The T2/RNase gene family is widespread in eukaryotes,and particular members of this family play critical roles in the gametophytic self-incompatibility(GSI) system in plants.Wild diploid strawberry(Fragaria)species ha...The T2/RNase gene family is widespread in eukaryotes,and particular members of this family play critical roles in the gametophytic self-incompatibility(GSI) system in plants.Wild diploid strawberry(Fragaria)species have diversified their sexual systems via self-incompatible and self-compatible traits,yet how these traits evolved in Fragaria remains elusive.By integrating the published and de novo assembled genomes and the newly generated RNA-seq data,members of the RNase T2 gene family were systematically identified in six Fragaria species,including three self-incompatible species(Fragaria nipponica,Fragaria nubicola,and Fragaria viridis) and three self-compatible species(Fragaria nilgerrensis,Fragaria vesca,and Fragaria iinumae).In total,115 RNase T2 genes were identified in the six Fragaria genomes and can be classified into three classes(Ⅰ-Ⅲ) according to phylogenetic analysis.The identified RNase T2 genes could be divided into 22 homologous gene sets according to amino acid sequence similarity and phylogenetic and syntenic relationships.We found that extensive gene loss and pseudogenization coupled with small-scale duplications mainly accounted for variations in the RNase T2 gene numbers in Fragaria.Multiple copies of homologous genes were mainly generated from tandem and segmental duplication events.Furthermore,we newly identified five S-RNase genes in three self-incompatible Fragaria genomes,including two in F.nipponica,two in F.viridis,and one in F.nubicola,which fit for typical features of a pistil determinant,including highly pistil-specific expression,highly polymorphic proteins and alkaline isoelectric point(pI),while no S-RNase genes were found in all three selfcompatible Fragaria species.Surprisingly,these T2/S-RNase genes contain at least one large intron(>10 kb).This study revealed that the rapid evolution of T2/S-RNase genes within the Fragaria genus could be associated with its sexual mode,and repeated evolution of the self-compatible traits in Fragaria was convergent via losses of S-RNase.展开更多
The region coverage control problem of multiple stratospheric airships system is firstly addressed in this paper.Towards it,we propose a two-layer control framework with the artificial potential field(APF)-based regio...The region coverage control problem of multiple stratospheric airships system is firstly addressed in this paper.Towards it,we propose a two-layer control framework with the artificial potential field(APF)-based region coverage control law and the adaptive tracking control law.The APF-based region coverage control law ensures the coverage task is achieved until every single stratospheric airship ends up performing station keeping where near the respective global minimum point,in which an innovative solution to the local minimum problem is put forward.The adaptive tracking control law is designed to realize motion control using tracking the desired velocity and angular velocity given by coverage control law,with the consideration of several practical control problems as unknown individual differences and external disturbances.To save resources,the combined self-/event-triggered mechanism designed therein significantly reduces the times of state information transmission and control law calculation.The effectiveness of the proposed control framework is verified through simulations.展开更多
目的探讨以自评方式填写中文版耳鸣残疾量表(the Chinese version of the tinnitus handicap inventory,THI-C)的可靠性及临床实用性。方法对以耳鸣为第一主诉的180例患者分别采用患者自评及医评两种方式收集初诊THIC资料,并以自评方式...目的探讨以自评方式填写中文版耳鸣残疾量表(the Chinese version of the tinnitus handicap inventory,THI-C)的可靠性及临床实用性。方法对以耳鸣为第一主诉的180例患者分别采用患者自评及医评两种方式收集初诊THIC资料,并以自评方式收集复诊患者的THI-C资料,统计自评及医评THI-C完成率,比较两者得分差异,计算自评与医评的符合率及耗时差异。结果初诊THI-C医评完成率为98.33%,自评完成率为43.89%,自评与医评符合率为16.38%,自评分(48.71±26.75)显著高于医评分(41.11±21.69,P<0.01),自评耗时(3.93±2.44分钟)明显低于医评耗时(7.67±1.81分钟,P<0.01)。复诊中,2诊至5诊THI-C完成率分别为49.4%、51.2%、43.5%、46.7%,平均耗时分别为3.44±1.76、2.97±1.62、2.88±1.48、2.42±1.44分钟。结论以自评方式填写THI-C评估耳鸣严重程度可靠性较低,临床实用性有限。展开更多
Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing s...Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints（effecter constraints, kinematics constraints and physical constraints）. The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.展开更多
基金financially supported by the National Key Research and Development Program of China (2018YFD1000107)the open research project of the "Cross-Cooperative Team" of the Germplasm Bank of Wild Species to A.Z.
