WiDEVIEW: An UltraWideBand and Vision Dataset for Deciphering Pedestrian-Vehicle Interactions

Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex vehicle-pedestrian interactions. Existing datasets that are useful to investigate vehicle-pedestrian interactions are mostly image-centric and thus vulnerable to vision failures. In this paper, we investigate Ultra-wideband (UWB) as an additional modality for road users' localization to enable a better understanding of vehicle-pedestrian interactions. We present WiDEVIEW, the first multimodal dataset that integrates LiDAR, three RGB cameras, GPS/IMU, and UWB sensors for capturing vehicle-pedestrian interactions in an urban autonomous driving scenario. Ground truth image annotations are provided in the form of 2D bounding boxes and the dataset is evaluated on standard 2D object detection and tracking algorithms. The feasibility of UWB is evaluated for typical traffic scenarios in both line-of-sight and non-line-of-sight conditions using LiDAR as ground truth. We establish that UWB range data has comparable accuracy with LiDAR with an error of 0.19 meters and reliable anchor-tag range data for up to 40 meters in line-of-sight conditions. UWB performance for non-line-of-sight conditions is subjective to the nature of the obstruction (trees vs. buildings). Further, we provide a qualitative analysis of UWB performance for scenarios susceptible to intermittent vision failures. The dataset can be downloaded via https://github.com/unmannedlab/UWB_Dataset

Integration of genetic and genomics resources in einkorn wheat enables precision mapping of important traits

Einkorn wheat (Triticum monococcum) is an ancient grain crop and a close relative of the diploid progenitor (T. urartu) of polyploid wheat. It is the only diploid wheat species having both domesticated and wild forms and therefore provides an excellent system to identify domestication genes and genes for traits of interest to utilize in wheat improvement. Here, we leverage genomic advancements for einkorn wheat using an einkorn reference genome assembly combined with skim-sequencing of a large genetic population of 812 recombinant inbred lines (RILs) developed from a cross between a wild and a domesticated T. monococcum accession. We identify 15,919 crossover breakpoints delimited to a median and average interval of 114 Kbp and 219 Kbp, respectively. This high-resolution mapping resource enables us to perform fine-scale mapping of one qualitative (red coleoptile) and one quantitative (spikelet number per spike) trait, resulting in the identification of small physical intervals (400 Kb to 700 Kb) with a limited number of candidate genes. Furthermore, an important domestication locus for brittle rachis is also identified on chromosome 7A. This resource presents an exciting route to perform trait discovery in diploid wheat for agronomically important traits and their further deployment in einkorn as well as tetraploid pasta wheat and hexaploid bread wheat cultivars

Einkorn genomics sheds light on history of the oldest domesticated wheat

Einkorn (Triticum monococcum) was the first domesticated wheat species, and was central to the birth of agriculture and the Neolithic Revolution in the Fertile Crescent around 10,000 years ago$^{1,2}$. Here we generate and analyse 5.2-Gb genome assemblies for wild and domesticated einkorn, including completely assembled centromeres. Einkorn centromeres are highly dynamic, showing evidence of ancient and recent centromere shifts caused by structural rearrangements. Whole-genome sequencing analysis of a diversity panel uncovered the population structure and evolutionary history of einkorn, revealing complex patterns of hybridizations and introgressions after the dispersal of domesticated einkorn from the Fertile Crescent. We also show that around 1% of the modern bread wheat (Triticum aestivum) A subgenome originates from einkorn. These resources and findings highlight the history of einkorn evolution and provide a basis to accelerate the genomics-assisted improvement of einkorn and bread wheat

Autonomous Quadcopter Landing on a Moving Target

Autonomous landing on a moving target is challenging because of external disturbances and localization errors. In this paper, we present a vision-based guidance technique with a log polynomial closing velocity controller to achieve faster and more accurate landing as compared to that of the traditional vertical landing approaches. The vision system uses a combination of color segmentation and AprilTags to detect the landing pad. No prior information about the landing target is needed. The guidance is based on pure pursuit guidance law. The convergence of the closing velocity controller is shown, and we test the efficacy of the proposed approach through simulations and field experiments. The landing target during the field experiments was manually dragged with a maximum speed of 0.6 m/s. In the simulations, the maximum target speed of the ground vehicle was 3 m/s. We conducted a total of 27 field experiment runs for landing on a moving target and achieved a successful landing in 22 cases. The maximum error magnitude for successful landing was recorded to be 35 cm from the landing target center. For the failure cases, the maximum distance of vehicle landing position from target boundary was 60 cm

