant No.XLYC2002020)the Major Project of Basic Scientific Research of Chinese Ministry(Grant No.JCYK2016205A003).
文摘Microscopic vision has been widely applied in precision assembly.To achieve sufficiently high resolution in measurements for precision assembly when the sizes of the parts involved exceed the field of view of the vision system,an image mosaic technique must be used.In this paper,a method for constructing an image mosaic with non-overlapping areas with enhanced efficiency is proposed.First,an image mosaic model for the part is created using a geometric model of the measurement system installed on a X-Y-Z precision stages with high repeatability,and a path for image acquisition is established.Second,images are captured along the same path for a specified calibration plate,and an entire image is formed based on the given model.The measurement results obtained from the specified calibration plate are utilized to identify mosaic errors and apply compensation for the part requiring measurement.Experimental results show that the maximum error is less than 4μm for a camera with pixel equivalent 2.46μm,thereby demonstrating the accuracy of the proposed method.This image mosaic technique with non-overlapping regions can simplify image acquisition and reduce the workload involved in constructing an image mosaic.
基金supported by the National Natural Science Foundation of China(6210333962073261)+1 种基金Shaanxi Natural Science Basic Research Program(2023-JC-YB-569)the Fundamental Research Funds for the Central Universities。
文摘In this paper,a flexible modular“Tetris”microsatellite platform is studied to implement the rapid integration and assembly of microsatellites.The proposed microsatellite platform is fulfilled based on a sandwich assembly mode which consists of the isomorphic module structure and the standard mechanical-electric-data-thermal interfaces.The advantages of the sandwich assembly mode include flexible reconfiguration and efficient assembly.The prototype of the sandwich assembly mode is built for verifying the performance and the feasibility of the proposed mechanical-electric-data-thermal interfaces.Finally,an assembly case is accomplished to demonstrate the validity and advantages of the proposed“Tetris”microsatellite platform.
基金National Natural Science Foundation of China,Grant/Award Numbers:22075203,22279079,21905179Guangdong Science and Technology Department Program,Grant/Award Number:2021QN02L252+1 种基金Shenzhen Science and Technology Department Program,Grant/Award Numbers:20220810133521001,20220809165014001Natural Science Foundation of SZU,Grant/Award Numbers:000002111605,000002112215。
文摘A fuel cell is an energy conversion device that can continuously input fuel and oxidant into the device through an electrochemical reaction to release electrical energy.Although noble metals show good activity in fuel cell-related electrochemical reactions,their ever-increasing price considerably hinders their industrial application.Improvement of atom utilization efficiency is considered one of the most effective strategies to improve the mass activity of catalysts,and this allows for the use of fewer catalysts,saving greatly on the cost.Thus,single-atom catalysts(SACs)with an atom utilization efficiency of 100%have been widely developed,which show remarkable performance in fuel cells.In this review,we will describe recent progress on the development of SACs for membrane electrode assembly of fuel cell applications.First,we will introduce several effective routes for the synthesis of SACs.The reaction mechanism of the involved reactions will also be introduced as it is highly determinant of the final activity.Then,we will systematically summarize the application of Pt group metal(PGM)and nonprecious group metal(non-PGM)catalysts in membrane electrode assembly of fuel cells.This review will offer numerous experiences for developing potential industrialized fuel cell catalysts in the future.
基金supported by the National Natural Science Foundation of China(31770767,32070656,32070677 and 32270709)Foundation of State Key Laboratory of Utilization of Woody Oil Resource(GZKF202201)+1 种基金Hunan Province Key Research and Development Program Project(2018NK2044)Jiangsu Collaborative Innovation Center for Modern Crop Production and Collaborative Innovation Center for Modern Crop Production cosponsored by province and ministry.
文摘Cornus wilsoniana W.is a woody oil plant with high oil content and strong hypolipidemic effects,making it a valuable species for medicinal,landscaping,and ecological purposes in China.To advance genetic research on this species,we employed PacBio together with Hi-C data to create a draft genome assembly for C.wilsoniana.Based on an 11-chromosome anchored chromosome-level assembly,the estimated genome size was determined to be 843.51 Mb.The N50 contig size and N50 scaffold size were calculated to be 4.49 and 78.00 Mb,respectively.Furthermore,30474 protein-coding genes were annotated.Comparative genomics analysis revealed that C.wilsoniana diverged from its closest species∼12.46 million years ago(Mya).Furthermore,the divergence between Cornaceae and Nyssaceae occurred>62.22 Mya.We also found evidence of whole-genome duplication events and whole-genome triplicationγ,occurring at∼44.90 and 115.86 Mya.We further inferred the origins of chromosomes,which sheds light on the complex evolutionary history of the karyotype of C.wilsoniana.Through transcriptional and metabolic analysis,we identified two FAD2 homologous genes that may play a crucial role in controlling the oleic to linoleic acid ratio.We further investigated the correlation between metabolites and genes and identified 33 MADS-TF homologous genes that may affect f lower morphology in C.wilsoniana.Overall,this study lays the groundwork for future research aimed at identifying the genetic basis of crucial traits in C.wilsoniana.
基金supported in part by the National Natural Science Foundation of China(62293514,52275020,and 91948301)。
文摘Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.
基金supported by the National Natural Science Foundation of China[61702147]the Zhejiang Provincial Science and Technology Program in China[2021C03137].
文摘Kinematic semantics is often an important content of a CAD model(it refers to a single part/solid model in this work)in many applications,but it is usually not the belonging of the model,especially for the one retrieved from a common database.Especially,the effective and automatic method to reconstruct the above information for a CAD model is still rare.To address this issue,this paper proposes a smart approach to identify each assembly interface on every CAD model since the assembly interface is the fundamental but key element of reconstructing kinematic semantics.First,as the geometry of an assembly interface is formed by one or more adjacent faces on each model,a face-attributed adjacency graph integrated with face structure fingerprint is proposed.This can describe each CAD model as well as its assembly interfaces uniformly.After that,aided by the above descriptor,an improved graph attention network is developed based on a new dual-level anti-interference filtering mechanism,which makes it have the great potential to identify all representative kinds of assembly interface faces with high accuracy that have various geometric shapes but consistent kinematic semantics.Moreover,based on the abovementioned graph and face-adjacent relationships,each assembly interface on a model can be identified.Finally,experiments on representative CAD models are implemented to verify the effectiveness and characteristics of the proposed approach.The results show that the average assembly-interface-face-identification accuracy of the proposed approach can reach 91.75%,which is about 2%–5%higher than those of the recent-representative graph neural networks.Besides,compared with the state-of-the-art methods,our approach is more suitable to identify the assembly interfaces(with various shapes)for each individual CAD model that has typical kinematic pairs.
