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Development of the electric automatic steering system for agricultural vehicles

International Journal of agricultural and Biological Engineering 2024年第1期17卷 209-214页

作者： Guangshun An Chong Yu Juan Du Xiang Yin Youliang Ni Chengqian Jin School of agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000ShandongChina nanjing research institute for agricultural mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Automatic guidance of agricultural vehicles requires automatic execution of operation commands received from the navigation controller by using electronically controlled mechanisms for wheel steering,speed changing and work implementing.Automatic steering contributes as a prerequisite technique in automatic and semi-automatic agricultural navigation.This research aimed to develop an electric automatic steering system that was compact in its structure and integrated into original steering mechanism in a simply and convenient way for aftermarket modification.A brushless motor and reducer assembly was utilized to provide an adequate steering torque instead of manual maneuver.A rapid assembling approach was proposed by passing the steering shaft through the hollow output shaft.A digital proportional-integral-differential(PID)algorithm was implemented to calculate the rotation speeds and directions by comparing the desired angle and the actual angle,which was implemented in a printed circuit board with a microcontroller unit(MCU)and interface chips.An unmanned wheeled tractor was applied as test platform to integrate the newly developed electric automatic steering system.Tests were conducted to evaluate its performance in terms of stability and responsiveness.An autonomous navigation system guided the tractor along target paths in the field by sending steering commands to the electric automatic steering system.The results show that the steering angle error was less than 0.81°when desired steering angle was less than 10°.The lateral error difference was no more than 4.76 cm when repeating following the same target path,which indicated that the electric automatic steering system responded accurately and robustly to steering commands.

关键词： automatic steering automatic navigation agricultural vehicles

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Autophagy receptor ZmNBR1 promotes the autophagic degradation of ZmBRI1a and enhances drought tolerance in maize

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Journal of Integrative Plant Biology 2024年第6期66卷 1068-1086页

作者： Yang Xiang Guangdong Li Qian Li Yingxue Niu Yitian Pan Yuan Cheng Xiangli Bian Chongyang Zhao Yuanhong Wang Aying Zhang College of Life Sciences Nanjing Agricultural University State Key Laboratory of Crop Genetics & Germplasm Enhancement and Utilization Nanjing Agricultural University Sanya institute of nanjing agricultural University Nanjing Agricultural University

Drought stress is a crucial environmental factor that limits plant growth, development, and productivity.Autophagy of misfolded proteins can help alleviate the damage caused in plants experiencing drought.However, the mechanism of autophagy-mediated drought tolerance in plants remains largely unknown.Here, we cloned the gene for a maize(Zea mays)selective autophagy receptor, NEXT TO BRCA1GENE 1(ZmNBR1), and identified its role in the response to drought stress. We observed that drought stress increased the accumulation of autophagosomes. RNA sequencing and reverse transcriptionquantitative polymerase chain reaction showed that ZmNBR1 is markedly induced by drought stress. ZmNBR1 overexpression enhanced drought tolerance, while its knockdown reduced drought tolerance in maize. Our results established that ZmNBR1 mediates the increase in autophagosomes and autophagic activity under drought stress.ZmNBR1 also affects the expression of genes related to autophagy under drought stress. Moreover, we determined that BRASSINOSTEROID INSENSITIVE1A(ZmBRI1a), a brassinosteroid receptor of the BRI1-like family, interacts with ZmNBR1. Phenotype analysis showed that ZmBRI1a negatively regulates drought tolerance in maize, and genetic analysis indicated that ZmNBR1 acts upstream of ZmBRI1a in regulating drought tolerance. Furthermore, ZmNBR1facilitates the autophagic degradation of ZmBRI1a under drought stress. Taken together, our results reveal that ZmNBR1 regulates the expression of autophagy-related genes, thereby increasing autophagic activity and promoting the autophagic degradation of ZmBRI1a under drought stress, thus enhancing drought tolerance in maize. These findings provide new insights into the autophagy degradation of brassinosteroid signaling components by the autophagy receptor NBR1 under drought stress.

