1. A force balanced instrument system that employs charge pulses to null an inertial proof mass disposed between opposing electrode plates, the system comprising:
an inertial proof mass disposed between a first electrode plate and a second electrode plate;
a switching system switchable between providing one of a positive charge pulse and a negative charge pulse to one of the first electrode plate and the second electrode plate; and
a control logic device that controls the switching of the switch system to provide positive charge pulses alternately to the first electrode plate and the second electrode plate for a first charge cycle time period and to provide negative charge pulses alternately to the first electrode plate and the second electrode plate for a second charge cycle time period.
2. The system of claim 1, wherein the first charge cycle time period is one charge cycle sequence and the second charge cycle time period is one charge cycle sequence.
3. The system of claim 1, wherein the first charge cycle time period is a plurality of charge cycle sequences and the second charge cycle time period is a plurality of charge cycle sequences.
4. The system of claim 1, wherein the switching system is coupled to a positive reference voltage for providing positive charge pulses and a negative reference voltage for providing negative charge pulses.
5. The system of claim 1, further comprising an operational amplifier that receives a charge pulse from a first portion of the switching system and provides the charge pulse to a second portion of the switching system that selects between providing the charge pulse to one of the top electrode plate and the bottom electrode plate.
6. The system of claim 1, wherein the first electrode plate charges to a voltage indicative of the displacement of the first electrode plate to the proof mass in response to a charge pulse and the second electrode plate charges to a voltage indicative of the displacement of the proof mass to the second electrode plate in response to a charge pulse.
7. The system of claim 6, further comprising:
a first sample and hold device;
a second sample and hold device;
a difference amplifier that provides a difference voltage based on a first voltage sampled by the first sample and hold device and a second voltage sampled by the second sample and hold device; and
wherein the first sample and hold device samples the voltage on the first electrode plate and the second sample and hold device samples the voltage on the second electrode plate during application of positive charge pulses and the second sample and hold device samples the voltage on the first electrode plate and the first sample and hold device samples the voltage on the second electrode plate during application of negative charge pulses to mitigate unwanted sign reversal of an output of the difference amplifier.
8. The system of claim 7, wherein the first sample and hold device and the second sample and hold device sample one of the first electrode plate and the second electrode plate for a first charge cycle sequence after a polarity change between applying one of positive charge Pulses and negative charge pulses to provide a zero output from the difference amplifier for one half-cycle charge cycle sequence.
9. The system of claim 7, wherein the first sample and hold device and the second sample and hold device are disabled for a first charge cycle sequence after a polarity change between applying one of positive charge pulses and negative charge pulses.
10. The system of claim 7, further comprising:
integrator that integrates difference voltages provided by the difference amplifier; and
an analog-to-digital converter that digitizes the integrated difference voltages and provides the digitized integrated difference voltages to the control logic device, the control logic device controlling the duty cycle of charge cycle sequences based on the digitized integrated difference voltages.
11. The system of claim 10, wherein the controlling the duty cycle of charge cycle sequences comprises controlling the amount of time that voltage is retained on the first electrode plate and the amount of time that voltage is retained on the second electrode plate.
12. The system of claim 1, wherein a plurality of positive charge pulses are provided alternately to the first electrode plate and the second electrode plate and a plurality of negative charge pulses are provided alternately to the first electrode plate and the second electrode plate.
13. A force balanced instrument having an inertial proof mass disposed between a first electrode plate and a second electrode plate, the instrument comprising;
means for providing one of positive charge pulses and negative charge pulses;
means for applying charge pulses of a selected polarity alternately to the first electrode plate and the second electrode plate; and
means for controlling a charge cycle time period for applying positive charge pulses and a charge cycle time period for applying negative charge pulses by the means for applying.
14. The instrument of claim 13, wherein a charge cycle time period is one of a single charge cycle sequence and a plurality of charge cycle sequences.
15. The instrument of claim 13, further comprising:
a first means for sampling a first voltage on an electrode plate induced by a charge pulse;
a second means for sampling a second voltage on an electrode plate induced by a charge pulse;
means for generating a difference voltage associated with the difference between the first voltage and the second voltage; and
means for controlling an amount of time a charge is retained on the first electrode plate and the amount of time a charge is retained on the second electrode plate based on the difference voltage.
