59 Works

Time-Optimal Planning for Quadrotor Waypoint Flight

Philipp Foehn, Angel Romero & Davide Scaramuzza
Quadrotors are amongst the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search and rescue, and drone racing. Early works used polynomial trajectory formulations, which do not exploit the full actuator potential due to their inherent smoothness. Recent works resorted to numerical optimization, but require waypoints to be allocated as costs or constraints at specific...

Data from: Evolution of dispersal, habit, and pollination in Africa pushed Apocynaceae diversification after the Eocene-Oligocene climate transition

Nicolai M. Nürk, Cássia Bitencourt, Alessandro Rapini, Mark Fishbein, André O. Simões, David J. Middleton, Ulrich Meve, Mary E. Endress & Sigrid Liede-Schumann
Apocynaceae (the dogbane and milkweed family) is one of the ten largest flowering plant families, with approximately 5,350 species and diverse morphology and ecology, ranging from large trees and lianas that are emblematic of tropical rainforests, to herbs in temperate grasslands, to succulents in dry, open landscapes, and to vines in a wide variety of habitats. Despite a specialized and conservative basic floral architecture, Apocynaceae are hyperdiverse in flower size, corolla shape, and especially derived...

Folding and unfolding of the tryptophan zipper in the presence of two thioamide substitutions

Jan Helbing, Jasmin Spekowius & Rolf Pfister
We studied the stability and folding and unfolding kinetics of the tryptophan zipper, containing dierent double thioamide subsitutions. Conformation change was triggered by photoisomerization of an integrated AMPP photoswitch in the turn region of the hairpin, and transient spectra were recorded in the deep UV and the mid-IR, covering the time window of the (un)folding transition from picoseconds to tens of microseconds. Thio-substitution of inward-pointing backbone carbonyls was found to strongly destabilize the β-hairpin structures,...

Data from: Putting vascular epiphytes on the traits map

Peter Hietz, Katrin Wagner, Flavio Nunes Ramos, Juliano Sarmento Cabral, Gerhard Zotz, Claudia Agudelo, Ana Maria Benavides, Manuel Cach Pérez, Catherine Cardelús, Nahelli Chilpa Galván, Lucas Costa, Rodolfo De Paula Oliveiras, Helena Einzmann, Rafael Farias, Valeria Guzmán Jacob, Michael Kessler, Catherine Kirby, Holger Kreft, Thorsten Krömer, Jamie Males, Samuel Monsalve Correa, Maria Moreno, Gunnar Petter, Casandra Reyes, Alfredo Saldaña … & Carrie Woods
Epiphyte trait data for the paper Hietz et al. 2021 Putting vascular epiphytes on the traits map. Journal of Ecology Plant functional traits impact the fitness and environmental niche of plants. Major plant functional types have been characterized by their trait spectrum, and the environmental and phylogenetic imprints on traits have advanced several ecological fields. Yet very few trait data on epiphytes, which represent almost 10% of vascular plants, are available. We collated >80,000 mostly...

Data from: European common frog (Rana temporaria) recolonised Switzerland from multiple glacial refugia in northern Italy via trans- and circum-Alpine routes

Alexandra Jansen Van Rensburg, Mathieu Robin, Barret Phillips & Josh Van Buskirk
The high mountain ranges of western Europe had a profound effect on the biotic recolonisation of Europe from glacial refugia. The Alps present a particularly interesting case because they form an absolute barrier to dispersal for most taxa, obstructing recolonisation from multiple refugia in northern Italy. Here we investigate the effect of the European Alps on the phylogeographic history of the European common frog Rana temporaria. Based on partial cytochrome b and COXI sequences from...

Warming and top predator loss drive direct and indirect effects on multiple trophic groups within and across ecosystems

Pablo Antiqueira, Owen Petchey, Felipe Rezende, Luiz Felipe Velho, Luzia Rodrigues & Gustavo Romero
1. The interspecific interactions within and between adjacent ecosystems strongly depend on the changes in their abiotic and biotic components. However, little is known about how climate change and biodiversity loss in a specific ecosystem can impact the multiple trophic interactions of different biological groups within and across ecosystems. 2. We used natural micro-ecosystems (tank-bromeliads) as a model system to investigate the main and interactive effects of aquatic warming and aquatic top predator loss (i.e.,...

Data from: Contrasting effects of elevation on above and belowground plant pathogens

Ziyuan Lin, Peng Zhang, Fletcher Halliday, Xingxing Wang, Fei Chen, Anya Shi, Juanjuan Shi, Yao Xiao & Xiang Liu
Plant fungal diseases have a great influence on both photosynthesis and ecosystem function. However, how the elevation gradient, which is one of the most biogeographic factors, affects diseases is scarce. Here, we combined a field survey and a meta-analysis to test how elevation affect foliar fungal diseases and soil fungal pathogens through different paths. We arranged 30 plots along 3200 m ~ 4000 m in a Qinghai-Tibetan alpine meadow and collected the data of foliar...

Dietary abundance distributions: Dominance and diversity in vertebrate diets

Matthew C. Hutchinson, Andrew P. Dobson & Robert M. Pringle
Diet composition is among the most important yet least understood dimensions of animal ecology. Inspired by the study of species-abundance distributions (SADs), we tested for generalities in the structure of vertebrate diets by characterizing them as dietary-abundance distributions (DADs). We compiled data on 1167 population-level diets, representing >500 species from 6 vertebrate classes, spanning all continents and oceans. DADs near-universally (92.5%) followed a hollow-curve shape, with scant support for other plausible rank-abundance-distribution shapes. This strong...

Population genomics and haplotype analysis in spelt and bread wheat identifies a gene regulating glume color

Michael Abrouk, Naveenkumar Athiyannan, Thomas Müller & Simon Krattinger
The cloning of agriculturally important genes is often complicated by haplotype variation across crop cultivars. Access to pan-genome information greatly facilitates the assessment of structural variations and rapid candidate gene identification. Here, we identified the red glume 1 (Rg-B1) gene using association genetics and haplotype analyses in ten reference-grade wheat genomes. Glume color is an important trait to characterize wheat cultivars. Red glumes are frequent among Central European spelt, a dominant wheat subspecies in Europe...

Registration Year

  • 2021

Resource Types

  • Dataset


  • University of Zurich
  • Swiss Federal Institute of Technology in Zurich
  • University of Cambridge
  • Leipzig University
  • Swiss Federal Institute of Aquatic Science and Technology
  • McGill University
  • Swiss Ornithological Institute
  • University of Helsinki
  • Botswana Predator Conservation Trust
  • State University of Campinas