18,678 research outputs found

    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

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    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

    Rank-based linkage I: triplet comparisons and oriented simplicial complexes

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    Rank-based linkage is a new tool for summarizing a collection SS of objects according to their relationships. These objects are not mapped to vectors, and ``similarity'' between objects need be neither numerical nor symmetrical. All an object needs to do is rank nearby objects by similarity to itself, using a Comparator which is transitive, but need not be consistent with any metric on the whole set. Call this a ranking system on SS. Rank-based linkage is applied to the KK-nearest neighbor digraph derived from a ranking system. Computations occur on a 2-dimensional abstract oriented simplicial complex whose faces are among the points, edges, and triangles of the line graph of the undirected KK-nearest neighbor graph on SS. In ∣S∣K2|S| K^2 steps it builds an edge-weighted linkage graph (S,L,σ)(S, \mathcal{L}, \sigma) where σ({x,y})\sigma(\{x, y\}) is called the in-sway between objects xx and yy. Take Lt\mathcal{L}_t to be the links whose in-sway is at least tt, and partition SS into components of the graph (S,Lt)(S, \mathcal{L}_t), for varying tt. Rank-based linkage is a functor from a category of out-ordered digraphs to a category of partitioned sets, with the practical consequence that augmenting the set of objects in a rank-respectful way gives a fresh clustering which does not ``rip apart`` the previous one. The same holds for single linkage clustering in the metric space context, but not for typical optimization-based methods. Open combinatorial problems are presented in the last section.Comment: 37 pages, 12 figure

    Testing the nomological network for the Personal Engagement Model

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    The study of employee engagement has been a key focus of management for over three decades. The academic literature on engagement has generated multiple definitions but there are two primary models of engagement: the Personal Engagement Model of Kahn (1990), and the Work Engagement Model (WEM) of Schaufeli et al., (2002). While the former is cited by most authors as the seminal work on engagement, research has tended to focus on elements of the model and most theoretical work on engagement has predominantly used the WEM to consider the topic. The purpose of this study was to test all the elements of the nomological network of the PEM to determine whether the complete model of personal engagement is viable. This was done using data from a large, complex public sector workforce. Survey questions were designed to test each element of the PEM and administered to a sample of the workforce (n = 3,103). The scales were tested and refined using confirmatory factor analysis and then the model was tested determine the structure of the nomological network. This was validated and the generalisability of the final model was tested across different work and organisational types. The results showed that the PEM is viable but there were differences from what was originally proposed by Kahn (1990). Specifically, of the three psychological conditions deemed necessary for engagement to occur, meaningfulness, safety, and availability, only meaningfulness was found to contribute to employee engagement. The model demonstrated that employees experience meaningfulness through both the nature of the work that they do and the organisation within which they do their work. Finally, the findings were replicated across employees in different work types and different organisational types. This thesis makes five contributions to the engagement paradigm. It advances engagement theory by testing the PEM and showing that it is an adequate representation of engagement. A model for testing the causal mechanism for engagement has been articulated, demonstrating that meaningfulness in work is a primary mechanism for engagement. The research has shown the key aspects of the workplace in which employees experience meaningfulness, the nature of the work that they do and the organisation within which they do it. It has demonstrated that this is consistent across organisations and the type of work. Finally, it has developed a reliable measure of the different elements of the PEM which will support future research in this area

    Environmental surveillance for Salmonella Typhi as a tool to estimate the incidence of typhoid fever in low-income populations.

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    Background: The World Health Organisation recommends prioritised use of recently prequalified typhoid conjugate vaccines in countries with the highest incidence of typhoid fever. However, representative typhoid surveillance data are lacking in many low-income countries because of the costs and challenges of diagnostic clinical microbiology. Environmental surveillance (ES) of Salmonella Typhi in sewage and wastewater using molecular methods may offer a low-cost alternative, but its performance in comparison with clinical surveillance has not been assessed. Methods: We developed a harmonised protocol for typhoid ES and its implementation in communities in India and Malawi where it will be compared with findings from hospital-based surveillance for typhoid fever. The protocol includes methods for ES site selection based on geospatial analysis, grab and trap sample collection at sewage and wastewater sites, and laboratory methods for sample processing, concentration and quantitative polymerase chain reaction (PCR) to detect Salmonella Typhi. The optimal locations for ES sites based on digital elevation models and mapping of sewage and river networks are described for each community and their suitability confirmed through field investigation. We will compare the prevalence and abundance of Salmonella Typhi in ES samples collected each month over a 12-month period to the incidence of blood culture confirmed typhoid cases recorded at referral hospitals serving the study areas. Conclusions: If environmental detection of Salmonella Typhi correlates with the incidence of typhoid fever estimated through clinical surveillance, typhoid ES may be a powerful and low-cost tool to estimate the local burden of typhoid fever and support the introduction of typhoid conjugate vaccines. Typhoid ES could also allow the impact of vaccination to be assessed and rapidly identify circulation of drug resistant strains

