Pseudounipolar neurons in the dorsal root ganglia(DRG),as the central nodes of primary sensory afferents,possess a distinctive T-junction that is not merely a morphological peculiarity but also performs complex roles ...Pseudounipolar neurons in the dorsal root ganglia(DRG),as the central nodes of primary sensory afferents,possess a distinctive T-junction that is not merely a morphological peculiarity but also performs complex roles in rapid,multiplexed shunting and regulation of sensory signals.This specialized geometry enables separation,filtering,and feedback regulation of neuronal signals,thereby coordinating peripheral and central responses at multiple levels.Recent advances,including spatial transcriptomics,single-cell sequencing,super-resolution microscopy,organoid models,and novel electrophysiological methods,have permitted more precise dissection of the T-junction's molecular composition,ion-channel distribution,and electrophysiological properties.Here,we review current knowledge of the T-junction's developmental regulation and multilayered molecular networks,and we detail its functional alterations in both physiological signaling and pathological pain states,with particular emphasis on ion-channel modulation,signal attenuation,and selective transmission mechanisms.Finally,we discuss contemporary pain-intervention approaches and prospects for precision-targeted therapies,aiming to provide a theoretical foundation for future studies in pain physiology and clinical translation.展开更多
Root rot is a prevalent soil-borne fungal disease in citrus.Citron C-05(Citrus medica)stands out as a germplasm within Citrus spp.due to its complete resistance to citrus canker and favorable characteristics such as s...Root rot is a prevalent soil-borne fungal disease in citrus.Citron C-05(Citrus medica)stands out as a germplasm within Citrus spp.due to its complete resistance to citrus canker and favorable characteristics such as single embryo and easy rooting.However,Citron C-05 was found to be highly susceptible to root rot during cultivation,with the specific pathogens previously unknown.In this study,four candidate fungal species were isolated from Citron C-05 roots.Sequence analysis of ITS,EF-1a,RPB1,and RPB2 identified two Fusarium solani strains,Rr-2 and Rr-4,as the candidates causing root rot in Citron C-05.Resistance tests showed these two pathogens increased root damage rate from 10.30%to 35.69%in Citron C-05,sour orange(Citrus aurantium),sweet orange(Citrus sinensis)and pummelo(Citrus grandis).F.solani exhibited the weak pathogenicity towards trifoliate orange(Poncirus trifoliata).DAB staining revealed none of reddish-brown precipitation in the four susceptible citrus germplasm after infection with F.solani,while trifoliate orange exhibited significant H2O2 accumulation.Trypan blue staining indicated increased cell death in the four susceptible citrus germplasm following infection with these two pathogens but not in trifoliate orange.These findings provide a comprehensive understanding of citrus root rot and support future research on the mechanisms of root rot resistance in citrus.展开更多
【目的】比较Vitapex根尖诱导成形术与MTA、iRoot BP Plus根尖屏障术治疗年轻恒牙根尖周炎患者的疗效。【方法】选取2021年6月至2024年5月在本院就诊的103例(患牙103颗)年轻恒牙慢性根尖周炎患者,按照治疗方法不同分为Vitapex组(患者34...【目的】比较Vitapex根尖诱导成形术与MTA、iRoot BP Plus根尖屏障术治疗年轻恒牙根尖周炎患者的疗效。【方法】选取2021年6月至2024年5月在本院就诊的103例(患牙103颗)年轻恒牙慢性根尖周炎患者,按照治疗方法不同分为Vitapex组(患者34例,患牙34颗,实施Vitapex根尖诱导成形术)、MTA组(患者33例,患牙33颗,实施无机三氧化物聚合物MTA根尖屏障术)和iRoot BP Plus组(患者36例,患牙36颗,实施生物陶瓷材料iRoot BP Plus根尖屏障术)。比较三组患者术后1个月、3个月、6个月、12个月的临床总有效率,并比较三组患者治疗前后的牙根生长发育情况、平均治疗次数和平均治疗周期。【结果】术后6个月、12个月,MTA组、iRoot BP Plus组的临床总有效率均高于Vitapex组,且iRoot BP Plus组的临床总有效率高于MTA组,差异均有统计学意义(P<0.05)。根据X线片复诊情况,Vitapex组术后1年的牙根增长、根尖孔闭合情况均优于MTA组、iRoot BP Plus组,差异均有统计学意义(均P<0.05)。MTA组、iRoot BP Plus组平均治疗次数少于Vitapex组,平均治疗周期明显短于Vitapex组,差异均有统计学意义(均P<0.05)。【结论】MTA、iRoot BP Plus根尖屏障术治疗年轻恒牙慢性根尖周炎患者的临床疗效优于Vitapex根尖诱导成形术,且其治疗周期短、复诊次数少,但Vitapex根尖诱导成形术在促进牙根继续发育及根尖孔闭合方面更具有优势。展开更多
Intercropping has been widely used in arid and semi-arid regions because of its high yield,stable productivity,and efficient utilization of resources.However,in recent years,the high yield of traditional intercropping...Intercropping has been widely used in arid and semi-arid regions because of its high yield,stable productivity,and efficient utilization of resources.However,in recent years,the high yield of traditional intercropping is mainly attributed to the large amount of purchased resources such as water and fertilizer,plastic film,and mechanical power.These lead to a decline in cultivated land quality and exacerbate intercrops'premature root and canopy senescence.So,the application of traditional intercropping faces major challenges in crop production.This paper analyzes the manifestations,occurrence mechanisms,and agronomic regulatory pathways of crop senescence.The physiological and ecological characteristics of intercropping to delay root and canopy senescence of crops are reviewed in this paper.The main agronomic regulatory pathways of intercropping to delay root and canopy senescence of crops are based on above-and blow-ground interactions,including collocation of crop varieties,spatial arrangement,water and fertilizer management,and tillage and mulch practices.Future research fields of intercropping to delay root and canopy senescence should focus on the aspects of selecting and breeding special varieties,application of molecular biology techniques,and developing or applying models to predict and evaluate the root and canopy senescence process of intercrops.Comprehensive analysis and evaluation of different research results could provide a basis for enhancing intercropping delay root and canopy senescence through adopting innovative technologies for regulating the physio-ecological characteristics of intercrops.This would support developing and adopting high-yield,efficient,and sustainable intercropping systems in arid and semi-arid areas with high population density,limited land,and abundant light and heat resources.展开更多
