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Three papers in this issue of Nature use highly sensitive ChIP–seq assays to describe the dynamic patterns of histone modifications during early mouse embryogenesis, showing that oocytes have a distinctive epigenome and providing insights into how the maternal gene expression program transitions to the zygotic program. Chromatin states in embryogenesis Genomic analysis of chromatin states in early embryos has been technically difficult, owing to the limited number of cells available for analysis. Three papers in this issue of Nature use highly sensitive ChIP–seq assays to describe the dynamic patterns of histone modifications during early mouse embryogenesis. Arne Klungland and colleagues find that the oocyte genome is associated with broad non-canonical domains of histone H3K4me3 which seem to function in preventing deposition of DNA methylation. Wei Xie and colleagues find that the oocyte genome is associated with broad non-canonical domains of histone H3K4me3 which overlap with domains of low DNA methylation and seem to contribute to gene silencing. Shaorong Gao and colleagues map histone H3K4me3 and H3K27me3 modifications in pre-implantation embryos and focus on the re-establishment of histone modifications during zygotic genome activation. They find that the breadth of H3K4me3 domains is highly dynamic and that H3K4me3 re-establishes rapidly on promoter regions whereas H3K27me3 is mostly absent from these regions. Taken together—and with previously published work—these studies show that the oocyte has a distinctive epigenome and provide insights into how the maternal gene expression program transitions to the zygotic program. Histone modifications have critical roles in regulating the expression of developmental genes during embryo development in mammals 1 , 2 . However, genome-wide analyses of histone modifications in pre-implantation embryos have been impeded by the scarcity of the required materials. Here, by using a small-scale chromatin immunoprecipitation followed by sequencing (ChIP–seq) method 3 , we map the genome-wide profiles of histone H3 lysine 4 trimethylation (H3K4me3) and histone H3 lysine 27 trimethylation (H3K27me3), which are associated with gene activation and repression 4 , 5 , respectively, in mouse pre-implantation embryos. We find that the re-establishment of H3K4me3, especially on promoter regions, occurs much more rapidly than that of H3K27me3 following fertilization, which is consistent with the major wave of zygotic genome activation at the two-cell stage. Furthermore, H3K4me3 and H3K27me3 possess distinct features of sequence preference and dynamics in pre-implantation embryos. Although H3K4me3 modifications occur consistently at transcription start sites, the breadth of the H3K4me3 domain is a highly dynamic feature. Notably, the broad H3K4me3 domain (wider than 5 kb) is associated with higher transcription activity and cell identity not only in pre-implantation development but also in the process of deriving embryonic stem cells from the inner cell mass and trophoblast stem cells from the trophectoderm. Compared to embryonic stem cells, we found that the bivalency (that is, co-occurrence of H3K4me3 and H3K27me3) in early embryos is relatively infrequent and unstable. Taken together, our results provide a genome-wide map of H3K4me3 and H3K27me3 modifications in pre-implantation embryos, facilitating further exploration of the mechanism for epigenetic regulation in early embryos.

This paper addresses the problems of valve-turning operation in rescue environments where a wheeled mobile manipulator (WMM) is employed, including the possible occurrence of large internal forces. Rather than attempting to obtain the exact position of the valve, this paper presents a solution to two main problems in robotic valve-turning operations: the radial position deviation between the rotation axes of the tool and the valve handle, which may cause large radial forces, and the possible axial displacement of the valve handle as the valve turns, which may lead to large axial forces. For the former problem, we designed a compliant end-effector with a tolerance of approximately 3.5° (angle) and 9.7 mm (position), and provided a hybrid passive/active compliance method. For the latter problem, a passivity-based force tracking algorithm was employed. Combining the custom-built compliant end-effector and the passivity-based control method can significantly reduce both the radial and the axial forces. Additionally, for valves with different installation types and WMMs with different configurations, we analyzed the minimum required number of actuators for valve turning. Simulation and experimental results are presented to show the effectiveness of the proposed approach.

Compact visible wavelength achromats are essential for miniaturized and lightweight optics. However, fabrication of such achromats has proved to be exceptionally challenging. Here, using subsurface 3D printing inside mesoporous hosts we densely integrate aligned refractive and diffractive elements, forming thin high performance hybrid achromatic imaging micro-optics. Focusing efficiencies of 51–70% are achieved for 15μm thick, 90μm diameter, 0.3 numerical aperture microlenses. Chromatic focal length errors of less than 3% allow these microlenses to form high-quality images under broadband illumination (400–700 nm). Numerical apertures upwards of 0.47 are also achieved at the cost of some focusing efficiency, demonstrating the flexibility of this approach. Furthermore, larger area images are reconstructed from an array of hybrid achromatic microlenses, laying the groundwork for achromatic light-field imagers and displays. The presented approach precisely combines optical components within 3D space to achieve thin lens systems with high focusing efficiencies, high numerical apertures, and low chromatic focusing errors, providing a pathway towards achromatic micro-optical systems. Creating compact, lightweight and powerful optics that work well under visible light has been challenging. Here, the authors 3D print optically transparent polymers inside nanoporous glass in order to densely integrate refractive and diffractive elements, forming thin, high-performance hybrid achromatic imaging micro-optics.