16. The instrument of claim 15, wherein the first means for sampling a first voltage samples a voltage induced on the first electrode plate for positive charge pulses and samples a voltage induced on the second electrode plate for negative charge pulses, and the second means for sampling a second voltage samples a voltage induced on the second electrode plate for positive charge pulses and samples a voltage induced on the first electrode plate for negative charge pulses.
17. The instrument of claim 15, wherein the first means for sampling a first voltage and the second means for sampling a second voltage both sample one of the first electrode plate and the second electrode plate for a first charge cycle sequence after a polarity change between applying one of positive charge pulses and negative charge pulses to provide a zero output from the means for generating a difference voltage for one half-cycle charge cycle sequence.
18. The instrument of claim 15, wherein the first means for sampling a first voltage and the second means for sampling a second voltage are disabled for a first charge cycle sequence after a polarity change between applying one of positive charge pulses and negative charge pulses.
19. The instrument of claim 15, wherein the means for applying charge pulses of a selected polarity to the first electrode plate and the second electrode plate applies a plurality of charge pulses alternately to the first electrode plate and the second electrode plate.
20. A method for mitigating error in a force balanced instrument that employs charge pulses to null an inertial proof mass disposed between a first electrode plate and a second electrode plate, the method comprising:
applying a charge pulse of a first polarity alternately to the first electrode plate and the second electrode plate for a first charge cycle time period;
determining a first difference voltage between voltages induced by the charge pulses of the first polarity on the first electrode plate and the second electrode plate for each charge cycle sequence of the first charge cycle time period;
aggregating the first difference voltage over time to set a duty cycle associated with the charge cycle sequence of the first charge cycle time period;
switching the first polarity of the charge pulse to charge pulses of a second polarity after completion of the first charge cycle time period;
applying a charge pulse of the second polarity alternately to the first electrode plate and the second electrode plate for a second charge cycle time period;
determining a second difference voltage between voltages induced by the charge pulses of the second polarity on the first electrode plate and the second electrode plate for each charge cycle sequence of the second charge cycle time period; and
aggregating the second difference voltage over time to set a duty cycle associated with the charge cycle sequence of the second charge cycle time period.
21. The method of claim 20, wherein the first charge cycle time period is one charge cycle sequence and the second charge cycle time period is one charge cycle sequence.
22. The method of claim 20, wherein the first charge cycle time period is a plurality of charge cycle sequences and the second charge cycle time period is a plurality of charge cycle sequences.
23. The method of claim 20, wherein the charge pulses of the first polarity are positive charge pulses and the charge pulses of the second polarity are negative charge pulses.
24. The method of claim 20, further comprising determining a measure of force for nulling the proof mass between the first electrode plate and the second electrode plate based on at least one of the set duty cycle associated with the first charge cycle time period and the second charge cycle time period.
25. The method of claim 20, further comprising delaying at least one half charge cycle sequence after switching the polarity of the charge pulses to the second polarity.
26. The method of claim 20, wherein the determining a difference voltage between voltage induced by the charge pulses of the first polarity comprises:
sampling a first voltage induced on the first electrode plate;
sampling a second voltage induced on the second electrode plate; and
subtracting the second voltage from the first voltage.
27. The method of claim 26, wherein the determining a difference voltage between voltage induced by the charge pulses of the second polarity comprises:
sampling a first voltage induced on the first electrode plate;
sampling a second voltage induced on the second electrode plate; and subtracting the first voltage from the second voltage.
28. The system of claim 1, wherein the control logic device sequentially alternates between the first charge cycle time period and the second charge cycle time period.
29. The instrument of claim 13, wherein the charge cycle time period for applying positive pulses is a first charge cycle time period and the charge cycle time period for applying negative pulses is a second charge cycle time period, and wherein the means for controlling comprises means for sequentially alternating between the first charge cycle time period and the second charge cycle time period.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for producing at least one hybrid between a first parent plant of a wild perennial Glycine species, which carries a desirable agronomic trait, and a second parent plant that is a domestic annual Glycine cultivar, wherein said hybrid carries said desirable agronomic trait and is capable of being backcrossed with a domestic annual Glycine cultivar to produce at least one plant of a first backcross (BC1) generation that retains said desirable trait wherein a desired backcrossed plant carrying said desirable agronomic trait is produced within a time period of about three to four years, said method comprising:
(a) providing a plurality of first and second parent plants;
(b) allowing the parent plants to flower;
(c) emasculating flowers of one of said first or second parent plants and fertilizing said emasculated flowers with pollen from the other of said first or second parent plants;
(d) obtaining at least one immature seed from a pod resulting from said fertilized flowers;
(e) culturing said seed on a seed maturation medium comprising sufficient growth hormones to produce morphogenic callus wherein said medium prevents seed germination;
(f) culturing embryos produced by said callus on a multiple shoot-regeneration medium to produce shoots;
(g) rooting said shoots to form plantlets, and hardening said plantlets to form hybrid plants; and
(h) treating hybrid plants of step (g) with colchicine to double their chromosome number, thereby making at least amphidiploid plant that is capable of being backcrossed with a domestic annual Glycine cultivar to produce at least one plant of a BC1 generation carrying said desirable agronomic trait.
