Safe and Robust Mobile Robot Navigation in Uneven Indoor Environments.

Complex environments pose great challenges for autonomous mobile robot navigation. In this study, we address the problem of autonomous navigation in 3D environments with staircases and slopes. An integrated system for safe mobile robot navigation in 3D complex environments is presented and both the perception and navigation capabilities are incorporated into the modular and reusable framework. Firstly, to distinguish the slope from the staircase in the environment, the robot builds a 3D OctoMap of the environment with a novel Simultaneously Localization and Mapping (SLAM) framework using the information of wheel odometry, a 2D laser scanner, and an RGB-D camera. Then, we introduce the traversable map, which is generated by the multi-layer 2D maps extracted from the 3D OctoMap. This traversable map serves as the input for autonomous navigation when the robot faces slopes and staircases. Moreover, to enable robust robot navigation in 3D environments, a novel camera re-localization method based on regression forest towards stable 3D localization is incorporated into this framework. In addition, we utilize a variable step size Rapidly-exploring Random Tree (RRT) method which can adjust the exploring step size automatically without tuning this parameter manually according to the environment, so that the navigation efficiency is improved. The experiments are conducted in different kinds of environments and the output results demonstrate that the proposed system enables the robot to navigate efficiently and robustly in complex 3D environments.

Tea Polyphenols Inhibit the Occurrence of Enzymatic Browning in Fresh-Cut Potatoes by Regulating Phenylpropanoid and ROS Metabolism.

During fresh-cut processing, potatoes lose their inherent protective cellular structure, leading to enzymatic browning that compromises sensory and edible quality. Tea polyphenols (TPs), natural preservatives with potent reducing properties, are hypothesized to impact this browning process. However, their influence and regulatory mechanism on the enzymatic browning of fresh-cut potatoes remain poorly understood. This study used the "Holland Seven" potato as the research material to explore the effects of a treatment with different TP concentrations (0.1 g L-1, 0.2 g L-1, and 0.3 g L-1) on the browning phenomenon and quality of fresh-cut potatoes during storage. The results showed that appropriate concentrations of TP treatment had a good preservation effect on the appearance and edible quality of fresh-cut potatoes. Furthermore, exogenous TP treatment reduced the content of enzymatic browning substrates (caffeic acid, p-coumaric acid, and ferulic acid) by regulating phenylpropanoid metabolism. Meanwhile, TP treatment augmented the activities of antioxidative enzymes (superoxide dismutase, catalase, ascorbate peroxidase, and glutathione reductase), maintained higher levels of ascorbic acid (Vc), and reduced glutathione (GSH). Consequently, the TP treatment could inhibit enzymatic browning by regulating reactive oxygen species (ROS) metabolism and the Vc-GSH cycle in fresh-cut potatoes.

Microbiome-metabolomics-based insight into the protective effects of dietary fiber from sweetpotato residues on the high-fat diet-induced intestinal integrity damage.

Dietary fibers have attracted much attention due to their multiple benefits on gut health. In this work, the protective mechanism of dietary fiber from sweetpotato residues (SRDF) on the high-fat diet (HFD)-induced intestinal barrier injury was investigated using microbiome-metabolomics-based approach. The physicochemical property analysis demonstrated a thermal stability below 200 °C and porous pectin-polysaccharide structure of SRDF with high in vitro functional activities. The biochemical analysis indicated that SRDF significantly ameliorated intestinal barrier function by improving intestinal morphology and permeability and inhibiting inflammatory response. Microbiome analysis demonstrated that SRDF significantly reversed the HFD-induced dysbacteriosis, decreased the ratio of Firmicutes/Bacteroides and enhanced the relative abundance of probiotics, such as Muribaculaceae and Bifidobacteriaceae. Metabolomics analysis showed that SRDF also significantly altered the metabolic profile in the colon, wherein the differential metabolites were mainly involved in amino acid metabolism (especially tryptophan). Pearson correlation coefficient identified the beneficial relationship between intestinal microbiome and metabolome induced by SRDF. The limitation of this study was that the mouse model may not fully replicate the human intestinal responses due to the difference between the standard environmental conditions and natural world. Generally, our results implied the great potential of SRDF as a functional food ingredient.

