An Adaptive Filtering Method for Cooperative Localization in Leader-Follower AUVs.

In the complex and variable marine environment, the navigation and localization of autonomous underwater vehicles (AUVs) are very important and challenging. When the conventional Kalman filter (KF) is applied to the cooperative localization of leader-follower AUVs, the outliers in the sensor observations will have a substantial adverse effect on the localization accuracy of the AUVs. Meanwhile, inaccurate noise covariance matrices may result in significant estimation errors. In this paper, we proposed an improved Sage-Husa adaptive extended Kalman filter (improved SHAEKF) for the cooperative localization of multi-AUVs. Firstly, the measurement anomalies were evaluated by calculating the Chi-square test statistics based on the innovation. The detection threshold was determined according to the confidence level of the Chi-square test, and the Chi-square test statistics exceeding the threshold were regarded as measurement abnormalities. When measurement anomalies occurred, the Sage-Husa adaptive extended Kalman filter algorithm was improved by suboptimal maximum a posterior estimation using weighted exponential fading memory, and the measurement noise covariance matrix was adjusted online. The numerical simulation of leader-follower multi-AUV cooperative localization verified the effectiveness of the improved SHAEKF and demonstrated that the average root mean square and the average standard deviation of the localization errors based on the improved SHAEKF were significantly reduced in the case of the presence of measurement abnormalities.

Quantum Linear System Algorithm for General Matrices in System Identification.

Solving linear systems of equations is one of the most common and basic problems in classical identification systems. Given a coefficient matrix A and a vector b, the ultimate task is to find the solution x such that Ax=b. Based on the technique of the singular value estimation, the paper proposes a modified quantum scheme to obtain the quantum state |x⟩ corresponding to the solution of the linear system of equations in O(κ2rpolylog(mn)/ϵ) time for a general m×n dimensional A, which is superior to existing quantum algorithms, where κ is the condition number, r is the rank of matrix A and ϵ is the precision parameter. Meanwhile, we also design a quantum circuit for the homogeneous linear equations and achieve an exponential improvement. The coefficient matrix A in our scheme is a sparsity-independent and non-square matrix, which can be applied in more general situations. Our research provides a universal quantum linear system solver and can enrich the research scope of quantum computation.

Overexpression of an apple LysM-containing protein gene, MdCERK1-2, confers improved resistance to the pathogenic fungus, Alternaria alternata, in Nicotiana benthamiana.

BACKGROUND: Lysin motif (LysM)-containing proteins are involved in the recognition of fungal and bacterial pathogens. However, few studies have reported on their roles in the defense responses of woody plants against pathogens. A previous study reported that the apple MdCERK1 gene was induced by chitin and Rhizoctonia solani, and its protein can bind to chitin. However, its effect on defense responses has not been investigated. RESULTS: In this study, a new apple CERK gene, designated as MdCERK1-2, was identified. It encodes a protein that shares high sequence identity with the previously reported MdCERK1 and AtCERK1. Its chitin binding ability and subcellular location are similar to MdCERK1 and AtCERK1, suggesting that MdCERK1-2 may play a role in apple immune defense responses as a pattern recognition receptor (PRR). MdCERK1-2 expression in apple was induced by 2 fungal pathogens, Botryosphaeria dothidea and Glomerella cingulate, but not by the bacterial pathogen, Erwinia amylovora, indicating that MdCERK1-2 is involved in apple anti-fungal defense responses. Further functional analysis by heterologous overexpression (OE) in Nicotiana benthamiana (Nb) demonstrated that MdCERK1-2 OE improved Nb resistance to the pathogenic fungus, Alternaria alternata. H2O2 accumulation and callose deposition increased after A. alternata infection in MdCERK1-2 OE plants compared to wild type (WT) and empty vector (EV)-transformed plants. The induced expression of NbPAL4 by A. alternata significantly (p < 0.01, n = 4) increased in MdCERK1-2 OE plants. Other tested genes, including NbNPR1, NbPR1a, NbERF1, and NbLOX1, did not exhibit significant changes after A. alternata infection in OE plants compared to EV or WT plants. OE plants also accumulated more polyphenols after A. alternata infection. CONCLUSIONS: Heterologous MdCERK1-2 OE affects multiple defense responses in Nb plants and increased their resistance to fungal pathogens. This result also suggests that MdCERK1-2 is involved in apple defense responses against pathogenic fungi.