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Not AvailableGenetic improvement along with widened crop base necessitates for the detailed understanding of the genetic diversity and population structure in wheat. The present investigation reports the discovery of a total of 182 alleles by assaying 52 simple sequence repeats (SSRs) on 40 genotypes of bread wheat. Unweighted neighbour-joining method grouped these genotypes into two main clusters. Highly heat tolerant and intermediate tolerant cultivars were grouped in the same cluster, whereas remaining genotypes, particularly sensitive ones, were assigned different cluster. Similarly, the entire population was structured into two sub-populations (K = 2), closely corresponding with the other distance-based clustering patterns. The marker-trait association was discovered for four important physiological parameters, viz. canopy temperature depression, membrane thermostability index (MSI), normalized difference vegetation index and heat susceptibility index, indicating for heat stress (HS) tolerance in wheat. Both general and mixed linear models of association studies during 2017 and 2018, revealed the association of SSR markers, wmc222 (17.60%, PV) and gwm34 (20.70%, PV) with the mean phenotypic value of MSI. Likewise, SSR markers barc183, gwm75, gwm11 and cfd7 revealed a unique relationship with four selected physiological traits. Candidate genes discovered using in silico tools had nine SSR markers within the genic regions reported to play a role in heat and drought stress responses in plants. The information generated about these genic regions may be explored further in expression studies in-vivo to impart HS tolerance in bread wheat.Not Availabl

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Not AvailableThe genetic architecture of nitrogen use efficiency (NUE) and its two component traits i.e. NUpE (N uptake efficiency) and NUtE (N utilization efficiency) was studied using a bi-parental RIL mapping population derived from a cross HUW468 (high NUE)/C306 (low NUE). The mapping population, two parental genotypes and three check genotypes were evaluated under four different N levels (0, 60, 120, and 180 kg/ha) over three years. A genetic map containing 456 SNP markers (2,571.38 cM length) was used for QTL analysis. Thirty six main effect QTLs (17 QTLs for NUE, 13 NUpE and 6QTLs for NUtE) distributed on 12 chromosomes (1B, 1D, 2A, 2B, 3A, 4B, 5A, 5B, 5D, 6A, 6D, and 7A) were identified at 2.52 to 9.27 LOD scores. Individual QTLs explained 6.65–22.89% phenotypic variation. Multi-traits QTLs (Mt-QTLs) and and epistatic QTLs involving first order epistatic (QTL x QTL) interactions were also discovered. Candidate genes (CGs, as many as 737) were mined from QTL regions which were mainly involved in metabolic process, cellular process and catalytic activity, etc; differential expression was observed for 49 genes in roots and 34 CGs in shoots. The CGs encoded important transcription factors, transporters etc. having a role in NUE. QTLs and CGs reported in this study enriched the available knowledge. Seven QTLs (including three Mt-QTLs) and QTLs involved in six epistatic interactions were recommended for MAS for improvement of NUE in wheat.Not Availabl

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Not AvailableThe present study was conducted to study the genetic architecture of grain micronutrients (Zn, Fe and β-carotene contents), grain protein content and four yield traits in a spring wheat reference set comprising 246 genotypes. Phenotypic data on these traits recorded at two locations and the genotyping data for 17,937 SNP markers (obtained through outsourcing) were used for genome wide association study, which gave following results after Bonferroni correction using four methods: (1) single locus single trait analysis gave 136 marker-trait associations; (2) multi-locus mixed model gave 587 MTAs; (3) multi-trait mixed model gave 28 MTAs and (4) matrix-variate linear mixed model gave 33 MTAs. As many as 73 epistatic interactions were also detected. Keeping all the results in mind, nine most important MTAs were selected for biofortification. These markers were associated with three traits (GPC, GFeC and GYPP). These MTAs can be used in wheat improvement programs either using marker-assisted recurrent selection or pseudo-backcrossing method.Not Availabl

Image1_Genome-wide characterization and identification of cyclophilin genes associated with leaf rust resistance in bread wheat (Triticum aestivum L.).TIF