背景:近年来,生物陶瓷材料因具有良好的生物相容性和封闭性能逐渐成为根尖倒充填的首选材料,其中生物陶瓷材料C-Root BP、iRoot BP Plus均具有良好的生物相容性和封闭性能。目的:对比体外环境下C-Root BP与iRoot BP Plus材料的根尖封闭...背景:近年来,生物陶瓷材料因具有良好的生物相容性和封闭性能逐渐成为根尖倒充填的首选材料,其中生物陶瓷材料C-Root BP、iRoot BP Plus均具有良好的生物相容性和封闭性能。目的:对比体外环境下C-Root BP与iRoot BP Plus材料的根尖封闭性能及抗力强度。方法:于2022年6月至2024年6月期间,收集石家庄市第二医院口腔科因正畸或牙周病新鲜拔除的单根离体牙56颗,随机分4组处理:iRoot BP Plus组(n=16)、C-Root BP组(n=16)根管预备和消毒后分别采用iRoot BP Plus、C-Root BP材料进行根尖倒充填,阳性对照组(n=16)根管预备和消毒后使用蒸馏水进行根尖倒充填,阴性对照组(n=8)仅行根管预备和消毒(不进行根尖倒充填处理),采用染料渗透法检测根尖封闭性;制作根管细菌渗漏体外模型,评价细菌微渗漏发生情况;采用薄片推出实验检测填充材料与牙本质之间的粘连强度,并在显微镜下观察断裂形式。结果与结论:(1)染料染色7 d后,阳性对照组染料渗透长度大于iRoot BP Plus组、C-Root BP组(P<0.05),iRoot BP Plus组和C-Root BP组染料渗透长度比较差异无显著性意义(P>0.05);(2)经过90 d培养,阳性对照组细菌微渗漏发生率高于iRoot BP Plus组、C-Root BP组(P<0.05),iRoot BPPlus组和C-Root BP组细菌微渗漏发生率比较差异无显著性意义(P>0.05);(3)C-Root BP组填充材料与牙本质之间的粘连强度大于iRootBP Plus组(P<0.05),两组断裂面断裂形式比较差异无显著性意义(P>0.05);(4)结果表明,采用C-Root BP和iRoot BP Plus材料进行根尖倒充填可产生相似的根尖封闭效果,并且断裂形式也基本一致,但C-Root BP材料具有良好的粘连强度。展开更多
CALCINEURIN B-LIKE PROTEINS(CBLs)function in osmotic stress responses,root morphogenesis and ion uptake in various plants such as Arabidopsis.However,the roles of Os CBLs in regulating root growth in rice(Oryza sativa...CALCINEURIN B-LIKE PROTEINS(CBLs)function in osmotic stress responses,root morphogenesis and ion uptake in various plants such as Arabidopsis.However,the roles of Os CBLs in regulating root growth in rice(Oryza sativa),whose root morphology and growth environment strongly differ from those of Arabidopsis,are unknown.Here,we demonstrated that Os CBL3 functioned as a calcium sensor to regulate primary and lateral root development in rice.Os CBL3 interacted with Os CIPK31 in vivo and in vitro,and the loss of function of Os CBL3 or Os CIPK31 resulted in shorter roots and diminished lateral root growth.Overexpression of Os CIPK31 compensated for the root growth defects of Os CBL3 knockout mutants.These results demonstrated that the Os CBL3–Os CIPK31 module coordinated root development via the abscisic acid(ABA)and auxin pathways,as ABA inhibitors and low auxin concentrations partially rescued the short-root phenotype of their respective knockout lines.CYCLOPHYLIN 2(Os CYP2),a key factor in lateral root initiation and root growth maintenance,was phosphorylated by Os CIPK31,and knockout of Os CYP2 in Os CIPK31 overexpression lines resulted in a phenotype similar to that of Os CYP2 single knockout lines.Therefore,the Os CBL3–Os CIPK31 module functioned in ABA and auxin signal transduction,ensuring proper root growth.Os CIPK31,activated by Os CBL3,then phosphorylated Os CYP2,which drove primary and lateral root development.These results establish a new module regulating primary and lateral root development in rice.展开更多
Promoting synaptic plasticity and inducing functional reorganization of residual nerve fibers hold clinical significance for restoring motor function following spinal cord injury.Neuromagnetic stimulation targeting th...Promoting synaptic plasticity and inducing functional reorganization of residual nerve fibers hold clinical significance for restoring motor function following spinal cord injury.Neuromagnetic stimulation targeting the nerve roots has been shown to improve motor function by enhancing nerve conduction in the injured spinal cord and restoring the synaptic ultrastructure of both the sensory and motor cortex.However,our understanding of the neurophysiological mechanisms by which nerve root magnetic stimulation facilitates motor function recovery in the spinal cord is limited,and its role in neuroplasticity remains unclear.In this study,we established a model of spinal cord injury in adult male Sprague–Dawley rats by applying moderate compression at the T10 vertebra.We then performed magnetic stimulation on the L5 nerve root for 3 weeks,beginning on day 3 post-injury.At day 22 post-injury,we observed that nerve root magnetic stimulation downregulated the level of interleukin-6 in the injured spinal cord tissue of rats.Additionally,this treatment reduced neuronal damage and glial scar formation,and increased the number of neurons in the injured spinal cord.Furthermore,nerve root magnetic stimulation decreased the levels of acetylcholine,norepinephrine,and dopamine,and increased the expression of synaptic plasticity-related m RNA and proteins PSD95,GAP43,and Synapsin II.Taken together,these results showed that nerve root magnetic stimulation alleviated neuronal damage in the injured spinal cord,regulated synaptic plasticity,and suppressed inflammatory responses.These findings provide laboratory evidence for the clinical application of nerve root magnetic stimulation in the treatment of spinal cord injury.展开更多
The shift from seedling transplanting to direct-seeding cultivation in rice demands robust root systems for early seedling establishment and yield stability.While the pleiotropic gene OsSP3(also designated TAC4 or SG2...The shift from seedling transplanting to direct-seeding cultivation in rice demands robust root systems for early seedling establishment and yield stability.While the pleiotropic gene OsSP3(also designated TAC4 or SG2)is known to regulate aboveground traits,including tiller angle,grain size,and panicle development,its function in root morphogenesis remains uncharacterized.展开更多
Green manuring is essential for improving soil quality and nutrient uptake.With the gradual depletion of phosphorus(P)resources,more attention is being paid to the role of green manures in cultivation systems,such as ...Green manuring is essential for improving soil quality and nutrient uptake.With the gradual depletion of phosphorus(P)resources,more attention is being paid to the role of green manures in cultivation systems,such as maize-green manure intercropping,to find possible pathways for enhancing soil P utilization.A maize-green manure intercropping experiment was started in 2009 to investigate the effects and mechanisms for enhancing P uptake and yield in maize.Three species of green manures(hairy vetch(HV),needle leaf pea(NP),sweet pea(SP))and a sole maize treatment(CK)were used,resulting in four treatments(CK,HVT,NPT,and SPT)in the experiment.During 2020-2023,the intercropping treatments enhanced maize yields in 2020 and 2021,particularly in HVT with increases of 13.7%(1.96 t ha^(-1))and 13.0%(2.13 t ha^(-1))compared with CK,respectively.Grain P accumulation