Liriodendron chinense (Lchi) is a Magnoliaceae plant, which is a basic angiosperm left behind by the Pleistocene and mainly distributed in the south of the Yangtze River. Liriodendron hybrids has good wood properties and is widely used in furniture and in other fields. It is not clear if they can adapt to different environmental conditions, such as drought and high and low temperatures, and the molecular mechanisms for this adaptation are unknown. Among plant transcription factors (TFs), the MYB gene family is one of the largest and is often involved in stress or adversity response signaling, growth, and development. Therefore, studying the role of MYBTFs in regulating abiotic stress signaling, growth, and development in Lchi is helpful to promote afforestation in different environments. In our research, a genome-wide analysis of the LchiMYB gene family was performed, including the phylogenetic relationship tree, gene exon-intron structure, collinearity, and chromosomal position. According to the evolutionary tree, 190 LchiMYBs were divided into three main branches. LchiMYBs were evenly distributed across 19 chromosomes, with their collinearity, suggesting that segment duplication events may have contributed to LchiMYB gene expansion. Transcriptomes from eight tissues, 11 stages of somatic embryogenesis, and leaves after cold, heat, and drought stress were used to analyze the function of the MYB gene family. The results of tissue expression analysis showed that most LchiMYB genes regulated bark, leaf, bud, sepal, stigma, and stamen development, as well as the four important stages (ES3, ES4, ES9, and PL) of somatic embryogenesis. More than 60 LchiMYBs responded to heat, cold, and drought stress; some of which underwent gene duplication during evolution. LchiMYB3 was highly expressed under all three forms of stress, while LchiMYB121 was strongly induced by both cold and heat stress. Eight genes with different expression patterns were selected and verified by quantitative real-time PCR (qRT-PCR) experiments. The results suggested that these LchiMYBs may regulate Lchi growth development and resistance to abiotic stress. This study shows the cross-regulatory function of LchiMYBs in the growth and development, asexual reproduction, and abiotic resistance of Lchi. This information will prove pivotal to directing further studies on the biological function of Lchi MYBTFs in genetic improvement and abiotic stress response.

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Magnetic levitation techniques have been used to eliminate friction due to mechanical contact, decrease the maintaining cost and achieve high-precision positioning. Although there are many studies on the single degree-of-freedom magnetic levitation control algorithms, it is difficult to achieve excellent control performance using classical control methods for the multiple-in-multiple-out magnetic levitation system because of the coupling in the dynamic system and the nonlinearity of the electromagnetic force. This article presents a 3 degrees-of-freedom magnetic suspension stage. At first the dynamic model of the stage is derived; then a nonlinear intelligent decoupling controller is developed to stabilize the levitation system. The control architecture consists of three components: (1) fuzzy sliding mode technique for the uncertainty in the system parameter; (2) force distribution for decoupling; (3) extended state observer for compensating the system disturbance. Finally experiments are designed to verify the effectiveness of the proposed controller. Experimental results show that compared with the classical proportional–integral–derivative controller, the proposed controller provides excellent transient response performance and the system is robust against the parameter uncertainty and external disturbance.

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In human robot interaction systems, human intent detection plays an important role to improve the interactive performances and then the rehabilitation effects. A study is proposed to estimate the interactive forces that indirectly detect the human motion intent. A disturbance observer is designed to estimate interactive torques and friction forces without force sensors, and then a friction force model is constructed to estimate the friction force in the robot system. To detect the human–robot interaction force, we subtract the friction force from disturbance observer estimation result. Several experiments were performed to test the performances of the proposed methods. Those methods were applied in an end-effect upper limb rehabilitation robot system. The results show that the precision of the estimated sensor force can increase 5% than the force sensor. The senseless force estimation method we proposed in this article can be an alternative option in force control tasks when force sensors are not suitable.