Nanocrystallization of Anthocyanin Extract from Red-Fleshed Apple 'QN-5' Improved Its Antioxidant Effect through Enhanced Stability and Activity under Stressful Conditions.

Red-flesh apples are known as functional fruits because of their rich anthocyanin. The anthocyanin content of the red flesh apple cultivar 'QN-5' we bred can reach 361 mg·kg-1 (FW), and showed higher scavenging capacity to DPPH radicals, hydroxyl radicals, and superoxide anion radicals, with scavenging rates of 80.0%, 54.0%, and 43.3%, respectively. We used this particular anthocyanin-rich 'QN-5' apple as material to examine how nanocrystallization affects the antixodiant effect of anthocyanin. The anthocyanin extract was encapsulated with biocompatible zein to form zein-anthocyanin nanoparticles (ZANPs). Transmission electron microscopy (TEM) scanning showed that ZANPs had a regular spherical shape with an average diameter size of 50-60nm. When the ratio of the zein and the anthocyanin was 1:0.5, the results suggested that the encapsulation efficiency (EE) of the ZANPs could reach as high as 92.8%, and that scavenging rate for DPPH radicals was increased from 87.1% to 97.2% compared to the non-nanocrystallized anthocyanin extract. Interestingly, treatment under alkaline conditions (pH 9.0), high temperature (90 °C), and a storage time of 7 days could decrease the scavenging capacity of the ZANPs for DPPH radicals, but this scavenging capacity loss for ZANPs was significantly lower than that observed in the non-nanocrystallized anthocyanin, suggesting the higher stability of ZANPs is caused by encapsulation. These results would provide a theoretical basis for the application of the anthocyanin in scavenging free radicals under stress conditions.

Is ghost imaging intrinsically more powerful against scattering?

We demonstrated experimental comparison between ghost imaging and traditional non-correlated imaging under disturbance of scattering. Ghost imaging appears more robust. The quality of ghost imaging does not change much when the scattering is getting stronger, while that of traditional imaging declines dramatically. A concise model is developed to explain the superiority of ghost imaging. Due to its robustness against scattering, ghost imaging will be useful in harsh environment.

Genome-Wide Identification of the ABA Receptors Genes and Their Response to Abiotic Stress in Apple.

The pyrabactin resistance (PYR)/PYR1-like (PYL)/regulatory components of ABA receptor (RCAR) (known as PYLs for short) have been identified and characterized as the ABA receptors in some plants. However, little is known about the details regarding PYL family genes in the apple (Malusdomestica). In this study, we identified 13 apple PYLs, termed MdPYL1-13, which could be classified into four groups according to structural features of the amino acid sequence. The gene structures and conserved motifs analysis found that the majority of MdPYLs had a similar number of exons and similar conserved motif profile in the same group. In addition, 11 gene pairs were identified to exhibit synteny by synteny analysis between the apple and Arabidopsis. Furthermore, we investigated MdPYLs transcript level in various organs of the red-fleshed apple (Malussieversii f. Neidzwetzkyana (Dieck) Langenf) 'Xinjiang No.1'. The results suggested all MdPYLs within group I were expressed at relatively higher levels in all of the organs tested. However, the genes of group IV had little or no variation. Additionally, we found various hormone and stress-related cis-elements in the promoters of MdPYLs by analyzing cis-elements. Therefore, the expression levels of all MdPYLs were further detected under ABA, PEG, salt, and cold stresses in 'Xinjiang No.1' seedlings. We found that all MdPYLs except for MdPYL11 were upregulated by ABA treatment, 10 genes were upregulated by PEG treatment, 12 genes were upregulated by NaCl treatment, and six genes were upregulated by cold treatment (4 °C) while seven genes were downregulated. Thus, these MdPYLs might be involved in the defense against abiotic stresses. In addition, the interaction between 13 MdPYLs and two 2C protein phosphatases in the apple (MdPP2C65 and MdPP2C72) was investigated in yeast two-hybrid assays. These results suggested that MdPYLs may bind to MdPP2C65 and MdPP2C72 in different manners and with different intensity. Our studies provide useful information for further investigating and researching the regulatory mechanisms of PYL family genes in response to abiotic stresses in the apple.