of maize was significantly higher in the intercropping treatments than CK in 2020,2021,and 2023,and with an average increase of 10.6%over the four years(5.2% for NPT,10.8% for SPT and 15.9% for HVT)compared with CK.Intercropping promoted maize growth with a greater root length density and a higher organic acid release rate.HVT changed the soil properties more dramatically than the other treatments,with increases in the acid phosphatase and alkaline phosphatase activities of 29.8 and 38.5%,respectively,in the topsoil(0-15 cm),while the soil p H was reduced by 0.37 units compared to CK(p H=8.44).Intercropping treatments facilitated the conversion of non-labile P to mod-labile P and stimulated the growth of soil bacteria in the topsoil.Compared with CK,the relative abundance of Gemmatimonadota,known for accumulating polyphosphate,and Actinobacteriota,a prominent source of bioactive compounds,increased significantly in the intercropping treatments,especially in HVT and SPT.A PLS-PM analysis showed that intercropping promoted soil P mobilization and the enrichment of beneficial bacteria by regulating maize root morphology and physiology.Our results highlight that maize-green manure intercropping optimizes root traits,soil properties and bacterial composition,which contribute to greater maize P uptake and yield,providing an effective strategy for sustainable crop production.展开更多
Discussions on Chinese modernization are offering African countries both conceptual inspiration and practical references as they explore their own sustainable development paths.
Q-learning is a classical reinforcement learning method with broad applicability.It can respond effectively to environmental changes and provide flexible strategies,making it suitable for solving robot path-planning p...Q-learning is a classical reinforcement learning method with broad applicability.It can respond effectively to environmental changes and provide flexible strategies,making it suitable for solving robot path-planning problems.However,Q-learning faces challenges in search and update efficiency.To address these issues,we propose an improved Q-learning(IQL)algorithm.We use an enhanced Ant Colony Optimization(ACO)algorithmto optimizeQtable initialization.We also introduce the UCH mechanism to refine the reward function and overcome the exploration dilemma.The IQL algorithm is extensively tested in three grid environments of different scales.The results validate the accuracy of themethod and demonstrate superior path-planning performance compared to traditional approaches.The algorithm reduces the number of trials required for convergence,improves learning efficiency,and enables faster adaptation to environmental changes.It also enhances stability and accuracy by reducing the standard deviation of trials to zero.On grid maps of different sizes,IQL achieves higher expected returns.Compared with the original Q-learning algorithm,IQL improves performance by 12.95%,18.28%,and 7.98% on 10*10,20*20,and 30*30 maps,respectively.The proposed algorithm has promising applications in robotics,path planning,intelligent transportation,aerospace,and game development.展开更多
Root-zone temperature(RZT)strongly affects plant growth,nutrient uptake and tolerance to environmental stress,making its regulation a key challenge in greenhouse cultivation in cold climates.This study aimed to assess...Root-zone temperature(RZT)strongly affects plant growth,nutrient uptake and tolerance to environmental stress,making its regulation a key challenge in greenhouse cultivation in cold climates.This study aimed to assess the potential of passive techniques,namely black polyethylene mulch and row covers,for modifying RZT dynamics in lettuce(Lactuca sativa L.)production and to evaluate the predictive performance of the eXtreme Gradient Boosting(XGBoost)algorithm.Experiments were conducted in Iğdır,Türkiye,over a 61-day period,with soil temperature continuously monitored at depths of 1-30 cm under mulched and non-mulched conditions,alongside measurements of greenhouse air temperature both with and without row covers.The application of row covers increased internal air temperature by 5.8℃,while mulching raised RZT by 0.6-1.3℃,with effects diminishing at deeper layers.XGBoost modeling achieved high predictive accuracy,with RMSE values of 0.150-0.189◦C and R^(2)values above 0.99,and feature-importance analysis indicated that neighboring soil depths were the strongest predictors of RZT.These findings show that integrating row covers and mulching can stabilize the root-zone microclimate without active heating.The XGBoost model provides a robust tool for forecasting soil temperature and supports sustainable greenhouse production in cold regions.展开更多
In order to address the evolving emission characteristics of oxygenated volatile organic compounds(OVOCs),it is essential to develop adsorbent materials specifically designed for the efficient adsorption of OVOCs with...In order to address the evolving emission characteristics of oxygenated volatile organic compounds(OVOCs),it is essential to develop adsorbent materials specifically designed for the efficient adsorption of OVOCs with large kinetic diameters.In this study,we used co-pyrolysis to prepare a series of graded porous carbon materials with well-developed micropores by adjusting the doping ratios of root nodules and pretreated cellulose.The material with root nodule to cellulose mass ratio of 1:1(TCC-RN-1)exhibited the highest saturated adsorption capacity for butyl acetate(834 mg/g).This can be attributed to enhanced pore size distribution from nodule doping,which facilitates the development of a micropore-graded structure.Additionally,the nodules acted as auxiliary activating agents that enhanced the KOH micropore regulation effect during the activation stage,resulting in the highest micropore volume(0.863 cm^(3)/g).The doping of root nodules facilitated the formation of additional defects on the surface of the porous carbon material,leading to a more disordered arrangement that improved pollutant adsorption.Furthermore,TCC-RN-1 demonstrated good thermal stability in an air atmosphere,main-taining a butyl acetate adsorption capacity exceeding 95%after five adsorption-desorption cycles.This indicates its favorable potential for industrial applications.展开更多
