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In this paper, a new fault diagnosis and fault tolerant control algorithm for manipulators with actuator multiplicative fault is proposed. The dynamic model of the manipulator with disturbance is taken as the research object. When faults occur in the actuator, a nonlinear observer based on radial basis function (RBF) neural network is used to estimate the fault information. After the fault information is obtained, an adaptive back-stepping sliding mode controller is used to control the manipulator to reach the desired trajectory. At last, an illustrated example is given to demonstrate the efficiency of the proposed algorithm, and satisfactory results have been obtained.

Stress distribution and creep mechanisms along modern subduction interfaces remain poorly understood, due to the lack of high-resolution constraints on the rheology of the heterogeneous plate interface and associated fluid distribution in the so-called transition zone (40–60 km depth), where deep slow slip events (SSEs) occur. Here, we document the presence of dislocation-based creep in a blueschist facies metachert block exhumed from the North Qilian paleo-subduction interface, NE Tibet. This block exhibits foliation-parallel micro-shear zones inferred to have formed under relatively fast strain rates of 10 −9 s −1 and shear stresses exceeding 100 MPa. These values are paradoxical, as they are significantly higher than those estimated for the surrounding, weaker calcschist matrix, raising questions about their physical origin. We propose that the observed micro-shearing in the block, formed over a duration on the order of decades, sheds light on the local coupling induced by transient block interactions during large-scale SSEs along the deep subduction channel. Geological evidence from the North Qilian paleo-subduction channel shows that strong blocks deform by dislocation creep, sustain >100 MPa stresses, and their interactions transiently tighten plate coupling, shedding light on deep slow-slip dynamics.

Pitaya (Hylocereus polyrhizus) has attracted much interest from consumers as it is a novelty fruit with high nutrient content and a tolerance to drought stress. As a group of attractive pigment- and health-promoting natural compounds, betalains represent a visual feature for pitaya fruit quality. However, little information on the correlation between betalains and relevant metabolites exists so far. Currently, color (Commission International del’Eclairage, CIE) parameters, betalain contents, and untargeted metabolic profiling (gas chromatography-time-of-flight-mass spectrometry, GC–MS and liquid chromatography tandem mass spectrometry, LC–MS) have been examined on ‘Zihonglong’ fruits at nine different developmental stages, and the variation character of the metabolite contents was simultaneously investigated between peel and pulp. Furthermore, principal component analysis (PCA) and partial least-squares discriminant analysis (PLS-DA) were used to explore metabolite profiles from the fruit samples. Our results demonstrated that the decrease of amino acid, accompanied by the increase of sugars and organic acid, might contribute to the formation of betalains. Notably, as one of four potential biomarker metabolites, citramalic acid might be related to betalain formation.

It is of great significance to clarify the ecologically chemical stoichiometric characteristics of plant-litter-soil in vegetation restoration process for elucidating the nutrient cycling law and soil nutrient management of karst ecosystem. The carbon (C), nitrogen (N) and phosphorus (P) contents of leaves, litter and soil and their stoichiometry were determined in loquat ( Eribotrya japonica ) plantations in a karst plateau canyon after 3, 6, 10 and 15 years of restoration. The homeostasis characteristics of leaf N, P, and N:P with the change in soil nutrients during restoration were revealed. The results showed that leaf C, N, and P contents initially increased and then decreased with increasing years of restoration at the same sampling time. The contents of nutrients in soil and litter varied with increasing restoration years, with the highest values mostly appearing in May and July. This could be due to greater moisture in May and July, which helps with nutrient absorption and transformation. The leaf N:P ratio of loquat with different restoration years was 35.76-47.39, with an average of 40.06. Therefore, loquat leaves may experience P limitation in the growth process. The relationships between N, P and N:P in leaves and soil indexes could be simulated by a homeostasis model. Except for the weak sensitivity of loquat leaf N in 10 years, the other indexes and treatments had a certain homeostasis. Plants maintain homeostasis by regulating physiological responses in vivo in response to soil nutrient changes, indicating that loquat has good adaptability in karst desertification environments, but attention should focus on the management of soil P in the field as part of the vegetation restoration process. Therefore, in future research, we should combine the soil water and fertilizer conditions of different growing seasons in karst rocky desertification areas and provide scientific field management to ensure that the results of rocky desertification management can play a role in rural revitalization.

