Search Results (203)

Camera-centric perception has matured into a cornerstone of modern autonomy, from self-driving cars and factory cobots to underwater and planetary exploration. This review synthesizes more than a decade of progress in vision-based robotic navigation through an engineering lens, charting the full pipeline from sensing to deployment. We first examine the expanding sensor palette—monocular and multi-camera rigs, stereo and RGB-D devices, LiDAR–camera hybrids, event cameras, and infrared systems—highlighting the complementary operating envelopes and the rise of learning-based depth inference. The advances in visual localization and mapping are then analyzed, contrasting sparse and dense SLAM approaches, as well as monocular, stereo, and visual–inertial formulations. Additional topics include loop closure, semantic mapping, and LiDAR–visual–inertial fusion, which enables drift-free operation in dynamic environments. Building on these foundations, we review the navigation and control strategies, spanning classical planning, reinforcement and imitation learning, hybrid topological–metric memories, and emerging visual language guidance. Application case studies—autonomous driving, industrial manipulation, autonomous underwater vehicles, planetary rovers, aerial drones, and humanoids—demonstrate how tailored sensor suites and algorithms meet domain-specific constraints. Finally, the future research trajectories are distilled: generative AI for synthetic training data and scene completion; high-density 3D perception with solid-state LiDAR and neural implicit representations; event-based vision for ultra-fast control; and human-centric autonomy in next-generation robots. By providing a unified taxonomy, a comparative analysis, and engineering guidelines, this review aims to inform researchers and practitioners designing robust, scalable, vision-driven robotic systems. Full article

Fungi are the most poorly described kingdom of Eukarya. Fundamental questions about their species diversity, their distributions, and their biotic interactions remain largely unanswered, despite fungi playing important roles in the ecology and biogeochemistry of terrestrial ecosystems. To assess some of these data gaps, we intensively surveyed club and coral fungi in a temperate Australian forest in the Upper Lane Cove Valley, Sydney, Australia, over a period of two years. Specimens identified as Clavulinopsis, Ramaria, or Ramariopsis based on morphology were then assigned to operational taxonomic units (OTUs) using the criterion of 97% identity across the entire rDNA internal transcribed spacer (ITS) region. Based on this criterion and ITS-based phylogenies, we identified 80 OTUs in these genera of club and coral fungi within the survey area. Of these OTUs, only 11.25% could be assigned a species name based on BLASTn matches to full-length ITS sequences, suggesting that almost 90% of OTUs were novel taxa, or are yet to be represented in DNA databases. Specimens that were morphologically similar to well-known Northern Hemisphere species were shown to be distinct upon DNA sequencing. Accumulation curves suggest that our surveys only recovered about half of the species in the target genera, and seven times the effort would be required to sample to exhaustion. In summary, even in a small area of less than 100 km², there is evidence for multiple undescribed, cryptic, and undiscovered species. This highlights the fundamental work that remains to be completed in fungal taxonomy and biology. Full article

Visual simultaneous localization and mapping (Visual SLAM) based on RGB-D image data includes two main tasks: One is to build an environment map, and the other is to simultaneously track the position and movement of visual odometry estimation (VOE). Visual SLAM and VOE are used in many applications, such as robot systems, autonomous mobile robots, assistance systems for the blind, human–machine interaction, industry, etc. To solve the computer vision problems in Visual SLAM and VOE from RGB-D images, deep learning (DL) is an approach that gives very convincing results. This manuscript examines the results, advantages, difficulties, and challenges of the problem of Visual SLAM and VOE based on DL. In this paper, the taxonomy is proposed to conduct a complete survey based on three methods to construct Visual SLAM and VOE from RGB-D images (1) using DL for the modules of the Visual SLAM and VOE systems; (2) using DL to supplement the modules of Visual SLAM and VOE systems; and (3) using end-to-end DL to build Visual SLAM and VOE systems. The 220 scientific publications on Visual SLAM, VOE, and related issues were surveyed. The studies were surveyed based on the order of methods, datasets, evaluation measures, and detailed results. In particular, studies on using DL to build Visual SLAM and VOE systems have analyzed the challenges, advantages, and disadvantages. We also proposed and published the TQU-SLAM benchmark dataset, and a comparative study on fine-tuning the VOE model using a Multi-Layer Fusion network (MLF-VO) framework was performed. The comparison results of VOE on the TQU-SLAM benchmark dataset range from 16.97 m to 57.61 m. This is a huge error compared to the VOE methods on the KITTI, TUM RGB-D SLAM, and ICL-NUIM datasets. Therefore, the dataset we publish is very challenging, especially in the opposite direction (OP-D) when collecting and annotation data. The results of the comparative study are also presented in detail and available. Full article