文摘The T2/RNase gene family is widespread in eukaryotes,and particular members of this family play critical roles in the gametophytic self-incompatibility(GSI) system in plants.Wild diploid strawberry(Fragaria)species have diversified their sexual systems via self-incompatible and self-compatible traits,yet how these traits evolved in Fragaria remains elusive.By integrating the published and de novo assembled genomes and the newly generated RNA-seq data,members of the RNase T2 gene family were systematically identified in six Fragaria species,including three self-incompatible species(Fragaria nipponica,Fragaria nubicola,and Fragaria viridis) and three self-compatible species(Fragaria nilgerrensis,Fragaria vesca,and Fragaria iinumae).In total,115 RNase T2 genes were identified in the six Fragaria genomes and can be classified into three classes(Ⅰ-Ⅲ) according to phylogenetic analysis.The identified RNase T2 genes could be divided into 22 homologous gene sets according to amino acid sequence similarity and phylogenetic and syntenic relationships.We found that extensive gene loss and pseudogenization coupled with small-scale duplications mainly accounted for variations in the RNase T2 gene numbers in Fragaria.Multiple copies of homologous genes were mainly generated from tandem and segmental duplication events.Furthermore,we newly identified five S-RNase genes in three self-incompatible Fragaria genomes,including two in F.nipponica,two in F.viridis,and one in F.nubicola,which fit for typical features of a pistil determinant,including highly pistil-specific expression,highly polymorphic proteins and alkaline isoelectric point(pI),while no S-RNase genes were found in all three selfcompatible Fragaria species.Surprisingly,these T2/S-RNase genes contain at least one large intron(>10 kb).This study revealed that the rapid evolution of T2/S-RNase genes within the Fragaria genus could be associated with its sexual mode,and repeated evolution of the self-compatible traits in Fragaria was convergent via losses of S-RNase.
基金supported by the Postdoctoral Science Foundation of China(Grant No.2020TQ0028)the National Natural Science Foundation of China(No.62173016)Beijing Natural Science Foundation,PRChina(No.4202038)。
文摘The region coverage control problem of multiple stratospheric airships system is firstly addressed in this paper.Towards it,we propose a two-layer control framework with the artificial potential field(APF)-based region coverage control law and the adaptive tracking control law.The APF-based region coverage control law ensures the coverage task is achieved until every single stratospheric airship ends up performing station keeping where near the respective global minimum point,in which an innovative solution to the local minimum problem is put forward.The adaptive tracking control law is designed to realize motion control using tracking the desired velocity and angular velocity given by coverage control law,with the consideration of several practical control problems as unknown individual differences and external disturbances.To save resources,the combined self-/event-triggered mechanism designed therein significantly reduces the times of state information transmission and control law calculation.The effectiveness of the proposed control framework is verified through simulations.
文摘目的探讨以自评方式填写中文版耳鸣残疾量表(the Chinese version of the tinnitus handicap inventory,THI-C)的可靠性及临床实用性。方法对以耳鸣为第一主诉的180例患者分别采用患者自评及医评两种方式收集初诊THIC资料,并以自评方式收集复诊患者的THI-C资料,统计自评及医评THI-C完成率,比较两者得分差异,计算自评与医评的符合率及耗时差异。结果初诊THI-C医评完成率为98.33%,自评完成率为43.89%,自评与医评符合率为16.38%,自评分(48.71±26.75)显著高于医评分(41.11±21.69,P<0.01),自评耗时(3.93±2.44分钟)明显低于医评耗时(7.67±1.81分钟,P<0.01)。复诊中,2诊至5诊THI-C完成率分别为49.4%、51.2%、43.5%、46.7%,平均耗时分别为3.44±1.76、2.97±1.62、2.88±1.48、2.42±1.44分钟。结论以自评方式填写THI-C评估耳鸣严重程度可靠性较低,临床实用性有限。
基金supported by National Natural Science Foundation of China(Grant No. 60975058)
文摘Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints（effecter constraints, kinematics constraints and physical constraints）. The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.
