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To address the insufficient accuracy of traditional single-sensor navigation methods in dense planting environments of pomegranate orchards, this paper proposes a vision and LiDAR fusion-based navigation line extraction method for orchard environments. The proposed method integrates a YOLOv8-ResCBAM trunk detection model, a reverse ray projection fusion algorithm, and geometric constraint-based navigation line fitting techniques. The object detection model enables high-precision real-time detection of pomegranate tree trunks. A reverse ray projection algorithm is proposed to convert pixel coordinates from visual detection into three-dimensional rays and compute their intersections with LiDAR scanning planes, achieving effective association between visual and LiDAR data. Finally, geometric constraints are introduced to improve the RANSAC algorithm for navigation line fitting, combined with Kalman filtering techniques to reduce navigation line fluctuations. Field experiments demonstrate that the proposed fusion-based navigation method improves navigation accuracy over single-sensor methods and semantic-segmentation methods, reducing the average lateral error to 5.2 cm, yielding an average lateral error RMS of 6.6 cm, and achieving a navigation success rate of 95.4%. These results validate the effectiveness of the vision and 2D LiDAR fusion-based approach in complex orchard environments and provide a viable route toward autonomous navigation for orchard robots.

The Crimean-Congo hemorrhagic fever virus (CCHFV), the most geographically widespread tick-borne virus, is endemic in Africa, Eastern Europe and Asia, with infection resulting in mortality in up to 30% of cases. Currently, there are no approved vaccines or effective therapies available for CCHF. The CCHFV should only be manipulated in the BSL-4 laboratory, which has severely hampered basic seroprevalence studies. In the present study, two antibody detection methods in the forms of an enzyme-linked immunosorbent assay (ELISA) and a surrogate virus neutralization test (sPVNT) were developed using a recombinant glycoprotein (rGP) and a vesicular stomatitis virus (VSV)-based virus bearing the CCHFV recombinant glycoprotein (rVSV/CCHFV) in a biosafety level 2 (BSL-2) laboratory, respectively. The rGP-based ELISA and rVSV/CCHFV-based sVNT were established by using the anti-CCHFV pre-G mAb 11E7, known as a broadly cross-reactive, potently neutralizing antibody, and their applications as diagnostic antigens were validated for the specific detection of CCHFV IgG and neutralizing antibodies in experimental animals. In two tests, mAb clone 11E7 (diluted at 1:163840 or 512) still displayed positive binding and neutralization, and the presence of antibodies (IgG and neutralizing) against the rGP and rVSV/CCHFV was also determined in the sera from the experimental animals. Both mAb 11E7 and animal sera showed a high reactivity to both antigens, indicating that bacterially expressed rGP and rVSV/CCHFV have good immunoreactivity. Apart from establishing two serological testing methods, their results also demonstrated an imperfect correlation between IgG and neutralizing antibodies. Within this limited number of samples, the rGP and rVSV/CCHFV could be safe and convenient tools with significant potential for research on specific antibodies and serological samples.

The Crimean Congo Hemorrhagic Fever Virus (CCHFV) is a tick-borne bunyavirus of the Narovirus genus, which is the causative agent of Crimean Congo Hemorrhagic Fever (CCHF). CCHF is endemic in Africa, the Middle East, Eastern Europe and Asia, with a high case-fatality rate of up to 50% in humans. Currently, there are no approved vaccines or effective therapies available for CCHF. The GEM-PA is a safe, versatile and effective carrier system, which offers a cost-efficient, high-throughput platform for recovery and purification of subunit proteins for vaccines. In the present study, based on a GEM-PA surface display system, a GEM-PA based vaccine expressing three subunit vaccine candidates (G-GP, including G-eGN, G-eGC and G-NAb) of CCHFV was developed, displaying the ectodomains of the structural glycoproteins eGN, eGC and NAb, respectively. According to the immunological assays including indirect-ELISA, a micro-neutralization test of pseudo-virus and ELISpot, 5 μg GPBLP3 combined with Montanide ISA 201VG plus Poly (I:C) adjuvant (A-G-GP-5 μg) elicited GP-specific humoral and cellular immunity in BALB/c mice after three vaccinations via subcutaneous injection (s.c.). The consistent data between IgG subtype and cytokine detection, ELISpot and cytokine detection indicated balanced Th1 and Th2 responses, of which G-eGN vaccines could elicit a stronger T-cell response post-vaccination, respectively. Moreover, all three vaccine candidates elicited high TNF-α, IL-6, and IL-10 cytokine levels in the supernatant of stimulated splenocytes in vitro. However, the neutralizing antibody (nAb) was only detected in A-G-eGC and A-G-eGC vaccination groups with the highest neutralizing titer of 128, suggesting that G-eGC could elicit a stronger humoral immune response. In conclusion, the GEM-PA surface display system could provide an efficient and convenient purification method for CCHFV subunit antigens, and the G-GP subunit vaccine candidates will be promising against CCHFV infections with excellent immunogenicity.

