The lengthy maturation period is the key cause of the reduced hot pepper market value. An experiment was performed to assess the effects of R/B/W light qualities on reducing the maturation period. The maturation period was shortened by 16 days under 4R:1B:5W compared to the control. The appearance of the first flower is a limiting factor affecting the maturation period. It exhibited a dark purple color and an abnormal petal under 4R:1B:5W compared to the control, which was associated with increased contents of flavonoids, total organic acids, and phenolics and decreased total amino acid and carbohydrate contents. Plant hormone, flavonoid, ABC transporters, key metabolites (such as amino acid, carbohydrate, organic acid) was associated with first flower development. Ethylene response factors (ERFs) mediated by light, especially ERF021, were identified as potential hub regulators during the development of the first flower due to their involvement in all the associated metabolic pathways.

Robotic systems have been widely used in various industries, so the security of communication between robots and their components has become an issue that needs to be focused on. As a framework for developing robotic systems, the security of ROS2 can directly affect the security of the upper-level robotic systems. Therefore, it is a worthwhile research topic to detect and analyze the security of ROS2. In this paper, we adopt a formal approach to analyze the security of the communication mechanism of ROS2. First, we use a state transition system to model the potential vulnerabilities of ROS2 based on the ROS2 communication mechanism and the basic process of penetration testing. Secondly, we introduce the CIA model on the basis of the established vulnerability model and use LTL to define its security properties. Then, we design and implement a vulnerability detection tool for ROS2 applications based on the vulnerability model and security properties. Finally, we experimentally test some ROS2-based applications, and the results show that ROS2 has vulnerabilities without additional protection safeguards.

Ultrasonic feedback energy is affected by the variety, planting and growth state of crops, it is difficult to fine application in precision agriculture systems. To this end, an ultrasonic sensor was mounted in a spray boom height detection system. Winter wheat was used as the test object to obtain feedback energy values for the spray boom height from the top of the wheat in the field during six critical growth stages: the standing stage, jointing stage, booting stage, heading stage, filling stage and maturity stage. The relationship between the actual value of the height from the spray boom to the top of wheat (Habw) and the detected value of the height from the spray boom to the top of wheat (Hdbw) was analyzed. A spray boom height detection model based on the ultrasonic sensor during the full growth cycle of wheat was determined. Field validation tests showed that the applicability of the spray boom height detection distance (Dd) of the spray boom height detection model proposed in the present study was 450 mm~950 mm. Within the applicable Dd range, the detection error of the detection model was ≤5 cm during the full growth cycle. This study provides an ultrasonic detection model construction method, which improves the reliability and accuracy of ultrasonic boom height detection for different wheat growth stages.