Salvia, a medicinally and economically important genus, is widely used in traditional medicine, agriculture, and horticulture. This study compares the chloroplast genomes of eight East Asian Salvia species to assess genetic diversity, structural features, and evolutionary relationships. Complete chloroplast genomes were sequenced, annotated, and analyzed for gene content, codon usage, and repetitive sequences. Phylogenetic relationships were reconstructed using Maximum Likelihood, Maximum Parsimony and Bayesian inference. The genomes exhibited a conserved quadripartite structure (151,081–152,678 bp, GC content 37.9–38.1%), containing 114 unique genes with consistent arrangement. Codon usage favored A/T endings, with leucine (Leu) most frequent and cysteine (Cys) least. We identified 281 long sequence repeats (LSRs) and 345 simple sequence repeats (SSRs), mostly in non-coding regions. Comparative analysis revealed five hypervariable regions (trnH-psbA, rbcL-accD, petA-psbJ, rpl32-trnL, ycf1) as potential molecular markers. Phylogenetic analysis confirmed the monophyly of East Asian Salvia, dividing them into five clades, with Sect. Sonchifoliae basal. While G1, G3, and G8 were monophyletic, G5 and G6 were paraphyletic, and the G7-G8 relationship challenged traditional classifications. The genomic evidence provides crucial insights for resolving long-standing taxonomic uncertainties and refining the classification system of Salvia. These findings suggest a complex evolutionary history involving hybridization and incomplete lineage sorting, providing valuable genomic insights for Salvia phylogeny, taxonomy, and conservation. Full article

The nocturnal, flightless camel crickets (Rhaphidophoridae) have a global distribution and are believed to have originated prior to the breakup of Pangea. We investigated the phylogeny and the timing of the radiation of East Asian species with mitogenomic data. Initially we analyzed a large taxon dataset (n = 117) using available partial mitochondrial and nuclear DNA sequences to confirm the monophyly of subfamilies and current taxonomy. Our findings support the monophyly of each genus within the subfamily Aemodogryllinae, with a minor inconsistency between taxonomy and phylogeny resolved by resurrection of the genus Gymnaeta Adelung. Fossil-calibrated molecular clock analysis used 11,124 bp alignment of 13 complete mitochondrial protein-coding genes for 20 species of Rhaphidophoridae, with a focus on the neglected Rhaphidophorinae and Aemodogryllinae lineages. Divergence time estimates suggest that the most recent common ancestor of the family lived during the Early Jurassic (189 Mya ± 23 Mya) before Pangea broke into the supercontinents or possibly during the early stage of breakup when Gondwana and Laurasia were still connected by land. The two subfamilies, Rhaphidophorinae and Aemodogryllinae, that overlap in Asia are estimated to have diverged 138 Mya ± 17 Mya, well before the Late Cretaceous northern connection between America and Asia (the Bering Land Bridge). Thus, our extended sampling of species from East Asia and Oceania refutes the importance of continental drift in the evolution of this wingless orthopteran family. Full article

Taxonomies play a critical role in structuring knowledge within rapidly evolving domains such as professional skills. Traditional manual taxonomy management faces challenges due to its labor-intensive nature and the rapid emergence of new concepts. To address these issues, we propose a novel semi-supervised approach leveraging Retrieval-Augmented Generation (RAG) for taxonomy expansion and completion, particularly tailored for dynamic skill-based taxonomies. Our contributions include the creation of a comprehensive dataset derived from automotive sector job postings, designed explicitly to evaluate taxonomy expansion and completion tasks. This methodology integrates the precision of retrieval-based mechanisms with the flexibility of generative models, enabling accurate and efficient updates to taxonomy structures. We evaluated our method using this dataset, demonstrating an overall accuracy of 78%. Although the model performed robustly in horizontal expansions, accurately recognizing variations of existing concepts, it revealed limitations in vertical expansions, especially in identifying entirely new categories. These findings underline the necessity for improved data representation strategies and the incorporation of contextual enrichment to enhance taxonomy robustness. Full article