To study the degradation of lncRNAs in EPMI in rat brain tissue, this study provides a new direction for the estimation of EPMI. LncRNA high-throughput sequencing was performed on the brain tissues of hemorrhagic shock model rats at 0 h and 24 h, and the target lncRNAs were screened. Samples at 0, 1, 3, 6, 12, 18 and 24 h after death were collected, and miRNA-9 and miRNA-125b were used as reference genes. The relative expression levels of lncRNAs at each PMI were detected by RT–qPCR, and a functional model involving lncRNAs and EPMI was established. Samples were collected at 6, 9, 15, and 21 h after death for functional model verification. The expression of several lncRNAs decreased with the prolongation of EPMI, and the mathematical model established by several lncRNA indices exhibited good fit. The verification results of the multi-index joint function model are significantly better than those of the single-index function model, and the established model is more practical. There is a linear relationship between lncRNAs and EPMI, and the multi-index function model is significantly better than the single-index function model, which is important for EPMI inference in forensic pathology practice.

Direct laser writing (DLW) has been shown to render 3D polymeric optical components, including lenses, beam expanders, and mirrors, with submicrometer precision. However, these printed structures are limited to the refractive index and dispersive properties of the photopolymer. Here, we present the subsurface controllable refractive index via beam exposure (SCRIBE) method, a lithographic approach that enables the tuning of the refractive index over a range of greater than 0.3 by performing DLW inside photoresist-filled nanoporous silicon and silica scaffolds. Adjusting the laser exposure during printing enables 3D submicron control of the polymer infilling and thus the refractive index and chromatic dispersion. Combining SCRIBE’s unprecedented index range and 3D writing accuracy has realized the world’s smallest (15 µm diameter) spherical Luneburg lens operating at visible wavelengths. SCRIBE’s ability to tune the chromatic dispersion alongside the refractive index was leveraged to render achromatic doublets in a single printing step, eliminating the need for multiple photoresins and writing sequences. SCRIBE also has the potential to form multicomponent optics by cascading optical elements within a scaffold. As a demonstration, stacked focusing structures that generate photonic nanojets were fabricated inside porous silicon. Finally, an all-pass ring resonator was coupled to a subsurface 3D waveguide. The measured quality factor of 4600 at 1550 nm suggests the possibility of compact photonic systems with optical interconnects that traverse multiple planes. SCRIBE is uniquely suited for constructing such photonic integrated circuits due to its ability to integrate multiple optical components, including lenses and waveguides, without additional printed supports.3D printing: SCRIBE tunes refractive index within optical elementsA 3D printing technique can make a tiny structure with a varying refractive index, opening the door for manufacturing lenses and waveguides with interesting properties. Subsurface controllable refractive index via beam exposure (SCRIBE), developed by Paul V. Braun and colleagues at the University of Illinois at Urbana Champaign, involves changing a laser’s power to variably fill the nanosized pores of a silicon scaffold with photosensitive polymer. This tunes the refractive index within the final, fabricated, submicron-scale structure, causing visible light to bend differently within it according to where it passes. SCRIBE was used to fabricate a 15-micrometer diameter, spherical Luneburg lens in which the refractive index decreases from its core towards the surface. SCRIBE is particularly suited for constructing multiple components, like lenses and waveguides, for photonic integrated circuits, without the need for additionally printed supports.

Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain interaction class (WTIC). Therefore, for terrain parameter identification of the terramechanics model when rovers traverse various terrains, terramechanics model switching corresponding to the WTIC needs to be solved. This paper proposes a speed-independent vibration-based method for WTIC recognition to switch the terramechanics model and then identify its terrain parameters. In order to switch terramechanics models, wheel–terrain interactions are divided into three classes. Three vibration models of wheels under three WTICs have been built and analyzed. Vibration features in the models are extracted and non-dimensionalized to be independent of wheel speed. A vibration-feature-based recognition method of the WTIC is proposed. Then, the terrain parameters of the terramechanics model corresponding to the recognized WTIC are identified. Experiment results obtained using a Planetary Rover Prototype show that the identification method of terrain parameters is effective for rovers traversing various terrains. The relative errors of estimated wheel–terrain interaction force with identified terrain parameters are less than 16%, 12%, and 9% for rovers traversing hard, gravel, and sandy terrain, respectively.

