12,962 research outputs found
Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control
This paper provides an overview of the current state-of-the-art in selective
harvesting robots (SHRs) and their potential for addressing the challenges of
global food production. SHRs have the potential to increase productivity,
reduce labour costs, and minimise food waste by selectively harvesting only
ripe fruits and vegetables. The paper discusses the main components of SHRs,
including perception, grasping, cutting, motion planning, and control. It also
highlights the challenges in developing SHR technologies, particularly in the
areas of robot design, motion planning and control. The paper also discusses
the potential benefits of integrating AI and soft robots and data-driven
methods to enhance the performance and robustness of SHR systems. Finally, the
paper identifies several open research questions in the field and highlights
the need for further research and development efforts to advance SHR
technologies to meet the challenges of global food production. Overall, this
paper provides a starting point for researchers and practitioners interested in
developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic
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Ensuring Access to Safe and Nutritious Food for All Through the Transformation of Food Systems
Sensitivity analysis for ReaxFF reparameterization using the Hilbert-Schmidt independence criterion
We apply a global sensitivity method, the Hilbert-Schmidt independence
criterion (HSIC), to the reparameterization of a Zn/S/H ReaxFF force field to
identify the most appropriate parameters for reparameterization. Parameter
selection remains a challenge in this context as high dimensional optimizations
are prone to overfitting and take a long time, but selecting too few parameters
leads to poor quality force fields. We show that the HSIC correctly and quickly
identifies the most sensitive parameters, and that optimizations done using a
small number of sensitive parameters outperform those done using a higher
dimensional reasonable-user parameter selection. Optimizations using only
sensitive parameters: 1) converge faster, 2) have loss values comparable to
those found with the naive selection, 3) have similar accuracy in validation
tests, and 4) do not suffer from problems of overfitting. We demonstrate that
an HSIC global sensitivity is a cheap optimization pre-processing step that has
both qualitative and quantitative benefits which can substantially simplify and
speedup ReaxFF reparameterizations.Comment: author accepted manuscrip
Time-varying STARMA models by wavelets
The spatio-temporal autoregressive moving average (STARMA) model is
frequently used in several studies of multivariate time series data, where the
assumption of stationarity is important, but it is not always guaranteed in
practice. One way to proceed is to consider locally stationary processes. In
this paper we propose a time-varying spatio-temporal autoregressive and moving
average (tvSTARMA) modelling based on the locally stationarity assumption. The
time-varying parameters are expanded as linear combinations of wavelet bases
and procedures are proposed to estimate the coefficients. Some simulations and
an application to historical daily precipitation records of Midwestern states
of the USA are illustrated
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EEG microstates: Functional significance and short-term test-retest reliability
Appendix A: Supplementary data to this article can be found online at https://doi. org/10.1016/j.ynirp.2022.100089.Copyright /© 2022 The Authors. EEG signal power, may have clinical relevance; however, their functional significance and test-retest reliability remain unclear. To investigate the functional significance of the canonical EEG microstate classes and their pairwise transitions, and to establish their within-session test-retest reliability, we recorded 36-channel EEGs in 20 healthy volunteers during three eyes-closed conditions: mind-wandering, verbalization (silently repeating the word ‘square’ every 2 s), and visualization (visualizing a square every 2 s). Each condition lasted 3 min and the sequence of three conditions was repeated four times (two runs of two sequence repetitions). The participants' alertness and their sense of effort during the experiment were rated using visual-analogue scales. The EEG data were 2–20 Hz bandpass-filtered and analysed into the four canonical microstate classes: A, B, C, and D. EEG microstate classes C and D were persistently more dominant than classes A and B in all conditions. Of the first-order microstate parameters, average microstate duration was most reliable. The duration of class D microstate was longer during mind-wandering (106.8 ms) than verbalization (102.2 ms) or visualization (99.8 ms), with a concomitantly higher coverage (36.4% vs. 34.7% and 35.2%), but otherwise there was no clear association of the four microstate classes to particular mental states. The test-retest reliability was higher at the beginning of each run, together with higher average alpha power and subjective ratings of alertness. Only the transitions between classes C and D (from C to D in particular) were significantly higher than what would be expected from the respective microstates' occurrences. The transition probabilities, however, did not distinguish between conditions, and their test-retest reliability was overall lower than that of the first-order parameters such as duration and coverage. Further studies are needed to establish the functional significance of the canonical EEG microstate classes. This might be more fruitfully achieved by looking at their complex syntax beyond pairwise transitions. To ensure greater test-retest reliability of microstate parameters, study designs should allow for shorter experimental runs with regular breaks, particularly when using EEG microstates as clinical biomarkers.BIAL Foundation (grant number: 183/16)
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The Epidemiology and Genetic Architecture of Vitamin D Deficiency in African Children
Vitamin D deficiency is a common public health problem worldwide. However, little is known about the epidemiology of vitamin D deficiency in Africa. In this thesis, I aimed to determine: 1) the prevalence of and risk factors associated with vitamin D deficiency in studies conducted in Africa; 2) the prevalence and predictors of vitamin D deficiency in African children; 3) the association between vitamin D and iron deficiency in African children; and 4) genetic variants that influence vitamin D status in Africans.
