Abscission Layer Research Articles

Comparative test and study on different types of anchor cable support in high stress deep rock mass

To study the grouting anchor cable, high strength anchor cable, constant resistance, large deformation of anchor supporting of coal roadway surrounding rock different control effect, first using drilling into instrument detecting roof inner fracture of surrounding rock and loose circle development situation, again USES the anchor dynamometer, the roof abscission layer meter, convergence rule of surrounding rock of roadway convergence deformation and stress monitoring and supporting artifacts related to data processing and analysis between the drivage and stoping different anchor rope supporting of roadway surrounding rock under the condition of deformation and stress change rule anchor rope.Through the above steps, the grouting anchor cable is found to be the best supporting method.

Research on the Reasonable Width of the Waterproof Coal Pillar during the Mining of a Shallow Coal Seam Located Close to a Reservoir

Retaining a waterproof coal pillar is the most effective water conservation method for coal seam mining close to a reservoir, and determining a reasonable width for the waterproof coal pillar has been a common problem among mining scholars for a considerably long time. In case of mining a 4−2 coal seam close to the Changjiagou Reservoir in the Zhangjiamao mine, the research methods of theoretical analysis, physical simulation using similar materials, and numerical simulation have been adopted to analyze the overburden strata mining failure features and the surface subsidence law. Additionally, the influences of the width of the coal pillar on the reservoir bank slope stability have been investigated. The results denote that a coal pillar can be divided into a mine‐pressure‐influenced zone, an effective waterproof zone, and a water‐level‐influenced zone with respect to water resistance. Furthermore, the width of the waterproof coal pillar was determined to be 107.41 m by theoretical analysis. The simulation test indicated that when the working face advanced close to the reservoir, the reservoir bank exhibited vertical downward as well as transverse abscission layer fractures and the divided topsoil slipped toward the reservoir. Subsequently, the judgment conditions required for determining the critical width of the waterproof coal pillar were proposed based on the requirements to prevent the reservoir bank slope from instability failure and the water gushing accident in goaf. The maximum width of the waterproof coal pillar when the top point on the slope surface experienced reverse horizontal displacement and several key points produced sharp vertical displacements or when the pore pressure in the coal seam roof and floor suddenly became 0 was considered to be the critical width. Furthermore, the critical width was determined to be 96 m via simulation analysis, verifying the rationality of the theoretical method. These results could provide a theoretical basis for determining the width of the waterproof coal pillar of the coal seam located close to a reservoir.

The APETALA2-Like Transcription Factor SUPERNUMERARY BRACT Controls Rice Seed Shattering and Seed Size.

The elimination of seed shattering was a crucial event during crop domestication. Improving and fine-tuning the regulation of this process will further enhance grain yield by avoiding seed losses during crop production. In this work, we identified the loss-of-shattering mutant suppression of shattering1 (ssh1) through a screen of mutagenized wild rice (Oryza rufipogon) introgression lines with naturally high shattering. Using the MutMap approach and transformation experiments, we isolated a genetic factor for seed shattering, SSH1, which is an allele of SUPERNUMERARY BRACT (SNB), a gene encoding a plant-specific APETALA2-like transcription factor. A C-to-A point mutation in the ninth intron of SNB altered the splicing of its messenger RNA, causing the reduced shattering of the ssh1 mutant by altering the development of the abscission layer and vascular bundle at the junction between the seed and the pedicel. Our data suggest that SNB positively regulates the expression of two rice REPLUMLESS orthologs, qSH1 and SH5 In addition, the ssh1 mutant had larger seeds and a higher grain weight, resulting from its increased elongation of the glume longitudinal cells. The further identification of favorable SNB alleles will be valuable for improving rice seed shattering and grain yield using molecular breeding strategies.

Identification and expression of genes associated with the abscission layer controlling seed shattering in Lolium perenne.

