以大豆天隆1号为材料,根据Glycine max Wm82.a2.v1中大豆基因组的预测序列,克隆出一个AP1同源基因,命名为GmAP1。该基因编码区CDS长度为711 bp,编码一个含236个氨基酸的蛋白质。对蛋白质序列的结构分析结果显示GmAP1蛋白符合MADS-box基...以大豆天隆1号为材料,根据Glycine max Wm82.a2.v1中大豆基因组的预测序列,克隆出一个AP1同源基因,命名为GmAP1。该基因编码区CDS长度为711 bp,编码一个含236个氨基酸的蛋白质。对蛋白质序列的结构分析结果显示GmAP1蛋白符合MADS-box基因家族特征。为了初步分析GmAP1的功能,利用实时定量RT-PCR分析GmAP1在不同花器官中表达,并且在拟南芥中过表达该基因。在不同花器官中,GmAP1表达量不同,在花萼中表达量较高;花瓣次之。GmAP1过表达植株表现出早花、植株矮小以及花器官(花瓣、雄蕊和雌蕊)数量增多等表型。结果表明,大豆的GmAP1是一个功能保守的AP1基因,在花的发生和花器官发育中起着重要作用。展开更多
With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation ...With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.展开更多
文摘以大豆天隆1号为材料,根据Glycine max Wm82.a2.v1中大豆基因组的预测序列,克隆出一个AP1同源基因,命名为GmAP1。该基因编码区CDS长度为711 bp,编码一个含236个氨基酸的蛋白质。对蛋白质序列的结构分析结果显示GmAP1蛋白符合MADS-box基因家族特征。为了初步分析GmAP1的功能,利用实时定量RT-PCR分析GmAP1在不同花器官中表达,并且在拟南芥中过表达该基因。在不同花器官中,GmAP1表达量不同,在花萼中表达量较高;花瓣次之。GmAP1过表达植株表现出早花、植株矮小以及花器官(花瓣、雄蕊和雌蕊)数量增多等表型。结果表明,大豆的GmAP1是一个功能保守的AP1基因,在花的发生和花器官发育中起着重要作用。
基金National Key Research and Development of China(No.2019YFB1600700)Sichuan Science and Technology Planning Project(No.2021YFSY0003)。
文摘With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.