Pseudomonas aeruginosa is an opportunistic pathogen that infects patients by regulating virulence factors and biofilms through a quorum sensing (QS) system to protect itself from antibiotics and environmental stress. Therefore, the development of quorum sensing inhibitors (QSIs) is expected to become a new strategy for studying drug resistance to P. aeruginosa infections. Marine fungi are valuable resources for screening QSIs. A marine fungus, Penicillium sp. JH1, with anti-QS activity was isolated from the offshore waters of Qingdao (China), and citrinin, a novel QSI, was purified from secondary metabolites of this fungus. Citrinin could significantly inhibit the production of violacein in Chromobacterium violaceum CV12472 and the production of three virulence factors (elastase, rhamnolipid and pyocyanin) in P. aeruginosa PAO1. It could also inhibit the biofilm formation and motility of PAO1. In addition, citrinin downregulated the transcript levels of nine genes (lasI, rhlI, pqsA, lasR, rhlR, pqsR, lasB, rhlA and phzH) associated with QS. Molecular docking results showed that citrinin bound to PqsR and LasR with better affinity than the natural ligands. This study laid a foundation for the further study of the structure optimization and structure–activity relationship of citrinin.

The analysis of infrared video images is becoming one of the methods used to detect thermal hazards in many large-scale engineering sites. The fusion of infrared thermal imaging and visible image data in the target area can help people to identify and locate the fault points of thermal hazards. Among them, a very important step is the registration of thermally visible images. However, the direct registration of images with large-scale differences may lead to large registration errors or even failure. This paper presents a novel two-stage thermal–visible-image registration strategy specifically designed for exceptional scenes, such as a substation. Firstly, the original image pairs that occur after binarization are quickly and roughly registered. Secondly, the adaptive downsampling unit partial-intensity invariant feature descriptor (ADU-PIIFD) algorithm is proposed to correct the small-scale differences in details and achieve finer registration. Experiments are conducted on 30 data sets containing complex power station scenes and compared with several other methods. The results show that the proposed method exhibits an excellent and stable performance in thermal–visible-image registration, and the registration error on the entire data set is within five pixels. Especially for multimodal images with poor image quality and many detailed features, the robustness of the proposed method is far better than that of other methods, which provides a more reliable image registration scheme for the field of fire safety.

Yutu-2 rover conducted an exciting expedition on the 41st lunar day to investigate a fin-shaped rock at Longji site (45.44°S, 177.56°E) by extending its locomotion margin on perilous peaks. The varied locomotion encountered, especially multi-form wheel slippage, during the journey to the target rock, established unique conditions for a fin-grained lunar regolith analysis regarding bearing, shear and lateral properties based on terramechanics. Here, we show a tri-aspect characterization of lunar regolith and infer the rock’s origin using a digital twin. We estimate internal friction angle within 21.5°−42.0° and associated cohesion of 520-3154 Pa in the Chang’E-4 operational site. These findings suggest shear characteristics similar to Apollo 12 mission samples but notably higher cohesion compared to regolith investigated on most nearside lunar missions. We estimate external friction angle in lateral properties to be within 8.3°−16.5°, which fills the gaps of the lateral property estimation of the lunar farside regolith and serves as a foundational parameter for subsequent engineering verifications. Our in-situ spectral investigations of the target rock unveil its composition of iron/magnesium-rich low-calcium pyroxene, linking it to the Zhinyu crater (45.34°S, 176.15°E) ejecta. Our results indicate that the combination of in-situ measurements with robotics technology in planetary exploration reveal the possibility of additional source regions contributing to the local materials at the Chang’E-4 site, implying a more complicated geological history in the vicinity. Digital twins can be used to support planetary operations and analysis. Here, the authors show tri-aspect characterization of lunar far side regolith and investigate the origin of a fin-shaped rock via digital twin of Yutu-2 rover.

Background Perinatal blood including umbilical cord blood and placental blood are splendid sources for allogeneic NK cell generation with high cytotoxicity of combating pathogenic microorganism and malignant tumor. Despite the generation of NK cells from the aforementioned perinatal blood, yet the systematical and detailed information of the biological and transcriptomic signatures of UC-NKs and P-NKs before large-scale clinical applications in disease remodeling is still largely obscure. Methods Herein, we took advantage of the “3IL”-based strategy for high-efficient generation of NK cells from umbilical cord blood and placental blood (UC-NKs and P-NKs), respectively. On the one hand, we conducted flow cytometry (FCM) assay and coculture to evaluate the subpopulations, cellular vitality and cytotoxic activity of the aforementioned NK cells. On the other hand, with the aid of RNA-SEQ and multiple bioinformatics analyses, we further dissected the potential diversities of UC-NKs and P-NKs from the perspectives of transcriptomes. Results On the basis of the “3IL” strategy, high-efficient NKs were generated from mononuclear cells (MNCs) in perinatal blood. P-NKs revealed comparable ex vivo expansion but preferable activation and cytotoxicity upon K562 cells over UC-NKs. Both of the two NKs showed diversity in cellular vitality and transcriptome including apoptotic cells, cell cycle, gene expression profiling and the accompanied multifaceted biological processes. Conclusions Our data revealed the multifaceted similarities and differences of UC-NKs and P-NKs both at the cellular and molecular levels. Our findings supply new references for allogeneic NK cell-based immunotherapy in regenerative medicine and will benefit the further exploration for illuminating the underlying mechanism as well.