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。     

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.     

基于分子生态学网络分析松嫩退化草地土壤微生物群落对施氮的响应

【目的】 氮素输入影响着全球草地生态系统的可持续性,关注施氮对土壤微生物群落的影响及其分子生态网络,为草地退化修复提供理论依据。【方法】 以松嫩退化羊草草地为研究对象,通过施氮和未施氮处理,利用高通量测序和随机矩阵网络构建理论构建土壤微生物群落分子生态网络。探讨氮素管理对退化羊草草地土壤微生物群落结构及网络的影响,氮添加条件下微生物网络结构中的关键微生物变化规律,以及该过程中微生物之间的互作关系,解析外源氮素添加条件下土壤细菌动态变化的关键结点和规律。【结果】 在门分类水平上施氮处理草地有细菌门22个,未施氮处理23个。7个菌门是施氮和未施氮处理草地的优势菌门,其中变形菌门（Proteobacteria）是含有OTU数量最多的门类,约占总序列的30.46%,酸杆菌门（Acidobacteria）是含有OTU数量次之的门类,约占总序列的30.15%,芽单胞菌门（Gemmatimonadetes）是含有OTU数量第3的门类,约占总序列的8.14%,放线菌（Actinomycete）约占总序列的6.15%,绿弯菌门（Chloroflexi）、拟杆菌门（Bacteroidetes）和硝化螺旋菌门（Nitrospirae）三者约占总序列的17.16%。施氮处理草地土壤微生物中的变形菌门、放线菌门、拟杆菌门的相对丰度均显著高于未施氮处理草地土壤（P<0.01）;未施氮草地土壤中绿弯菌门、酸杆菌门、芽单胞菌门相对丰度显著高于施氮草地土壤（P<0.01）,其他各门细菌施氮与未施氮处理间未呈现出显著差异。表征网络的正向连接比、平均路径长度、平均聚类系数和模块性均为施氮处理显著低于未施氮处理（P<0.001）。在土壤的分子生态网络中,未施氮处理有16个模块枢纽（Zi>2.5,Pi≤0.62）,施氮处理有6个模块枢纽,均属于酸杆菌门、芽单胞菌门和放线菌门。施氮导致土壤微生物种间关系改变,进而改变土壤整体生态网络。【结论】 施氮降低了退化草地土壤网络结构的复杂程度和紧密性;降低了退化草地土壤中的酸杆菌门和绿弯菌门相对丰度,提高了变形菌门、放线菌门和芽单胞菌门相对丰度。土壤中微生物关键物种（OTU）由16个（未施氮）减少为6个,且二者土壤中均没有重叠OTU,这表明施氮调控微生物群落网络的关键物种,进而改变其分子生态网络结构。     

用于作物表型信息边缘计算采集的认知无线传感器网络分簇路由算法

随着无线终端数量的快速增长和多媒体图像等高带宽传输业务需求的增加，农业物联网相关领域可预见地会出现无线频谱资源紧缺问题。针对基于传统物联网的作物表型信息采集系统中存在由于节点密集部署导致数据传输过程容易出现频谱竞争、数据拥堵的现象以及固定电池的网络由于能耗不均衡引起监测周期缩减等诸多问题，本研究建立了一个认知无线传感器网络（CRSN）作物表型信息采集模型，并针对模型提出一种引入边缘计算机制的动态频谱和能耗均衡（DSEB）的事件驱动分簇路由算法。算法包括：（1）动态频谱感知分簇，采用层次聚类算法结合频谱感知获取的可用信道、节点间的距离、剩余能量和邻居节点度为相似度对被监控区域内的节点进行聚类分簇并选取簇头，构建分簇拓扑的过程对各分簇大小的均衡性引入奖励和惩罚因子，提升网络各分簇平均频谱利用率；（2）融入边缘计算的事件触发数据路由，根据构建的分簇拓扑结构，将待检测各区域变化异常表型信息触发事件以簇内汇聚和簇间中继交替迭代方式转发至汇聚节点，簇内汇聚包括直传和簇内中继，簇间中继包括主网关节点和次网关节点-主网关节点两种情况；（3）基于频谱变化和通信服务质量（QoS）的自适应重新分簇：基于主用户行为变化引起的可用信道改变，或分簇效果不佳对通信服务质量产生的干扰，触发CRSN进行自适应重新分簇。此外，本研究还提出了一种新的能耗均衡策略去能量消耗中心化（假设sink为中心），即在网关或簇头节点选取计算式中引入与节点到sink的距离成正比的权重系数。算法仿真结果表明，与采用K-medoid分簇和能量感知的事件驱动分簇(ERP)路由方案相比，在CRSN节点数为定值的前提下，基于DSEB的分簇路由算法在网络生存期与能效等方面均具有一定的改进；在主用户节点数为定值时，所提算法比其它两种算法具有更高频谱利用率。     

