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Transcriptional profiling during infection of potato NLRs and Phytophthora infestans effectors using cDNA enrichment sequencing 被引量:1
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作者 Amanpreet Kaur Vikrant Singh +6 位作者 Stephen Byrne Miles Armstrong Thomas M.Adams Brian Harrower Eleanor Gilroy Ewen Mullins Ingo Hein 《The Crop Journal》 2025年第1期31-40,共10页
An accurate assessment of host and pathogen gene expression during infection is critical for understanding the molecular aspects of host-pathogen interactions.Often,pathogen-derived transcripts are difficult to ascert... An accurate assessment of host and pathogen gene expression during infection is critical for understanding the molecular aspects of host-pathogen interactions.Often,pathogen-derived transcripts are difficult to ascertain at early infection stages owing to the unfavourable transcript representation compared to the host genes.In this study,we compare two sequencing techniques,RNAseq and enrichment sequencing(RenSeq and PenSeq)of cDNA,to investigate gene expression patterns in the doubled monoploid potato(DM)infected with the late blight pathogen Phytophthora infestans.Our results reveal distinct advantages of cDNA RenSeq and PenSeq over traditional RNAseq in terms of target gene representation and transcriptional quantification at early infection stages.Throughout the infection time course,cDNA enrichment sequencing enables transcriptomic analyses for more targeted host and pathogen genes.For highly expressed genes that were sampled in parallel by both cDNA enrichment and RNAseq,a high level of concordance in expression profiles is observed,indicative of at least semi-quantitative gene expression representation following enrichment. 展开更多
关键词 RxLR effector NLRS Late blight POTATO cDNA sequencing RenSeq PenSeq RNASEQ
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Science:Pathogenic fungi exploit plant phosphate sensing via Nudix hydrolase effectors
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作者 Yi-Xuan Fu Ying Ye 《Advanced Agrochem》 2025年第2期103-105,共3页
Inorganic phosphate(Pi)homeostasis in plants is regulated by inositol pyrophosphates(PP-InsPs),which mediate phosphate starvation responses.While beneficial microorganisms,such as arbuscular mycorrhizal fungi,contribu... Inorganic phosphate(Pi)homeostasis in plants is regulated by inositol pyrophosphates(PP-InsPs),which mediate phosphate starvation responses.While beneficial microorganisms,such as arbuscular mycorrhizal fungi,contribute to phosphate uptake,pathogenic fungi often exploit phosphate metabolism to enhance virulence.However,the exact mechanisms by which pathogens manipulate plant phosphate signaling remain largely unknown.Here,we highlight a recent study by Ulrich Schaffrath and colleagues(Science,2025)revealing that plant pathogenic fungi deploy conserved Nudix hydrolase effectors to hydrolyze PP-InsPs,thereby mimicking phosphate starvation and suppressing host immunity.These findings not only expand our understanding of plantpathogen interactions,but also open new avenues for crop protection and resistance breeding. 展开更多
关键词 Phosphate signaling Nudix effector PP-InsPs Plant-pathogen interaction
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Genome-wide identification and characterization of putative effectors in Heterodera schachtii that suppress plant immune response
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作者 Ke Yao Menghan Zhang +6 位作者 Jianjun Xu Deliang Peng Wenkun Huang Ling'an Kong Shiming Liu Guangkuo Li Huan Peng 《Journal of Integrative Agriculture》 2025年第1期196-208,共13页
