In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative o...In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.展开更多
Glycosylation by uridine diphosphate-dependent glycosyltransferases(UGTs)in plants contributes to the complexity and diversity of secondary metabolites.UGTs are generally promiscuous in their use of acceptors,making i...Glycosylation by uridine diphosphate-dependent glycosyltransferases(UGTs)in plants contributes to the complexity and diversity of secondary metabolites.UGTs are generally promiscuous in their use of acceptors,making it challenging to reveal the function of UGTs in vivo.Here,we described an approach that combined glycoside-specific metabolomics and precursor isotopic labeling analysis to characterize UGTs in Arabidopsis.We revisited the UGT72E cluster,which has been reported to catalyze the glycosylation of monolignols.Glycoside-specific metabolomics analysis reduced the number of differentially accumulated metabolites in the ugt72e1e2e3 mutant by at least 90%compared with that from traditional untargeted metabolomics analysis.In addition to the two previously reported monolignol glycosides,a total of 62 glycosides showed reduced accumulation in the ugt72e1e2e3 mutant,22 of which were phenylalanine-derived glycosides,including 5-OH coniferyl alcohol-derived and lignan-derived glycosides,as confirmed by isotopic tracing of[^(13)C_(6)]-phenylalanine precursor.Our method revealed that UGT72Es could use coumarins as substrates,and genetic evidence showed that UGT72Es endowed plants with enhanced tolerance to low iron availability under alkaline conditions.Using the newly developed method,the function of UGT78D2 was also evaluated.These case studies suggest that this method can substantially contribute to the characterization of UGTs and efficiently investigate glycosylation processes,the complexity of which have been highly underestimated.展开更多
Endosomes are crucial sites for intracellular material sorting and transportation.Endosomal transport is a critical process involved in the selective uptake,processing,and intracellular transport of substances.The equ...Endosomes are crucial sites for intracellular material sorting and transportation.Endosomal transport is a critical process involved in the selective uptake,processing,and intracellular transport of substances.The equilibrium between endocytosis and circulation mediated by the endosome-centered transport pathway plays a significant role in cell homeostasis,signal transduction,and immune response.In recent years,there have been hints linking endosomal transport abnormalities to neurodegenerative diseases,including Alzheimer’s disease.Nonetheless,the related mechanisms remain unclear.Here,we provide an overview of endosomal-centered transport pathways and highlight potential physiological processes regulated by these pathways,with a particular focus on the correlation of endosomal trafficking disorders with common pathological features of neurodegenerative diseases.Additionally,we summarize potential therapeutic agents targeting endosomal trafficking for the treatment of neurodegenerative diseases.展开更多
Proanthocyanidins(PAs)are the second most abundant plant phenolic natural products.PA biosynthesis is regulated by the well-documented MYB/bHLH/WD40(MBW)complex,but how this complex itself is regu-lated remains ill de...Proanthocyanidins(PAs)are the second most abundant plant phenolic natural products.PA biosynthesis is regulated by the well-documented MYB/bHLH/WD40(MBW)complex,but how this complex itself is regu-lated remains ill dened.Here,in situ hybridization and b-glucuronidase staining show that APETALA2(AP2),a well-dened regulator offlower and seed development,is strongly expressed in the seed coat endothelium,where PAs accumulate.AP2 negatively regulates PA content and expression levels of key PA pathway genes.AP2 activates MYBL2 transcription and interacts with MYBL2,a key suppressor of the PA pathway.AP2 exerts its function by directly binding to the AT-rich motifs near the promoter region of MYBL2.Molecular and biochemical analyses revealed that AP2 forms AP2–MYBL2–TT8/EGL3 com-plexes,disrupting the MBW complex and thereby repressing expression of ANR,TT12,TT19,and AHA10.Genetic analyses revealed that AP2 functions upstream of MYBL2,TT2,and TT8 in PA regulation.Our work reveals a new role of AP2 as a key regulator of PA biosynthesis in Arabidopsis.Overall,this study sheds new light on the comprehensive regulation network of PA biosynthesis as well as the dual regulatory roles of AP2 in seed development and accumulation of major secondary metabolites in Arabidopsis.展开更多
