Abstract:The pulse-based charging method for battery cells has been recognized as a fast and efficient way to overcome the shortcoming of a slow charging time in distributed battery cells, which is regarded as a connection of cells such as the Internet of Things (IoT). The pulse frequency for controlling the battery charge duration is dynamically controlled within a certain range in order to inject the maximum charge current into the battery cells. The optimal frequency is determined in order to minimize battery impedance. The adaptation of the proposed pulse duty and frequency decreases the concentration of the polarization by sensing the runtime characteristics of battery cells so that it guarantees a certain level of safety in charging the distributed battery cells within the operating temperature range of 5-45 • C. The sensed terminal voltage and temperature of battery cells are dynamically monitored while the battery is charging so as to adjust the frequency and duty of the proposed charging pulse method, thereby preventing battery degradation. The evaluation results show that a newly designed charging algorithm for the implemented charger system is about 18.6% faster than the conventional constant-current (CC) charging method with the temperature rise within a reasonable range. The implemented charger system, which is based on the proposed dynamic frequency and duty control by considering the cell polarization, charges to about 80% of its maximum capacity in less than 56 min and involves a 13 • C maximum temperature rise without damaging the battery.

Lateral branches such as shoot and panicle are determining factors and target traits for rice (Oryza sativa L.) yield improvement. Cytokinin promotes rice lateral branching; however, the mechanism underlying the fine-tuning of cytokinin homeostasis in rice branching remains largely unknown. Here, we report the map-based cloning of RICE LATERAL BRANCH (RLB) encoding a nuclear-localized, KNOX-type homeobox protein from a rice cytokinin-deficient mutant showing more tillers, sparser panicles, defected floret morphology as well as attenuated shoot regeneration from callus. RLB directly binds to the promoter and represses the transcription of OsCKX4, a cytokinin oxidase gene with high abundance in panicle branch meristem. OsCKX4 over-expression lines phenocopied rlb, which showed upregulated OsCKX4 levels. Meanwhile, RLB physically binds to Polycomb repressive complex 2 (PRC2) components OsEMF2b and co-localized with H3K27me3, a suppressing histone modification mediated by PRC2, in the OsCKX4 promoter. We proposed that RLB recruits PRC2 to the OsCKX4 promoter to epigenetically repress its transcription, which suppresses the catabolism of cytokinin, thereby promoting rice lateral branching. Moreover, antisense inhibition of OsCKX4 under the LOG promoter successfully increased panicle size and spikelet number per plant without affecting other major agronomic traits. This study provides insight into cytokinin homeostasis, lateral branching in plants, and also promising target genes for rice genetic improvement.

Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque. To validate the proposed method, experimental setups composed of a motor, a tendonsheath component, a robotic joint, force sensors, and position sensors are established. The transmission processes are interpreted clearly through a position control mode. Parameter identifications without external disturbance force are conducted to acquire the ideal transmission model, and the error value between the experiment data and the fitted curve is measured. The availability of the presented scheme is verified by compliant control experiments, including collision detection and hand guiding, and the frequency characteristics of the actuator are analyzed. The results show that the function can be realized without force and torque sensors during the whole process. INDEX TERMS Tendon-sheath actuators, robotic manipulator, compliant control, position transmission model, parameter identifications, series elastic actuators, transmission characteristic.

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The growth rate of bacteria increases under simulated microgravity (SMG) with lowshear force. The next-generation microbial chassis Vibrio natriegens (V. natriegens) is a fast-growing Gram-negative, non-pathogenic bacterium with a generation time of less than 10 min. Screening of a V. natriegens strain with faster growth rate was attempted by 2-week continuous long-term culturing under SMG. However, the rapid growth rate of this strain made it difficult to obtain the desired mutant strain with even more rapid growth. Thus, a mutant with slower growth rate emerged. Multi-omics integration analysis was conducted to explore why this mutant grew more slowly, which might inform us about the molecular mechanisms of rapid growth of V. natriegens instead. The transcriptome data revealed that whereas genes related to mechanical signal transduction and flagellin biogenesis were up-regulated, those involved in adaptive responses, anaerobic and nitrogen metabolism, chromosome segregation and cell vitality were down-regulated. Moreover, genome-wide chromosome conformation capture (Hi-C) results of the slower growth mutant and wide type indicated that SMG-induced great changes of genome 3D organization were highly correlated with differentially expressed genes (DEGs). Meanwhile, whole genome re-sequencing found a significant number of structure variations (SVs) were enriched in regions with lower interaction frequency and down-regulated genes in the slower growth mutant compared with wild type (WT), which might represent a prophage region. Additionally, there was also a decreased interaction frequency in regions associated with well-orchestrated chromosomes replication. These results suggested that SMG might regulate local gene expression by sensing stress changes through conformation changes in the genome region of genes involved in flagellin, adaptability and chromosome segregation, thus followed by alteration of some physiological characteristics and affecting the growth rate and metabolic capacity.

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