An apple cyclic nucleotide-gated ion channel gene highly responsive to Botryosphaeria dothidea infection enhances the susceptibility of Nicotiana benthamiana to bacterial and fungal pathogens.

Apple ring rot caused by the fungus Botryosphaeria dothidea is one of the devastating diseases. Up to date, the responsive mechanism of apple plant to this disease remains unclear. In the present study, an apple CNGC gene (designated as MdCNGC1) was found among highly expressed genes responding to B. dothidea infection. The expression of MdCNGC1 was different among apple cultivars with different resistance to B. dothidea. Intriguingly, MdCNGC1 expression was not induced by other two apple pathogens, Marssonina coronaria and Valsa ceratosperma. Ectopic overexpression of MdCNGC1 in Nicotiana benthamiana conferred elevated susceptibility to bacterial and fungal pathogens. Notably, overexpression of MdCNGC1 reduced salicylic acid (SA) accumulation induced by Alternaria alternata or Pseudomonas syringae. Decreased induction of pathogenesis-related (PR) genes and ROS accumulation were also observed in MdCNGC1-overexpressing plants. Up-regulated scavenging systems as indicated by enhanced expressions of CAT, APX, SOD genes and activities of antioxidative enzymes may in part contribute to reduced ROS accumulation. MdCNGC1 expression in N. benthamiana also decreased flg22 and chitosan-induced callose deposition and lowered the expression of NbPMR4, an ortholog of Arabidopsis callose synthase gene PMR4. These combined results suggested that MdCNGC1 might be a negative factor to plant resistance to bacterial and fungal pathogens.

Alleviation of Rosup-induced oxidative stress in porcine granulosa cells by anthocyanins from red-fleshed apples.

Anthocyanins are the polyphenolic phytochemicals which have been shown to scavenge free radicals. In this study, we investigated the effects of anthocyanins extracted from red-fleshed apples (Malus sieversii) on reducing oxidative damage by Rosup in porcine granulosa cells (GCs) by measuring intracellular reactive oxygen species (ROS), content of glutathione (GSH), activities of superoxide dismutase (SOD1), catalase (CAT) and glutathione peroxidase (GPX1) and the gene expression of SOD1, CAT, GPX1. Apoptosis was determined with TdT-mediated dUTP-biotin nick end labeling (TUNEL) and apoptosis-related proteins were quantified with Western blotting. The results indicate that Rosup increases oxidative stress by inducing reactive oxygen species production in porcine GCs and the oxidative stress could be reduced by anthocyanins. The gene expression of SOD1, CAT, GPX1 and the activities of these enzymes were increased when GCs were treated with anthocyanins and Rosup for 6 hours. Anthocyanins inhibit Rosup-induced apoptosis by increasing expression of antiapoptotic protein Bcl-2 and suppressing the expression of pro-apoptotic protein Bax. Collectively, anthocyanins from red-fleshed apples reduce oxidative stress and inhibit apoptosis in porcine GCs in vitro. This approach indicates that antioxidants might be developed from red-fleshed apples.

Identification of a xyloglucan-specific endo-(1-4)-beta-D-glucanase inhibitor protein from apple (Malus × domestica Borkh.) as a potential defense gene against Botryosphaeria dothidea.