关键词： autophagy receptor drought tolerance Zea mays ZmBRI1a ZmNBR1

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Cross-resistance and genetics of field-evolved resistance to chlorfenapyr in Plutella xylostella

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Insect Science 2024年第2期31卷 533-541页

作者： Cheng Qian Jialin Li Shuwen Wu Yihua Yang Yidong Wu Xingliang Wang Sanya institute of nanjing agricultural Universty SanyaHainanChinaand College of Plant Protection Nanjing Agricultural UniversNanjingChina

Chlorfenapyr is a broad-spectrum halogenated pyrrole insecticide with a unique mode of action.Due to the misuse and overuse of this chemical,resistance has been reported in several arthropods,including Plutella xylostella,which is one of the most destructive insect pests afflicting crucifers worldwide.A better understanding of the cross-resistance and genetics of field-evolved chlorfenapyr resistance could effectively guide resistance management practices.Here,the chlorfenapyr resistance of a fieldderived population of P xylostella was introgressed into the susceptible IPP-S strain using a selection-assisted multigenerational backcrossing approach.The constructed nearisogenic strain,TH-BCsF2,shared 98.4%genetic background with the recurrent parent IPP-S strain.The TH-BCsF2 strain showed 275-fold resistance to chlorfenapyr,but no significant cross-resistance to spinosad,abamectin,chlorpyrifos,β-cypermethrin,indoxacarb,chlorantraniliprole,or broflanilide(no more than 4.2-fold).Genetic analysis revealed that resistance was autosomal,incompletely dominant,and conferred by 1 major gene or a few tightly linked loci.The synergism of metabolic inhibitors(PBO,DEM,and DEF)to chlorfenapyr was very weak(<1.7-fold),and the metabolic enzyme activities in the TH-BCsF2 strain were not significantly elevated compared with the IPP-S strain.The results enhances our understanding of the genetic traits of chlorfenapyr resistance,and provides essential information for improving resistance management strategies.

关键词： chlorfenapyr cross-resistance mode of inheritance near-isogenic line Plutellaxylostella

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Elevated CO_(2) increases soil redox potential by promoting root radial oxygen loss in paddy field

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Journal of Environmental Sciences 2024年第2期136卷 11-20页

作者： Jie Li Han Zhang Wenyi Xie Cheng Liu Xiaoyu Liu Xuhui Zhang Lianqing Li Genxing Pan institute of Resource Ecosystem and Environment of AgricultureNanjing Agricultural UniversityNanjing 210095China College of Agriculture Nanjing Agricultural UniversityNanjing 210095China

Soil redox potential(Eh)plays an important role in the biogeochemical cycling of soil nutrients.Whereas its effect soil process and nutrients'availability under elevated atmospheric CO_(2) concentration and warming has seldom been investigated.Thus,in this study,a field experiment was used to elucidate the effect of elevated CO_(2) concentration and warming on soil Eh,redox-sensitive elements and root radial oxygen loss(ROL).We hypothesized elevated CO_(2) and warming could alter soil Eh by promoting or inhibiting ROL.We found that soil Eh in the rhizosphere was significantly higher than that of non-rhizosphere.Elevated CO_(2) enhanced soil Eh by 11.5%,which corresponded to a significant decrease in soil Fe^(2+)and Mn^(2+)concentration.Under elevated CO_(2),the concentration of Fe^(2+)and Mn^(2+)decreased by 14.7%and 13.7%,respectively.We also found that elevated CO_(2) altered rice root aerenchyma structure and promoted rice root ROL.Under elevated CO_(2),rice root ROL increased by 79.5%and 112.2%for Yangdao 6 and Changyou 5,respectively.Warming had no effect on soil Eh and rice root ROL.While warming increased the concentration of Mn^(2+)and SO_(4)^(2-)by 4.9%and 19.3%,respectively.There was a significant interaction between elevated CO_(2) and warming on Fe^(2+)and Mn^(2+).Under elevated CO_(2),warming had no effect on the concentration of Fe^(2+)but decreased Mn^(2+)concentration significantly.Our study demonstrated that elevated atmospheric CO_(2) in the future could increase soil Eh by promoting rice root ROL,which will alter some soil nutrients'availability,such as Fe^(2+)and Mn^(2+).

