Genome-wide identification and expression analysis of SUT gene family members in sugar beet (Beta vulgaris L.).

Sucrose transporters (SUTs) play an important role in the transmembrane transport and distribution of sucrose, and their activity has an important impact on plant growth and crop yield. In this study, the SUT gene family was identified in the whole beet genome using bioinformatics methods, and gene characteristics, subcellular localization prediction, phylogenetic evolution, promoter cis-elements and expression patterns were systematically analyzed. A total of 9 SUT gene family members were identified from in beet genome and divided into 3 different groups (group 1, group 2, and Group 3), which were unevenly distributed on 4 chromosomes. Most SUT family members contained photoresponsive and hormone-regulated response elements. Subcellular localization prediction showed that the BvSUT genes are all located in the inner membrane, and most of the terms identified through GO enrichment analysis are classified as "membrane" related. The results of qRT-PCR showed that the expression level of the BvSUT gene was significantly higher in the tuber enlargement stage (100-140 d) than in other stages. This study is the first to analyze the BvSUT gene family in sugar beet, and it provides a theoretical basis for the functional exploration and application of SUT genes in crop improvement, especially in sugar crops.

Multi-robot task assignment for serving people quarantined in multiple hotels during COVID-19 pandemic.

Background: Efficiently combating with the coronavirus disease 2019 (COVID-19) has been challenging for medics, police and other service providers. To reduce human interaction, multi-robot systems are promising for performing various missions such as disinfection, monitoring, temperature measurement and delivering goods to people quarantined in prescribed homes and hotels. This paper studies the task assignment problem for multiple dispersed homogeneous robots to visit a set of prescribed hotels to perform tasks such as body temperature assessment or oropharyngeal swabs for people quarantined in the hotels while trying to minimize the robots' total operation time. Each robot can move to multiple hotels sequentially within its limited maximum operation time to provide the service. Methods: The task assignment problem generalizes the multiple traveling salesman problem, which is an NP-hard problem. The main contributions of the paper are twofold: (I) a lower bound on the robots' total operation time to serve all the people has been found based on graph theory, which can be used to approximately evaluate the optimality of an assignment solution; (II) several efficient marginal-cost-based task assignment algorithms are designed to assign the hotel-serving tasks to the robots. Results: In the Monte Carlo simulations where different numbers of robots need to serve the people quarantined in 30 and 90 hotels, the designed task assignment algorithms can quickly (around 30 ms) calculate near-optimal assignment solutions (within 1.15 times of the optimal value). Conclusions: Numerical simulations show that the algorithms can lead to solutions that are close to the optimal compared with the competitive genetic algorithm and greedy algorithm.

Study on phytotoxicity evaluation and physiological properties of nicosulfuron on sugar beet (Beta vulgaris L.).

Nicosulfuron is an herbicide widely used in corn fields. In northeast China, sugar beet is often planted adjacent to corn, resulting in frequent phytotoxicity of nicosulfuron drift in sugar beet fields. This study was conducted by spraying nicosulfuron to assess the phytotoxicity and clarify the mechanism of nicosulfuron toxicity on sugar beet. The results showed that nicosulfuron impaired growth and development by reducing photosynthetic capacity and disrupting antioxidant systems at a lethal dose of 81.83 g a.i. ha-1. Nicosulfuron damaged the function of photosynthetic system II (PSII), lowered photosynthetic pigment content, and inhibited photosynthetic efficiency. Compared with the control, the electron transfer of PSII was blocked. The ability of PSII reaction centers to capture and utilize light energy was reduced, resulting in a weakened photosynthetic capacity. The maximum net photosynthetic rate (Amax), light saturation point (LSP), and apparent quantum yield (AQY) decreased gradually as the nicosulfuron dose increased, whereas the light compensation point (LCP) and dark respiration (Rd) increased. Nicosulfuron led to reactive oxygen species (ROS) accumulation in sugar beet leaf, a significant rise in malondialdehyde (MDA) content, electrolytic leakage (EL), and considerable oxidative damage to the antioxidant system. This study is beneficial for elucidating the effects of nicosulfuron toxicity on sugar beet, in terms of phytotoxicity, photosynthetic physiology, and antioxidative defense system.

Path Planning for Wheeled Mobile Robot in Partially Known Uneven Terrain.

Path planning for wheeled mobile robots on partially known uneven terrain is an open challenge since robot motions can be strongly influenced by terrain with incomplete environmental information such as locally detected obstacles and impassable terrain areas. This paper proposes a hierarchical path planning approach for a wheeled robot to move in a partially known uneven terrain. We first model the partially known uneven terrain environment respecting the terrain features, including the slope, step, and unevenness. Second, facilitated by the terrain model, we use A⋆ algorithm to plan a global path for the robot based on the partially known map. Finally, the Q-learning method is employed for local path planning to avoid locally detected obstacles in close range as well as impassable terrain areas when the robot tracks the global path. The simulation and experimental results show that the designed path planning approach provides satisfying paths that avoid locally detected obstacles and impassable areas in a partially known uneven terrain compared with the classical A⋆ algorithm and the artificial potential field method.

Efficient Heuristic Algorithms for Single-Vehicle Task Planning With Precedence Constraints.

This article investigates the task planning problem where one vehicle needs to visit a set of target locations while respecting the precedence constraints that specify the sequence orders to visit the targets. The objective is to minimize the vehicle's total travel distance to visit all the targets while satisfying all the precedence constraints. We show that the optimization problem is NP-hard, and consequently, to measure the proximity of a suboptimal solution from the optimal, a lower bound on the optimal solution is constructed based on the graph theory. Then, inspired by the existing topological sorting techniques, a new topological sorting strategy is proposed; in addition, facilitated by the sorting, we propose several heuristic algorithms to solve the task planning problem. The numerical experiments show that the designed algorithms can quickly lead to satisfying solutions and have better performance in comparison with popular genetic algorithms.

[Simulated study on the effects of smoke on Sphagnum spore germination]. / çƒŸæ°”å¯¹æ³¥ç‚­è—“å­¢å­èŒå‘å½±å“çš„æ¨¡æ‹Ÿç ”ç©¶.

Moderate smoke could facilitate seed germination, but its effects on bryophyte spore germination is still unknown. Here, we analyzed the effects of smoke, capsule size and storage time on the spore germination of Sphagnum squarrosum and S. magellanicum, with the capsules of which being collected from two peatlands of the Changbai Mountains. The smoke solution prepared by burning peatland plants was combined with the capsules with different sizes (large, 2.10-2.50 mm in diameter; small, 1.50-1.90 mm in diameter) and storage time (old, being stored for 4.3 or 6.3 a; new, being stored for 0.3 a) to conduct a factorial experiment. The spores were soaked with smoke solution for different durations and then cultured for germination. The results showed that smoke solution affected spore germination. After 10 d cultivation, germination rate of spores soaking with smoke solution for all duration was increased by more than 5-fold, with the small spores having higher germination rate. After 21 d cultivation, the facilitative effect was only observed in moderate soaking (3 d), and spore size showed no effect on germination. Smoke solution could not increase the germination of spores from the capsules with long storage time (4.3 and 6.3 a). Our results indicated that moderate smoke solution soaking might accelerate germination of Sphagnum spores including small pores. In the ecosystems with casual fire disturbance such as peatlands, similar with its effects on the seed plants, smoke might play a key role in the regeneration and persistence of bryophyte population.