Sudan virus (SUDV) causes severe lethal hemorrhagic fever in humans and nonhuman primates. The most effective and economical way to protect against Sudan ebolavirus disease is prophylactic vaccination. However, there are no licensed vaccines to prevent SUDV infections. In this study, a bacterium-like particle (BLP)-based vaccine displaying the extracellular domain of the SUDV glycoprotein (eGP) was developed based on a gram-positive enhancer matrix-protein anchor (GEM-PA) surface display system. Expression of the recombinant GEM-displayed eGP (eGP-PA-GEM) was verified by Western blotting and immunofluorescence assays. The SUDV BLPs (SBLPs), which were mixed with Montanide ISA 201VG plus Poly (I:C) combined adjuvant, could induce high SUDV GP-specific IgG titers of up to 1:40,960 and robust virus-neutralizing antibody titers reached 1:460. The SBLP also elicited T-helper 1 (Th1) and T-helper 2 (Th2) cell-mediated immunity. These data indicate that the SBLP subunit vaccine has the potential to be developed into a promising candidate vaccine against SUDV infections.

Background Canine distemper virus (CDV) is an enveloped negative-strand RNA virus that exhibits a high mutation rate and continuously expands the range of hosts. Notably, CDV has infected giant panda with spill over from viral reservoirs in canines. Giant pandas ( Ailuropoda melanoleuca ), especially captive pandas, are known to be susceptible to natural infection with CDV. The high fatality rate of CDV poses a serious threat to the safety of the giant panda population. However, vaccines or drugs for canine distemper in giant pandas have not been developed to date. Therefore, a rapid test that can achieve accurate onsite detection of CDV is important to enable the timely implementation of control measures. In this study, we established a nucleic acid visualization assay for targeting the CDV N gene by using combines reverse transcription recombinase polymerase amplification with a closed vertical flow visualization strip (RT-RPA-VF). Results The RT-RPA-VF assay does not require sophisticated equipment, and it was determined to provide rapid detection at 35 °C for 30 min, while the limit of detection was 5 × 10 1 copies/μl RNA transcripts and 10 0.5 TCID 50 ml − 1 viruses. The results showed that the assay was high specific to CDV and had no cross-reactivity with other viruses infecting the giant panda. Compared with RT-qPCR, RT-RPA-VF assay had a sensitivity of 100% and a specificity of 100% in 29 clinical samples. The coincidence rate between RT-RPA-VF and RT-qPCR was 100% (kappa = 1), indicating that the RT-RPA-VF assay possessed good diagnostic performance on clinical samples. Conclusions The RT-RPA-VF provides a novel alternative for the simple, sensitive, and specific identification of CDV and showed great potential for point of care diagnostics for captive and wild giant panda.

Each country, each nation has its own map of world literature in any given historical period. The construction of the map largely depends on translators and their literary translations. No doubt, academic works on the history of world literature written or translated by scholars from target countries have made equally remarkable contributions. But in most cases the weight of those contributions is particularly felt by readers who take up foreign literary studies as profession, especially in China. To general readers, it is through the strenuous efforts the translators have made that they have acquired that very map they desired for. This essay aims to reveal the different maps in the eye of the Chinese readers in different historical periods and their constructions through our endeavor to sort out and describe relevant facts gleaned from a hundred-odd period since the end of the Qing Dynasty to the beginning of the People’s Republic of China. Meanwhile, the essay also attempts to show the functions and influence the translators and their activities perform and exert through relatively meticulous analyses of the relevant facts.

In this paper, a two-dimensional numerical model for simulating the generation and propagation of tsunami waves caused by upthrust bed movement is developed. To consider the nonlinearity as well as save the computational cost, a Navier–Stokes equation solver is used for the generation zone, and a Serre equation solver is adopted for the downstream evolution of the tsunami waves. The solution of the Navier–Stokes equation solver is extracted and transferred as the initial solution of the Serre solver, which means a one-way coupling is achieved. In this way, a one-way coupled Navier–Stokes-Serre model is obtained. After a detailed validation of the individual solvers, the coupled model is utilized for simulating the generation and propagation of tsunami waves caused by the upthrust bed movement in shallow water of uniform depth. It is found that the coupled model is comparable to the traditional Boussinesq equation model. Finally, the capacity of the coupled model for simulating wave-breaking cases is demonstrated.

