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Due to the Jacobian matrix rank reduction near singularities, applying numerical methods to study PMs' motion stability at singularities is quite difficult. As a result, there is a scarcity of literature on the investigation of PMs' dynamic behaviors near singularities and the influence of kinematic parameters on the motion stability of PMs. To address the research gap related to the above issues, based on the Gerschgorin perturbation method, Hurwitz exact approach, and the Lyapunov dynamic stability theory, the influence of kinematic parameters and external loads on a PM's motion stability at singularities is studied for the first time. The theoretical analysis results reported in this paper reveal many previously undiscovered features beyond those derived from previous numerical methods, and indicate the limitations of some widely accepted statements. For example, increasing the angular speed of the movable platform can expand the range of the external loads that meet the motion stability at singular configurations. The prevailing notion in prior research that PMs are unable to support external loads in the direction of the gained DoF at singular configurations is only partially accurate. This pioneering research establishes a theoretical foundation for exploring a new real-time approach to avoid dynamic singularities by fully exploiting the influence mechanisms of kinematic parameters on PMs' dynamic stability at singularities. [ABSTRACT FROM AUTHOR]

Immune response in plants is tightly regulated by the coordination of the cell surface and intracellular receptors. In animals, the membrane attack complex/perforin-like (MACPF) protein superfamily creates oligomeric pore structures on the cell surface during pathogen infection. However, the function and molecular mechanism of MACPF proteins in plant pathogen responses remain largely unclear. In this study, we identified an Arabidopsis MACP2 and investigated the responsiveness of this protein during both bacterial and fungal pathogens. We suggest that MACP2 induces programmed cell death, bacterial pathogen resistance, and necrotrophic fungal pathogen sensitivity by activating the biosynthesis of tryptophan-derived indole glucosinolates and the salicylic acid signaling pathway dependent on the activity of enhanced disease susceptibility 1 (EDS1). Moreover, the response of MACP2 mRNA isoforms upon pathogen attack is differentially regulated by a posttranscriptional mechanism: alternative splicing. In comparison to previously reported MACPFs in Arabidopsis, MACP2 shares a redundant but nonoverlapping role in plant immunity. Thus, our findings provide novel insights and genetic tools for the MACPF family in maintaining SA accumulation in response to pathogens in Arabidopsis. [ABSTRACT FROM AUTHOR]