2. The method of claim 1 wherein said wild perennial Glycine species is selected from the group consisting of G. canescens, G. argyrea, G. clandestina, G. latrobeana, G. albicans, G. aphyonota, G. arenaria, G. curvata, G. cyrtoloba, G. dolichocarpa, G. falcata, G. gracei, G. hirticaulis, G. lactovirens, G. latifolia, G. microphylla, G. montis-douglas, G. peratosa, G. pescadrensis, G. pindanica, G. pullenii, G. rubiginosa, G. stenophita, G. syndetika G. tabacina and G. tomentella.
3. The method of claim 1 wherein said wild perennial Glycine species has a genome selected from the group consisting of A, D and E genomes, and combinations thereof.
4. The method of claim 1 also comprising:
(i) backcrossing at least one amphidiploid plants of step (h) with a domestic annual Glycine cultivar, thereby producing plants of a BC1 generation; and
(j) identifying at least one plant of said BC-1 generation, or progeny thereof, that retains said desirable agronomic trait.
5. The method of claim 1 wherein said desirable agronomic trait is selected from the group consisting of soybean nematode resistance, soybean rust resistance, bean pod mottle virus resistance and aphid resistance.
6. The method of claim 1 wherein said wild perennial Glycine species is G. tomentella.
7. The method of claim 1 wherein said seed maturation medium comprises a growth hormone selected from the group consisting of indole acetic acid (IAA), 1-naphthalene acetic acid (NAA), benzylaminopurine (BAP), kinetin and combinations of any of the foregoing.
8. The method of claim 7 wherein said seed maturation medium also comprises more than 30 gL sugar.
9. The method of claim 8 wherein said sugar comprises 18 gL D-mannitol.
10. The method of claim 1 wherein said multiple shoot regeneration medium contains BAP as the only growth hormone.
11. The method of claim 1 wherein the wild perennial parents are the female parents.
12. The method of claim 1 wherein the wild perennial parents are the male parents.
13. The method of claim 1 wherein step (h) is performed by:
(i) providing multiple hybrid plants of step (g);
(ii) selecting from said hybrid plants ones that contain half the number of chromosomes present in the first parent plant and half the number of chromosomes present in the second parent plant;
(iii) sterilizing said plants to destroy microorganisms present thereon;
(iv) soaking roots and shoots of said plants in sterilized colchicine for four to eight hours in light in an incubator.
(v) transferring said plants to soil;
(vi) examining the number of chromosomes present in said plants; and
(vii) selecting at least one plant that has double the number of chromosomes as were present in the original hybrid plants of step (i).
14. The method of claim 13 wherein said wild perennial Glycine species is selected from the group consisting of G. canescens, G. argyrea, G. clandestina, G. latrobeana, G. albicans, G. aphyonota, G. arenaria, G. curvata, G. cyrtoloba, G. dolichocarpa, G. falcata, G. gracei, G. hirticaulis, G. lactovirens, G. latifolia, G. microphylla, G. montis-douglas, G. peratosa, G. pescadrensis, G. pindanica, G. pullenii, G. rubiginosa, G. stenophita, G. syndetika and G. tabacina. and G. tomentella (2n=38; 40, 78, and 80).
15. The method of claim 13 wherein said wild perennial Glycine species has a genome selected from the group consisting of A, D and E genomes, and combinations thereof.
16. The method of claim 13 wherein said amphidiploid plant has a gene for a desirable agronomic trait inherited from said wild perennial Glycine species.
17. The method of claim 13 wherein said desirable agronomic trait is selected from the group consisting of soybean nematode resistance, soybean rust resistance, bean pod mottle virus resistance and aphid resistance.