关键词： Atmospheric CO_(2)enrichment Global warming Soil redox potential FACE Rice root aerenchyma

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Effects of dense planting patterns on photosynthetic traits of different vertical layers and yield of wheat under different nitrogen rates

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The Crop Journal 2024年第2期12卷 594-604页

作者： Cuicun Wang Ke Zhang Qing Liu Xiufeng Zhang Zhikuan Shi Xue Wang Caili Guo Qiang Cao Yongchao Tian Yan Zhu Xiaojun Liu Weixing Cao National Engineering and Technology Center for Information Agriculture Nanjing Agricultural UniversityNanjing 210095JiangsuChina MOE Engineering research Center of Smart agricultural Nanjing Agricultural UniversityNanjing 210095JiangsuChina MARA Key Laboratory for Crop System Analysis and Decision Making Nanjing Agricultural UniversityNanjing 210095JiangsuChina Jiangsu Key Laboratory for Information Agriculture Nanjing Agricultural UniversityNanjing 210095JiangsuChina institute of Smart Agriculture Nanjing Agricultural UniversityNanjing 210095JiangsuChina

A two-year field experiment was conducted to measure the effects of densification methods on photosynthesis and yield of densely planted wheat.Inter-plant and inter-row distances were used to define ratefixed pattern(RR)and row-fixed pattern(RS)density treatments.Meanwhile,four nitrogen(N)rates(0,144,192,and 240 kg N ha-1,termed N0,N144,N192,and N240)were applied with three densities(225,292.5,and 360×10^(4)plants ha^(-1),termed D225,D292.5,and D360).The wheat canopy was clipped into three equal vertical layers(top,middle,and bottom layers),and their chlorophyll density(Ch D)and photosynthetically active radiation interception(FIPAR)were measured.Results showed that the response of Ch D and FIPAR to N rate,density,and pattern varied with different layers.N rate,density,and pattern had significant interaction effects on Ch D.The maximum values of whole-canopy Ch D in the two seasons appeared in N240 combined with D292.5 and D360 under RR,respectively.Across two growing seasons,FIPAR values of RR were higher than those of RS by 29.37%for the top layer and 5.68%for the middle layer,while lower than those of RS by 20.62%for the bottom layer on average.With a low N supply(N0),grain yield was not significantly affected by density for both patterns.At N240,increasing density significantly increased yield under RR,but D360 of RS significantly decreased yield by 3.72%and 9.00%versus D225 in two seasons,respectively.With an appropriate and sufficient N application,RR increased the yield of densely planted wheat more than RS.Additionally,the maximum yield in two seasons appeared in the combination of D360 with N144 or N192 rather than of D225 with N240 under both patterns,suggesting that dense planting combined with an appropriate N-reduction application is feasible to increase photosynthesis capacity and yield.

关键词： Chlorophyll density Densification method Nitrogen Photosynthetically active radiation interception Wheat

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Synthesis of betanin by expression of the core betalain biosynthetic pathway in carrot

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Horticultural Plant Journal 2024年第3期10卷 732-742页

作者： Bo Wang Yahui Wang Yuanjie Deng Quanhong Yao Aisheng Xiong State Key Laboratory of Crop Genetics and Germplasm Enhancement College of HorticultureNanjing Agricultural UniversityNanjingJiangsu 210095China Shanghai Key Laboratory of agricultural Genetics and Breeding Biotechnology Research Institute of Shanghai Academy of Agricultural ScienceShanghai 201106China