Perennial ryegrass (Lolium perenne) is one of the most important pasture grasses in the world. However, seed production is negatively impacted by the seed shattering (shedding) nature of this species. Recently, genes involved in the seed shattering process have been isolated and functionally characterized in several crop species. The aim of this study was to identify the genes playing critical roles in the seed shattering process in perennial ryegrass. DNA sequences of genes involved in seed shattering in the Poaceae were used to identify and isolate target genes in perennial ryegrass using a comparative genomics strategy. The candidate seed shattering genes were identified using an ‘in-house’ perennial ryegrass transcriptome database. The relative expression levels of the candidate ryegrass shattering genes were determined using RT–qPCR during different floret and seed developmental stages. Histological analysis of the abscission layer was also conducted. Homologues of seed shattering genes were identified and isolated from perennial ryegrass, and the relative gene expression results suggested that several genes, including LpqSH1 and LpSH1, might have a role in abscission layer formation during seed development. In addition, lignification of the abscission layer may play an important role in the abscission process. A genetic model for seed shattering in perennial ryegrass is suggested and may be useful for directing gene editing towards the production of a reduced-shattering ryegrass.

Hormonal interactions during early physiological partenocarpic fruitlet abscission in persimmon (Diospyros Kaki Thunb.) ‘Triumph’ and ‘Shinshu’ cultivars

Fruitlet abscission is typical to many fruit trees, including persimmon, (Diopyros kaki Thunb.), and often results in unstable fruit production and yield. We documented massive parthenocarpic fruitlet abscission in the persimmon cultivars 'Triumph' and 'Shinshu', which initiated soon after anthesis and peaked at 45 days post anthesis. In contrast, abscission of mature fruitlets 45–65 days after anthesis was minor. The early parthenocarpic fruitlet abscission in 'Shinshu' and 'Triumph' took place in the abscission zone located at the calyx-pedicel junction. Differentiation of the abscission layer occurred during flower development and preceded fruitlet abscission. Endogenous analysis of gibberellins, cytokinins and auxin levels in the abscission zone of 'Triumph' and 'Shinshu' during the developmental stages preceding abscission revealed a reduction in cytokinin endogenous levels in both cultivars. In addition, a decline in GA3 and IAA levels was found in 'Triumph' and 'Shinsu' respectively during flower development. Gibberellin, auxin and cytokinin application to inhibit early fruitlet abscission were analyzed and gibberellin treatment exhibited the highest and most consistent inhibition effect in 'Triumph' and 'Shinshu'. An increase in endogenous levels of gibberellins, cytokinins and auxin in the flower abscission zone was found following GA application in both cultivars. Our results suggest that gibberellin application inhibits early fruitlet abscission by elevating cytokinins, and auxin levels and that a reduction in gibberellins, cytokinins and auxin levels may induce abscission during parthenocarpic fruitlet development in 'Shinshu' and 'Triumph' cultivars.

Genome-wide identification of differentially expressed miRNAs induced by ethephon treatment in abscission layer cells of cotton (Gossypium hirsutum)

Cotton is one of the most important economic crops and its production is influenced by various adverse factors. Boll shedding at an inappropriate period causes the severe loss of cotton yield. Ethephon can promote the formation of abscission layer cells, resulting in boll shedding. To genome-widely investigate the differentially expressed miRNAs involved in the formation of abscission layer cells, two sRNA libraries were constructed using abscission tissues of cotton pedicels treated with ethephon or water. A total of 55,264,755 and 59,069,866 clean reads were generated in two libraries. 460 mature miRNAs were identified, including 301 known miRNAs and 159 novel miRNAs. Among them, one known gra-MIR530b and seven novel miRNAs (gar-novel-miR88-3p/gra-novel-miR8-3p, gar-novel-miR16-5p, gar-novel-miR100-3p, gar-novel-miR75-3p/gra-novel-miR92-3p,gar-novel-miR32-5p/gra-novel-miR30-5p, gar-novel-miR9-5p and gra-novel-miR61-3p) were expressed differentially in abscission tissues. Seven-two genes were predicted as potential targets of the eight miRNAs. Gene ontology (GO) analyses revealed that most of these target genes are auxin response factors (ARFs), GTPase activators, and the regulators of oxidative phosphorylation and photosynthesis. Hence, we speculate that these miRNAs might regulate cell separation and aging to affect the formation of bscission layer cells. Our findings will provide a new insight into the regulatory mechanism of miRNAs involved in boll shedding.

A two-stageclassification method for borehole-wall images with support vector machine.