Background Phosphorus (Pi) is crucial for the growth and development of plants, and Phosphate transporter 1 (PHT1) genes are key in Pi absorption and signaling. PHT1 and phosphate starvation response 1 (PHR1) form the PHR1-PHT1 module, which is essential for Pi uptake and signaling across various species. However, its role in the apple rootstock has not yet been clear so far. Results To gain a clearer insight into the PHR1-PHT1 module’s function in coping with low-Pi stress. A transcriptomic analysis of Malus mandshurica , a line with high Pi deficiency tolerance, identified 13 genes of MmPHT1 in response to low-Pi stress. The expression levels of MmPHT1 genes varied in response to low-Pi stress, as shown by qRT-PCR analysis. The analysis of promoter activity revealed that the MmPHT1;5 promoter activated GUS gene expression. The combination of dual-luciferase reporter and yeast one-hybrid (Y1H) assays demonstrated that MmPHR1 interacts with the MmPHT1;5 promoter. Using CRISPR/Cas9 and overexpressing vectors system to transform apple callus to investigate the role of MmPHT1;5 under Pi deficiency. Notably, the OE- MmPHT1;5 line calli showed marked enhancements in acid phosphatase (ACP) activities and total and inorganic Pi contents compared to the wild type. Conversely, the KO- MmPHT1;5 calli showed significant reductions in Pi accumulation, implying it could be involved in the absorption of Pi in apples. Conclusions MmPHT1;5 plays a substantial role in enhancing low-Pi stress by facilitating Pi absorption in M. mandshurica .

A key question in regulatory genomics is whether cis -regulatory elements (CREs) are modular elements that can function anywhere in the genome, or whether they are adapted to certain genomic locations. To distinguish between these possibilities we develop MPIRE (Massively Parallel Integrated Regulatory Elements), a technology for recurrently assaying CREs at thousands of defined locations across the genome in parallel. MPIRE allows us to separate the intrinsic activity of CREs from the effects of their genomic environments. We apply MPIRE to assay three insulator sequences at thousands of genomic locations and find that each insulator functions in locations with distinguishable properties. All three insulators can block enhancers, but each insulator blocks specific enhancers at specific locations. However, only ALOXE3 appears to block heterochromatin silencing. We conclude that insulator function is highly context dependent and that MPIRE is a robust method for revealing the context dependencies of CREs. Here, the authors investigate how cis-regulatory elements (CRE) function in diverse genomic locations. They develop a high-throughput method to assay CRE activity across the genome and apply it to reveal the context dependencies of insulator activity.

In the context of digital rural construction, based on the theory of livelihood capital, this paper uses 312 survey data collected in mining areas of Shanxi Province in 2023 as a sample, and uses hierarchical regression and bootstrap methods to empirically test the impact path of digital technology use on farmers’ livelihood capital. Among them, the hierarchical regression method tests the main effect and mediation effect, and the bootstrap method tests the robustness of the mediation effect and the moderated mediation effect. The results show that the use of digital technology significantly improves the level of farmers’ livelihood capital. Collective action plays a mediating role in the relationship of this impact path. Risk perception positively regulates the relationship between digital technology use and collective action, indirectly affecting livelihood capital through collective action. Heterogeneity analysis shows that the improvement effect is more significant among male and elderly farmers. Further analysis shows that the frequency of online shopping, leisure and entertainment, and business activities all positively impact livelihood capital, among which online business activities have the most significant impact. The increase in household mobile phone service fees and the popularization of online shopping help stimulate the potential for capital appreciation, but the marginal effect is decreasing. Based on this, policy recommendations are put forward, such as strengthening digital technology training for farmers and supporting the combination of production and operation.

Non-structural carbohydrates (NSCs) are an important energy source for plant growth and metabolism. Analysis of NSC changes can provide important clues to reveal the adaptation mechanisms of plants to a specific environment. Although considerable differences have been reported in NSCs in response to nitrogen (N) application among crop species and cultivars, previous studies have mostly focused on the differences in leaves and stems. However, the effects of N on the characteristics of accumulation and translocation of NSC in maize with different levels of N tolerance remain unclear. To determine differences in the N levels, two cultivars (N-efficient ZH311 and N-inefficient XY508) were grown in field pots (Experiment I) and as hydroponic cultures (Experiment II) and were supplemented with different concentrations of N fertilizer. In both experiments, low-N stress significantly increased the accumulation of NSCs in maize vegetative organs and increased the translocation rate of NSCs in the stems and their apparent contribution to yield, thereby reducing the yield loss caused by low-N stress. N application had a greater effect on starch content in the vegetative organs of ZH311, but had less effect on soluble sugar (SS) and NSC content in the whole plant and starch content in the ears. ZH311 could convert more starch into SS under low N conditions to adapt to low N environments than XY508, while ensuring that grain yield and starch quantity were not affected. This is evidently an important physiological mechanism involved in this cultivar's tolerance to low N conditions.

