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Precise localisation of the Yutu-2 moon rover plays an important role in path planning, obstacle avoidance and navigating to target features. To provide highprecision localisation information, a stereo bundle adjustment method using the theory of the unit quaternions is presented for the first time. To improve the precision and robustness of the proposed method, the rover's pose, from a visual odometry technique assisted by an inertial measurement unit and the rotation angles of the mast mechanism, is viewed as a pseudo-observation. A reasonable weighting strategy and a rational geometric constraint condition of the stereo cameras is also invoked. Experimental results demonstrate that the proposed method provides more accurate localisation results than either a bundle adjustment alone or a weighted total least-squares method. The proposed method has been successfully used in Chang'e-4 mission operations. (a) Chang'e-4 lander (b) Yutu-2 rover FIG. 1. The Chang'e-4 probe. (a) An image taken by the Yutu-2 rover's Pancam camera of the lander. (b) An image taken by the lander's topographic camera of the rover.The Photogrammetric Record

Drought stress is a major environmental constraint for plant growth. Climate-change-driven increases in ambient temperatures resulted in reduced or unevenly distributed rainfalls, leading to increased soil drought. Carex duriuscula C. A. Mey is a typical drought-tolerant sedge, but few reports have examined the mechanisms conferring its tolerant traits. In the present study, the drought responses of C. duriuscula were assessed by quantifying activity of antioxidant enzymes in its leaf and root tissues and evaluating the relative contribution of organic and inorganic osmolyte in plant osmotic adjustment, linking it with the patterns of the ion acquisition by roots. Two levels of stress—mild (MD) and severe (SD) drought treatments—were used, followed by re-watering. Drought stress caused reduction in a relative water content and chlorophyll content of leaves; this was accompanied by an increase in the hydrogen peroxide (H2O2) and superoxide (O2−) contents in leaves and roots. Under MD stress, the activities of catalase (CAT), peroxidase (POD), and glutathione peroxidase (GPX) increased in leaves, whereas, in roots, only CAT and POD activities increased. SD stress led to an increase in the activities of CAT, POD, superoxide dismutase (SOD), and GPX in both tissues. The levels of proline, soluble sugars, and soluble proteins in the leaves also increased. Under both MD and SD stress conditions, C. duriuscula increased K+, Na+, and Cl− uptake by plant roots, which resulted in an increased K+, Na+, and Cl− concentrations in leaves and roots. This reliance on inorganic osmolytes enables a cost-efficient osmotic adjustment in C. duriuscula. Overall, this study revealed that C. duriuscula was able to survive arid environments due to an efficient operation of its ROS-scavenging systems and osmotic adjustment mechanisms.

Employees’ work well-being (WWB) is vital to employees’ performance and organizations’ sustainable development. This study aims to explore the role of psychological safety and error management climate (EMC) between humble leadership and WWB in Chinese organizations. Drawing upon social information processing theory, a multi-level study was conducted to test the underlying mechanisms between humble leadership and employees’ WWB. A time-lagged data of 221 team members was collected from 12 small and medium sized companies in China. Results showed that team-level humble leadership was positively related to WWB. Psychological safety and EMC both played a partial mediating role linking humble leadership and WWB. EMC positively moderated the relationship between humble leadership and psychological safety. This paper contributes to revealing the multi-level effects of humble leadership on work well-being. These findings also provide some important implications for managerial practices.

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