Raphanobrassica(R^(r)R^(r)C^(r)C^(r),2n=4x=36),which is generated by distant hybridization between the maternal parent Raphanus sativus(R s R s,2n=2x=18)and the paternal parent Brassica oleracea(C°C°,2n=2x=1...Raphanobrassica(R^(r)R^(r)C^(r)C^(r),2n=4x=36),which is generated by distant hybridization between the maternal parent Raphanus sativus(R s R s,2n=2x=18)and the paternal parent Brassica oleracea(C°C°,2n=2x=18),displays intermediate silique phenotypes compared to diploid progenitors.However,the hybrid shares much more similarities in silique phenotypes with those of B.oleracea than those of R.sativus.Strikingly,the silique of Raphanobrassica is obviously split into two parts.To investigate the gene expression patterns behind these phenomena,transcriptome analysis was performed on the upper,middle,and lower sections of pods(RCsiu,RCsim,and RCsil),seeds in the upper and lower sections of siliques(RCseu and RCsel)from Raphanobrassica,whole pods(Rsi and Csi)and all seeds in the siliques(Rse and Cse)from R.sativus and B.oleracea.Transcriptome shock was observed in all five aforementioned tissues of Raphanobrassica.Genome-wide unbalanced biased expression and expression level dominance were also discovered,and both of them were toward B.oleracea in Raphanobrassica,which is consistent with the observed phenotypes.The present results reveal the global gene expression patterns of different sections of siliques of Raphanobrassica,pods,and seeds of B.oleracea and R.sativus,unraveling the tight correlation between global gene expression patterns and phenotypes of the hybrid and its parents.展开更多
Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception.However,traditiona...Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception.However,traditional calibrations suffer inaccuracy and inconsistency.To address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework.In our method,the spatial relationship is geometrically correlated between the sensing units and robotic arm.The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization.Additionally,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently.The calibration has been evaluated on our developed platform.In the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,respectively.The comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.展开更多
基金the National Key Research and Development Program of China(2017YFD0101701)the National Natural Science Foundation of China(Grant No.31540083).
文摘Raphanobrassica(R^(r)R^(r)C^(r)C^(r),2n=4x=36),which is generated by distant hybridization between the maternal parent Raphanus sativus(R s R s,2n=2x=18)and the paternal parent Brassica oleracea(C°C°,2n=2x=18),displays intermediate silique phenotypes compared to diploid progenitors.However,the hybrid shares much more similarities in silique phenotypes with those of B.oleracea than those of R.sativus.Strikingly,the silique of Raphanobrassica is obviously split into two parts.To investigate the gene expression patterns behind these phenomena,transcriptome analysis was performed on the upper,middle,and lower sections of pods(RCsiu,RCsim,and RCsil),seeds in the upper and lower sections of siliques(RCseu and RCsel)from Raphanobrassica,whole pods(Rsi and Csi)and all seeds in the siliques(Rse and Cse)from R.sativus and B.oleracea.Transcriptome shock was observed in all five aforementioned tissues of Raphanobrassica.Genome-wide unbalanced biased expression and expression level dominance were also discovered,and both of them were toward B.oleracea in Raphanobrassica,which is consistent with the observed phenotypes.The present results reveal the global gene expression patterns of different sections of siliques of Raphanobrassica,pods,and seeds of B.oleracea and R.sativus,unraveling the tight correlation between global gene expression patterns and phenotypes of the hybrid and its parents.
基金This work was supported by the International Partnership Program of Chinese Academy of Sciences(173321KYSB20180020,173321KYSB20200002)the National Natural Science Foundation of China(61903357,62022088)+3 种基金Liaoning Provincial Natural Science Foundation of China(2020-MS-032,2019-YQ-09,2020JH2/10500002,2021JH6/10500114)LiaoNing Revitalization Talents Program(XLYC1902110)China Postdoctoral Science Foundation(2020M672600)the Swedish Foundation for Strategic Research(APR20-0023).
文摘Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception.However,traditional calibrations suffer inaccuracy and inconsistency.To address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework.In our method,the spatial relationship is geometrically correlated between the sensing units and robotic arm.The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization.Additionally,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently.The calibration has been evaluated on our developed platform.In the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,respectively.The comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.