    Small newborns in post-conflict Northern Uganda: Burden and interventions for improved outcomes

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    Introduction: A small newborn can be the result of either a low birthweight (LBW), or a preterm birth (PB), or both. LBW can be due to either a preterm appropriate-for gestational-age (preterm-AGA), or a term small-for-gestational age (term-SGA) or intrauterine growth restriction (IUGR). An IUGR is a limited in-utero foetal growth rates or foetal weight < 10th percentile. Small newborns have an increased risk of dying, particularly in low-resource settings. We set out to assess the burden, the modifiable risk factors and health outcomes of small newborns in the post-conflict Northern Ugandan district of Lira. In addition, we studied the use of video-debriefing when training health staff in Helping Babies Breathe. Subjects and methods: In 2018-19, we conducted a community-based cohort study on 1556 mother-infant dyads, nested within a cluster randomized trial. In our cohort study, we estimated the incidence and risk factors for LBW and PB and the association of LBW with severe outcomes. We explored the prevalence of and factors associated with neonatal hypoglycaemia, as well as any association between neonatal death and hypoglycaemia. In addition, we conducted a cluster randomized trial to compare Helping Babies Breathe (HBB) training in combination with video debriefing to the traditional HBB training alone on the attainment and retention of health worker neonatal resuscitation competency. Results: The incidence of LBW and PB in our cohort was lower than the global estimates, 7.3% and 5.0%, respectively. Intermittent preventive treatment for malaria was associated with a reduced risk of LBW. HIV infection was associated with an increased risk of both LBW and PB, while maternal formal education (schooling) of ≄7 years was associated with a reduced risk of LBW and PB. The proportions of neonatal deaths were many-folds higher among LBW infants compared to their non-LBW counterparts. The proportion of neonatal deaths among LBW was 103/1000 live births compared to 5/1000 among the non-LBW. The prevalence of neonatal hypoglycaemia in our cohort was 2.5%. LBW and PB each independently were associated with an increased risk of neonatal hypoglycaemia. Neonatal hypoglycaemia was associated with an increased risk of hospitalisation and severe outcomes. We demonstrated that neonatal resuscitation training with video debriefing, improved competence attainment and retention among health workers, compared to traditional HBB training alone. Conclusion: In northern Uganda, small infants still have a many-fold higher risk of dying compared to normal infants. In addition, small infants are also at more risk of neonatal hypoglycaemia compared to normal infants. Efforts are needed to secure essential newborn care, should we reach the target of Sustainable Development Goal number 3.2 of reducing infant mortality to less than 12/1000 live births by 2030

    A Design Science Research Approach to Smart and Collaborative Urban Supply Networks

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    Urban supply networks are facing increasing demands and challenges and thus constitute a relevant field for research and practical development. Supply chain management holds enormous potential and relevance for society and everyday life as the flow of goods and information are important economic functions. Being a heterogeneous field, the literature base of supply chain management research is difficult to manage and navigate. Disruptive digital technologies and the implementation of cross-network information analysis and sharing drive the need for new organisational and technological approaches. Practical issues are manifold and include mega trends such as digital transformation, urbanisation, and environmental awareness. A promising approach to solving these problems is the realisation of smart and collaborative supply networks. The growth of artificial intelligence applications in recent years has led to a wide range of applications in a variety of domains. However, the potential of artificial intelligence utilisation in supply chain management has not yet been fully exploited. Similarly, value creation increasingly takes place in networked value creation cycles that have become continuously more collaborative, complex, and dynamic as interactions in business processes involving information technologies have become more intense. Following a design science research approach this cumulative thesis comprises the development and discussion of four artefacts for the analysis and advancement of smart and collaborative urban supply networks. This thesis aims to highlight the potential of artificial intelligence-based supply networks, to advance data-driven inter-organisational collaboration, and to improve last mile supply network sustainability. Based on thorough machine learning and systematic literature reviews, reference and system dynamics modelling, simulation, and qualitative empirical research, the artefacts provide a valuable contribution to research and practice

