Fault-tolerant formation driving mechanism designed for heterogeneous MAVs-UGVs groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper

Droplet Impact on Suspended Metallic Meshes: Effects of Wettability, Reynolds and Weber Numbers

Liquid penetration analysis in porous media is of great importance in a wide range of applications such as ink jet printing technology, painting and textile design. This article presents an investigation of droplet impingement onto metallic meshes, aiming to provide insights by identifying and quantifying impact characteristics that are difficult to measure experimentally. For this purpose, an enhanced Volume-Of-Fluid (VOF) numerical simulation framework is utilised, previously developed in the general context of the OpenFOAM CFD Toolbox. Droplet impacts on metallic meshes are performed both experimentally and numerically with satisfactory degree of agreement. From the experimental investigation three main outcomes are observed—deposition, partial imbibition, and penetration. The penetration into suspended meshes leads to spectacular multiple jetting below the mesh. A higher amount of liquid penetration is linked to higher impact velocity, lower viscosity and larger pore size dimension. An estimation of the liquid penetration is given in order to evaluate the impregnation properties of the meshes. From the parametric analysis it is shown that liquid viscosity affects the adhesion characteristics of the drops significantly, whereas droplet break-up after the impact is mostly controlled by surface tension. Additionally, wettability characteristics are found to play an important role in both liquid penetration and droplet break-up below the mesh

Huanglongbing (ex-greening) dos citros: desenvolvendo abordagens biotecnológicas de manejo

O huanglongbing (HLB, ex-greening) dos citros é considerado a principal doença da cultura em todo o mundo e tem causado prejuízos significativos ao Brasil. O controle da doença tem sido realizado através da erradicação de plantas sintomáticas e aplicação de inseticidas, mas há uma grande demanda por estratégias alternativas, menos onerosas e menos danosas ao ambiente.O projeto propõe, como estratégia de manejo a curto prazo, uma nova abordagem de controle do vetor, utilizando-se estirpes de Bacillus thuringiensis. Propõe também abordagens de médio e longo prazos, como genoma funcional de laranja infectada, transformação genética e genoma completo de citros dentro do Consórcio Internacional (ICCG). Para tanto, agregará ferramentas de biotecnologia, principalmente a partir do CitEST, base de dados de genoma expresso de citros.O projeto claramente demonstra seu caráter multi e interdisciplinar, que tem como objetivo principal, além de buscar alternativas de controle biológico do psilídeo, ampliar e aprimorar o conhecimento sobre o genoma dos citros e as interações planta-patógen

Microarray analysis and scale-free gene networks identify candidate regulators in drought-stressed roots of loblolly pine (P. taeda L.)

<p>Abstract</p> <p>Background</p> <p>Global transcriptional analysis of loblolly pine (<it>Pinus taeda </it>L.) is challenging due to limited molecular tools. PtGen2, a 26,496 feature cDNA microarray, was fabricated and used to assess drought-induced gene expression in loblolly pine propagule roots. Statistical analysis of differential expression and weighted gene correlation network analysis were used to identify drought-responsive genes and further characterize the molecular basis of drought tolerance in loblolly pine.</p> <p>Results</p> <p>Microarrays were used to interrogate root cDNA populations obtained from 12 genotype × treatment combinations (four genotypes, three watering regimes). Comparison of drought-stressed roots with roots from the control treatment identified 2445 genes displaying at least a 1.5-fold expression difference (false discovery rate = 0.01). Genes commonly associated with drought response in pine and other plant species, as well as a number of abiotic and biotic stress-related genes, were up-regulated in drought-stressed roots. Only 76 genes were identified as differentially expressed in drought-recovered roots, indicating that the transcript population can return to the pre-drought state within 48 hours. Gene correlation analysis predicts a scale-free network topology and identifies eleven co-expression modules that ranged in size from 34 to 938 members. Network topological parameters identified a number of central nodes (hubs) including those with significant homology (E-values ≤ 2 × 10^-30) to 9-cis-epoxycarotenoid dioxygenase, zeatin O-glucosyltransferase, and ABA-responsive protein. Identified hubs also include genes that have been associated previously with osmotic stress, phytohormones, enzymes that detoxify reactive oxygen species, and several genes of unknown function.</p> <p>Conclusion</p> <p>PtGen2 was used to evaluate transcriptome responses in loblolly pine and was leveraged to identify 2445 differentially expressed genes responding to severe drought stress in roots. Many of the genes identified are known to be up-regulated in response to osmotic stress in pine and other plant species and encode proteins involved in both signal transduction and stress tolerance. Gene expression levels returned to control values within a 48-hour recovery period in all but 76 transcripts. Correlation network analysis indicates a scale-free network topology for the pine root transcriptome and identifies central nodes that may serve as drivers of drought-responsive transcriptome dynamics in the roots of loblolly pine.</p