Topological phases are governed by lattice symmetries,yet how different symmetry-breaking paths(SBPs)affect topological transitions remains insufficiently understood.Most existing studies rely on a single SBP,and addr...Topological phases are governed by lattice symmetries,yet how different symmetry-breaking paths(SBPs)affect topological transitions remains insufficiently understood.Most existing studies rely on a single SBP,and address only one bandgap,limiting independent control of multiple gaps.Here,we investigate multiple isolated Dirac points in a trefoil-knot-modified honeycomb lattice,and show that a single SBP generally inverts all relevant Dirac points simultaneously,whereas the tailored combinations of SBPs enable selective and programmable band inversion at targeted gaps.The excitation-dependent responses reveal strong modal selectivity.This capability is exploited to realize independently controllable multi-channel signal splitting,which is unattainable with a single SBP.The results enable SBPs as an effective design degree of freedom for programmable and reconfigurable topological elastic devices.展开更多
Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
To address low learning efficiency and inadequate path safety in spraying robot navigation within complex obstacle-rich environments—with dense,dynamic,unpredictable obstacles challenging conventional methods—this p...To address low learning efficiency and inadequate path safety in spraying robot navigation within complex obstacle-rich environments—with dense,dynamic,unpredictable obstacles challenging conventional methods—this paper proposes a hybrid algorithm integrating Q-learning and improved A*-Artificial Potential Field(A-APF).Centered on theQ-learning framework,the algorithmleverages safety-oriented guidance generated byA-APF and employs a dynamic coordination mechanism that adaptively balances exploration and exploitation.The proposed system comprises four core modules:(1)an environment modeling module that constructs grid-based obstacle maps;(2)an A-APF module that combines heuristic search from A*algorithm with repulsive force strategies from APF to generate guidance;(3)a Q-learning module that learns optimal state-action values(Q-values)through spraying robot-environment interaction and a reward function emphasizing path optimality and safety;and(4)a dynamic optimization module that ensures adaptive cooperation between Q-learning and A-APF through exploration rate control and environment-aware constraints.Simulation results demonstrate that the proposed method significantly enhances path safety in complex underground mining environments.Quantitative results indicate that,compared to the traditional Q-learning algorithm,the proposed method shortens training time by 42.95% and achieves a reduction in training failures from 78 to just 3.Compared to the static fusion algorithm,it further reduces both training time(by 10.78%)and training failures(by 50%),thereby improving overall training efficiency.展开更多
This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japo...This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.展开更多
With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper pro...With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.展开更多
Plant growth depends on tightly coordinated auxin signaling and directional auxin transport,yet the molecular feedback mechanism that directly links these processes during root gravitropism has remained mechanisticall...Plant growth depends on tightly coordinated auxin signaling and directional auxin transport,yet the molecular feedback mechanism that directly links these processes during root gravitropism has remained mechanistically unresolved.The recent study by Rodriguez et al.(Cell,2025)reveals a novel cell-surface auxin signaling pathway.It is shown that gravity perception-induced initial auxin asymmetry activates transmembrane kinase 1(TMK1)in the lower side cells of the root.The activated TMK1 then interacts with pin-formed 2(PIN2)and phosphorylates its hydrophilic loop,thereby stabilizing the PIN2 protein.This asymmetric distribution of PIN2 further enhances the auxin flow on the lower side,thus forming a self-reinforcing positive feedback loop that drives force for root tip gravitropic bending.This study provides an updated perspective on the auxin signal and transport feedback,signifying a new advancement in our comprehension of the mechanisms underlying plant adaptive growth.展开更多
Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always ...Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit.展开更多
基金supported by grant from the National Key Technology Support Program of the Ministry of Science and Technology of China(No.2021ZD0203204)。
文摘Pseudounipolar neurons in the dorsal root ganglia(DRG),as the central nodes of primary sensory afferents,possess a distinctive T-junction that is not merely a morphological peculiarity but also performs complex roles in rapid,multiplexed shunting and regulation of sensory signals.This specialized geometry enables separation,filtering,and feedback regulation of neuronal signals,thereby coordinating peripheral and central responses at multiple levels.Recent advances,including spatial transcriptomics,single-cell sequencing,super-resolution microscopy,organoid models,and novel electrophysiological methods,have permitted more precise dissection of the T-junction's molecular composition,ion-channel distribution,and electrophysiological properties.Here,we review current knowledge of the T-junction's developmental regulation and multilayered molecular networks,and we detail its functional alterations in both physiological signaling and pathological pain states,with particular emphasis on ion-channel modulation,signal attenuation,and selective transmission mechanisms.Finally,we discuss contemporary pain-intervention approaches and prospects for precision-targeted therapies,aiming to provide a theoretical foundation for future studies in pain physiology and clinical translation.