18. The method of claim 13 wherein said wild perennial Glycine species is G. tomentella.
19. The method of claim 13 also comprising selfing or vegetatively reproducing said amphidiploid plant.
20. The method of claim 4 wherein step (i) is performed by:
(i) providing a plurality of amphidiploid plants of step (h);
(ii) providing a plurality plants of a domestic soybean variety;
(iii) allowing the amphidiploid plants to produce flowers;
(iv) allowing the domestic soybean plants to produce flowers;
(v) emasculating flowers of the amphidiploid plants;
(vi) fertilizing the flowers of the amphidiploid plants with pollen from the domestic soybean plants;
(vii) obtaining at least one immature seed from a pod resulting from the fertilized flowers;
(viii) culturing the seed on a seed maturation medium to produce shoots;
(ix) rooting the shoots to form plantlets, and hardening the plantlets to form BC1 plants; and
(x) counting the number of chromosomes in the BC1 plants and selecting those that have 40 paired chromosomes and half the number of unpaired chromosomes as were present in the original wild perennial Glycine species;
thereby producing a BC1 plant carrying the desirable agronomic trait inherited from the wild perennial Glycine species.
21. The method of claim 20 wherein said immature seed is cultured on a seed maturation medium comprising growth hormones to mature embryos which produce morphogenenic callus, said morphogenic embryos subsequently producing shoots.
22. The method of claim 21 wherein said desirable agronomic trait is selected from the group consisting of soybean nematode resistance, soybean rust resistance, bean pod mottle virus resistance and aphid resistance.
23. The method of claim 4 also comprising producing at least one backcross BC2 plant which is a cross between a BC1 plant of step (j) and a parent plant of a domestic soybean variety, wherein said BC2 plant carries the desirable agronomic trait inherited from the wild perennial soybean species, said method further comprising:
(k) providing at least one of said BC1 plants and at least one of said parent plants of a domestic soybean variety;
(I) allowing said BC1 plant to produce flowers;
(m) fertilizing flowers of said BC1 parent plants of step (k) with pollen from said domestic parent plants of step (k);
(n) obtaining at least one immature seed from a pod resulting from said fertilized flowers of step (n);
(o) culturing said seed of step (n) on a seed maturation medium to produce shoots;
(p) rooting said shoots of step (o) to form plantlets, and hardening said plantlets to form BC2 plants; and
(q) testing the BC2 plants for the presence of a gene for the desirable agronomic trait inherited from the wild perennial Glycine species and selecting those plants that carry said trait;
thereby producing at least one BC2 plant carrying the desirable agronomic trait inherited from the wild perennial Glycine species.
24. The method of claim 23 wherein in step (o) said immature seed is cultured on a seed maturation medium comprising growth hormones to form callus, wherein said callus is capable of producing embryos from which whole plants can be generated.
25. The method of claim 23 wherein said desirable agronomic trait is selected from the group consisting of soybean nematode resistance, soybean rust resistance, bean pod mottle virus resistance and aphid resistance.
26. The method of claim 23 further comprising providing a plurality of said BC2 plants having said trait, counting the number of chromosomes in said BC2 plants and selecting those that have 40 paired chromosomes and less than half the number of unpaired chromosomes as were present in the original wild perennial Glycine species, and testing the selected BC2 plants for the presence of the desirable agronomic trait inherited from the wild perennial Glycine species to identify at least one BC2 that carries said trait.
27. The method of claim 23 also comprising producing at least one third backcross BC3 plant which is a cross between said BC2 plant and a parent plant of a domestic soybean variety, wherein said BC2 plant carries the desirable agronomic trait inherited from the wild perennial soybean species, said method further comprising:
(r) providing at least one said BC2 parent plant and at least one parent plant of a domestic soybean variety;
(s) allowing said parent plants to produce flowers;
(t) fertilizing flowers of said BC2parent plants with pollen from said domestic parent plants;
(u) obtaining seeds from pods resulting from said fertilized flowers;
(v) growing plants from the seeds of step (u) to produce BC3 plants; and
(w) testing the BC3 plants for the presence of the desirable agronomic trait inherited from the wild perennial Glycine species and selecting those plants that carry said trait;
thereby producing at least one BC3 plant carrying the desirable agronomic trait inherited from the wild perennial Glycine species.
28. The method of claim 27 wherein said seeds of step (u) are cultured on a seed maturation medium comprising growth hormones to form callus, which produce embryos, said embryos subsequently producing shoots, which are rooted to produce plants.