Analyzing geological drilling hole images acquired by Axial View Panoramic Borehole Televiewer (APBT) is a key step to explore the geological structure in a geological exploration. Conventionally, the borehole images are examined by technicians, which is inefficient and subjective. In this paper, three dominant types of borehole-wall images on coal-rock mass structure, namely, border images, fracture images and intact rock mass images are mainly studied. The traditional image classification methods based on unified feature extraction algorithm and single classifier is not effect for the borehole images. Therefore, this paper proposes a novel two-stage classification approach to improve the classification performance of borehole images. In the first-stage classification, the border images are identified from three kinds of images based on texture features and gray-scale histograms features. For the remaining two types of images, in the second-stage classification, Gabor filter is first applied to segment the region of interest (ROI) (such as microfracture, absciss layer and horizontal cracks, etc.) and the central interference region. Then, using the same feature vector after eliminating the central interference region, fracture images are separated from intact rock mass images. We test our two-stage classification system with real borehole images. The results of experimental show that the two-stage classification method can effectively classify three major borehole-wall images with the correction rate of 95.55% in the first stage and 95% in the second stage.

Genetic control of seed shattering during African rice domestication.

Domestication represents a unique opportunity to study the evolutionary process. The elimination of seed dispersal traits was a key step in the evolution of cereal crops under domestication. Here, we show that ObSH3, a YABBY transcription factor, is required for the development of the seed abscission layer. Moreover, selecting a genomic segment deletion containing SH3 resulted in the loss of seed dispersal in populations of African cultivated rice (Oryza glaberrima Steud.). Functional characterization of SH3 and SH4 (another gene controlling seed shattering on chromosome 4) revealed that multiple genes can lead to a spectrum of non-shattering phenotypes, affecting other traits such as ease of threshing that may be important to tune across different agroecologies and postharvest practices. The molecular evolution analyses of SH3 and SH4 in a panel of 93 landraces provided unprecedented geographical detail of the domestication history of African rice, tracing multiple dispersals from a core heartland and introgression from local wild rice. The cloning of ObSH3 not only provides new insights into a critical crop domestication process but also adds to the body of knowledge on the molecular mechanism of seed dispersal.

Evaluation and Analysis of Pod Dehiscence Factors in Shatter‐Susceptible and Shatter‐Resistant Common Vetch

Common vetch (Vicia sativa L.) is one of the most important annual forage legumes globally because of its multiple uses and high nutritional content. However, when it matures, the pod dehiscence can cause severe loss of seeds. In this research, we used eight shatter‐susceptible vetch accessions and 16 shatter‐resistant vetch accessions, which were evaluated and selected from 541 accessions, to compare and analyze the influencing factors related to pod dehiscence. We found that the shatter‐susceptible vetches all have abscission layers and that the shatter‐resistant vetches all lack abscission layers. External valve margin cells, which have not been reported in other plants to date, were located externally to the junction of the fruit valve where the valve margin exists, with the abscission layers below in the ventral suture. We found that shatter‐resistant vetches have significantly thicker external valve margin cell walls and obviously fewer pod wall torsion laps than shatter‐susceptible vetches, and there was no significant difference in the pod thickness to width ratio. In conclusion, abscission layers, external valve margin cells, and pod wall torsion laps are the main factors affecting pod dehiscence. Thus, this research lays the foundation for studying the mechanism of vetch pod dehiscence.

Transcriptome profiling of Elymus sibiricus, an important forage grass in Qinghai-Tibet plateau, reveals novel insights into candidate genes that potentially connected to seed shattering

BackgroundElymus sibiricus is an important forage grass in semi-arid regions, but it is difficult to grow for commercial seed production due to high seed shattering. To better understand the underlying mechanism and explore the putative genes related to seed shattering, we conducted a combination of morphological, histological, physiochemical and transcriptome analysis on two E. sibiricus genotypes (XH09 and ZhN03) that have contrasting seed shattering.ResultsThe results show that seed shattering is generally caused by a degradation of the abscission layer. Early degradation of abscission layers was associated with the increased seed shattering in high seed shattering genotype XH09. Two cell wall degrading enzymes, cellulase (CE) and polygalacturonase (PG), had different activity in the abscission zone, indicating their roles in differentiation of abscission layer. cDNA libraries from abscission zone tissue of XH09 and ZhN03 at 7 days, 21 days and 28 days after heading were constructed and sequenced. A total of 86,634 unigenes were annotated and 7110 differentially expressed transcripts (DETs) were predicted from “XH09-7 vs ZhN03-7”, “XH09-21 vs ZhN03-21” and “XH09-28 vs ZhN03-28”, corresponding to 2058 up-regulated and 5052 down-regulated unigenes. The expression profiles of 10 candidate transcripts involved in cell wall-degrading enzymes, lignin biosynthesis and phytohormone activity were validated using quantitative real-time PCR (qRT-PCR), 8 of which were up-regulated in low seed shattering genotype ZhN03, suggesting these genes may be associated with reduction of seed shattering.ConclusionsThe expression data generated in this study provides an important resource for future molecular biological research in E. sibiricus.