The sugar beet cyst nematode(Heterodera schachtii) is one of the most destructive pathogens in sugar beet production, which causes serious economic losses every year. Few molecular details of effectors of H. schachtii... The sugar beet cyst nematode(Heterodera schachtii) is one of the most destructive pathogens in sugar beet production, which causes serious economic losses every year. Few molecular details of effectors of H. schachtii parasitism are known. We analyzed the genome and transcriptome data of H. schachtii and identified multiple potential predicted proteins. After filtering out predicted proteins with high homology to other plant-parasitic nematodes, we performed functional validation of the remaining effector proteins. 37 putative effectors of H. schachtii were screened based on the Nicotiana benthamiana system for identifying the effectors that inhibit plant immune response, eventually determines 13 candidate effectors could inhibit cell death caused by Bax. Among the 13 effectors, nine have the ability to inhibit GPA2/RBP1-induced cell death. All 13 effectortriggered immunity(ETI) suppressor genes were analyzed by qRT-PCR and confirmed to result in a significant downregulation of one or more defense genes during infection compared to empty vector. For in situ hybridization,13 effectors were specifically expressed and located in esophageal gland cells. These data and functional analysis set the stage for further studies on the interaction of H. schachtii with host and H. schachtii parasitic control. 展开更多
关键词 sugar beet cyst nematode Heterodera schachti effector-triggered immunity hypersensitive response effector
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Antisepsis and Fresh-keeping Effects of Natamycin Coating Compounds Treatment on Red Global Grape 被引量:3
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作者 周会玲 刘美迎 +2 位作者 任小林 吴主莲 张维 《Agricultural Science & Technology》 CAS 2012年第9期2012-2016,2036,共6页
The aim was to research fresh-keeping effects of natamycin on cold-pre- served grape. Red globe grapes were processed with compound coating liquid of chitosan with mass fraction at 1% and natamycin with mass fractions... The aim was to research fresh-keeping effects of natamycin on cold-pre- served grape. Red globe grapes were processed with compound coating liquid of chitosan with mass fraction at 1% and natamycin with mass fractions at 0.20% (T1), 0.40% (T2) and 0.60% (T3), respectively. Grapes processed with water (CK3) and 1% chitosan (CK2) were taken as control groups. Rotten rate, seed shattering rate, mass loss rate, respiratory intensity and related physiological quality in test and control groups were compared. The results indicated that respiratory intensity, mass loss rate, rotten rate and seed shattering rate in CK1 were all higher than those in CK2. In addition, T1, T2 and T3 were lower in the indices than CK1 and CK2, but still kept at a high level in fruit hardness. Furthermore, mass fractions of Vc and titratable acid declined more slowly in T1, T2 and T3, compared with CK1 and CK2. Natamycin better preserved grapes and prolonged storage period. In general, natamycin with mass fraction at 0.4% proved best in fresh-keeping. 展开更多
关键词 NATAMYCIN CHITOSAN Red global grape ANTISEPSIS fresh-keeping
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Yersinia type Ⅲ effectors perturb host innate immune responses 被引量:4
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作者 Khavong Pha Lorena Navarro 《World Journal of Biological Chemistry》 CAS 2016年第1期1-13,共13页