Glycine max L.accumulates a large amount of isoflavonoid compounds,which is beneficial for plant defense,plant-microbe symbiotic interactions,and human health.Several CYP450 subfamily genes are involved in the flavono...Glycine max L.accumulates a large amount of isoflavonoid compounds,which is beneficial for plant defense,plant-microbe symbiotic interactions,and human health.Several CYP450 subfamily genes are involved in the flavonoid biosynthetic pathway in plants.In the present study,we found 24 CYP82 subfamily genes were differentially expressed in various tissues of soybean,in Phytophthora sojae-infected soybean varieties and in soybean hairy roots treated with cell wall glucan elicitor.Six of them(GmCYP82A2,GmCYP82A3,GmCYP82A4,GmCYP82A23,GmCYP82C20 and GmCYP82D26)were co-expressed with other known isoflavonoid pathway genes in soybean.Their enzymatic activity in yeast feeding assays showed that only GmCYP82D26 was able to convert naringenin to daidzein with both aryl migration and dehydration function.When GmCYP82D26 was over-expressed in soybean hairy roots,the contents of the two major isoflavonoid aglycones in soybean(daidzein and genistein)were reduced,but total flavonoids were not affected.When GmCYP82D26 was suppressed by RNAi in the hairy roots,daidzein content was decreased but genistein content was increased,with unchanged total flavonoid content.GmCYP82D26 was found to be localized in the endoplasmic reticulum at subcellular level when transiently expressed in tobacco leaf epidermis.GmCYP82D26 gene was preferentially expressed in roots,with low expression level in other tissues in soybean.Homology modeling and molecular docking showed that GmCYP82D26 could form hydrogen bond with both HEM and naringenin at C5-OH and C4 carbonyl.All these results indicated that GmCYP82D26 possesses new and dual enzymatic activity,which bridges the two branches(daidzein and genistein branch)of isoflavonoid pathway in soybean.展开更多
基金supported in part by the Advanced Equipment Manufacturing Technology Innovation Project of Hebei Province under Grant No.22311801D,23311807D,and 236Z1816Gin part by the National Natural Science Foundation of China under Grant No.U20A20283.
文摘In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.
基金the National Key R&D Program of China(2019YFA0903900)National Natural Science Foundation of China(grant number 31870273)+2 种基金Guangdong Provincial Key Laboratory of Synthetic Genomics(2019B030301006)Shenzhen Key Laboratory of Synthetic Genomics(ZDSYS201802061806209)Shenzhen Instituteof Synthetic Biology Scientific Research Program(ZTXM20190007).
文摘Glycosylation by uridine diphosphate-dependent glycosyltransferases(UGTs)in plants contributes to the complexity and diversity of secondary metabolites.UGTs are generally promiscuous in their use of acceptors,making it challenging to reveal the function of UGTs in vivo.Here,we described an approach that combined glycoside-specific metabolomics and precursor isotopic labeling analysis to characterize UGTs in Arabidopsis.We revisited the UGT72E cluster,which has been reported to catalyze the glycosylation of monolignols.Glycoside-specific metabolomics analysis reduced the number of differentially accumulated metabolites in the ugt72e1e2e3 mutant by at least 90%compared with that from traditional untargeted metabolomics analysis.In addition to the two previously reported monolignol glycosides,a total of 62 glycosides showed reduced accumulation in the ugt72e1e2e3 mutant,22 of which were phenylalanine-derived glycosides,including 5-OH coniferyl alcohol-derived and lignan-derived glycosides,as confirmed by isotopic tracing of[^(13)C_(6)]-phenylalanine precursor.Our method revealed that UGT72Es could use coumarins as substrates,and genetic evidence showed that UGT72Es endowed plants with enhanced tolerance to low iron availability under alkaline conditions.Using the newly developed method,the function of UGT78D2 was also evaluated.These case studies suggest that this method can substantially contribute to the characterization of UGTs and efficiently investigate glycosylation processes,the complexity of which have been highly underestimated.
基金supported by the National Natural Science Foundation of China(81901309)the Science and Technology Funding Project to Support the High-Quality Development of China Medical University(2023JH2/20200039)+1 种基金the Basic Scientific Research Project of Institutions of Higher Learning of Liaoning Province(LJKZ0775)the Joint Plan of Science and Technology of Liaoning Province(2023-MSLH-369)the Science and Technology Innovation Team Project of China Medical University(CXTD2022007).