Fault detection and diagnosis (FDD) in power plant systems is a rapidly evolving field driven by the increasing complexity of industrial infrastructure and the demand for reliability, safety, and predictive maintenance. This review presents a structured and data-driven synthesis of 185 peer-reviewed articles, sourced from journals indexed in MDPI and Elsevier, as well as through the Google Scholar search engine, published between 2019 and 2025. The study systematically classifies these articles by plant type, sensor technology, algorithm category, and diagnostic pipeline (detection, localization, resolution). The analysis reveals a significant transition from traditional statistical methods to machine learning (ML) and deep learning (DL) models, with over 70% of recent studies employing AI-driven approaches. However, only 30.3% of the articles addressed the full diagnostic pipeline and merely 17.3% targeted system-level faults. Most research remains component-focused and lacks real-world validation or interpretability. A novel taxonomy of diagnostic configurations, mapping system types, sensor use, algorithmic strategy, and functional depth is proposed. In addition, a methodological checklist is introduced to evaluate the completeness and operational readiness of FDD studies. Key findings are summarized in a comparative matrix, highlighting trends, gaps, and inconsistencies across publication sources. This review identifies critical research gaps—including the underuse of hybrid models, lack of benchmark datasets, and limited integration between detection and control layers—and offers concrete recommendations for future research. Combining a thematic and quantitative approach, this article aims to support researchers, engineers, and decision-makers in developing more robust, scalable, and transparent diagnostic systems for power generation infrastructure. Full article

Objectives: Codon usage bias is a fundamental feature of gene expression that can influence evolutionary processes and genetic diversity. This study aimed to investigate the mitochondrial codon usage characteristics and their driving forces in three Medicago species: Medicago polymorpha, Medicago sativa, and Medicago truncatula. Methods: The complete mitochondrial genome sequences of the three species were downloaded from GenBank, and 21 shared coding sequences were screened. Codon usage patterns were analyzed using CodonW 1.4.2 and CUSP software. Key parameters, including the relative synonymous codon usage (RSCU), effective number of codons (ENC), codon adaptation index (CAI), codon bias index (CBI), and frequency of optimal codons (Fop), were calculated. Phylogenetic trees and RSCU clustering maps were constructed to explore evolutionary relationships. Results: The GC contents of the mitochondrial genomes followed the order of GC1 > GC2 > GC3. ENC values averaged above 35, while CAI, CBI, and Fop values ranged from 0.160 to 0.161, −0.078 to −0.076, and 0.362 to 0.363, respectively, indicating a weak preference for codons ending with A/U. Correlation and neutrality analyses suggested that codon usage bias was influenced by both mutation pressure and natural selection, with natural selection being the dominant factor. Fifteen optimal codons, predominantly ending with A/U, were identified. Phylogenetic analysis confirmed the close relationship among the three Medicago species, consistent with traditional taxonomy, whereas the RSCU clustering did not align with the phylogenetic relationships. Conclusions: This study provides insights into the mitochondrial codon usage patterns and their evolutionary determinants in Medicago species, highlighting the predominant role of natural selection in shaping codon usage bias. The findings offer a foundation for comparative genomic studies and evolutionary analyses and may be beneficial for improving genetic engineering and breeding programs of Medicago species. Full article

A new species of jellyfish, Phyllorhiza yurena Chen, Hu & Xing sp. nov., is described from the East China Sea based on an integrative approach combining morphological and molecular data. Specimens were collected from coastal waters and cultured in the laboratory to observe their complete life cycle, including polyps, ephyrae, and medusae. Distinct morphological features such as the blue lappet stems in ephyrae, white warts on the exumbrella, and multiple short club-shaped appendages on the mouth arms distinguish the new species from its congeners. Phylogenetic analyses based on mitochondrial (COI, 16S) and nuclear (18S, 28S) gene markers confirmed its taxonomic distinctiveness, with COI and 16S markers providing the most resolution. The study highlights the importance of combining life history observations with molecular tools for accurate jellyfish taxonomy and provides a revised identification key for the genus Phyllorhiza. This discovery contributes to the understanding of jellyfish biodiversity in the East China Sea and offers a baseline for future ecological and biogeographic studies. Full article

Background: Birnaviruses infect a wide range of aquatic and terrestrial hosts, including several economically important fish species. This study aimed to isolate and characterize a novel birnavirus strain from mandarin fish (Siniperca chuatsi), a high-value freshwater species in Chinese aquaculture. Methods: A novel strain, designated mandarin fish birnavirus (MFBV), was isolated from diseased fish and propagated in SCK cells. The complete genome was determined using high-throughput sequencing and RACE. Viral replication kinetics, tissue distribution, and pathogenicity were assessed through in vitro infection, RT-qPCR, histopathology, and experimental challenges. In addition, disinfectant sensitivity and environmental stability were evaluated. Results: The MFBV genome comprises two segments (A: 3539 bp; B: 2719 bp), and phylogenetic analysis revealed close relatedness to largemouth bass birnavirus (LBBV) and Lates calcarifer birnavirus (LCBV). MFBV displayed rapid replication in SCK cells, completing a replication cycle in 8–10 h. In juvenile and fry fish, an experimental infection caused acute disease with cumulative mortality ranging from 41.8% to 83.6%, with fry showing higher susceptibility. Viral RNA was detected in multiple tissues (7.9 × 10⁶–7.9 × 10⁷ copies/μg RNA), and histopathological lesions were observed in the intestine, spleen, and kidney. MFBV was highly sensitive to glutaraldehyde (20 ppm), while other disinfectants showed reduced efficacy. Viral half-life ranged from 36.5 to 144.5 h at room temperature. Conclusions: These findings demonstrate that MFBV can induce acute systemic infection in mandarin fish. The results offer new insights into the genomic and biological features of birnaviruses, contributing to improved disease management and viral taxonomy. Full article