The innate immune system is the first line of defense against invading pathogens. Innate immune cells recognize molecular patterns from the pathogen and mount a response to resolve the infection. The production of pro... The innate immune system is the first line of defense against invading pathogens. Innate immune cells recognize molecular patterns from the pathogen and mount a response to resolve the infection. The production of proinflammatory cytokines and reactive oxygen species, phagocytosis, and induced programmed cell death are processes initiated by innate immune cells in order to combat invading pathogens. However, pathogens have evolved various virulence mechanisms to subvert these responses. One strategy utilized by Gram-negative bacterial pathogens is the deployment of a complex machine termed the type Ⅲ secretion system(T3SS). The T3SS is composed of a syringe-like needle structure and the effector proteins that are injected directly into a target host cell to disrupt a cellular response. The three human pathogenic Yersinia spp.(Y. pestis, Y. enterocolitica, and Y. pseudotuberculosis) are Gramnegative bacteria that share in common a 70 kb virulence plasmid which encodes the T3 SS. Translocation of the Yersinia effector proteins(YopE, YopH, YopT, YopM, YpkA/YopO, and YopP/J) into the target host cell results in disruption of the actin cytoskeleton to inhibit phagocytosis, downregulation of proinflammatory cytokine/chemokine production, and induction of cellular apoptosis of the target cell. Over the past 25 years, studies on the Yersinia effector proteins have unveiled tremendous knowledge of how the effectors enhance Yersinia virulence. Recently, the long awaited crystal structure of YpkA has been solved providing further insights into the activation of the YpkA kinase domain. Multisite autophosphorylation by YpkA to activate its kinase domain was also shown and postulated to serve as a mechanism to bypass regulation by host phosphatases. In addition, novel Yersinia effector protein targets, such as caspase-1, and signaling pathways including activation of the inflammasome were identified. In this review, we summarize the recent discoveries made on Yersinia effector proteins and their contribution to Yersinia pathogenesis. 展开更多
关键词 TYPE SECRETION YERSINIA effectors INNATE VIRULENCE
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Diverse interactions of five core type Ⅲ effectors from Ralstonia solanacearum with plants 被引量:2
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作者 Shen Cong Jun-Zhou Li +1 位作者 Zheng-Zhong Xiong Hai-Lei Wei 《Journal of Genetics and Genomics》 SCIE CAS CSCD 2023年第5期341-352,共12页
Ralstonia solanacearum is a widespread plant bacterial pathogen that can launch a range of type Ⅲ effectors(T3Es)to cause disease.In this study,we isolate a pathogenic R.solanacearum strain named P380 from tomato rhi... Ralstonia solanacearum is a widespread plant bacterial pathogen that can launch a range of type Ⅲ effectors(T3Es)to cause disease.In this study,we isolate a pathogenic R.solanacearum strain named P380 from tomato rhizosphere.Five out of 12 core T3Es of strain P380 are introduced into Pseudomonas syringae DC3000D36E separately to determine their functions in interacting with plants.DC3000D36E that harbors each effector suppresses FliC-triggered Pti5 and ACRE31 expression,ROS burst,and callose deposition.RipAE,RipU,and RipW elicit cell death as well as upregulate the MAPK cascades in Nicotiana benthamiana.The derivatives RipC1^(△DDXDX(T/V))and RipW^(△DDKXXQ)but not RipAE^(K310R) fail to suppress ROS burst.Moreover,RipAE^(K310R) and