Root-knot nematodes(RKNs)are the most widespread soil-borne obligate endoparasites.They can infect the roots of many crops and cause significant yield losses.The only commercially available RKN-resistant gene in tomat...Root-knot nematodes(RKNs)are the most widespread soil-borne obligate endoparasites.They can infect the roots of many crops and cause significant yield losses.The only commercially available RKN-resistant gene in tomatoes,Mi-1.2,fails at soil temperatures above 28℃.We cloned the heat-stable RKN-resistant gene,Mi-9,from a gene cluster composed of seven nucleotide-binding sites and leucine-rich repeat(NBS-LRR)type resistant genes in Solanum arcunum accession LA2157.Screening nematode infections in individual and combinatorial knockouts of five NBS-LRR genes showed that Mi-9 Candidate 4(MiC-4)alone is sufficient to confer heat-stable RKN resistance.Our study identifies a new source of heat-stable resistance to RKN in tomatoes for challenging environmental conditions.We also showcase a roadmap for rapid characterization of resistance genes by combining comparative genomics and genome editing,with the potential to be utilized in other crops.展开更多
By using Windows QTL Cartographer v2.5 software, QTLs for five weight traits of Liangshan semi-fine wool sheep were detected based on nine microsatellite markers on chromosome 3. According to the results, ① in refere...By using Windows QTL Cartographer v2.5 software, QTLs for five weight traits of Liangshan semi-fine wool sheep were detected based on nine microsatellite markers on chromosome 3. According to the results, ① in reference family 191, the QTL affecting weaning weight was detected at 110.01 cM with an additive effect of 6.860, explaining 29.3% of the phenotypic variance; ② in reference family 190, the QTL affecting weaning daily gain was detected at 227.41 cM with an additive effect of 0.013, explaining 1.7% of the phenotypic variance; ③there was no QTL affect- ing birth weight, 1.5-year weight and 2.5-year weight of Liangshan semi-fine wool sheep.展开更多
针对Informed-RRT(rapidly-exploring random tree)^(*)算法收敛速度慢、优化效率低和生成路径无法满足实际需求等问题,开展了基于MI-RRT^(*)(Modified Informed-RRT^(*))算法的路径规划研究,通过引入贪心采样和自适应步长的方法提高算...针对Informed-RRT(rapidly-exploring random tree)^(*)算法收敛速度慢、优化效率低和生成路径无法满足实际需求等问题,开展了基于MI-RRT^(*)(Modified Informed-RRT^(*))算法的路径规划研究,通过引入贪心采样和自适应步长的方法提高算法的收敛率,减少路径生成时间、降低内存占用;利用最小化Snap曲线优化的方法使路径平滑的同时动力也变化平缓,达到节省能量的效果,并提供实际可执行的路径。最后通过多组不同复杂度的实验环境表明,较Informed-RRT^(*)算法MI-RRT^(*)算法稳定性更高、所得规划路径平滑可执行,并且能够减少20%的迭代次数和25%的搜索时间,得出在开阔以及密集环境中MI-RRT^(*)算法较Informed-RRT^(*)和RRT^(*)算法有明显的优势。展开更多
基金supported by the National Key R&D Program of China(2018YFA0900600 and 2021YFF1000103-5)the Strategic Priority Research Program of Chinese Academy of Sciences(XDA24030503)。
文摘Root-knot nematodes(RKNs)are the most widespread soil-borne obligate endoparasites.They can infect the roots of many crops and cause significant yield losses.The only commercially available RKN-resistant gene in tomatoes,Mi-1.2,fails at soil temperatures above 28℃.We cloned the heat-stable RKN-resistant gene,Mi-9,from a gene cluster composed of seven nucleotide-binding sites and leucine-rich repeat(NBS-LRR)type resistant genes in Solanum arcunum accession LA2157.Screening nematode infections in individual and combinatorial knockouts of five NBS-LRR genes showed that Mi-9 Candidate 4(MiC-4)alone is sufficient to confer heat-stable RKN resistance.Our study identifies a new source of heat-stable resistance to RKN in tomatoes for challenging environmental conditions.We also showcase a roadmap for rapid characterization of resistance genes by combining comparative genomics and genome editing,with the potential to be utilized in other crops.
基金Supported by Fund of the Federal Ministry of Education and Research(BMBF),Germany(CHN 00316)Project of Science and Technology Department of Sichuan Province(2012JY0126)~~
文摘By using Windows QTL Cartographer v2.5 software, QTLs for five weight traits of Liangshan semi-fine wool sheep were detected based on nine microsatellite markers on chromosome 3. According to the results, ① in reference family 191, the QTL affecting weaning weight was detected at 110.01 cM with an additive effect of 6.860, explaining 29.3% of the phenotypic variance; ② in reference family 190, the QTL affecting weaning daily gain was detected at 227.41 cM with an additive effect of 0.013, explaining 1.7% of the phenotypic variance; ③there was no QTL affect- ing birth weight, 1.5-year weight and 2.5-year weight of Liangshan semi-fine wool sheep.
文摘针对Informed-RRT(rapidly-exploring random tree)^(*)算法收敛速度慢、优化效率低和生成路径无法满足实际需求等问题,开展了基于MI-RRT^(*)(Modified Informed-RRT^(*))算法的路径规划研究,通过引入贪心采样和自适应步长的方法提高算法的收敛率,减少路径生成时间、降低内存占用;利用最小化Snap曲线优化的方法使路径平滑的同时动力也变化平缓,达到节省能量的效果,并提供实际可执行的路径。最后通过多组不同复杂度的实验环境表明,较Informed-RRT^(*)算法MI-RRT^(*)算法稳定性更高、所得规划路径平滑可执行,并且能够减少20%的迭代次数和25%的搜索时间,得出在开阔以及密集环境中MI-RRT^(*)算法较Informed-RRT^(*)和RRT^(*)算法有明显的优势。