基金supported by Joint Funds of the National Natural Science Foundation of China(Grant No.U21A20228).
文摘Root rot is a prevalent soil-borne fungal disease in citrus.Citron C-05(Citrus medica)stands out as a germplasm within Citrus spp.due to its complete resistance to citrus canker and favorable characteristics such as single embryo and easy rooting.However,Citron C-05 was found to be highly susceptible to root rot during cultivation,with the specific pathogens previously unknown.In this study,four candidate fungal species were isolated from Citron C-05 roots.Sequence analysis of ITS,EF-1a,RPB1,and RPB2 identified two Fusarium solani strains,Rr-2 and Rr-4,as the candidates causing root rot in Citron C-05.Resistance tests showed these two pathogens increased root damage rate from 10.30%to 35.69%in Citron C-05,sour orange(Citrus aurantium),sweet orange(Citrus sinensis)and pummelo(Citrus grandis).F.solani exhibited the weak pathogenicity towards trifoliate orange(Poncirus trifoliata).DAB staining revealed none of reddish-brown precipitation in the four susceptible citrus germplasm after infection with F.solani,while trifoliate orange exhibited significant H2O2 accumulation.Trypan blue staining indicated increased cell death in the four susceptible citrus germplasm following infection with these two pathogens but not in trifoliate orange.These findings provide a comprehensive understanding of citrus root rot and support future research on the mechanisms of root rot resistance in citrus.
文摘【目的】比较Vitapex根尖诱导成形术与MTA、iRoot BP Plus根尖屏障术治疗年轻恒牙根尖周炎患者的疗效。【方法】选取2021年6月至2024年5月在本院就诊的103例(患牙103颗)年轻恒牙慢性根尖周炎患者,按照治疗方法不同分为Vitapex组(患者34例,患牙34颗,实施Vitapex根尖诱导成形术)、MTA组(患者33例,患牙33颗,实施无机三氧化物聚合物MTA根尖屏障术)和iRoot BP Plus组(患者36例,患牙36颗,实施生物陶瓷材料iRoot BP Plus根尖屏障术)。比较三组患者术后1个月、3个月、6个月、12个月的临床总有效率,并比较三组患者治疗前后的牙根生长发育情况、平均治疗次数和平均治疗周期。【结果】术后6个月、12个月,MTA组、iRoot BP Plus组的临床总有效率均高于Vitapex组,且iRoot BP Plus组的临床总有效率高于MTA组,差异均有统计学意义(P<0.05)。根据X线片复诊情况,Vitapex组术后1年的牙根增长、根尖孔闭合情况均优于MTA组、iRoot BP Plus组,差异均有统计学意义(均P<0.05)。MTA组、iRoot BP Plus组平均治疗次数少于Vitapex组,平均治疗周期明显短于Vitapex组,差异均有统计学意义(均P<0.05)。【结论】MTA、iRoot BP Plus根尖屏障术治疗年轻恒牙慢性根尖周炎患者的临床疗效优于Vitapex根尖诱导成形术,且其治疗周期短、复诊次数少,但Vitapex根尖诱导成形术在促进牙根继续发育及根尖孔闭合方面更具有优势。
基金supported by the National Natural Science Foundation of China(32101857 and U21A20218)the China Agricultural University Corresponding Support Research Joint Fund(GSAU-DKZY-2024-001)+1 种基金the Science and Technology Program in Gansu Province,China(24ZDNA008and23JRRA1407)the Fuxi Young Talents Fund of Gansu Agricultural University,China(Gaufx-03Y10).
文摘Intercropping has been widely used in arid and semi-arid regions because of its high yield,stable productivity,and efficient utilization of resources.However,in recent years,the high yield of traditional intercropping is mainly attributed to the large amount of purchased resources such as water and fertilizer,plastic film,and mechanical power.These lead to a decline in cultivated land quality and exacerbate intercrops'premature root and canopy senescence.So,the application of traditional intercropping faces major challenges in crop production.This paper analyzes the manifestations,occurrence mechanisms,and agronomic regulatory pathways of crop senescence.The physiological and ecological characteristics of intercropping to delay root and canopy senescence of crops are reviewed in this paper.The main agronomic regulatory pathways of intercropping to delay root and canopy senescence of crops are based on above-and blow-ground interactions,including collocation of crop varieties,spatial arrangement,water and fertilizer management,and tillage and mulch practices.Future research fields of intercropping to delay root and canopy senescence should focus on the aspects of selecting and breeding special varieties,application of molecular biology techniques,and developing or applying models to predict and evaluate the root and canopy senescence process of intercrops.Comprehensive analysis and evaluation of different research results could provide a basis for enhancing intercropping delay root and canopy senescence through adopting innovative technologies for regulating the physio-ecological characteristics of intercrops.This would support developing and adopting high-yield,efficient,and sustainable intercropping systems in arid and semi-arid areas with high population density,limited land,and abundant light and heat resources.
