| 1. |
- Beier, Sebastian, et al.
(författare)
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Construction of a map-based reference genome sequence for barley, Hordeum vulgare L.
- 2017
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Ingår i: Scientific Data. - : Springer Science and Business Media LLC. - 2052-4463. ; 4
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Tidskriftsartikel (refereegranskat)abstract
- Barley (Hordeum vulgare L.) is a cereal grass mainly used as animal fodder and raw material for the malting industry. The map-based reference genome sequence of barley cv. â € Morex' was constructed by the International Barley Genome Sequencing Consortium (IBSC) using hierarchical shotgun sequencing. Here, we report the experimental and computational procedures to (i) sequence and assemble more than 80,000 bacterial artificial chromosome (BAC) clones along the minimum tiling path of a genome-wide physical map, (ii) find and validate overlaps between adjacent BACs, (iii) construct 4,265 non-redundant sequence scaffolds representing clusters of overlapping BACs, and (iv) order and orient these BAC clusters along the seven barley chromosomes using positional information provided by dense genetic maps, an optical map and chromosome conformation capture sequencing (Hi-C). Integrative access to these sequence and mapping resources is provided by the barley genome explorer (BARLEX).
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| 2. |
- Caccamo, Sergio, et al.
(författare)
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RCAMP : A Resilient Communication-Aware Motion Planner for Mobile Robots with Autonomous Repair of Wireless Connectivity
- 2017
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Ingår i: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS). - : IEEE. - 9781538626825 ; , s. 2010-2017
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Konferensbidrag (refereegranskat)abstract
- Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the possibilities of unpredictable events or hardware failures, communication loss often presents a significant mission risk, both in terms of probability and impact, especially in Urban Search and Rescue (USAR) operations. Depending on the circumstances, disconnected robots are either abandoned, or attempt to autonomously back-trace their way to the base station. Although recent results in Communication-Aware Motion Planning can be used to effectively manage connectivity with robots, there are no results focusing on autonomously re-establishing the wireless connectivity of a mobile robot without back-tracing or using detailed a priori information of the network. In this paper, we present a robust and online radio signal mapping method using Gaussian Random Fields, and propose a Resilient Communication-Aware Motion Planner (RCAMP) that integrates the above signal mapping framework with a motion planner. RCAMP considers both the environment and the physical constraints of the robot, based on the available sensory information. We also propose a self-repair strategy using RCMAP, that takes both connectivity and the goal position into account when driving to a connection-safe position in the event of a communication loss. We demonstrate the proposed planner in a set of realistic simulations of an exploration task in single or multi-channel communication scenarios.
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| 3. |
- Mascher, Martin, et al.
(författare)
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A chromosome conformation capture ordered sequence of the barley genome
- 2017
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Ingår i: Nature. - : Springer Science and Business Media LLC. - 0028-0836 .- 1476-4687. ; 544:7651, s. 427-433
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Tidskriftsartikel (refereegranskat)abstract
- Cereal grasses of the Triticeae tribe have been the major food source in temperate regions since the dawn of agriculture. Their large genomes are characterized by a high content of repetitive elements and large pericentromeric regions that are virtually devoid of meiotic recombination. Here we present a high-quality reference genome assembly for barley (Hordeum vulgare L.). We use chromosome conformation capture mapping to derive the linear order of sequences across the pericentromeric space and to investigate the spatial organization of chromatin in the nucleus at megabase resolution. The composition of genes and repetitive elements differs between distal and proximal regions. Gene family analyses reveal lineage-specific duplications of genes involved in the transport of nutrients to developing seeds and the mobilization of carbohydrates in grains. We demonstrate the importance of the barley reference sequence for breeding by inspecting the genomic partitioning of sequence variation in modern elite germplasm, highlighting regions vulnerable to genetic erosion.
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