RipW^(△DDKXXQ) retain the cell death elicitation ability.RipAE and RipW are associated with salicylic acid and jasmonic acid pathways,respectively.RipAE and RipAQ significantly promote the propagation of DC3000D36E in plants.The five core T3Es localize in diverse subcellular organelles of nucleus,plasma membrane,endoplasmic reticulum,and Golgi network.The suppressor of G2 allele of Skp1 is required for RipAE but not RipU-triggered cell death in N.benthamiana.These results indicate that the core T3Es in R.solanacearum play diverse roles in plantpathogen interactions. 展开更多
关键词 Ralstonia solanacearum TypeⅢsecretion system effectors PTI ETI
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Effects of Nine Kinds of Household Vase Solutions on Fresh-keeping Effect of Lilium Cut Flowers 被引量:1
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作者 Jianjun LIU Zhonglian MA +3 位作者 Rui SHI Lijun CHENG Ju WANG Shimin WANG 《Asian Agricultural Research》 2021年第2期35-40,共6页
[Objective]The paper was to study the effects of nine kinds of household vase solutions on fresh-keeping effect of Lilium cut flowers.[Method]Using Lilium"Sorbonne"as the material,nine kinds of household vas... [Objective]The paper was to study the effects of nine kinds of household vase solutions on fresh-keeping effect of Lilium cut flowers.[Method]Using Lilium"Sorbonne"as the material,nine kinds of household vase solutions were prepared by edible white granulated sugar,white vinegar,akafen powder and vitamin C tablets,respectively.The morphological and physiological indexes of Lilium cut flowers,including vase life,ornamental grade,flower diameter,fresh weight of flower branches,water balance value,soluble protein content and MDA content of petals,were observed,and the effects of nine kinds of household vase solutions on fresh-keeping effect of Lilium cut flowers were studied.[Result]The household vase solution F8(20 g/L white granated sugar+1 packet/L acafen powder+2 tablets/L vitamin C tablets)had the best fresh-keeping effect on Lilium cut flowers,which was beneficial to prolong the vase life and improve the ornamental value of Lilium cut flowers.[Conclusion]The household vase solution of Lilium cut flowers is optimized,which is not only environmentally friendly but also convenient for ordinary families. 展开更多
关键词 Household vase solution Lilium cut flowers fresh-keeping effect
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Fresh-keeping Effects of Different Concentrations of 6-BA and B9 on Carnation Cut Flower 被引量:1
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作者 Yanrong BAI Xijun MO Yalian JIANG 《Agricultural Biotechnology》 CAS 2018年第1期39-43,共5页
Using sucrose, citric acid and vitamin C as the basic liquid, different concentrations of 6-BA and B9 preservatives were added, and the carnation variety ' Master' was treated. The results showed that the formula of... Using sucrose, citric acid and vitamin C as the basic liquid, different concentrations of 6-BA and B9 preservatives were added, and the carnation variety ' Master' was treated. The results showed that the formula of 3% sucrose + 50 mg/L citric acid + 600 mg/L vitamin C + 20 mg/L 6-BA could effectively maintain the water balance of the cut flower, prolong the vase life of the cut flower to 16.4 d, and maximize the flower diameter and the crown height. 展开更多
关键词 6-BA B9 Carnation cut flower fresh-keeping effect
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Bioinformatic Analysis of Potential Pathogenicity Effectors of <i>Candidatus</i>Liberibacter asiaticus, Causal Agent of Citrus Huanglongbing