Histological Characteristics, Cell Wall Hydrolytic Enzymes Activity and Candidate Genes Expression Associated with Seed Shattering of Elymus sibiricus Accessions.

Elymus sibiricus (siberian wildrye) is a perennial, cool-season, self-pollinating, and allotetraploid grass. As an economically important species, it has been widely grown and used for pasture and hay in northern China. Because of serious seed shattering (SS), however, E. sibiricus is difficult to grow for commercial seed production. To better understand the underlying mechanism of SS, we investigated the differences in SS of cultivars and wild accessions in relation to morphological and genetic diversity, histological characteristics, lignin staining, cell wall hydrolytic enzymes activity and candidate genes expressions. We found high level of morphological and genetic diversity among E. sibiricus accessions. In general, cultivars had higher average pedicel breaking tensile strength (BTS) value than wild accessions, of which PI655199 had the highest average BTS value (144.51 gf) and LQ04 had the lowest average BTS value (47.17 gf) during seed development. SS showed a significant correlation with seed length, awn length and 1000-seed weight. SS was caused by degradation of abscission layers that formed at early heading stage, and degradation of abscission layers occurred at 14 days after heading. Histological analysis of abscission zone (AZ) showed a smooth fracture surface on the rachilla in high SS genotype, suggesting higher degradation degree of abscission layers. This may resulted from the increased cellulase and polygalacturonase activity found in AZ at seed physiological maturity. Staining of pedicels of two contrasting genotypes suggested more lignin deposition in low SS genotype may play a role in resistance of SS. Furthermore, candidate genes that involved in cell wall-degrading enzyme and lignin biosynthesis were differentially expressed in AZ, indicating the involvement and role in SS. This study provided novel insights into the mechanism of SS in E. sibiricus.

A Novel High-precision Single-frequency BeiDou High Kinematic Positioning Algorithm with Pseudo Range and Carrier Phase

High-precision Positioning is one of the key technologies of BeiDou receiver in high dynamic situations. Its implementation requires an optimized and dedicated hardware. The real-time processing places several constraints such as area occupied, power consumption, speed, etc. Using a Hatch filter in a single frequency receiver reduces multipath and receiver noise but introduces an induced bias that depends on the rate of ionospheric delay and a carrier smoothing time. However the cycle slips may easily occur during a long carrier smoothing time. Suppose carrier phase is directly used for positioning, there will be a lot of difficulty in solving the problem of integer ambiguity. A hybrid approach for pseudo range and carrier phase is given, and adopts a current statistic jerk tracking model, which makes positioning highly accurate under the condition of single point and single frequency in high dynamic situations. Besides, the delay of electric inhibition abscission layer, the troposphere delay and the transient change of the multi-path effect have little influence on signal.

Estimation of loci involved in non-shattering of seeds in early rice domestication.

Rice (Oryza sativa L.) is widely cultivated around the world and is known to be domesticated from its wild form, O. rufipogon. A loss of seed shattering is one of the most obvious phenotypic changes selected for during rice domestication. Previously, three seed-shattering loci, qSH1, sh4, and qSH3 were reported to be involved in non-shattering of seeds of Japonica-type cultivated rice, O. sativa cv. Nipponbare. In this study, we focused on non-shattering characteristics of O. sativa Indica cv. IR36 having functional allele at qSH1. We produced backcross recombinant inbred lines having chromosomal segments from IR36 in the genetic background of wild rice, O. rufipogon W630. Histological and quantitative trait loci analyses of abscission layer formation were conducted. In the analysis of quantitative trait loci, a strong peak was observed close to sh4. We, nevertheless, found that some lines showed complete abscission layer formation despite carrying the IR36 allele at sh4, implying that non-shattering of seeds of IR36 could be regulated by the combination of mutations at sh4 and other seed-shattering loci. We also genotyped qSH3, a recently identified seed-shattering locus. Lines that have the IR36 alleles at sh4 and qSH3 showed inhibition of abscission layer formation but the degree of seed shattering was different from that of IR36. On the basis of these results, we estimated that non-shattering of seeds in early rice domestication involved mutations in at least three loci, and these genetic materials produced in this study may help to identify novel seed-shattering loci.