Betalain has received increased attention because of its high nutritional value and crucial physiological functions.Based on the elucidation of its core biosynthetic pathway,betalain can be produced in additional plants by metabolic engineering.Synthesis of betalain in carrot(Daucus carota L.)can improve its nutritional quality and economic value by extracting betalain from the fleshy root,non-edible part,and processing residue of carrot.In this study,two different constructs,namely,pYB:mCD(AomelOS,BvCYP76AD1S,and BvDODA1S)and p YB:CDD(BvCYP76AD1S,BvDODA1S,and MjcDOPA5GTS),were introduced into carrot for betanin synthesis by Agrobacterium-mediated transformation.Betanin can be synthetized in both transgenic calli,and p YB:m CD-transgenic callus can be used to produce betacyanin by suspension culture.However,pYB:mCD-transgenic seedlings can synthetize betanin only by tyrosine feeding.The p YB:CDD-transgenic lines can synthetize betanin in whole plants.The betanin content in fleshy root of pYB:CDD-transgenic carrot was(63.4±9)μg·g^(-1)fresh weight according to quantitative analysis.These betanin-producing carrot plant materials can be used to synthesize betanin for industrial application or consumption as dietary sources.

关键词： Daucus carota L. Betanin Biosynthesis Metabolic engineering Biofortification

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RLKdb:A comprehensively curated database of plant receptor-like kinase

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Molecular Plant 2024年第4期17卷 513-515页

作者： Zhiyuan Yin Jinding Liu Daolong Dou Department of Plant Pathology Nanjing Agricultural UniversityNanjing 210095China Academy for Advanced Interdisciplinary Studies Nanjing Agricultural UniversityNanjing 210095China

Dear Editor,Since the first plant receptor-like kinase(RLK)gene ZmPK1 was cloned from Zea mays in 1990(Walker and Zhang,1990),this large gene family has been extensively studied and shown to play crucial roles in growth,development,and immunity(Tang et al.,2017).RLKs are widespread in the plant kingdom.However,biological functions of most RLKs remain largely elusive(Dievart et al.,2020).Given RLKs share a conserved monophyletic RLK/Pelle kinase domain,RLKs in several model plants are classified into distinct families by extracellular domains(Shiu and Bleecker,2001).However,independent domain shuffling in specific lineages drives the origin of novel families,which raises a question what is the landscape of RLKs across the entire plant kingdom?Previously,sequence-homology-based methods have been widely used for RLK identification and classification,which might miss distantly related proteins with similar structures and potential novel families not mentioned in the literature.The academic community urgently requires a dedicated database for a systematic overview of the RLK gene family,providing data support for in-depth research on RLK genes.Here,we used a topology-based method to accurately isolate the RLKomes from proteomes.The obtained RLKomes were further classified into(sub)families based on extracellular domains.We con-structed a comprehensively curated plant RLK database(https://***/rlkdb),which contains valuable re-sources for investigating the origin and evolution of the RLK fam-ily and multiple online tools for personalized analysis.

关键词： database comprehensive origin

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Enhanced organic degradation and microbial community cooperation by inoculating Bacillus licheniformis in low temperature composting

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Journal of Environmental Sciences 2024年第9期143卷 189-200页

作者： Jing Su Kaiyun Zhou Wenjie Chen Shaoqi Xu Ziwei Feng Yuan Chang Xiaoyan Ding Yi Zheng Xingling Tao Ake Zhang Yue Wang Ji Li Guochun Ding Yuquan Wei nanjing institute of Environmental Sciences Ministry of Ecology and EnvironmentNanjing 210042China College of Resources and Environmental Science Beijing Key Laboratory of Biodiversity and Organic FarmingChina Agricultural UniversityBeijing 100193China Organic Recycling institute(Suzhou)of China agricultural University Wuzhong DistrictSuzhou 215128China Fuyang Academy of agricultural Sciences Fuyang 236065China