文摘Endosomes are crucial sites for intracellular material sorting and transportation.Endosomal transport is a critical process involved in the selective uptake,processing,and intracellular transport of substances.The equilibrium between endocytosis and circulation mediated by the endosome-centered transport pathway plays a significant role in cell homeostasis,signal transduction,and immune response.In recent years,there have been hints linking endosomal transport abnormalities to neurodegenerative diseases,including Alzheimer’s disease.Nonetheless,the related mechanisms remain unclear.Here,we provide an overview of endosomal-centered transport pathways and highlight potential physiological processes regulated by these pathways,with a particular focus on the correlation of endosomal trafficking disorders with common pathological features of neurodegenerative diseases.Additionally,we summarize potential therapeutic agents targeting endosomal trafficking for the treatment of neurodegenerative diseases.
基金supported by grants from the National Natural Science Foundation of China (31870281 to W.J.)the Agricultural Science and Technology Innovation Program (ASTIP-IAS10).
文摘Proanthocyanidins(PAs)are the second most abundant plant phenolic natural products.PA biosynthesis is regulated by the well-documented MYB/bHLH/WD40(MBW)complex,but how this complex itself is regu-lated remains ill dened.Here,in situ hybridization and b-glucuronidase staining show that APETALA2(AP2),a well-dened regulator offlower and seed development,is strongly expressed in the seed coat endothelium,where PAs accumulate.AP2 negatively regulates PA content and expression levels of key PA pathway genes.AP2 activates MYBL2 transcription and interacts with MYBL2,a key suppressor of the PA pathway.AP2 exerts its function by directly binding to the AT-rich motifs near the promoter region of MYBL2.Molecular and biochemical analyses revealed that AP2 forms AP2–MYBL2–TT8/EGL3 com-plexes,disrupting the MBW complex and thereby repressing expression of ANR,TT12,TT19,and AHA10.Genetic analyses revealed that AP2 functions upstream of MYBL2,TT2,and TT8 in PA regulation.Our work reveals a new role of AP2 as a key regulator of PA biosynthesis in Arabidopsis.Overall,this study sheds new light on the comprehensive regulation network of PA biosynthesis as well as the dual regulatory roles of AP2 in seed development and accumulation of major secondary metabolites in Arabidopsis.
基金supported by the Agricultural Science and Technology Innovation Program (ASTIP-IAS10).
文摘Glycine max L.accumulates a large amount of isoflavonoid compounds,which is beneficial for plant defense,plant-microbe symbiotic interactions,and human health.Several CYP450 subfamily genes are involved in the flavonoid biosynthetic pathway in plants.In the present study,we found 24 CYP82 subfamily genes were differentially expressed in various tissues of soybean,in Phytophthora sojae-infected soybean varieties and in soybean hairy roots treated with cell wall glucan elicitor.Six of them(GmCYP82A2,GmCYP82A3,GmCYP82A4,GmCYP82A23,GmCYP82C20 and GmCYP82D26)were co-expressed with other known isoflavonoid pathway genes in soybean.Their enzymatic activity in yeast feeding assays showed that only GmCYP82D26 was able to convert naringenin to daidzein with both aryl migration and dehydration function.When GmCYP82D26 was over-expressed in soybean hairy roots,the contents of the two major isoflavonoid aglycones in soybean(daidzein and genistein)were reduced,but total flavonoids were not affected.When GmCYP82D26 was suppressed by RNAi in the hairy roots,daidzein content was decreased but genistein content was increased,with unchanged total flavonoid content.GmCYP82D26 was found to be localized in the endoplasmic reticulum at subcellular level when transiently expressed in tobacco leaf epidermis.GmCYP82D26 gene was preferentially expressed in roots,with low expression level in other tissues in soybean.Homology modeling and molecular docking showed that GmCYP82D26 could form hydrogen bond with both HEM and naringenin at C5-OH and C4 carbonyl.All these results indicated that GmCYP82D26 possesses new and dual enzymatic activity,which bridges the two branches(daidzein and genistein branch)of isoflavonoid pathway in soybean.