Characiformes, a highly diverse group, are of great economic and ecological significance; however, their complex morphological convergence and adaptive radiation pose challenges to taxonomy, and phylogenetic controversies remain. In this study, the complete mitochondrial genome (mitogenome) of Nematobrycon lacortei was sequenced and a comparative analysis within 51 Characiformes mitogenomes was conducted. The mitogenome of N. lacortei was a 17,585 bp circular DNA molecule, with standard organization, and showed an A/T bias with an A + T content of 62.29%. The nucleotide composition analysis of Characiformes mitogenomes revealed consistency, and the A + T content exceeded the G + C content throughout. Analyses of protein-coding genes (PCGs) revealed that purifying the selection dominates their evolution, with ND1 and ND6 having the lowest Ka/Ks values, while ND3 has the highest. Phylogenetic analyses were conducted on 51 mitogenomes from 15 families of Characiformes. The BI and ML trees supported the classification of most families but showed that Curimatopsis evelynae in Curimatidae did not cluster with its family members; in addition, relationships within Characidae were unstable. These findings contribute to the research on the evolution of Characiformes and highlight the need for more mitogenome data from diverse species in order to further clarify their phylogenetic relationships and evolutionary history. Full article

Although Cervus elaphus (Linnaeus, 1758) has been well studied, the subspecific taxonomy of Cervus canadensis populations in Qinghai and Gansu, China, is still controversial, and the mitochondrial characteristics of Cervus elaphus (Linnaeus, 1758) remain incompletely understood. We assembled 89 mitogenomes of C. canadensis from five geographical populations across Qinghai and Gansu. Phylogenetic analysis confirmed that the 89 individuals are taxonomically classified as C. c. kansuensis. Nucleotide compositions showed a higher abundance of adenine and cytosine compared to guanine and thymine in both complete mitogenomes and mitochondrial PCGs. Codon usage analysis revealed a strong preference towards A-ending codons (68.04% of over-represented codons, RSCU > 1.6) in mitochondrial PCGs, with systemic avoidance of G-ending codons (53.30% of unused codons, RSCU = 0). The CAMs of 13 PCGs are reported for the first time. Furthermore, the ENC plot showed that the codon usage of all PCGs was biased except for gene ATP8. The PR2 bias plot showed that gene ND6 exhibited bias towards T3 and G3, whereas the other genes preferred A3 and C3. Both the ENC-plot and PR2 bias plot suggested that natural selection played an important role in the forces driving codon usage bias in mitochondrial PCGs. Our results demonstrate the subspecific status of C. canadensis distributed in Qinghai and Gansu as C. c. kansuensis, and provide insights into the mitochondrial characteristics of C. c. kansuensis. The mitogenome sequences assembled in this study provide valuable data for further understanding of the Cervus elaphus (Linnaeus, 1758) mitogenome. Full article

Background: Onychostoma virgulatum is an endemic freshwater fish in South China, first described as a new species in 2009. However, little is known about this species and no complete mitochondrial genomes of O. virgulatum has been reported to date. This study seeks to elucidate the characteristics of the mitochondrial genome of O. virgulatum and investigate the phylogenetic relationships within the Acrossocheilinae subfamily, particularly among the genera Onychostoma, Acrossocheilus, and Folifer. Methods: The mitochondrial genome of O. virgulatum was sequenced and assembled. We analyzed its sequence length, nucleotide composition, and evolutionary relationships within the Acrossocheilinae by incorporate data from 58 previously published mitochondrial genomes. Results: The complete circular sequence is 16,606 bp in length and contains 13 protein-coding genes, 2 rRNA genes, 22 tRNA genes, and a typical control region (D-loop), all arranged in a typical order. The genomic base composition is biased toward A+T content (56.5%), with 31.4% A, 25.1% T, 27.4% C, and 16.1% G. Among about 30 Acrossocheilina species, the nonsynonymous (Ka) to synonymous substitutions (Ks) for all 13 protein-coding genes (PCGs) are significantly less than 1, suggesting strong negative or purifying selection in these species. The phylogenetic trees inferred from the mitogenome and 13 PCGs of 58 Acrossocheilinae sequences consistently indicate that: (1) O. virgulatum shares the closest genetic relationship with Onychostoma barbatulum; (2) Acrossocheilinae species are clustered into three major clades, with neither Acrossocheilus nor Onychostoma forming monophyletic groups. Conclusions: This study provides new insights into the taxonomy and phylogenetic relationships of Acrossocheilinae, particularly O. virgulatum, contributing to a better understanding of the systematics, origin, and evolution of this subfamily. Full article

