Thrust Improvement of a Biomimetic Robotic Fish by Using a Deformable Caudal Fin.

In nature, live fish has various deformable fins which are capable to promote the swimming speed, efficiency, stability, and thrust generation. However, this feature is rarely possessed by current man-made biomimetic robotic fishes. In this paper, a novel deformable caudal fin platform is proposed to improve thrust generation of biomimetic robotic fish. First, the design of the deformable caudal fin is given, which includes a servo motor, a gear-based transmission mechanism, fin bones, and silica membrane. Second, an improved Central Pattern Generator (CPG) model was developed to coordinately control the flapping of the tail and the deformation of the caudal fin. More specifically, three deformation patterns, i.e., conventional nondeformable mode, sinusoidal-based mode, instant mode, of the caudal fin are investigated. Third, extensive experiments are conducted to explore the effects of deformation of the caudal fin on the thrust generation of the biomimetic robotic fish. It was found that the instant mode of the caudal fin has the largest thrust, which sees a 27.5% improvement compared to the conventional nondeformable mode, followed by the sinusoidal-based mode, which also sees an 18.2% improvement. This work provides a novel way to design and control the deformation of the caudal fin, which sheds light on the development of high-performance biomimetic robotic fish.

Sequencing of allotetraploid cotton (Gossypium hirsutum L. acc. TM-1) provides a resource for fiber improvement.

Upland cotton is a model for polyploid crop domestication and transgenic improvement. Here we sequenced the allotetraploid Gossypium hirsutum L. acc. TM-1 genome by integrating whole-genome shotgun reads, bacterial artificial chromosome (BAC)-end sequences and genotype-by-sequencing genetic maps. We assembled and annotated 32,032 A-subgenome genes and 34,402 D-subgenome genes. Structural rearrangements, gene loss, disrupted genes and sequence divergence were more common in the A subgenome than in the D subgenome, suggesting asymmetric evolution. However, no genome-wide expression dominance was found between the subgenomes. Genomic signatures of selection and domestication are associated with positively selected genes (PSGs) for fiber improvement in the A subgenome and for stress tolerance in the D subgenome. This draft genome sequence provides a resource for engineering superior cotton lines.

De novo assembly of soybean wild relatives for pan-genome analysis of diversity and agronomic traits.

Wild relatives of crops are an important source of genetic diversity for agriculture, but their gene repertoire remains largely unexplored. We report the establishment and analysis of a pan-genome of Glycine soja, the wild relative of cultivated soybean Glycine max, by sequencing and de novo assembly of seven phylogenetically and geographically representative accessions. Intergenomic comparisons identified lineage-specific genes and genes with copy number variation or large-effect mutations, some of which show evidence of positive selection and may contribute to variation of agronomic traits such as biotic resistance, seed composition, flowering and maturity time, organ size and final biomass. Approximately 80% of the pan-genome was present in all seven accessions (core), whereas the rest was dispensable and exhibited greater variation than the core genome, perhaps reflecting a role in adaptation to diverse environments. This work will facilitate the harnessing of untapped genetic diversity from wild soybean for enhancement of elite cultivars.