The Draft Genome of the Invasive Walking Stick, Medauroidea extradendata, Reveals Extensive Lineage-Specific Gene Family Expansions of Cell Wall Degrading Enzymes in Phasmatodea.

Plant cell wall components are the most abundant macromolecules on Earth. The study of the breakdown of these molecules is thus a central question in biology. Surprisingly, plant cell wall breakdown by herbivores is relatively poorly understood, as nearly all early work focused on the mechanisms used by symbiotic microbes to breakdown plant cell walls in insects such as termites. Recently, however, it has been shown that many organisms make endogenous cellulases. Insects, and other arthropods, in particular have been shown to express a variety of plant cell wall degrading enzymes in many gene families with the ability to break down all the major components of the plant cell wall. Here we report the genome of a walking stick, Medauroidea extradentata, an obligate herbivore that makes uses of endogenously produced plant cell wall degrading enzymes. We present a draft of the 3.3Gbp genome along with an official gene set that contains a diversity of plant cell wall degrading enzymes. We show that at least one of the major families of plant cell wall degrading enzymes, the pectinases, have undergone a striking lineage-specific gene family expansion in the Phasmatodea. This genome will be a useful resource for comparative evolutionary studies with herbivores in many other clades and will help elucidate the mechanisms by which metazoans breakdown plant cell wall components

Rapid evolution of chemosensory receptor genes in a pair of sibling species of orchid bees (Apidae: Euglossini).

BackgroundInsects rely more on chemical signals (semiochemicals) than on any other sensory modality to find, identify, and choose mates. In most insects, pheromone production is typically regulated through biosynthetic pathways, whereas pheromone sensory detection is controlled by the olfactory system. Orchid bees are exceptional in that their semiochemicals are not produced metabolically, but instead male bees collect odoriferous compounds (perfumes) from the environment and store them in specialized hind-leg pockets to subsequently expose during courtship display. Thus, the olfactory sensory system of orchid bees simultaneously controls male perfume traits (sender components) and female preferences (receiver components). This functional linkage increases the opportunities for parallel evolution of male traits and female preferences, particularly in response to genetic changes of chemosensory detection (e.g. Odorant Receptor genes). To identify whether shifts in pheromone composition among related lineages of orchid bees are associated with divergence in chemosensory genes of the olfactory periphery, we searched for patterns of divergent selection across the antennal transcriptomes of two recently diverged sibling species Euglossa dilemma and E. viridissima.ResultsWe identified 3185 orthologous genes including 94 chemosensory loci from five different gene families (Odorant Receptors, Ionotropic Receptors, Gustatory Receptors, Odorant Binding Proteins, and Chemosensory Proteins). Our results revealed that orthologs with signatures of divergent selection between E. dilemma and E. viridissima were significantly enriched for chemosensory genes. Notably, elevated signals of divergent selection were almost exclusively observed among chemosensory receptors (i.e. Odorant Receptors).ConclusionsOur results suggest that rapid changes in the chemosensory gene family occurred among closely related species of orchid bees. These findings are consistent with the hypothesis that strong divergent selection acting on chemosensory receptor genes plays an important role in the evolution and diversification of insect pheromone systems

DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes

Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current techniques for multi-fingered robotic grasping frequently predict only a single grasp for each inference time, limiting computational efficiency and their versatility, i.e. unimodal grasp distribution. This paper proposes a differentiable multi-fingered grasp generation network (DMFC-GraspNet) with three main contributions to address this challenge. Firstly, a novel neural grasp planner is proposed, which predicts a new grasp representation to enable versatile and dense grasp predictions. Secondly, a scene creation and label mapping method is developed for dense labeling of multi-fingered robotic hands, which allows a dense association of ground truth grasps. Thirdly, we propose to train DMFC-GraspNet end-to-end using using a forward-backward automatic differentiation approach with both a supervised loss and a differentiable collision loss and a generalized Q 1 grasp metric loss. The proposed approach is evaluated using the Shadow Dexterous Hand on Mujoco simulation and ablated by different choices of loss functions. The results demonstrate the effectiveness of the proposed approach in predicting versatile and dense grasps, and in advancing the field of multi-fingered robotic grasping.Comment: Submitted IROS 2023 workshop "Policy Learning in Geometric Spaces