29. The method of claim 27 wherein said desirable agronomic trait is selected from the group consisting of soybean nematode resistance, soybean rust resistance, bean pod mottle virus resistance and aphid resistance.
30. The method 27 of claim further comprising providing a plurality of said BC3 plants carrying said trait, counting the number of chromosomes in said BC3 plants and selecting those that have 40 paired domestic soybean chromosomes and less than the number of unpaired chromosomes as were present in said BC2 parent plant, and testing the selected BC3 plants for the presence of said desirable agronomic trait inherited from the wild perennial Glycine species to identify BC3 plants that carry said trait.
31. The method of claim 1 further comprising selecting a desired backcrossed plant that is descended from a hybrid between a wild perennial Glycine ancestor and a domestic soybean variety ancestor wherein said plant has only one chromosome inherited from said wild perennial Glycine ancestor, said method comprising:
(i) producing a backcrossed plant that is descended from a hybrid between a wild perennial Glycine ancestor and a domestic soybean variety ancestor that has been successively backcrossed with at least three domestic soybean variety ancestors;
(j) counting the chromosomes of the backcrossed plant, and if it has 40 paired chromosomes inherited from domestic soybean and only one chromosome inherited from said wild perennial Glycine ancestor, selecting it as the desired plant; or (k) if the backcrossed plant has two or three chromosomes inherited from the wild perennial Glycine ancestor, selfing it and selecting progeny plants having 40 paired chromosomes inherited from domestic soybean and only one chromosome inherited from the wild perennial Glycine ancestor; or
(l) if the plant has more than three chromosomes inherited from the wild perennial Glycine ancestor, again backcrossing it with a plant of a domestic soybean variety and counting the chromosomes of the resulting further backcrossed plant; and
(m) continuing backcrossing the resulting plant from each backcross with a plant of a domestic soybean variety and counting the chromosomes of each resulting plant until a resulting plant is identified that has only one chromosome inherited from the wild perennial Glycine ancestor.
32. The method of claim 31 for producing a plurality of plants, each having a different single chromosome inherited from said wild perennial Glycine ancestor comprising identifying the single chromosome inherited from said wild perennial Glycine ancestor present in each plant and repeating the method of claim 30 until a plurality of plants with different single chromosomes inherited from said wild perennial Glycine ancestor has been produced.
33. The method of claim 32 wherein said plurality of plants collectively contain all the chromosomes present in said hybrid that were derived from said wild perennial Glycine ancestor.
34. The method of claim 31 also comprising testing each backcrossed plant for the presence of the agronomically desirable trait, and selecting only those plants carrying said trait for further backcrossing, thereby producing a desired plant having only one chromosome inherited from said wild perennial Glycine ancestor, wherein said trait is encoded on said one chromosome inherited from said wild perennial Glycine ancestor.
35. The method of claim 34 also comprising:
(n) treating the plant of step (m) or seeds of said plant to cause recombination of said one chromosome inherited from said wild perennial Glycine ancestor with a chromosome inherited from said domestic soybean variety ancestor;
(o) backcrossing the plant of step (n) with a plant of a domestic soybean variety;
(p) testing the plant resulting from step (o) to identify the presence of the desired agronomic trait; and
(q) counting the chromosomes of the plant of step (p), and if it has no unpaired chromosomes, selecting it for further breeding.
36. The method of claim 35 wherein said plant selected for further breeding is crossed with a plant of a domestic soybean variety that carries a further desirable agronomic trait, and said method includes selecting plants resulting from said cross that have inherited both said desirable agronomic trait of the wild ancestor and said further desirable agronomic trait.
37. The method of claim 36 wherein said further desirable agronomic trait is selected from the group consisting of desirable yield, lodging, plant height, field emergence, resistance or tolerance to herbicides, bacteria, fungi, viruses and nematodes; tolerance to drought, heat, chilling, freezing, excessive moisture, salt stress, oxidative stress; increased yields; food content and makeup; physical appearance; male sterility; drydown; standability; prolificacy; sugar properties; oil quantity and quality, and protein quantity and quality.
38. The method of claim 1 wherein said seed maturation medium of step (e) comprises:
(a) major salts;
(b) minor salts;
(c) iron;
(d) vitamins including L-glutamine;
(e) growth hormones; and
(f) sugar.
39. The method of claim 1 wherein said shoot regeneration medium of step (f) comprises:
(a) major and minor salts, including less than about 2 gL NH4+;
(b) iron;
(c) vitamins;
(d) BAP; and
(e) sugar.