    Spectroscopic Analysis and Dynamics of Dissolved Organic Carbon from an Oil Palm Plantation Peatland

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    Drainage following conversion of peatlands to oil palm plantations is always associated with carbon (C) loss, one of which is dissolved organic carbon (DOC). Analytical procedure commonly used to determine DOC is the high-temperature combustion (HTC) method, which requires an expensive instrument. An alternative low-cost method has been developed. The objectives of this research were to determine and validate the most suitable UV-Vis spectrophotometer’s wavelength for estimating DOC concentration and evaluating its dynamics from an oil-palm plantation Indonesian-peatland. The DOC concentrations were measured on ground water and canal water samples at wavelengths of 254, 270, and 350 nm and the analytical results were then validated against those reference values resulted from the use of HTC method using Total Organic Carbon Analyzer (TOC Analyzer), based on simple regression analysis. The results showed that the most suitable wavelength for estimating DOC concentration using UV-Vis spectrophotometer was 350 nm. The DOC concentration in groundwater (35.67 ± 8.40 mg L-1) were around two times greater than in canal water (16.26 ± 4.15 mg L-1). The DOC flux from the research area were at the range of 0.66 ˗ 1.15 g C m-2 month-1, with an average of 0.85 g C m-2 month-1.Drainase yang diikuti dengan perubahan penggunaan lahan gambut untuk perkebunan kelapa sawit selalu dikaitkan dengan kehilangan karbon (C), salah satunya yaitu bahan organik terlarut (DOC). Proses analisis yang umum digunakan untuk menganalisis DOC yaitu metoda pembakaran pada suhu tinggi (HTC), yang membutuhkan peralatan yang mahal. Metoda alternatif dengan biaya yang rendah telah dikembangkan. Tujuan dari penelitian ini adalah untuk menentukan dan memvalidasi panjang gelombang spektrofotometer UV-Vis yang paling cocok untuk memperkirakan konsentrasi DOC dan mengevaluasi dinamikanya dari perkebunan kelapa sawit di lahan gambut Indonesia. Konsentrasi DOC diukur pada sampel air tanah dan air kanal pada panjang gelombang 254, 270, dan 350 nm dan hasil analisis tersebut kemudian divalidasi terhadap nilai referensi tersebut yang dihasilkan dari penggunaan metode HTC menggunakan Total Organic Carbon Analyzer (TOC Analyzer), berdasarkan analisis regresi sederhana. Hasil penelitian menunjukkan bahwa panjang gelombang yang paling sesuai untuk pendugaan konsentrasi DOC menggunakan spektrofotometer UV-Vis adalah 350 nm. Konsentrasi DOC di air tanah (35.67 ± 8.40 mg L-1) sekitar dua kali lebih besar daripada di air kanal (16.26 ± 4.15 mg L-1). Fluks DOC dari daerah penelitian berada pada kisaran 0.66-1.15 g C m-2 bulan-1, dengan rata-rata 0.85 g C m-2 bulan-1

    Norsk rÄ kumelk, en kilde til zoonotiske patogener?