Salinization is a major environmental challenge that jeopardizes productivity and resilience of plants such as the short rotation woody crops (SRWC) and bioenergy crops. Leveraging beneficial microbes will enhance plant resistance to salinity with physiological adjustments. Here we investigated the efficacy of plant growth promoting fungus ( Piriformospora indica ) on optimizing growth and salt tolerance of SRWCs and bioenergy tree crops, using Paulownia elongata as an example. Following culture in sterile soil, the chlamydospore of P. indica were found in paulownia plants roots. We treated both inoculated and uninoculated plants with four salt concentrations (0.00%, 0.30%,0.50%, 0.70%) by soaking them in varying concentrations of NaCl solution every 7 days. After 30 days of treatment, we investigated various physiological parameters, i.e., biomass, infection rate, growth rate, photosynthetic parameters, antioxidant enzyme activity, and soluble sugar of paulownia plants. Our two-way ANOVA demonstrated that the interaction between salinity stress and P. indica inoculation significantly enhanced plant height growth rate, leaf net photosynthetic rate, superoxide dismutase (SOD) activity, and soluble protein content in Paulownia seedlings. Inoculated plants exhibited improved salt tolerance due to the mitigating effect of symbiosis across a salinity gradient. Mortality in the P. indica -treated group was reduced by approximately 5.55%, 22.22%, and 27.77% under 0.30%, 0.50%, and 0.70% NaCl treatments. Our study is the first application of P . indica to enhance salinity tolerance in Paulownia , a short-rotation woody crop. Inoculating such endophyte significantly improves the resilience and productivity of Paulownia plantations in saline environments, for a sustainable afforestation effort.

Phosphorus (Pi) plays a crucial role in the growth and development of plants. Membrane lipid regulation is one of the main mechanisms underlying plant adaptation to Pi deficiency. Previously, the high tolerance to low-Pi stress was justified in an elite line, MSDZ 109, which was obtained from Malus mandshurica. To better understand the mechanism underlying high adaptation to low-Pi stress, currently, lipidomic and transcriptomic analysis, as well as CRISPR/Cas9 and MmGDPD1-overexpressing methodologies were comprehensively integrated into a strategy for elucidating the high tolerance to low-Pi stress. Totally, 770 differential metabolites were identified from the roots between the low-Pi and stress-free, belonging to 21 sub-classes of lipid compounds. Fatty acids (FA) constituted the predominant lipid component, accounting for approximately 50%–60% of the total lipids, and triglycerides (TAG) ranked the second, comprising around 12% of the total, consecutively followed by phosphatidylcholine (PC) and diacylglycerol (DAG) with approximately 10% and 8% of the total, respectively. The synchronous transcriptomic analysis revealed a significant up-regulation of genes related to glycerophospholipid and glycerolipid metabolism, specifically those (e.g., MmGDPD1, MmDGDG1, MmMGDG1, MmSQDG, etc.) involved in phospholipid and galactosyl synthesis in response to low-Pi stress. GUS fusing reporter assay showed that MmGDPD1 promoter induced GUS gene expression and demonstrated initiation activity. Based on expression analysis, a dual-luciferase reporter assay, as well as yeast one-hybrid (Y1H) identification, MmPHR1 was justified to bind with the MmGDPD1 promoter and positively regulate plant tolerance to low-Pi stress. To further elucidate the role of MmGDPD1, CRISPR/Cas9 and MmGDPD1-overexpressing vectors were successfully introduced into apple (‘Royal Gala’) calli. Interestingly, the MmGDPD1-KO line calli exhibited the remarkable decreases in the contents of phosphodiesterase (PDE), activity, as well as the contents of total Pi, and Pi in comparison with those of the wild type. Conversely, MmGDPD1-OE ones demonstrated the significant elevation in Pi accumulations, further justifying its potential role in Pi remobilization in apple. Therefore, MmGDPD1 substantially involves elevating low-Pi tolerance via promoting Pi release in M. mandshurica.