Cyclophilins (CYPs) are a group of highly conserved proteins involved in host-pathogen interactions in diverse plant species. However, the role of CYPs during disease resistance in wheat remains largely elusive. In the present study, the systematic genome-wide survey revealed a set of 81 TaCYP genes from three subfamilies (GI, GII, and GIII) distributed on all 21 wheat chromosomes. The gene structures of TaCYP members were found to be highly variable, with 1–14 exons/introns and 15 conserved motifs. A network of miRNA targets with TaCYPs demonstrated that TaCYPs were targeted by multiple miRNAs and vice versa. Expression profiling was done in leaf rust susceptible Chinese spring (CS) and the CS-Ae. Umbellulata derived resistant IL “Transfer (TR). Three homoeologous TaCYP genes (TaCYP24, TaCYP31, and TaCYP36) showed high expression and three homoeologous TaCYP genes (TaCYP44, TaCYP49, and TaCYP54) showed low expression in TR relative to Chinese Spring. Most of the other TaCYPs showed comparable expression changes (down- or upregulation) in both contrasting TR and CS. Expression of 16 TaCYPs showed significant association (p < 0.05) with superoxide radical and hydrogen peroxide abundance, suggesting the role of TaCYPs in downstream signaling processes during wheat-leaf rust interaction. The differentially expressing TaCYPs may be potential targets for future validation using transgenic (overexpression, RNAi or CRISPR-CAS) approaches and for the development of leaf rust-resistant wheat genotypes.</p

Image4_Genome-wide characterization and identification of cyclophilin genes associated with leaf rust resistance in bread wheat (Triticum aestivum L.).TIF

Cyclophilins (CYPs) are a group of highly conserved proteins involved in host-pathogen interactions in diverse plant species. However, the role of CYPs during disease resistance in wheat remains largely elusive. In the present study, the systematic genome-wide survey revealed a set of 81 TaCYP genes from three subfamilies (GI, GII, and GIII) distributed on all 21 wheat chromosomes. The gene structures of TaCYP members were found to be highly variable, with 1–14 exons/introns and 15 conserved motifs. A network of miRNA targets with TaCYPs demonstrated that TaCYPs were targeted by multiple miRNAs and vice versa. Expression profiling was done in leaf rust susceptible Chinese spring (CS) and the CS-Ae. Umbellulata derived resistant IL “Transfer (TR). Three homoeologous TaCYP genes (TaCYP24, TaCYP31, and TaCYP36) showed high expression and three homoeologous TaCYP genes (TaCYP44, TaCYP49, and TaCYP54) showed low expression in TR relative to Chinese Spring. Most of the other TaCYPs showed comparable expression changes (down- or upregulation) in both contrasting TR and CS. Expression of 16 TaCYPs showed significant association (p < 0.05) with superoxide radical and hydrogen peroxide abundance, suggesting the role of TaCYPs in downstream signaling processes during wheat-leaf rust interaction. The differentially expressing TaCYPs may be potential targets for future validation using transgenic (overexpression, RNAi or CRISPR-CAS) approaches and for the development of leaf rust-resistant wheat genotypes.</p

Integration of genetic and genomics resources in einkorn wheat enables precision mapping of important traits

Abstract Einkorn wheat (Triticum monococcum) is an ancient grain crop and a close relative of the diploid progenitor (T. urartu) of polyploid wheat. It is the only diploid wheat species having both domesticated and wild forms and therefore provides an excellent system to identify domestication genes and genes for traits of interest to utilize in wheat improvement. Here, we leverage genomic advancements for einkorn wheat using an einkorn reference genome assembly combined with skim-sequencing of a large genetic population of 812 recombinant inbred lines (RILs) developed from a cross between a wild and a domesticated T. monococcum accession. We identify 15,919 crossover breakpoints delimited to a median and average interval of 114 Kbp and 219 Kbp, respectively. This high-resolution mapping resource enables us to perform fine-scale mapping of one qualitative (red coleoptile) and one quantitative (spikelet number per spike) trait, resulting in the identification of small physical intervals (400 Kb to 700 Kb) with a limited number of candidate genes. Furthermore, an important domestication locus for brittle rachis is also identified on chromosome 7A. This resource presents an exciting route to perform trait discovery in diploid wheat for agronomically important traits and their further deployment in einkorn as well as tetraploid pasta wheat and hexaploid bread wheat cultivars