Phenotypic Characterization of Tomato (Lycospersicon esculentum)

Tomato is one of the most important fruit vegetable commonly grown in world. Most of the people grow the tomato however they do not know about phenotypic characters of different landraces. Phenotypic characterization of these landraces will be helpful to the farmers to choice better landrace for particular area and practice scientific methods of its cultivation. This experiment was conducted in the field of Institute of Agriculture and Animal Science, Lamjung Campus, Nepal under Randomized Complete Block Design having eight treatments with three replication. The main objective of this study is to characterize the phenotypic appearance of eight varieties which includes Srijana, Acc#8951, C 2422, Collection 333, ACC 6253, ACC 9861, KHG 55 and C 2433. Effect of treatments was found significantly different in the sepal length, petal length, number of fruits per cluster, number fruit cluster per plant, weight of fruit, pH of fruit, pedicle length, first fruiting internode, thickness of pericarp, fruit weight per cluster, fruit yield per plant, number of leaves and non-significant in vine length, number of flower per plant total soluble solid and pedicel length from abscission layer. Among these varieties ACC#8951 has maximum number of fruit per cluster, fruit weight, fruit weight per cluster, fruit yield per plant. Similarly Srijana has maximum number of fruit cluster per plant and ACC 6253 has higher number of leaves.

Characterization of BcMF23a and BcMF23b, two putative pectin methylesterase genes related to pollen development in Brassica campestris ssp. chinensis.

Two homologous genes, Brassica campestris Male Fertility 23a (BcMF23a) and Brassica campestris Male Fertility 23b (BcMF23b), encoding putative pectin methylesterases (PMEs) were isolated from Brassica campestris ssp. chinensis (syn. Brassica rapa ssp. chinensis). These two genes sharing high sequence identity with each other were highly expressed in the fertile flower buds but silenced in the sterile ones of genic male sterile line system ('Bcajh97-01A/B'). Results of RT-PCR and in situ hybridization suggested that BcMF23a and BcMF23b were pollen-expressed genes, whose transcripts were first detected at the binucleate pollen and maintained throughout to the mature pollen grains. Western blot indicated that both of the putative BcMF23a and BcMF23b proteins are approximately 40kDa, which exhibited extracellular localization revealed by transient expression analysis in the onion epidermal cells. The promoter of BcMF23a was active specifically in pollen during the late pollen developmental stages, while, in addition to the pollen, BcMF23b promoter drove an extra gene expression in the valve margins, abscission layer at the base of the first true leaves, taproot and lateral roots in seedlings.

Low temperature-induced leaf senescence and the expression of senescence-related genes in the panicles of Litchi chinensis

Litchi is one of the most important subtropical evergreen fruit trees in Southern Asia. Litchi floral buds are a mix of axillary or apical panicle primordia, leaf primordia, and rudimentary leaves. Under usual winter and early spring conditions, the axillary panicle primordia prevail, and the rudimentary leaves abscise when low temperatures reach a certain threshold. The floral buds ultimately develop into pure panicles. Understanding the regulatory mechanism of rudimentary leaf senescence is of great importance for litchi flowering. In this study, litchi potted trees at the floral differentiation stage were treated with low and high temperatures in order to induce senescence or development of leaves. The microstructure of the petiole base of the rudimentary leaves was determined. The results show several layers of flattened cells forming in the abscission zone of the rudimentary leaves that were treated with low temperatures as well as an obvious boundary regarded as the abscission layer zone. We also determined the gene expression in the leaves with different developmental fate. The results show that the LcRboh, LcMC-1-like, and LcPirin genes were significantly induced in the rudimentary leaves treated with low temperatures, and the expression increased with the proceeding of senescence. The expression of the genes encoding class Ι β-1,3-glucanase and β-xylosidase also increased with the senescence, suggesting their possible involvement in the low temperature-induced senescence of the rudimentary leaves.

Postharvest Application of Oligochitosan and Chitosan Reduces Calyx Alterations of Citrus Fruit Induced by Ethephon Degreening Treatment.