土壤微生物生物地理学：国内进展与国际前沿

土壤微生物生物地理学是研究土壤中微生物空间分布格局及其随时间变化的一门科学,是土壤微生物学和微生物生态学等领域的研究前沿。近年来,尽管土壤微生物生物地理学研究取得了巨大进展,目前仍面临诸多难题与挑战。本文简要回顾了土壤微生物生物地理学的发展历程,重点介绍近年来我国在森林、草地和农田生态系统中土壤微生物生物地理学研究的主要进展。同时进一步阐述了目前土壤微生物生物地理学研究的国际前沿方向,包括微生物群落空间分布及其驱动机制、群落构建过程与共存网络、微生物地理分布与生态系统功能的关联以及预测微生物群落对全球变化的响应。最后,对土壤微生物生物地理学未来的研究方向进行了展望,强调了清晰的微生物物种定义、微生物群落的时间动态、多组学与合成生物学技术以及高精度的预测模型在土壤微生物生物地理学研究中的重要性。     

基于CNN的小麦籽粒完整性图像检测系统

为了快速、准确识别小麦籽粒的完整粒和破损粒,设计了基于卷积神经网络(CNN)的小麦籽粒完整性图像检测系统,并成功应用于实际检测中。采集完整粒和破损粒两类小麦籽粒图像,对图像进行分割、滤波等处理后,建立单粒小麦的图像数据库和形态特征数据库。采用LeNet-5、AlexNet、VGG-16和ResNet-34等4种典型卷积神经网络建立小麦籽粒完整性识别模型,并与SVM和BP神经网络所建模型进行对比。结果表明,SVM和BP神经网络所建模型的验证集识别准确率最高为92. 25%; 4种卷积神经网络模型明显优于两种传统模型,其中,识别性能最佳的AlexNet的测试集识别准确率为98. 02%,识别速率为0. 827 ms/粒。基于AlexNet模型设计了小麦籽粒完整性图像检测系统,检测结果显示,100粒小麦的检测时间为26. 3 s,其中,图像采集过程平均用时21. 2 s,图像处理与识别过程平均用时为5. 1 s,平均识别准确率为96. 67%。     

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.     

A data transfer method for improving seed identification of maize (Zea mays) haploid breeding based on genetic similarity

Maize haploid breeding technology is able to identify haploid seeds non‐destructively, rapidly and at low cost with the help of Near‐infrared (NIR) spectral analysis. However, due to the hybridization of numerous parents and the low production rate of haploid, the haploid data collection becomes a burden for engineering this technology. Biologically, there are considerable similarities between the progeny of the same female parent and different male parents. Based on this advantage, similar spectral data can be transferred when the NIR technology is employed. A revised method of Transfer adaptive boost (TrAdaBoost) is proposed to improve identifying for the backpropagation neural network (BPNN) classifier. To avoid the negative transfer, a screening thresh is used to select out similar data, and the amount of these data are limited to join current training. The results show that the identification performances are improved significantly when the data amount is small. This method shows a high ability to make the seed identification more convenient for engineering maize haploid breeding.     

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.