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作者 Felipe Roberto Flores-de la Rosa Cynthia Guadalupe Rodríguez-Quibrera +1 位作者 Cristian Matilde-Hernández Ricardo Santillán-Mendoza 《American Journal of Plant Sciences》 2020年第8期1319-1330,共12页
Huanglongbing (HLB) or citrus greening is currently the most important citrus disease, caused by the bacterium </span><i><span style="font-family:Verdana;">Candidatus</span></i>... Huanglongbing (HLB) or citrus greening is currently the most important citrus disease, caused by the bacterium </span><i><span style="font-family:Verdana;">Candidatus</span></i><span style="font-family:Verdana;"> Liberibacter asiaticus (</span><i><span style="font-family:Verdana;">C</span></i><span style="font-family:Verdana;">Las). The impossibility of isolating it causes understanding its pathogenic mechanisms to be a complicated task. Recent studies identified 16 proteins with the signal peptide needed to be secreted in the plant and cause the disease. The present study aims to perform a bioinformatic analysis of these proteins with the function prediction approach by gene ontology (GO) and the detection of conserved domains. It was observed that of the 16 proteins analyzed not all are found in different infective strains reported in the literature. The GO analysis allowed us to relate different proteins with the biological process of energy and pathogenic activity, especially CLIBASIA_03315 and CLIBASIA_05115, respectively. The domain analysis allowed the observation of a </span></span><i><span style="font-family:Verdana;">β</span></i><span style="font-family:""><span style="font-family:Verdana;">-CA domain, tentatively related to the damage caused to the chloroplast and a PAAR domain associated with the T6SS secretory system. Our results provide information on the possible function of potential pathogenicity effectors in </span><i><span style="font-family:Verdana;">C</span></i><span style="font-family:Verdana;">Las. 展开更多
关键词 effectors Proteins Function Prediction Gen Ontology DOMAINS Citrus Greening
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Kiwi Fruit Fresh-keeping Technology
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《China's Foreign Trade》 1995年第3期46-46,共1页
The vitamin C rich-kiwi fruit-the king of fruits-is good to taste but hard to store. Only a few countries can prevent mildew on the fruit stalk during the storage process. The fresh-keeping technology developed by the... The vitamin C rich-kiwi fruit-the king of fruits-is good to taste but hard to store. Only a few countries can prevent mildew on the fruit stalk during the storage process. The fresh-keeping technology developed by the Shaanxi Teachers University has enabled China to catch up with the advanced countries in this field. 展开更多
关键词 Kiwi Fruit fresh-keeping Technology this
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Puccinia triticina effector Pt-1234 modulates wheat immunity by targeting transcription factor TaNAC069 via its C subdomain 被引量:2
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作者 Huaimin Geng Yanjun Zhang +5 位作者 Zhen Qin Shen Wang Changshan Liu Zhongchi Cui Daqun Liu Haiyan Wang 《The Crop Journal》 2025年第1期69-78,共10页
