The combined analysis of variance across WW and DS environments showed highly significant differences among genotypes for grain yield, plant height and anthesis date. The interactions between genotypes and environments (GE) were also significant (data not shown). For most populations, the proportion of genotype to GE variance was higher for WW than DS, indicating that GE interaction was severe under drought stress than optimum-moisture conditions (Supplementary material S1). Genotypic variance for grain yield was 23–100 % larger under WW than under DS conditions. For anthesis date, variance of genotypes was 3–74 % larger under WW than under DS conditions for eight populations, but it was 39–82 % larger under DS than under WW conditions for two other populations (Supplementary material S1). Heritability estimates for grain yield were slightly higher under WW (0.3–0.8) than under DS (0–0.5) conditions. Heritability estimates for anthesis date and plant height were considerably higher under WW than under DS conditions (Table 1).
Table 1 Summary of 10 biparental C1S2 populations evaluated in drought-stress (DS) and well-watered (WW) environments in Kenya
Grain yield under drought stress conditions
Mean grain yields of all C1S2-derived hybrids across DS environments ranged from 2.14 to 3.01 t ha−1 (Table 1; Fig. 1), and the overall average was 2.61 t ha−1. Mean grain yield of hybrids developed from all C1S2 lines within each population was 1.7–10.8 % higher than that of hybrids derived from pedigree methods in five populations (1008, 1017, 1019, 1023 and 1028), and 3.4–12.4 % lower in the remaining five populations, but nearly all pairwise comparisons were not statistically significant (Supplementary material S2). However, each population was represented by 47–74 C1S2-derived hybrids, which is considerably higher than hybrids derived from five S5 lines using the pedigree method, five commercial checks and the founder parents. To make a reasonable comparison of the gains made through MARS, the best 10 C1S2 derived hybrids were compared with hybrids derived using the pedigree scheme, commercial checks and founder parents. Across DS experiments, mean grain yields of the best 10 C1S2-derived hybrids in all populations except population 1016 were significantly (P ≤ 0.01) higher than mean grain yields of hybrids formed from pedigree-derived lines, commercial checks, and the founder parents (Fig. 1, Supplementary material S2). Excluding population 1016, the mean grain yield of the best 10 C1S2-derived hybrids were 14.2–46.3 % (0.359–0.888 t ha−1), 10.3–55.1 % (0.310–1.247 t ha−1), and 4.0–53.0 % (0.098–1.152 t ha−1) higher than those of pedigree-derived hybrids, the commercial checks and the founder parents, respectively (Fig. 1, Supplementary material S2). In population 1016, the mean of the best 10 C1S2-derived hybrids produced significantly (P ≤ 0.05) higher grain yield (10.3 %) than the mean of the commercial checks. Combined across DS environments and all populations, the best 10 hybrids involving C1S2-derived lines produced 22.6 % (562 kg ha−1), 33.8 % (750 kg ha−1) and 27.8 % (916 kg ha−1) higher grain yield than hybrids formed from pedigree-derived lines, commercial checks and founder parents, respectively (Supplementary material S2).
Although grain yield was the primary target trait, anthesis date and plant height were also analyzed to determine if grain yield gain was related to a significant change in either trait. The best 10 hybrids involving C1S2-derived lines showed a difference of 0–1.5 days to flowering with those hybrids formed from pedigree-derived lines and up to 3.5 days difference compared with both the commercial checks and the founder parents (Fig. 2, Supplementary material S2). For PH, the mean of the best 10 C1S2-derived hybrids from three populations (populations 1017, 1019, and 1023) was significantly taller than the mean of the five hybrids formed from lines derived using the pedigree method (Fig. 3, Supplementary material S2). Additionally, the mean plant heights of the best 10 hybrids involving C1S2-derived lines in nine of the ten populations were significantly higher than that of the commercial checks (Fig. 3).