In the present study, we investigated whether the postharvest application of oligochitosan and chitosan could be used as potential alternatives to 2,4-dichlorophenoxyacetic acid (2,4-D) treatment to prevent calyx senescence of mandarin fruits induced by degreening treatment. The results of scanning electron microscopy indicated that the ethephon degreening treatment could accelerate the formation of pedicel abscission layers. Treatments with 15 g kg-1 oligochitosan, 5 g kg-1 chitosan, and 50 mg kg-1 2,4-D significantly suppressed the formation of pedicel abscission layers of ethephon degreening fruit and inhibited the browning of the calyx. These two treatments delayed the degradation of protopectin, cellulose, and lignin. Inhibition of the increase in the abscisic acid (ABA) content was also observed in these two treatments. In conclusion, these two treatments, particularly 15 g kg-1 oligochitosan, could be potentially used as alternatives to 2,4-D to improve calyx alterations induced by the ethephon degreening treatment in mandarin fruits.

Structural Differentiation of the Connective Stalk inSpirodela polyrhiza(L.) Schleiden

Structural differentiation of the connective stalk in giant duckweed, Spirodela polyrhiza, was examined to reveal the anatomical and ultrastructural characteristics within reduced shoot. The study focuses primarily on structural features of the connective stalk (CT), which connect offspring to their mother fronds. Photoautotrophic offspring fronds remained connected by stalks to mother fronds in the reproductive pockets until separation. The CT originated from the meristematic region of the abaxial frond and joined the fronds laterally with two abscission layers. The most notable features of the CT were polymorphic mitochondria, random occurrences of fibrillar structures in intercellular spaces, and great variability in cell wall thickness. Vascular tissues in CTs were highly reduced, demonstrating only a central vascular strand. Grana with 2 to 4 thylakoids and starch grains were found in the chloroplasts. A chlorophyll assay indicated high chlorophyll concentrations in daughter fronds and low concentrations in CTs. The frond and CT, while physically connected to each other, functioned independently. Despite great reduction in S. polyrhiza, the CT has proven to be very efficient for separating offspring from the mother frond, which lends to its capacity for rapid vegetative reproduction. The ultrastructural aspects of CTs in S. polyrhiza were characterized for the first time in this study.

Characterization of promoter activity of the ethylene receptor gene OgERS1 from Oncidesa in transgenic Arabidopsis

Physiological changes associated with senescence of flowers and abscission of floral parts in Oncidesa (formerly Oncidium) cv. Gower Ramsey are caused by a plant hormone ethylene which is produced by pollinia cap dislodgment during postharvest handling and transportation. The ethylene receptor gene OgERS1 of Oncidesa has been previously cloned and characterized. To analyze promoter activity of OgERS1, transgenic Arabidopsis thaliana plants were generated to express the s-glucuronidase (GUS) reporter gene under the control of 5’-upstream sequence of OgERS1 from Oncidesa. The expression pattern of the OgERS1 promoter at the cellular level was investigated by analysis of GUS activity. This promoter can activate gene expression in both actively dividing young tissues and abscission-related aging tissues. Expression of GUS was detected in the shoot meristem uniquely in 10 to 30 d-old-plants and was found in flower buds, axillary buds, flower stems, and abscission layers during later development. In 2- to 3-week-old transgenic Arabidopsis, exogenous ethylene, glucose, lactose, and maltose enhanced promoter activity implying that crosstalk between sugar and an ethylene receptor may exist. However, indole-3-acetic acid, benzylaminopurine, abscisic acid, heat, wounding, salinity, drought, and flooding slightly suppressed promoter activity. These results demonstrate that the promoter of OgERS1 was developmentally and environmentally regulated, and imply a potential for application of this bi-functional promoter to increase branching or enhanced dwarfing.

Design of End-effector for Tomato Robotic Harvesting

Abstract: In order to improve automatic harvesting for fresh-eating tomato, a new picking end-effector was designed, which mainly consisted of three parts, such as fruit holding, stem holding, and fruit separating. In view of the convenience of stemless fruit for transport and package, the end-effector separated the tomato fruit from the plant at the abscission layer between the stem and fruit. A sleeve with three equispaced gasbags was used as the flexible fruit-holding part, so as to fit the fruit’s various size and keep the holding force constant. Besides, the holding and separating force parameters were calculated based on the measuring result of the fruit material characteristics, so that the holding operation is reliable and nondestructive. Finally, the end-effector’s performance was tested, and the result showed the successful picking rate was 86%.