文摘背景:近年来,生物陶瓷材料因具有良好的生物相容性和封闭性能逐渐成为根尖倒充填的首选材料,其中生物陶瓷材料C-Root BP、iRoot BP Plus均具有良好的生物相容性和封闭性能。目的:对比体外环境下C-Root BP与iRoot BP Plus材料的根尖封闭性能及抗力强度。方法:于2022年6月至2024年6月期间,收集石家庄市第二医院口腔科因正畸或牙周病新鲜拔除的单根离体牙56颗,随机分4组处理:iRoot BP Plus组(n=16)、C-Root BP组(n=16)根管预备和消毒后分别采用iRoot BP Plus、C-Root BP材料进行根尖倒充填,阳性对照组(n=16)根管预备和消毒后使用蒸馏水进行根尖倒充填,阴性对照组(n=8)仅行根管预备和消毒(不进行根尖倒充填处理),采用染料渗透法检测根尖封闭性;制作根管细菌渗漏体外模型,评价细菌微渗漏发生情况;采用薄片推出实验检测填充材料与牙本质之间的粘连强度,并在显微镜下观察断裂形式。结果与结论:(1)染料染色7 d后,阳性对照组染料渗透长度大于iRoot BP Plus组、C-Root BP组(P<0.05),iRoot BP Plus组和C-Root BP组染料渗透长度比较差异无显著性意义(P>0.05);(2)经过90 d培养,阳性对照组细菌微渗漏发生率高于iRoot BP Plus组、C-Root BP组(P<0.05),iRoot BPPlus组和C-Root BP组细菌微渗漏发生率比较差异无显著性意义(P>0.05);(3)C-Root BP组填充材料与牙本质之间的粘连强度大于iRootBP Plus组(P<0.05),两组断裂面断裂形式比较差异无显著性意义(P>0.05);(4)结果表明,采用C-Root BP和iRoot BP Plus材料进行根尖倒充填可产生相似的根尖封闭效果,并且断裂形式也基本一致,但C-Root BP材料具有良好的粘连强度。
基金the Sichuan Science and Technology Program(2023NSFSC1933,2022ZDZX0016,2021YFYZ0016)the Chengdu Science and Technology Bureau(2022-YF09-00036-SN)+1 种基金the free exploration project of the State Key Laboratory of Crop Gene Exploration and Utilization in Southwest China(SKL-ZY202214)the Changde Science and Technology Bureau(changkehan 2021–59)。
文摘CALCINEURIN B-LIKE PROTEINS(CBLs)function in osmotic stress responses,root morphogenesis and ion uptake in various plants such as Arabidopsis.However,the roles of Os CBLs in regulating root growth in rice(Oryza sativa),whose root morphology and growth environment strongly differ from those of Arabidopsis,are unknown.Here,we demonstrated that Os CBL3 functioned as a calcium sensor to regulate primary and lateral root development in rice.Os CBL3 interacted with Os CIPK31 in vivo and in vitro,and the loss of function of Os CBL3 or Os CIPK31 resulted in shorter roots and diminished lateral root growth.Overexpression of Os CIPK31 compensated for the root growth defects of Os CBL3 knockout mutants.These results demonstrated that the Os CBL3–Os CIPK31 module coordinated root development via the abscisic acid(ABA)and auxin pathways,as ABA inhibitors and low auxin concentrations partially rescued the short-root phenotype of their respective knockout lines.CYCLOPHYLIN 2(Os CYP2),a key factor in lateral root initiation and root growth maintenance,was phosphorylated by Os CIPK31,and knockout of Os CYP2 in Os CIPK31 overexpression lines resulted in a phenotype similar to that of Os CYP2 single knockout lines.Therefore,the Os CBL3–Os CIPK31 module functioned in ABA and auxin signal transduction,ensuring proper root growth.Os CIPK31,activated by Os CBL3,then phosphorylated Os CYP2,which drove primary and lateral root development.These results establish a new module regulating primary and lateral root development in rice.
基金supported by the National Natural Science Foundation of China,Nos.81772453(to DX),81974358(to DX),81973157(to JZ),82173646(to JZ),82302866(to YZ)。
文摘Promoting synaptic plasticity and inducing functional reorganization of residual nerve fibers hold clinical significance for restoring motor function following spinal cord injury.Neuromagnetic stimulation targeting the nerve roots has been shown to improve motor function by enhancing nerve conduction in the injured spinal cord and restoring the synaptic ultrastructure of both the sensory and motor cortex.However,our understanding of the neurophysiological mechanisms by which nerve root magnetic stimulation facilitates motor function recovery in the spinal cord is limited,and its role in neuroplasticity remains unclear.In this study,we established a model of spinal cord injury in adult male Sprague–Dawley rats by applying moderate compression at the T10 vertebra.We then performed magnetic stimulation on the L5 nerve root for 3 weeks,beginning on day 3 post-injury.At day 22 post-injury,we observed that nerve root magnetic stimulation downregulated the level of interleukin-6 in the injured spinal cord tissue of rats.Additionally,this treatment reduced neuronal damage and glial scar formation,and increased the number of neurons in the injured spinal cord.Furthermore,nerve root magnetic stimulation decreased the levels of acetylcholine,norepinephrine,and dopamine,and increased the expression of synaptic plasticity-related m RNA and proteins PSD95,GAP43,and Synapsin II.Taken together,these results showed that nerve root magnetic stimulation alleviated neuronal damage in the injured spinal cord,regulated synaptic plasticity,and suppressed inflammatory responses.These findings provide laboratory evidence for the clinical application of nerve root magnetic stimulation in the treatment of spinal cord injury.