Cetacean morbillivirus (CeMV) is a major threat to cetaceans worldwide, causing individual deaths and outbreaks of mass mortality. Based on partial sequences of the viral phosphoprotein, CeMV is subclassified into seven strains and two distinct lineages. To date, only CeMV-1 strains, including the dolphin morbillivirus (DMV), have been completely sequenced. The CeMV-2 lineage was first reported in Guiana dolphins (Sotalia guianensis) in Brazil and was associated with an unusual mortality event in 2017–2018. Here we provide the nearly complete Guiana dolphin morbillivirus (GDMV) genome sequence, representing the first within the CeMV-2 lineage. GDMV was isolated using Vero.DogSLAMtag cells, the viral RNA was extracted, and deep sequencing analysis was performed. Gaps in the viral genome were completed by Sanger sequencing. The final genome length was 15,607 nucleotides covering 99.3% of the DMV reference genome, including full sequences of the six structural proteins encoded by morbillivirus. The sequence similarity was 74–77.9% to other CeMV strains, with highest identity to the DMV. The complete L protein amino acid sequence comparison-based taxonomy indicates that GDMV is a distinct morbillivirus species; however, as GDMV and CeMV-1 strains infect a similar host spectrum, our findings support that GDMV represents a new CeMV-2 lineage. Full article

Background: The Satyrinae subfamily represents a taxonomically critical group within Nymphalidae, characterized by its remarkable species diversity. Despite its evolutionary significance, the phylogenetic relationships among tribal and subtribal lineages remain poorly resolved. Although mitochondrial genomes have become crucial molecular markers in Lepidoptera phylogenetics, their potential remains underutilized in the systematics of Satyrinae. Notably, Amathusiini exhibits a particular paucity, with only two congeneric representatives having been comprehensively sequenced to date. Methods: We employed high-throughput sequencing to assemble the complete mitochondrial genomes of two Amathusiini species, Discophora sondaica and Aemona amathusia. Our study revealed novel evolutionary insights through comparative genomics, which encompassed all available Satyrinae mitochondrial genomes. Additionally, we conducted phylogenetic reconstruction using maximum likelihood and Bayesian inference approaches, utilizing the most extensive dataset to date. Results: The closed, circular mitochondrial genomes measure 15,333 bp for D. sondaica and 15,423 bp for A. amathusia, maintaining the ancestral lepidopteran architecture: 13 protein-coding genes (PCGs), 22 tRNAs, 2 rRNAs, and an AT-rich control region. Comparative analyses of 71 mitochondrial genomes revealed strong evolutionary conservation across multiple parameters: nucleotide composition (AT content range: 77.9–81.8%), codon usage bias (ENC = 30.83–37.55), tRNA secondary structures, and control region organization. All PCGs showed purifying selection signals (Ka/Ks < 1.0), with atp8 exhibiting the highest evolutionary rate (Ka/Ks = 0.277). Phylogenetic reconstructions yielded congruent tribal-level topologies with strong nodal support: ((Satyrini + Melanitini) + (Amathusiini + Elymniini) + Zetherini), confirming a sister relationship between Amathusiini and Elymniini. Within Satyrini, five subtribes formed monophyletic groups: Ypthimina, Erebiina, Maniolina, Satyrina, and Melanargiina, arranged as ((Ypthimina + (Erebiina + Maniolina)) + (Satyrina + Melanargiina)). Mycalesina, Lethina, and Parargina comprised a well-supported clade (BS = 100%; PP = 1.0), though internal relationships required further resolution due to Lethina’s polyphyly. Conclusions: This study provides novel insights into mitochondrial genomic evolution within the Satyrinae subfamily while elucidating the efficacy of mitogenomic data for resolving deep phylogenetic relationships within this ecologically significant subfamily. Our findings establish critical genome baselines for further systematic research and underscore essential pathways for refining subtribal-level taxonomy through integrative molecular approaches. Full article