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    The worldwide emerging trend of eating “natural” foods, that has not been processed, also applies for beverages. According to Norwegian legislation, all milk must be pasteurized before commercial sale but drinking milk that has not been heat-treated, is gaining increasing popularity. Scientist are warning against this trend and highlights the risk of contracting disease from milkborne microorganisms. To examine potential risks associated with drinking unpasteurized milk in Norway, milk- and environmental samples were collected from dairy farms located in south-east of Norway. The samples were analyzed for the presence of specific zoonotic pathogens; Listeria monocytogenes, Campylobacter spp., and Shiga toxin-producing Escherichia coli (STEC). Cattle are known to be healthy carriers of these pathogens, and Campylobacter spp. and STEC have a low infectious dose, meaning that infection can be established by ingesting a low number of bacterial cells. L. monocytogenes causes one of the most severe foodborne zoonotic diseases, listeriosis, that has a high fatality rate. All three pathogens have caused milk borne disease outbreaks all over the world, also in Norway. During this work, we observed that the prevalence of the three examined bacteria were high in the environment at the examined farms. In addition, 7% of the milk filters were contaminated by STEC, 13% by L. monocytogenes and 4% by Campylobacter spp. Four of the STEC isolates detected were eaepositive, which is associated with the capability to cause severe human disease. One of the eae-positive STEC isolates were collected from a milk filter, which strongly indicate that Norwegian raw milk may contain potential pathogenic STEC. To further assess the possibilities of getting ill by STEC after consuming raw milk, we examined the growth of the four eae-positive STEC isolates in raw milk at different temperatures. All four isolates seemed to have ability to multiply in raw milk at 8°C, and one isolate had significant growth after 72 hours. Incubation at 6°C seemed to reduce the number of bacteria during the first 24 hours before cell death stopped. These findings highlight the importance of stable refrigerator temperatures, preferable < 4°C, for storage of raw milk. The L. monocytogenes isolates collected during this study show genetic similarities to isolates collected from urban and rural environmental locations, but different clones were predominant in agricultural environments compared to clinical and food environments. However, the results indicate that the same clone can persist in a farm over time, and that milk can be contaminated by L. monocytogenes clones present in farm environment. Despite testing small volumes (25 mL) of milk, we were able to isolate both STEC and Campylobacter spp. directly from raw milk. A proportion of 3% of the bulk tank milk and teat milk samples were contaminated by Campylobacter spp. and one STEC was isolated from bulk tank milk. L monocytogenes was not detected in bulk tank milk, nor in teat milk samples. The agricultural evolvement during the past decades have led to larger production units and new food safety challenges. Dairy cattle production in Norway is in a current transition from tie-stall housing with conventional pipeline milking systems, to modern loose housing systems with robotic milking. The occurrence of the three pathogens in this project were higher in samples collected from farms with loose housing compared to those with tiestall housing. Pasteurization of cow’s milk is a risk reducing procedure to protect consumers from microbial pathogens and in most EU countries, commercial distribution of unpasteurized milk is legally restricted. Together, the results presented in this thesis show that the animal housing may influence the level of pathogenic bacteria in the raw milk and that ingestion of Norwegian raw cow’s milk may expose consumers to pathogenic bacteria which can cause severe disease, especially in children, elderly and in persons with underlying diseases. The results also highlight the importance of storing raw milk at low temperatures between milking and consumption.Å spise mat som er mindre prosessert og mer «naturlig» er en pĂ„gĂ„ende trend i Norge og i andre deler av verden. Interessen for Ă„ drikke melk som ikke er varmebehandlet, sĂ„kalt rĂ„ melk, er ogsĂ„ Ăžkende. I Norge er det pĂ„budt Ă„ pasteurisere melk fĂžr kommersielt salg for Ă„ beskytte forbrukeren mot sykdomsfremkallende mikroorganismer. Fagfolk advarer mot Ă„ drikke rĂ„ melk, og pĂ„peker risikoen for Ă„ bli syk av patogene bakterier som kan finnes i melken. I denne avhandlingen undersĂžker vi den potensielle risikoen det medfĂžrer Ă„ drikke upasteurisert melk fra Norge. I tillegg til Ă„ samle inn tankmelk- og speneprĂžver fra melkegĂ„rder i sĂžrĂžst Norge, samlet vi ogsĂ„ miljĂžprĂžver fra de samme gĂ„rdene for Ă„ kartlegge forekomst og for Ă„ identifisere potensielle mattrygghetsrisikoer i melkeproduksjonen. Alle prĂžvene ble