In a systematic review and meta-analyses of previous vitamin D studies in Africa, the average prevalence of low vitamin D status was 18.5%, 34.2% and 59.5% using cut-offs of 25-hydroxyvitamin D (25(OH)D) levels of <30 nmol/L, <50 nmol/L and <75 nmol/L, respectively. Populations at risk of vitamin D deficiency included newborns, women, and people living in high latitudes or urban areas.
In an epidemiological study of young children living in Africa, the prevalence of low vitamin D status was 0.6%, 7.8% and 44.5% using cut-offs of 25(OH)D levels of GC2 variant of the group-specific component (GC) gene, which encodes vitamin D binding protein.
Vitamin D deficiency was also associated with 80% higher odds of iron deficiency in these children. Adjusted regression models revealed that vitamin D deficiency was associated with higher ferritin and hepcidin levels suggesting lower iron status, and reduced sTfR and transferrin levels and increased TSAT and serum iron levels suggesting improved iron status.
Genome-wide association study (GWAS) in Africans revealed genetic variants that influence vitamin D status in vitamin D metabolism genes: DHCR7/NADSYN1, CYP2R1 and GC. However, the majority of SNPs from previous European GWASs did not replicate in the current GWAS.
Findings from this thesis indicate that vitamin D deficiency is prevalent in many African populations and should be considered in public health strategies in Africa
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European Heart Rhythm Association (EHRA)/Heart Rhythm Society (HRS)/Asia Pacific Heart Rhythm Society (APHRS)/Latin American Heart Rhythm Society (LAHRS) Expert Consensus Statement on the state of genetic testing for cardiac diseases.
Network Slicing for Industrial IoT and Industrial Wireless Sensor Network: Deep Federated Learning Approach and Its Implementation Challenges
5G networks are envisioned to support heterogeneous Industrial IoT (IIoT) and Industrial Wireless Sensor Network (IWSN) applications with a multitude Quality of Service (QoS) requirements. Network slicing is being recognized as a beacon technology that enables multi-service IIoT networks. Motivated by the growing computational capacity of the IIoT and the challenges of meeting QoS, federated reinforcement learning (RL) has become a propitious technique that gives out data collection and computation tasks to distributed network agents. This chapter discuss the new federated learning paradigm and then proposes a Deep Federated RL (DFRL) scheme to provide a federated network resource management for future IIoT networks. Toward this goal, the DFRL learns from Multi-Agent local models and provides them the ability to find optimal action decisions on LoRa parameters that satisfy QoS to IIoT virtual slice. Simulation results prove the effectiveness of the proposed framework compared to the early tools
Structure and adsorption properties of gas-ionic liquid interfaces
Supported ionic liquids are a diverse class of materials that have been considered
as a promising approach to design new surface properties within solids for gas
adsorption and separation applications. In these materials, the surface morphology and
composition of a porous solid are modified by depositing ionic liquid. The resulting
materials exhibit a unique combination of structural and gas adsorption properties
arising from both components, the support, and the liquid. Naturally, theoretical and
experimental studies devoted to understanding the underlying principles of exhibited
interfacial properties have been an intense area of research. However, a complete
understanding of the interplay between interfacial gas-liquid and liquid-solid
interactions as well as molecular details of these processes remains elusive.
The proposed problem is challenging and in this thesis, it is approached from
two different perspectives applying computational and experimental techniques. In
particular, molecular dynamics simulations are used to model gas adsorption in films
of ionic liquids on a molecular level. A detailed description of the modeled systems is
possible if the interfacial and bulk properties of ionic liquid films are separated. In this
study, we use a unique method that recognizes the interfacial and bulk structures of
ionic liquids and distinguishes gas adsorption from gas solubility. By combining
classical nitrogen sorption experiments with a mean-field theory, we study how liquid-solid interactions influence the adsorption of ionic liquids on the surface of the porous
support.
The developed approach was applied to a range of ionic liquids that feature
different interaction behavior with gas and porous support. Using molecular
simulations with interfacial analysis, it was discovered that gas adsorption capacity
can be directly related to gas solubility data, allowing the development of a predictive
model for the gas adsorption performance of ionic liquid films. Furthermore, it was
found that this CO2 adsorption on the surface of ionic liquid films is determined by the
specific arrangement of cations and anions on the surface. A particularly important
result is that, for the first time, a quantitative relation between these structural and
adsorption properties of different ionic liquid films has been established. This link
between two types of properties determines design principles for supported ionic
liquids.
However, the proposed predictive model and design principles rely on the
assumption that the ionic liquid is uniformly distributed on the surface of the porous
support. To test how ionic liquids behave under confinement, nitrogen physisorption
experiments were conducted for micro‐ and mesopore analysis of supported ionic
liquid materials. In conjunction with mean-field density functional theory applied to
the lattice gas and pore models, we revealed different scenarios for the pore-filling
mechanism depending on the strength of the liquid-solid interactions.
In this thesis, a combination of computational and experimental studies provides
a framework for the characterization of complex interfacial gas-liquid and liquid-solid
processes. It is shown that interfacial analysis is a powerful tool for studying
molecular-level interactions between different phases. Finally, nitrogen sorption
experiments were effectively used to obtain information on the structure of supported
ionic liquids
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