The NAC(NAM,ATAF1/2,and CUC2)is a defense-associated transcription factor(TF)family that positively regulates defense responses to pathogen infection.TaNAC069 positively regulates resistance in wheat to Puccinia triti... The NAC(NAM,ATAF1/2,and CUC2)is a defense-associated transcription factor(TF)family that positively regulates defense responses to pathogen infection.TaNAC069 positively regulates resistance in wheat to Puccinia triticina(Pt).However,the molecular mechanism of its interaction with a Pt effector is not clear.We found that Pt effector Pt-1234 interacts with TaNAC069 to subvert host immunity during Pt infection.Quantitative real-time PCR analysis showed that expression of Pt-1234 was significantly upregulated during the early stage of Pt infection.Protein-mediated cell death assays in wheat showed that the Pt-1234 protein was unable to induce cell death in wheat near-isogenic lines carrying different leaf rust resistance genes,whereas it suppressed BAX-induced cell death in leaves of Nicotiana benthamiana.Silencing of Pt-1234 by host-induced gene silencing(HIGS)significantly reduced the virulence of Pt in the susceptible wheat variety Thatcher.The C subdomain of TaNAC069 was responsible for its interaction with Pt-1234,and the E subdomain was required for TaNAC069-mediated defense responses to Pt in planta.These findings indicate that Pt utilizes Pt-1234 to interact with wheat transcription factor TaNAC069 through its C subdomain,thereby modulating wheat immunity. 展开更多
关键词 effectors NAC transcription factor Host-induced gene silencing Puccinia triticina Triticum aestivum
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Comprehensive analysis of the LysM protein family and functional characterization of the key LysM effector StLysM1, which modulates plant immunity in Setosphaeria turcica
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作者 Xiaodong Gong Dan Han +7 位作者 Lu Zhang Guibo Yin Junfang Yang Hui Jia Zhiyan Cao Jingao Dong Yuwei Liu Shouqin Gu 《Journal of Integrative Agriculture》 2025年第5期1860-1874,共15页
LysM proteins contain the lysin domain(LysM),bind chitin and are found in various organisms including fungi.In phytopathogenic fungi,certain LysM proteins act as effectors to inhibit host immunity,thus increasing fung... LysM proteins contain the lysin domain(LysM),bind chitin and are found in various organisms including fungi.In phytopathogenic fungi,certain LysM proteins act as effectors to inhibit host immunity,thus increasing fungal virulence.However,our understanding of the LysM protein family in Setosphaeria turcica is limited.In this study,eight StLysM genes are identified and designated as StLysM1 to StLysM8.The analysis of sequence features indicates that five proteins(StLysM1,StLysM2,StLysM5,StLysM6,and StLysM7)are potential effectors.Phylogenetic analysis suggests that the StLysMs are divided into fungal/bacterial and fungus-specific subclasses.Domain architecture analysis reveals that the five StLysM effectors exclusively harbor the LysM domain,whereas the other three StLysM proteins contain additional functional domains.Sequence conservation analysis shows that the fungal-specific LysM domain sequences share the ^(8)GDxTC^(12) and ^(29)WNP^(31) motifs as well as three highly conserved cysteine residues.Conversely,the LysM domain sequences from the bacterial/fungal branch have few conserved sites.Moreover,expression profiling analysis shows that the StLysM1 gene is significantly upregulated during the infection of maize.Yeast secretion assays and transient expression experiments demonstrate that StLysM1 is a secreted protein that can suppress BAX/INF1-induced programmed cell death in Nicotiana benthamiana.Further functional analysis suggests that St Lys M1 cannot interact with itself but it can bind chitin.The transient expression of StLysM1 inhibits the chitin-triggered plant immune response,increasing susceptibility to the phytopathogenic fungus Botrytis cinerea in N.benthamiana.This study reveals that the S.turcica LySM protein family consists of eight members,highlighting the significance of StLysM1 as a vital effector in regulating plant immunity.The results provide insight into StLysMs and establish a foundation for understanding the roles of StLysM proteins in the pathogenic process of S.turcica. 展开更多