analysert for de zoonotiske sykdomsfremkallende bakteriene Listeria monocytogenes, Campylobacter spp., og Shiga toksin-produserende Escherichia coli (STEC). Kyr kan vĂŠre friske smittebĂŠrere av disse bakteriene, som dermed kan etablere et reservoar pĂ„ gĂ„rdene. Bakteriene kan overfĂžres fra gĂ„rdsmiljĂžet til melkekjeden og dermed utfordre mattryggheten. Disse bakteriene har forĂ„rsaket melkebĂ„rne sykdomsutbrudd over hele verden, ogsĂ„ i Norge. Campylobacter spp. og STEC har lav infeksiĂžs dose, som vil si at man kan bli syk selv om man bare inntar et lavt antall bakterieceller. L. monocytogenes kan gi sykdommen listeriose, en av de mest alvorlige matbĂ„rne zoonotiske sykdommene vi har i den vestlige verden. Resultater fra denne oppgaven viser en hĂžy forekomst av de tre patogenene i gĂ„rdsmiljĂžet. I tillegg var 7% av melkefiltrene vi testet positive for STEC, 13% positive for L. monocytogenes og 4% positive for Campylobacter spp.. Fire av STEC isolatene bar genet for Intimin, eae, som er ansett som en viktig virulensfaktor som Ăžker sjansen for alvorlig sykdom. Ett av de eae-positive isolatene ble funnet i et melkefilter, noe som indikerer at norsk rĂ„ melk kan inneholde patogene STEC. For Ă„ videre vurdere risikoen for Ă„ bli syk av STEC fra rĂ„ melk undersĂžkte vi hvordan de fire eae-positive isolatene vokste i rĂ„ melk lagret ved forskjellige temperaturer. For alle isolatene Ăžkte antall bakterier etter lagring ved 8°C, og for et isolat var veksten signifikant. Etter lagring ved 6°C ble antallet bakterier redusert de fĂžrste 24 timene, deretter stoppet reduksjonen i antall bakterier. Disse resultatene viser hvor viktig det er Ă„ ha stabil lav lagringstemperatur for rĂ„ melk, helst < 4°C. L. monocytogenes isolatene som ble samlet inn fra melkegĂ„rdene viste genetiske likheter med isolater samlet inn fra urbane og rurale miljĂžer rundt omkring i Norge. Derimot var kloner som dominerte i landbruksmiljĂžet forskjellige fra kliniske isolater og isolater fra matproduksjonslokaler. Videre sĂ„ man at en klone kan persistere pĂ„ en gĂ„rd over tid og at melk kan kontamineres av L. monocytogenes kloner som er til stede i gĂ„rdsmiljĂžet. Til tross for smĂ„ testvolum av tankmelken (25 mL) fant vi bĂ„de STEC og Campylobacter spp. i melkeprĂžvene. 3% av tankmelkprĂžvene og speneprĂžvene var positive for Campylobacter spp. og ett STEC isolat ble funnet i tankmelk. L. monocytogenes ble ikke funnet direkte i melkeprĂžvene. Landbruket i Norge er i stadig utvikling der besetningene blir stĂžrre, men fĂŠrre. Melkebesetningene er midt i en overgang der tradisjonell oppstalling med melking pĂ„ bĂ„s byttes ut med lĂžsdriftssystemer og melkeroboter. Forekomsten av de tre patogenene funnet i denne studien var hĂžyere i besetningene med lĂžsdrift sammenliknet med besetningene som hadde melkekyrne oppstallet pĂ„ bĂ„s. Pasteurisering er et viktig forebyggende tiltak for Ă„ beskytte konsumenter fra mikrobielle patogener, og i de fleste EU-land er kommersielt salg av rĂ„ melk juridisk begrenset. Denne studien viser at oppstallingstype kan pĂ„virke nivĂ„ene av patogene bakterier i gĂ„rdsmiljĂžet og i rĂ„ melk. Inntak av rĂ„ melk kan eksponere forbruker for patogene bakterier som kan gi alvorlig sykdom, spesielt hos barn, eldre og personer med underliggende sykdommer. Resultatene underbygger viktigheten av Ă„ pasteurisere melk for Ă„ sikre mattryggheten, og at det er avgjĂžrende Ă„ lagre rĂ„ melk ved kontinuerlig lave temperaturer for Ă„ forebygge vekst av zoonotiske patogener

    XKD: Cross-modal Knowledge Distillation with Domain Alignment for Video Representation Learning

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    We present XKD, a novel self-supervised framework to learn meaningful representations from unlabelled video clips. XKD is trained with two pseudo tasks. First, masked data reconstruction is performed to learn individual representations from audio and visual streams. Next, self-supervised cross-modal knowledge distillation is performed between the two modalities through teacher-student setups to learn complementary information. To identify the most effective information to transfer and also to tackle the domain gap between audio and visual modalities which could hinder knowledge transfer, we introduce a domain alignment and feature refinement strategy for effective cross-modal knowledge distillation. Lastly, to develop a general-purpose network capable of handling both audio and visual streams, modality-agnostic variants of our proposed framework are introduced, which use the same backbone for both audio and visual modalities. Our proposed cross-modal knowledge distillation improves linear evaluation top-1 accuracy of video action classification by 8.6% on UCF101, 8.2% on HMDB51, 13.9% on Kinetics-Sound, and 15.7% on Kinetics400. Additionally, our modality-agnostic variant shows promising results in developing a general-purpose network capable of learning both data streams for solving different downstream tasks
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