基金funded by the Major Science and Technology Projects of Zhejiang Province,China(Grant No.2021C02063-5)the Key Research and Development Projects of Hainan Province,China(Grant No.ZDYF2023XDNY086)+2 种基金the State Key Laboratory for Quality and Safety Hazard Factors and Risk Prevention and Control of Agricultural Products Jointly Constructed by the Ministry and the Province,China(Grant No.2010DS700124)the Zhejiang Province Vanguard Leading Goose Project,China(Grant Nos.2023C02055 and 2022C02034)the Jiaxing Nanhu District Science and Technology Plan Project,China(Grant No.2023017).
文摘The shift from seedling transplanting to direct-seeding cultivation in rice demands robust root systems for early seedling establishment and yield stability.While the pleiotropic gene OsSP3(also designated TAC4 or SG2)is known to regulate aboveground traits,including tiller angle,grain size,and panicle development,its function in root morphogenesis remains uncharacterized.
基金supported financially by the National Key Research&Development Program of China(2021YFD1700200)the National Natural Science Foundation of China(32402686)+3 种基金the Earmarked Fund for China Agriculture Research System(CARS-22)the Fundamental Research Funds for Central Non-profit Scientific Institution,China(1610132022013)the Science and Technology Innovation Project of Chinese Academy of Agricultural Sciencesthe China National Crop Germplasm Resources Platform for Green Manure(NICGR-2024-19)。
文摘Green manuring is essential for improving soil quality and nutrient uptake.With the gradual depletion of phosphorus(P)resources,more attention is being paid to the role of green manures in cultivation systems,such as maize-green manure intercropping,to find possible pathways for enhancing soil P utilization.A maize-green manure intercropping experiment was started in 2009 to investigate the effects and mechanisms for enhancing P uptake and yield in maize.Three species of green manures(hairy vetch(HV),needle leaf pea(NP),sweet pea(SP))and a sole maize treatment(CK)were used,resulting in four treatments(CK,HVT,NPT,and SPT)in the experiment.During 2020-2023,the intercropping treatments enhanced maize yields in 2020 and 2021,particularly in HVT with increases of 13.7%(1.96 t ha^(-1))and 13.0%(2.13 t ha^(-1))compared with CK,respectively.Grain P accumulation of maize was significantly higher in the intercropping treatments than CK in 2020,2021,and 2023,and with an average increase of 10.6%over the four years(5.2% for NPT,10.8% for SPT and 15.9% for HVT)compared with CK.Intercropping promoted maize growth with a greater root length density and a higher organic acid release rate.HVT changed the soil properties more dramatically than the other treatments,with increases in the acid phosphatase and alkaline phosphatase activities of 29.8 and 38.5%,respectively,in the topsoil(0-15 cm),while the soil p H was reduced by 0.37 units compared to CK(p H=8.44).Intercropping treatments facilitated the conversion of non-labile P to mod-labile P and stimulated the growth of soil bacteria in the topsoil.Compared with CK,the relative abundance of Gemmatimonadota,known for accumulating polyphosphate,and Actinobacteriota,a prominent source of bioactive compounds,increased significantly in the intercropping treatments,especially in HVT and SPT.A PLS-PM analysis showed that intercropping promoted soil P mobilization and the enrichment of beneficial bacteria by regulating maize root morphology and physiology.Our results highlight that maize-green manure intercropping optimizes root traits,soil properties and bacterial composition,which contribute to greater maize P uptake and yield,providing an effective strategy for sustainable crop production.
文摘Discussions on Chinese modernization are offering African countries both conceptual inspiration and practical references as they explore their own sustainable development paths.
基金Financial supports from the National Natural Science Foundation of China(GrantNo.52374123&51974144)Project of Liaoning Provincial Department of Education(GrantNo.LJKZ0340)Liaoning Revitalization Talents Program(Grant No.XLYC2211085)are greatly acknowledged.
文摘Q-learning is a classical reinforcement learning method with broad applicability.It can respond effectively to environmental changes and provide flexible strategies,making it suitable for solving robot path-planning problems.However,Q-learning faces challenges in search and update efficiency.To address these issues,we propose an improved Q-learning(IQL)algorithm.We use an enhanced Ant Colony Optimization(ACO)algorithmto optimizeQtable initialization.We also introduce the UCH mechanism to refine the reward function and overcome the exploration dilemma.The IQL algorithm is extensively tested in three grid environments of different scales.The results validate the accuracy of themethod and demonstrate superior path-planning performance compared to traditional approaches.The algorithm reduces the number of trials required for convergence,improves learning efficiency,and enables faster adaptation to environmental changes.It also enhances stability and accuracy by reducing the standard deviation of trials to zero.On grid maps of different sizes,IQL achieves higher expected returns.Compared with the original Q-learning algorithm,IQL improves performance by 12.95%,18.28%,and 7.98% on 10*10,20*20,and 30*30 maps,respectively.The proposed algorithm has promising applications in robotics,path planning,intelligent transportation,aerospace,and game development.
文摘Root-zone temperature(RZT)strongly affects plant growth,nutrient uptake and tolerance to environmental stress,making its regulation a key challenge in greenhouse cultivation in cold climates.This study aimed to assess the potential of passive techniques,namely black polyethylene mulch and row covers,for modifying RZT dynamics in lettuce(Lactuca sativa L.)production and to evaluate the predictive performance of the eXtreme Gradient Boosting(XGBoost)algorithm.Experiments were conducted in Iğdır,Türkiye,over a 61-day period,with soil temperature continuously monitored at depths of 1-30 cm under mulched and non-mulched conditions,alongside measurements of greenhouse air temperature both with and without row covers.The application of row covers increased internal air temperature by 5.8℃,while mulching raised RZT by 0.6-1.3℃,with effects diminishing at deeper layers.XGBoost modeling achieved high predictive accuracy,with RMSE values of 0.150-0.189◦C and R^(2)values above 0.99,and feature-importance analysis indicated that neighboring soil depths were the strongest predictors of RZT.These findings show that integrating row covers and mulching can stabilize the root-zone microclimate without active heating.The XGBoost model provides a robust tool for forecasting soil temperature and supports sustainable greenhouse production in cold regions.