关键词 Setosphaeria turcica LysM effector CHITIN
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The Magnaporthe oryzae effector MoCHT1 targets and stabilizes rice OsLLB to suppress jasmonic acid synthesis and enhance infection
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作者 Ningning Shen Chuner Lu +10 位作者 Yanhong Wen Boqian Deng Yu Dong Xiaojun Gong Yuhao Liu Chengyu Liu Zixuan Liu Xianya Deng Li-Bo Han Dingzhong Tang Yuan-Bao Li 《Journal of Genetics and Genomics》 2025年第11期1387-1400,共14页
Rice blast disease caused by Magnaporthe oryzae poses a serious threat to rice security worldwide.This filamentous pathogen modulates rice defense responses by secreting effectors to facilitate infection.The phytohorm... Rice blast disease caused by Magnaporthe oryzae poses a serious threat to rice security worldwide.This filamentous pathogen modulates rice defense responses by secreting effectors to facilitate infection.The phytohormone jasmonic acid(JA)plays crucial roles in the response to rice blast fungus.However,how M.oryzae disrupts JA-mediated resistance in rice is not well understood.In this study,we identify a new effector,a chloroplast-targeting protein(MoCHT1),from M.oryzae.Knocking out MoCHT1 decreases virulence,whereas heterologous expression of MoCHT1 in rice compromises disease resistance.MoCHT1 interacts with a rice LESION AND LAMINA BENDING(OsLLB)protein,a negative regulator of JA biosynthesis in the chloroplast.Loss-of-function of Os LLB leads to increased JA accumulation,thereby improving resistance to rice blast.The interaction between MoCHT1 and OsLLB results in the inhibition of OsLLB degradation,consequently reducing JA accumulation,thereby impairing JA content and decreasing plant disease resistance.Overall,this study reveals the molecular mechanism by which M.oryzae utilizes MoCHT1 to subvert rice JA signaling,broadening our understanding of how pathogens circumvent host immune responses by manipulating plant defense hormone biosynthesis. 展开更多
关键词 Rice blast effector Plant defense response CHLOROPLAST Jasmonic acid
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水下机械手研究进展
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作者 肖华平 李翰林 刘书海 《浙江大学学报(工学版)》 北大核心 2026年第1期99-116,共18页
从驱动方式的角度综述水下机械手的发展现状,讨论动力学建模、运动控制及自主智能化在水下机械手作业中的关键作用,分析末端执行器从刚性向柔性演化的趋势,总结现有水下机械手在结构设计、动力学模型、自主智能控制等方面存在的问题.动... 从驱动方式的角度综述水下机械手的发展现状,讨论动力学建模、运动控制及自主智能化在水下机械手作业中的关键作用,分析末端执行器从刚性向柔性演化的趋势,总结现有水下机械手在结构设计、动力学模型、自主智能控制等方面存在的问题.动力学建模、运动控制及自主智能技术作为实现水下机械手作业的关键技术,旨在应对作业环境的复杂性和不确定性.具有自主作业与精确运动控制能力的智能水下机械手在现代海洋工程、深海探索以及海洋资源开发中展现出广阔的应用前景. 展开更多
关键词 水下机械手 驱动方式 动力学模型 运动控制 自主智能化 末端执行器
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名优茶采摘机器人关键技术研究现状与发展趋势
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作者 杨金鹏 马瑞峻 +3 位作者 甄文斌 齐龙 唐劲驰 马锐军 《中国农机化学报》 北大核心 2026年第2期148-156,共9页
茶青采收是茶叶生产过程中劳动最密集、成本最高的环节,推进采茶机械化对茶产业提质增效具有重要意义。目前,大宗茶已实现机械化采收,而名优茶采收仍主要依赖人工,面临劳动力短缺与采摘需求增长的矛盾。尽管已成功研制出多种名优茶采摘... 茶青采收是茶叶生产过程中劳动最密集、成本最高的环节,推进采茶机械化对茶产业提质增效具有重要意义。目前,大宗茶已实现机械化采收,而名优茶采收仍主要依赖人工,面临劳动力短缺与采摘需求增长的矛盾。尽管已成功研制出多种名优茶采摘机器人样机,但其在复杂自然环境下的适应性、采摘效率及智能化水平仍有不足,难以实现规模化作业。综述名优茶采摘机器人的研究进展与应用现状,分析基于图像处理、机器学习和深度学习的茶青识别与采摘点定位关键技术,并总结归纳利用末端执行器分离茶青的主要方法。针对当前采摘机器人存在的技术瓶颈,未来应聚焦于农机农艺融合、视觉算法优化、智能装备创新及采摘质量提升等方面,推动茶叶采摘机器人向高效、低损、实用化方向发展。 展开更多
关键词 茶叶采摘机器人 机器学习 视觉系统 末端执行器 名优茶
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基于自抗扰和模型预测的苹果采摘器柔性控制