Botryosphaeria dothidea is the causal agent of apple ring rot which is a highly destructive apple disease in China. Here, a putative xyloglucan-specific endo-(1-4)-beta-d-glucanase inhibitor protein from Malus×domestica (designated as MdXEGIP1) was found to be involved in defense against B. dothidea infection. MdXEGIP1 shares high amino acid sequence identity with other apple XEGIPs, but exhibited significantly different responses to B. dothidea infection. Quantitative real-time PCR revealed that MdXEGIP1 expression was significantly induced in shoot bark of apple plant by B. dothidea and showed different expression pattern in resistant and susceptible apple cultivars. In resistant cultivar, MdXEGIP1 expression was elevated with larger amplitude than that in susceptible cultivar after B. dothidea infection. MdXEGIP1 expression was also significantly enhanced by treatment with exogenous methyl jasmonate and salicylic acid in apple plantlets. Further investigation revealed that recombinant MdXEGIP1 has significant inhibitor activity to XEGs from family 12 and 74 of glycoside hydrolase. More importantly, recombinant MdXEGIP1 inhibited crude enzyme solution of XEG from B. dothidea, suggesting that MdXEGIP1 might protect apple plant from B. dothidea infection by inhibiting XEG activity. Taken together, the results indicated that MdXEGIP1 is a potential defense gene against B. dothidea in apple.

Screening of a RAPD marker tightly linked to Co gene in apple and the SCAR marker conversion.

A DNA marker linked to the columnar gene (Co) in apple (Malus domestica) was explored based on the population of 105 progenies of 'Spur Fuji' x 'Telamon' by bulk segregant analysis (BSA) and Random Amplified Polymorphic DNA (RAPD) technique. A total of 300 random primers were screened and a RAPD marker (S1142(682)) closely linked to Co gene (2.86 cM) was identified and then sequenced. Four specific PCR primers (two forward primers and two reverse primers) were designed,and the products of SCAR-PCR indicated that all the four pairs of primers could amplify polymorphic bands between columnar and non-columnar traits, so any of them could serve as the specific SCAR primers. One pair of these specific primers was chosen to amplify each individual in the population, and the result showed that the co-segregation pattern of this SCAR marker and Co gene was the same as that of the RAPD marker. Furthermore, it was found that the nucleotide sequence of the RAPD marker fragment contained an open reading frame (ORF) that could encode 68 deduced amino acid residues at the position of +45 - +251.

A PR-4 gene identified from Malus domestica is involved in the defense responses against Botryosphaeria dothidea.

Pathogenesis-related protein-4 (PR-4) family is a group of proteins with a Barwin domain in C-terminus and generally thought to be involved in plant defense responses. However, their detailed roles are poorly understood in defense of apple plant against pathogenic infection. In the present study, a new PR-4 gene (designated as MdPR-4) was identified from Malus domestica, and its roles in defense responses of apple were investigated. The open reading frame of MdPR-4 gene is of 447 bp encoding a protein of 148 amino acids with a Barwin domain in C-terminus and a signal peptide of 26 amino acids in N-terminus. Sequence and structural analysis indicated that MdPR-4 protein belongs to class II of PR-4 family. The high-level expression of MdPR-4 was observed in flowers and leaves as revealed by quantitative real time PCR. The temporal expression analysis demonstrated that MdPR-4 expression could be up-regulated by Botryosphaeria dothidea infection and salicylic acid (SA) or methyl jasmonate (MeJA) treatment, but suppressed by diethyldithiocarbamic acid (DIECA). In vitro assays, recombinant MdPR-4 protein exhibited ribonuclease activity specific for single strand RNA and significant inhibition to hyphal growth of three apple pathogenic fungi B. dothidea, Valsa ceratosperma and Glomerella cingulata. Moreover, the inhibition was reduced by the presence of 5'-ADP. Taken all together, the results indicate that MdPR-4 protein is involved in the defense responses of apple against pathogenic attack by directly inhibiting hyphal growth, and the inhibition is correlated with its ribonuclease activity, where as MdPR-4 expression is regulated by both SA and JA signaling pathway.