Background Improving the salt tolerance of direct-seeding rice at the seed germination stage is a major breeding goal in many Asian rice-growing countries, where seedlings must often establish in soils with a high salt content. Thus, it is important to understand the genetic mechanisms of salt tolerance in rice and to screen for germplasm with salt tolerance at the seed germination stage. Here, we investigated seven seed germination-related traits under control and salt-stress conditions and conducted a genome-wide association study based on the re-sequencing of 478 diverse rice accessions. Results The analysis used a mixed linear model and was based on 6,361,920 single nucleotide polymorphisms in 478 rice accessions grouped into whole, indica , and non- indica panels. Eleven loci containing 22 significant salt tolerance-associated single nucleotide polymorphisms were identified based on the stress-susceptibility indices (SSIs) of vigor index (VI) and mean germination time (MGT). From the SSI of VI, six major loci were identified, explaining 20.2% of the phenotypic variation. From the SSI of MGT, five major loci were detected, explaining 26.4% of the phenotypic variation. Of these, seven loci on chromosomes 1, 5, 6, 11, and 12 were close to six previously identified quantitative gene loci/genes related to tolerance to salinity or other abiotic stresses. The strongest association region for the SSI of MGT was identified in a ~ 13.3 kb interval (15450039–15,463,330) on chromosome 1, near salt-tolerance quantitative trait loci controlling the Na + : K + ratio, total Na + uptake, and total K + concentration. The strongest association region for the SSI of VI was detected in a ~ 164.2 kb interval (526662–690,854) on chromosome 2 harboring two nitrate transporter family genes ( OsNRT2.1 and OsNRT2.2 ), which affect gene expression under salt stress. The haplotype analysis indicated that OsNRT2.2 was associated with subpopulation differentiation and its minor/rare tolerant haplotype was detected. Conclusions These results provide valuable information for salt tolerance-related gene cloning and for understanding the genetic mechanisms of salt tolerance at the seed germination stage. This information will be useful to improve the salt tolerance of direct-seeding rice varieties by genomic selection or marker-assisted selection.

Background Selenium (Se) fertilizer and arbuscular mycorrhizal fungi (AMF) are known to modulate cadmium (Cd) toxicity in plants. However, the effects of their co-application on wheat growth and soil microbial communities in Cd-contaminated soil are unclear. Results A pot experiment inoculation with two types of AMF and the application of Se fertilizer under Cd stress in wheat showed that inoculation AMF alone or combined with Se fertilizer significantly increased wheat biomass. Se and AMF alone or in combination significantly reduced available Cd concentration in wheat and soil, especially in the Se combined with Ri treatment. High throughput sequencing of soil samples indicated that Se and AMF application had stronger influence on bacterial community compared to fungal community and the bacterial network seemed to have more complex interconnections than the fungal network, and finally shaped the formation of specific microflora to affect Cd availability. Conclusion These results indicate that the application of Se and AMF, particularly in combination, could successfully decrease soil Cd availability and relieve the harm of Cd in wheat by modifying rhizosphere soil microbial communities.

Venous blood collection is a widely used medical diagnostic technique, and with rapid advancements in robotics, robotic venous blood collection has the potential to replace traditional manual methods. The success of this robotic approach is heavily dependent on the quality of vein imaging. In this paper, we develop a vein imaging device based on the simulation analysis of vein imaging parameters and propose a U-Net+ResNet18 neural network for vein image segmentation. The U-Net+ResNet18 neural network integrates the residual blocks from ResNet18 into the encoder of the U-Net to form a new neural network. ResNet18 is pre-trained using the Bootstrap Your Own Latent (BYOL) framework, and its encoder parameters are transferred to the U-Net+ResNet18 neural network, enhancing the segmentation performance of vein images with limited labelled data. Furthermore, we optimize the AD-Census stereo matching algorithm by developing a variable-weight version, which improves its adaptability to image variations across different regions. Results show that, compared to U-Net, the BYOL+U-Net+ResNet18 method achieves an 8.31% reduction in Binary Cross-Entropy (BCE), a 5.50% reduction in Hausdorff Distance (HD), a 15.95% increase in Intersection over Union (IoU), and a 9.20% increase in the Dice coefficient (Dice), indicating improved image segmentation quality. The average error of the optimized AD-Census stereo matching algorithm is reduced by 25.69%, and the improvement of the image stereo matching performance is more obvious. Future research will explore the application of the vein imaging system in robotic venous blood collection to facilitate real-time puncture guidance.