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作者 张宇鑫 郭玥 +2 位作者 高亚鹏 王琬婷 李海芳 《农业工程学报》 北大核心 2026年第1期37-47,共11页
针对苹果采摘任务中末端执行器主动柔性不足、控制精度较差的问题,该研究提出了一种采摘器力位混合控制方法。首先,基于3D打印技术设计了一款夹爪结构可调的柔性采摘器,以微型伺服电缸作为驱动机构,将连杆的平移运动转换为柔性夹爪的开... 针对苹果采摘任务中末端执行器主动柔性不足、控制精度较差的问题,该研究提出了一种采摘器力位混合控制方法。首先,基于3D打印技术设计了一款夹爪结构可调的柔性采摘器,以微型伺服电缸作为驱动机构,将连杆的平移运动转换为柔性夹爪的开合运动,为采摘器力/位混合控制提供了硬件支持;其次,将融合了位置速度解算模块和线性状态误差反馈模块的自抗扰控制(active disturbance rejection control,ADRC)与模型预测控制(model predictive control,MPC)结合作为采摘器的控制器,其中ADRC算法用于精准估计采摘器运行中存在的摩擦扰动并进行实时补偿,MPC算法通过多步预测机制优化ADRC控制策略,两者协同作用形成动态互补的控制架构;最后在现实场景中对控制策略进行验证,结果表明:该系统力跟踪响应时间达到0.85 s,接触力稳态建立时间为3.08 s,且动态力控误差能够稳定控制在±0.1 N的精度范围内。该研究成果为苹果采摘机器人柔性采摘提供了一种可行的技术方案。 展开更多
关键词 机器人 苹果 采摘 末端执行器 力位混合控制 自抗扰控制 模型预测控制
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新型血红蛋白变构效应物肌醇三焦磷酸盐研究进展
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作者 王月 郭思瑞 +2 位作者 王晶 王斯文 金鹏飞 《中国药业》 2026年第3期1-5,共5页
目的为新型血红蛋白(Hb)变构效应物肌醇三焦磷酸盐(ITPP)治疗低氧相关疾病的规范应用提供参考。方法以PubMed、Embase、中国知网(CNKI)、中国生物医学文献数据库(CBM)、万方(WanFang)数据库中的数据为基础,总结了ITPP的作用机制、治疗... 目的为新型血红蛋白(Hb)变构效应物肌醇三焦磷酸盐(ITPP)治疗低氧相关疾病的规范应用提供参考。方法以PubMed、Embase、中国知网(CNKI)、中国生物医学文献数据库(CBM)、万方(WanFang)数据库中的数据为基础,总结了ITPP的作用机制、治疗作用及检测技术。结果ITPP不仅具有高膜渗透性,还可靶向红细胞并在其内蓄积,能高效地与Hb的变构位点结合,降低Hb对氧气的亲和力。其在治疗心血管疾病、增强运动能力、抗肿瘤、放射治疗增敏等方面有较大潜力,其独特的作用机制与疗效为低氧相关疾病的治疗提供了新策略。但其临床应用中仍有药品不良反应、体育竞技滥用等风险,且有待进一步完善检测技术。结论未来还应探索其在阿尔茨海默病、黄斑变性等缺氧疾病中的作用及临床应用,为患者提供更多治疗选择。 展开更多
关键词 肌醇三焦磷酸盐 新型血红蛋白变构效应物 缺氧疾病 检测技术
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农林采摘机器人末端执行器研究现状与发展趋势
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作者 怀宝宇 熊晨焜 +1 位作者 雷永杰 周建波 《中国农机化学报》 北大核心 2026年第1期140-146,159,共8页
我国林果、蔬菜产量居世界前列,为实现果蔬采收降本增效,推动机械化、自动化采收作业是必然趋势。末端执行器作为采摘功能的直接执行单元,其性能水平对果蔬收获效率和质量有直接影响。通过介绍国内外农林采摘机器人末端执行器的结构形... 我国林果、蔬菜产量居世界前列,为实现果蔬采收降本增效,推动机械化、自动化采收作业是必然趋势。末端执行器作为采摘功能的直接执行单元,其性能水平对果蔬收获效率和质量有直接影响。通过介绍国内外农林采摘机器人末端执行器的结构形式以及智能控制方法在末端执行器中的应用,分析当前末端执行器的研究现状。指出末端执行器存在缺乏针对非结构化环境下的设计与试验,采摘过程易损伤果蔬表面,采摘成本高等问题。针对当前问题,从机艺融合、深化智能控制技术应用、多体协同采摘作业、提高设备通用性和实用性等方面提出建议,以期为农林采摘机器人末端执行器的发展提供参考。 展开更多
关键词 末端执行器 采摘机器人 智能控制 机械化 自动化
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休眠期枣树枝条切割特性试验研究
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作者 马保建 陈棒棒 +2 位作者 李昆 陆佛生 蒋焕煜 《农机化研究》 北大核心 2026年第2期139-145,共7页
在休眠期枣树自动化修剪作业过程中,切割位置与切割角度对修剪机器人末端执行器的切割扭矩具有重要影响。为寻求最优的切割参数,基于测力传感器、惯性测量传感器、手动剪等搭建了枣树剪枝末端执行器,实时测量并记录切割过程中剪切力、... 在休眠期枣树自动化修剪作业过程中,切割位置与切割角度对修剪机器人末端执行器的切割扭矩具有重要影响。为寻求最优的切割参数,基于测力传感器、惯性测量传感器、手动剪等搭建了枣树剪枝末端执行器,实时测量并记录切割过程中剪切力、姿态和角度等数据。结合Minitab软件对数据进行分析,以线性模型、调整平方和等作为评价指标,建立切割位置与切割角度对刀具切割扭矩影响的模型,揭示切割位置、切割角度与切割扭矩之间的关系。试验结果表明:①相对于末端执行器0°直切枣树枝条时,30°斜切枝条的切割扭矩显著性更高,且两种角度下较小直径的枣树修剪枝所需切割扭矩差异并不显著;②相对于刀具与枣树枝条在刀具枢轴处接触,剪切枝条与刀具中心接触时末端执行器所需的切割扭矩更大,而当枣树枝条直径增大到12 mm以上时刀具接触点对切割扭矩的影响相对减弱。研究结果可为休眠期枣树修剪机器人末端执行器的设计与优化提供数据支撑。 展开更多
关键词 休眠期枣树 机器人修剪 切割特性 末端执行器
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提采式名优茶选择性采摘机构设计与试验
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作者 陈霖 宋彦 +2 位作者 张航 宁井铭 王荣炎 《农业机械学报》 北大核心 2026年第1期227-238,共12页
目前名优茶主要通过人工采摘,名优茶的机械化采摘存在茶茎剪切断口发红影响品质、末端执行器尺寸较大影响精准采摘的问题。为此设计了一种模拟人手指夹紧茶茎并提拉的末端执行器,以所测茶叶几何参数、生物力学参数为约束,设计采摘机构... 目前名优茶主要通过人工采摘,名优茶的机械化采摘存在茶茎剪切断口发红影响品质、末端执行器尺寸较大影响精准采摘的问题。为此设计了一种模拟人手指夹紧茶茎并提拉的末端执行器,以所测茶叶几何参数、生物力学参数为约束,设计采摘机构、收集机构各杆件尺寸参数;通过Matlab软件和Solidworks软件运动学仿真,验证收集机构各杆件的尺寸参数。确定采摘成功率的影响因素夹具厚度、采摘高度和夹指张角的参数范围,采用Box-Behnken响应面分析方法,以采摘成功率为响应值建立二次回归模型,研究各因素对采摘成功率的交互影响。各因素对采摘成功率的影响显著性主次排序为:夹指张角、夹具厚度、采摘高度;以采摘成功率为优化目标优化各因素,将优化后的各参数最优组合近似处理为:夹具厚度6 mm、夹指张角59°、采摘高度3 mm。以优化后的参数进行田间试验,结果表明末端执行器采摘成功率为91.67%,试验值与预测值的误差小于5%,影响因素优化结果可靠,表明所设计采摘末端执行器可以达到茶叶高效采摘的要求。 展开更多
关键词 名优茶 末端执行器 复合曲柄滑块机构 采摘成功率
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