Identifying Early-Stage Changes in Volatile Organic Compounds of Ceratocystis fimbriata Ellis & Halsted-Infected Sweet Potatoes (Ipomoea batatas L. Lam) Using Headspace Gas Chromatography-Ion Mobility Spectrometry.

Ceratocystis fimbriata Ellis & Halsted is the pathogen causing black rot in sweet potatoes that can lead to flavor change and toxin release. This study detected the volatile organic compounds (VOCs) of C. fimbriata-infected sweet potatoes in the early stages using headspace gas chromatography-ion mobility spectrometry (HS-GC-IMS). A total of 55 VOCs were identified, including aldehydes, alcohols, esters, ketones, and others. The content of aldehydes and ketones showed a decreasing trend, while alcohols and esters showed an increasing trend. An increase in infection time elevated the content of malondialdehyde (MDA) and pyruvate, while the starch content decreased, the content of soluble protein initially increased, then decreased, and the activities of lipoxygenase (LOX), pyruvate decarboxylase (PDC), alcohol dehydrogenase (ADH), and phenylalanine ammonia-lyase (PAL) increased. The changes in VOCs were closely related to the content of MDA, starch, pyruvate, and the activities of LOX, PDC, ADH, and PAL. Sweet potatoes showed a good discrimination effect by principal component analysis (PCA) and orthogonal partial least squares-discriminant analysis (OPLS-DA) from 0 to 72 h. Twenty-five differential VOCs could be used as early-stage characteristic compounds of C. fimbriata-infected sweet potatoes for early disease monitoring.

Early Discrimination and Prediction of C. fimbriata-Infected Sweetpotatoes during the Asymptomatic Period Using Electronic Nose.

Sweetpotato is prone to disease caused by C. fimbriata without obvious lesions on the surface in the early period of infection. Therefore, it is necessary to explore the possibility of developing an efficient early disease detection method for sweetpotatoes that can be used before symptoms are observed. In this study, sweetpotatoes were inoculated with C. fimbriata and stored for different lengths of time. The total colony count was detected every 8 h; HS-SPME/GC-MS and E-nose were used simultaneously to detect volatile compounds. The results indicated that the growth of C. fimbriata entered the exponential phase at 48 h, resulting in significant differences in concentrations of volatile compounds in infected sweetpotatoes at different times, especially toxic ipomeamarone in ketones. The contents of volatile compounds were related to the responses of the sensors. E-nose was combined with multiple chemometrics methods to discriminate and predict infected sweetpotatoes at 0 h, 48 h, 64 h, and 72 h. Among the methods used, linear discriminant analysis (LDA) had the best discriminant effect, with sensitivity, specificity, precision, and accuracy scores of 100%. E-nose combined with K-nearest neighbours (KNN) achieved the best predictions for ipomeamarone contents and total colony counts. This study illustrates that E-nose is a feasible and promising technology for the early detection of C. fimbriata infection in sweetpotatoes during the asymptomatic period.

Reduced chilling injury in cucumber by nitric oxide and the antioxidant response.

Cucumber fruit were pre-treated with 25µll(-1) nitric oxide (NO) for 12h at 20°C, and then stored at 2±1°C and 95% relative humidity for 15days. Chilling injury index, membrane permeability, lipid peroxidation, superoxide anion (O2(-)) production rate, H2O2 content, activities of superoxide dismutase (SOD), catalase (CAT), ascorbate peroxidase (APX), peroxidase (POD), and DPPH-radical scavenging activity were measured. The results showed that the application of NO at 25µll(-1) was most effective in reducing CI in cucumber fruit. The treatment reduced the increases in membrane permeability and lipid peroxidation, delayed the increases in both O2(-) production rate and H2O2 content. The NO-treated fruit exhibited significantly higher activities of SOD, CAT, APX and POD and higher DPPH-radical scavenging activity than control fruit during the storage. The overall results suggest that NO enhanced chilling tolerance in cucumber fruit by improving the antioxidative defence system.