Calcium, an ubiquitous second messenger, plays an essential and versatile role in cellular signaling. The diverse function of calcium signals is achieved by an excess of calcium sensors. Plants possess large numbers o...Calcium, an ubiquitous second messenger, plays an essential and versatile role in cellular signaling. The diverse function of calcium signals is achieved by an excess of calcium sensors. Plants possess large numbers of calcium sensors, most of which have not been functionally characterized. To identify physiologically relevant calcium sensors in a specific cell type, we conducted a genome-wide functional survey in pollen tubes, for which spatiotemporal calcium signals are well-characterized and required for polarized tip growth. Pollen.specific members of calrnodulin （CAM）, CaM-like （CML）, calcium-dependent protein kinase （CDPK） and calcineurin B-like protein （CBL） families were tagged with green fluorescence protein （GFP） and their localization patterns and overexpression phenotypes were characterized in tobacco pollen tubes. We found that several fusion proteins showed distinct overexpression phenotypes and subcellular localization patterns. CDPK24-GFP was localized to the vegetative nucleus and the generative cell/sperms. CDPK32-GFP caused severe growth depolarization. CBL2-GFP and CBL3-GFP exhibited dynamic patterns of subcellular localization, including several endomembrane compartments, the apical plasma membrane （PM）, and cytoskeleton-like structures in pollen tubes. Their overexpression also inhibited pollen tube elongation and induced growth depolarization. These putative calcium sensors are excellent candidates for the calcium sensors responsible for the regulation of calcium homeostasis and calciumdependent tip growth and growth oscillation in pollen tubes.展开更多
In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm ba...In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.展开更多
Location estimation of underwater sensor networks(USNs)has become a critical technology,due to its fundamental role in the sensing,communication and control of ocean volume.However,the asynchronous clock,security atta...Location estimation of underwater sensor networks(USNs)has become a critical technology,due to its fundamental role in the sensing,communication and control of ocean volume.However,the asynchronous clock,security attack and mobility characteristics of underwater environment make localization much more challenging as compared with terrestrial sensor networks.This paper is concerned with a privacy-preserving asynchronous localization issue for USNs.Particularly,a hybrid network architecture that includes surface buoys,anchor nodes,active sensor nodes and ordinary sensor nodes is constructed.Then,an asynchronous localization protocol is provided,through which two privacy-preserving localization algorithms are designed to estimate the locations of active and ordinary sensor nodes.It is worth mentioning that,the proposed localization algorithms reveal disguised positions to the network,while they do not adopt any homomorphic encryption technique.More importantly,they can eliminate the effect of asynchronous clock,i.e.,clock skew and offset.The performance analyses for the privacy-preserving asynchronous localization algorithms are also presented.Finally,simulation and experiment results reveal that the proposed localization approach can avoid the leakage of position information,while the location accuracy can be significantly enhanced as compared with the other works.展开更多
基金Supported by the State Key Basic Research and Development Plan of Chin(2007CB108704)
文摘Calcium, an ubiquitous second messenger, plays an essential and versatile role in cellular signaling. The diverse function of calcium signals is achieved by an excess of calcium sensors. Plants possess large numbers of calcium sensors, most of which have not been functionally characterized. To identify physiologically relevant calcium sensors in a specific cell type, we conducted a genome-wide functional survey in pollen tubes, for which spatiotemporal calcium signals are well-characterized and required for polarized tip growth. Pollen.specific members of calrnodulin （CAM）, CaM-like （CML）, calcium-dependent protein kinase （CDPK） and calcineurin B-like protein （CBL） families were tagged with green fluorescence protein （GFP） and their localization patterns and overexpression phenotypes were characterized in tobacco pollen tubes. We found that several fusion proteins showed distinct overexpression phenotypes and subcellular localization patterns. CDPK24-GFP was localized to the vegetative nucleus and the generative cell/sperms. CDPK32-GFP caused severe growth depolarization. CBL2-GFP and CBL3-GFP exhibited dynamic patterns of subcellular localization, including several endomembrane compartments, the apical plasma membrane （PM）, and cytoskeleton-like structures in pollen tubes. Their overexpression also inhibited pollen tube elongation and induced growth depolarization. These putative calcium sensors are excellent candidates for the calcium sensors responsible for the regulation of calcium homeostasis and calciumdependent tip growth and growth oscillation in pollen tubes.
基金Natural Science Foundation of Shaanxi Province(No.2019JQ-004)Scientific Research Plan Projects of Shaanxi Education Department(No.18JK0438)Youth Talent Promotion Project of Shaanxi Province(No.20180112)。
文摘In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.
基金supported in part by the National Natural Science Foundation of China(61873345,61973263)the Youth Talent Support Program of Hebei(BJ2018050,BJ2020031)+2 种基金the Teturned Overseas Chinese Scholar Foundation of Hebei(C201829)the Natural Science Foundation of Hebei(F2020203002)the Postgraduate Innovation Fund Project of Hebei(CXZZSS2019047)。
文摘Location estimation of underwater sensor networks(USNs)has become a critical technology,due to its fundamental role in the sensing,communication and control of ocean volume.However,the asynchronous clock,security attack and mobility characteristics of underwater environment make localization much more challenging as compared with terrestrial sensor networks.This paper is concerned with a privacy-preserving asynchronous localization issue for USNs.Particularly,a hybrid network architecture that includes surface buoys,anchor nodes,active sensor nodes and ordinary sensor nodes is constructed.Then,an asynchronous localization protocol is provided,through which two privacy-preserving localization algorithms are designed to estimate the locations of active and ordinary sensor nodes.It is worth mentioning that,the proposed localization algorithms reveal disguised positions to the network,while they do not adopt any homomorphic encryption technique.More importantly,they can eliminate the effect of asynchronous clock,i.e.,clock skew and offset.The performance analyses for the privacy-preserving asynchronous localization algorithms are also presented.Finally,simulation and experiment results reveal that the proposed localization approach can avoid the leakage of position information,while the location accuracy can be significantly enhanced as compared with the other works.