Microbial activity and interaction are the important driving factors in the start-up phase of food waste composting at low temperature.The aim of this study was to explore the effect of inoculating Bacillus licheniformis on the degradation of organic components and the potential microbe-driven mechanism from the aspects of organic matter degradation,enzyme activity,microbial community interaction,and microbial metabolic function.The results showed that after inoculating B.licheniformis,temperature increased to 47.8℃ on day2,and the degradation of readily degraded carbohydrates(RDC)increased by 31.2%,and the bioheat production increased by 16.5%.There was an obvious enhancement of extracellular enzymes activities after inoculation,especially amylase activity,which increased by 7.68 times on day 4.The inoculated B.licheniformis colonized in composting as key genus in the start-up phase.Modular network analysis and Mantel test indicated that inoculation drove the cooperation between microbial network modules who were responsible for various organic components(RDC,lipid,protein,and lignocellulose)degradation in the start-up phase.Metabolic function prediction suggested that carbohydrate metabolisms including starch and sucrose metabolism,glycolysis/gluconeogenesis,pyruvate metabolism,etc.,were improved by increasing the abundance of related functional genes after inoculation.In conclusion,inoculating B.licheniformis accelerated organic degradation by driving the cooperation between microbial network modules and enhancing microbial metabolism in the start-up phase of composting.

关键词： Microbial agent Organic matter degradation Microbial interaction Food waste Low temperature composting

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Multi-UAVs Collaborative Path Planning in the Cramped Environment

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 529-538页

作者： Siyuan Feng Linzhi Zeng Jining Liu Yi Yang Wenjie Song School of Automation Beijing Institute of TechnologyNanjing 210039China nanjing research institute of Electronics Technology Nanjing 210039China Yichang Testing Technique research institute Yichang 443003China IEEE

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://***/inin-xingtian/multi-UAVs-path-planner.

关键词： Collision avoidance conflict resolution multi-unmanned aerial vehicles(UAVs)system path planning

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Simultaneous removal of Cd(Ⅱ)and As(Ⅴ)by ferrihydrite-biochar composite:Enhanced effects of As(Ⅴ)on Cd(Ⅱ)adsorption

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Journal of Environmental Sciences 2024年第5期139卷 267-280页

作者： Wenjun Zeng Yang Lu Jingyan Zhou Jie Zhang Yuanxiao Duan Changxun Dong Wencheng Wu College of Sciences Nanjing Agricultural UniversityNanjing 210095China South China institute of Environmental Sciences Ministry of Ecology and EnvironmentGuangzhou 510655China Guangdong Engineering&Technology research Center for System Control of Livestock and Poultry breeding Pollution Guangzhou 510655China

The coexistence of cadmium(Cd(Ⅱ))and arsenate(As(Ⅴ))pollution has long been an environmental problem.Biochar,a porous carbonaceous material with tunable functionality,has been used for the remediation of contaminated soils.However,it is still challenging for the dynamic quantification and mechanistic understanding of the simultaneous sequestration of multi-metals in biochar-engineered environment,especially in the presence of anions.In this study,ferrihydrite was coprecipitated with biochar to investigate how ferrihydritebiochar composite affects the fate of heavy metals,especially in the coexistence of Cd(Ⅱ)and As(Ⅴ).In the solution system containing both Cd(Ⅱ)and As(Ⅴ),the maximum adsorption capacities of ferrihydrite-biochar composite for Cd(Ⅱ)and As(Ⅴ)reached 82.03μmol/g and 531.53μmol/g,respectively,much higher than those of the pure biochar(26.90μmol/g for Cd(Ⅱ),and 40.24μmol/g for As(Ⅴ))and ferrihydrite(42.26μmol/g for Cd(Ⅱ),and 248.25μmol/g for As(Ⅴ)).Cd(Ⅱ)adsorption increased in the presence of As(Ⅴ),possibly due to the changes in composite surface charge in the presence of As(Ⅴ),and the increased dispersion of ferrihydrite by biochar.Further microscopic and mechanistic results showed that Cd(Ⅱ)complexed with both biochar and ferrihydrite,while As(Ⅴ)was mainly complexed by ferrihydrite in the Cd(Ⅱ)and As(Ⅴ)coexistence system.Ferrihydrite posed vital importance for the co-adsorption of Cd(Ⅱ)and As(Ⅴ).The different distribution patterns revealed by this study help to a deeper understanding of the behaviors of cations and anions in the natural environment.

关键词： Ferrihydrite Biochar Cadmium Arsenate Simultaneous sequestration Binding mechanisms

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