Grain yield under well-watered conditions
As shown in Table 1 and Fig. 1, mean grain yield of testcrosses evaluated in WW environments varied from 5.77 t ha−1 (population 1020) to 7.91 t ha−1 (population 1017), with an overall average of 6.60 t ha−1. Mean grain yields of hybrids developed from all C1S2 lines within each population showed a 0.4–2.8 % advantage over those hybrids involving pedigree-derived lines in six populations (1008, 1017, 1018, 1021, 1023 and 1028), but showed a 1.3–6.6 % reduction compared to those of the other four populations (Fig. 1, Supplementary material S2). All contrasts between the mean grain yield of the best 10 hybrids formed from C1S2-derived lines versus the mean grain yield of the five hybrids involving pedigree derived lines, the commercial checks and the founder parents were significant (P ≤ 0.01) (Supplementary material S2). The best 10 hybrids of C1S2-derived lines per population produced (a) 3.4–13.3 % higher grain yield than those developed using lines through the pedigree method, (b) 9.9–36.5 % higher grain yield than the commercial checks (except population 1019, which showed a 1.1 % reduction), and (c) 8.1–27.0 % higher grain yield than the founder parents. Taking into account the time invested in developing the lines and using the grain yield of the founder parents as a baseline, the top 10 C1S2-derived hybrids on average produced 214.8 kg ha−1 year−1 under WW conditions, which is approximately double the 103.9 kg ha−1 year−1 grain yield observed for hybrids developed using the pedigree method.
Mean flowering date of the best 10 hybrids of C1S2-derived lines was generally similar to those hybrids formed from pedigree-derived lines, the founder parents and the commercial checks, with a maximum difference of 1–3 days (Fig. 2, Supplementary material S2). Pairwise comparisons of mean plant height of the different groups were significant for most populations (Supplementary material S2). The best 10 hybrids of C1S2-derived lines were 6–14.5 and 11–25.3 cm taller than the hybrids formed from pedigree derived lines and the commercial checks, respectively, in six populations (Fig. 3, Supplementary material S2). Compared with the commercial checks, the best 10 hybrids involving C1S2 derived lines were 11.0–19.2 cm shorter in three populations (1019, 1020, and 1021).
Grain yield stability
To compare grain yield stability of the best 10 hybrids of C1S2-derived lines with that of hybrids formed from pedigree derived lines, commercial checks and founders, we selected two populations (1016 and 1017) that were evaluated in three DS locations, and four populations (1015, 1021, 1023 and 1028) that were evaluated in five WW locations. Figure 4 summarizes biplots of the grain yield of the two populations evaluated under DS conditions. The first two axes from the GGE biplot for populations 1016 and 107 explained 87.6 and 80.1 %, respectively, of the genotypic main effect. The two-dimensional biplot showed that almost all of the best 10 hybrids of C1S2-derived lines had positive PC1 scores, suggesting they had above average performance. In population 1016, four hybrids derived from C1S2 (entries 10, 34, 25,31 and 47) were high yielding and stable, with high PC1 scores and near-zero PC2 scores.
The superior grain yield of most of the best 10 hybrids of C1S2-derived lines over the five hybrids involving pedigree-derived lines is depicted in Figs. 4 and 5. The majority of the top hybrids derived from C1S2 were consistently located towards the upper right quadrant of the biplots, indicating that those entries had both a positive interaction with those environments and higher mean grain yield than entries located on the left-hand side of the biplots (opposite to the direction of the sites). The GGE biplot for populations 1015, 1021, 1023 and 1028 evaluated in five WW environments explained 53.5–73.8 % of the genotypic main effect (Fig. 5). The two-dimensional biplot showed that almost all of the best 10 hybrids of C1S2-derived lines had positive PC1 scores, suggesting above average performance, while most pedigree derived hybrids and the commercial checks had negative PC1 scores, indicating below average performance. Embu, Kakamega and Kaguru had longer vectors than the other locations, suggesting that they were the best locations for discriminating hybrids. In population 1023, most hybrids (entries 11, 42, 23, 6 and 57) had high and stable yields, as they have high positive PC1 scores and near zero PC2 scores. In some populations, the best 10 hybrids of C1S2-derived lines that had high grain yield under DS were also found to be among the best 10 under WW conditions (Table 2). For example, entries 27, 36 and 37 from population 1016 were among the best 10 hybrids of C1S2-derived lines in both DS and WW locations (Fig. 5; Table 2).
Table 2 Entry code of the best 10 C1S2 derived hybrids and their grain yield (GY) (t ha−1) in water-stress and well-watered locations for each of the ten biparental populations