基金supported by the National Natural Science Foundation of China(No.52370112).
文摘In order to address the evolving emission characteristics of oxygenated volatile organic compounds(OVOCs),it is essential to develop adsorbent materials specifically designed for the efficient adsorption of OVOCs with large kinetic diameters.In this study,we used co-pyrolysis to prepare a series of graded porous carbon materials with well-developed micropores by adjusting the doping ratios of root nodules and pretreated cellulose.The material with root nodule to cellulose mass ratio of 1:1(TCC-RN-1)exhibited the highest saturated adsorption capacity for butyl acetate(834 mg/g).This can be attributed to enhanced pore size distribution from nodule doping,which facilitates the development of a micropore-graded structure.Additionally,the nodules acted as auxiliary activating agents that enhanced the KOH micropore regulation effect during the activation stage,resulting in the highest micropore volume(0.863 cm^(3)/g).The doping of root nodules facilitated the formation of additional defects on the surface of the porous carbon material,leading to a more disordered arrangement that improved pollutant adsorption.Furthermore,TCC-RN-1 demonstrated good thermal stability in an air atmosphere,main-taining a butyl acetate adsorption capacity exceeding 95%after five adsorption-desorption cycles.This indicates its favorable potential for industrial applications.
基金Project supported by the National Natural Science Foundation of China(Nos.12232015 and12572106)the National Key R&D Program of China(Nos.2024YFB3408700,2024YFB3408701,2024YFB3408703)the Natural Science Foundation of Shaanxi Province of China(No.2023-JC-YB-073)。
文摘Topological phases are governed by lattice symmetries,yet how different symmetry-breaking paths(SBPs)affect topological transitions remains insufficiently understood.Most existing studies rely on a single SBP,and address only one bandgap,limiting independent control of multiple gaps.Here,we investigate multiple isolated Dirac points in a trefoil-knot-modified honeycomb lattice,and show that a single SBP generally inverts all relevant Dirac points simultaneously,whereas the tailored combinations of SBPs enable selective and programmable band inversion at targeted gaps.The excitation-dependent responses reveal strong modal selectivity.This capability is exploited to realize independently controllable multi-channel signal splitting,which is unattainable with a single SBP.The results enable SBPs as an effective design degree of freedom for programmable and reconfigurable topological elastic devices.
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
基金supported by the National Natural Science Foundation of China(Grant No.52374156).
文摘To address low learning efficiency and inadequate path safety in spraying robot navigation within complex obstacle-rich environments—with dense,dynamic,unpredictable obstacles challenging conventional methods—this paper proposes a hybrid algorithm integrating Q-learning and improved A*-Artificial Potential Field(A-APF).Centered on theQ-learning framework,the algorithmleverages safety-oriented guidance generated byA-APF and employs a dynamic coordination mechanism that adaptively balances exploration and exploitation.The proposed system comprises four core modules:(1)an environment modeling module that constructs grid-based obstacle maps;(2)an A-APF module that combines heuristic search from A*algorithm with repulsive force strategies from APF to generate guidance;(3)a Q-learning module that learns optimal state-action values(Q-values)through spraying robot-environment interaction and a reward function emphasizing path optimality and safety;and(4)a dynamic optimization module that ensures adaptive cooperation between Q-learning and A-APF through exploration rate control and environment-aware constraints.Simulation results demonstrate that the proposed method significantly enhances path safety in complex underground mining environments.Quantitative results indicate that,compared to the traditional Q-learning algorithm,the proposed method shortens training time by 42.95% and achieves a reduction in training failures from 78 to just 3.Compared to the static fusion algorithm,it further reduces both training time(by 10.78%)and training failures(by 50%),thereby improving overall training efficiency.
基金CHINA POSTDOCTORAL SCIENCE FOUNDATION(Grant No.2025M771925)Young Scientists Fund(C Class)(Grant No.32501636)Special Fund of Fundamental Scientific Research Business Expense for Higher School of Central Government(Grant No.2572025JT04).
文摘This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.
文摘With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.
基金supported by the National Natural Science Foundation of China(32372599)the Agricultural Science and Technology Innovation Program(No.CAAS-BRC-GLCA-2025-01).
文摘Plant growth depends on tightly coordinated auxin signaling and directional auxin transport,yet the molecular feedback mechanism that directly links these processes during root gravitropism has remained mechanistically unresolved.The recent study by Rodriguez et al.(Cell,2025)reveals a novel cell-surface auxin signaling pathway.It is shown that gravity perception-induced initial auxin asymmetry activates transmembrane kinase 1(TMK1)in the lower side cells of the root.The activated TMK1 then interacts with pin-formed 2(PIN2)and phosphorylates its hydrophilic loop,thereby stabilizing the PIN2 protein.This asymmetric distribution of PIN2 further enhances the auxin flow on the lower side,thus forming a self-reinforcing positive feedback loop that drives force for root tip gravitropic bending.This study provides an updated perspective on the auxin signal and transport feedback,signifying a new advancement in our comprehension of the mechanisms underlying plant adaptive growth.
基金supported by the National Natural Science Foundation of China(72571094,72271076,71871079)。
文摘Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit.