Species composition and abundance of the shallow water fish community of Kongsfjorden, Svalbard

Projections show that climate change will lead to structural change in Arctic ecosystems. Studies project the extinction of local species and intense species invasion to the Arctic Ocean. A lack of basic biological data about the Arctic shallow water fish community will make it hard to assess whether these communities will change or not. Baseline studies in combination with future reassessments are needed to establish a basic knowledge about the change of these communities. This study provides a quantitative first time description of the shallow water fish community of Kongsfjorden, Svalbard. The fish assemblage in the depth range from 3 to 12 m was determined with respect to abundance and species composition. Among a total sample size of 2804 specimens, the presence of 12 fish species and one family (Liparidae) was detected. Myoxocephalus scorpius (shorthorn sculpin) (74.9 %), Gadus morhua (Atlantic cod) (17.2 %), and Gymnocanthus tricuspis (Arctic staghorn sculpin) (3.8 %) were identified as the most abundant species across all sampling sites. A signif- icant relationship between algal coverage and fish abun- dance was detected. Furthermore, we demonstrated a fjord inward increase in biodiversity along the south shore that might be correlated with a change in hydrographic regime

First year of practical experiences of the new Arctic AWIPEV-COSYNA cabled Underwater Observatory in Kongsfjorden, Spitsbergen

A combined year-round assessment of selected oceanographic data and a macrobiotic community assess- ment was performed from October 2013 to November 2014 in the littoral zone of the Kongsfjorden polar fjord system on the western coast of Svalbard (Norway). State of the art remote controlled cabled underwater observatory technology was used for daily vertical profiles of temperature, salinity, and turbidity together with a stereo-optical assessment of the macrobiotic community, including fish. The results reveal a distinct seasonal cycle in total species abundances, with a significantly higher total abundance and species richness dur- ing the polar winter when no light is available underwater compared to the summer months when 24 h light is available. During the winter months, a temporally highly segmented community was observed with respect to species occurrence, with single species dominating the winter community for re- stricted times. In contrast, the summer community showed an overall lower total abundance as well as a significantly lower number of species. The study clearly demonstrates the high potential of cable connected remote controlled digital sampling devices, especially in remote areas, such as po- lar fjord systems, with harsh environmental conditions and limited accessibility. A smart combination of such new dig- ital “sampling” methods with classic sampling procedures can provide a possibility to significantly extend the sampling time and frequency, especially in remote and difficult to access areas. This can help to provide a sufficient data density and therefore statistical power for a sound scientific analysis without increasing the invasive sampling pressure in ecolog- ically sensitive environments

A fiber-based beam profiler for high-power laser beams in confined spaces and ultra-high vacuum

Laser beam profilometry is an important scientific task with well-established solutions for beams propagating in air. It has, however, remained an open challenge to measure beam profiles of high-power lasers in ultra-high vacuum and in tightly confined spaces. Here we present a novel scheme that uses a single multi-mode fiber to scatter light and guide it to a detector. The method competes well with commercial systems in position resolution, can reach through apertures smaller than $500\times 500$~$\mu$m$^2$ and is compatible with ultra-high vacuum conditions. The scheme is simple, compact, reliable and can withstand laser intensities beyond 2~MW/cm$^2$

The Nuclear and Mitochondrial Genomes of the Facultatively Eusocial Orchid Bee Euglossa dilemma

Bees provide indispensable pollination services to both agricultural crops and wild plant populations, and several species of bees have become important models for the study of learning and memory, plant–insect interactions, and social behavior. Orchid bees (Apidae: Euglossini) are especially important to the fields of pollination ecology, evolution, and species conservation. Here we report the nuclear and mitochondrial genome sequences of the orchid bee Euglossa dilemma Bembé & Eltz. E. dilemma was selected because it is widely distributed, highly abundant, and it was recently naturalized in the southeastern United States. We provide a high-quality assembly of the 3.3 Gb genome, and an official gene set of 15,904 gene annotations. We find high conservation of gene synteny with the honey bee throughout 80 MY of divergence time. This genomic resource represents the first draft genome of the orchid bee genus Euglossa, and the first draft orchid bee mitochondrial genome, thus representing a valuable resource to the research community