Parallel Distributional Prioritized Deep Reinforcement Learning for Unmanned Aerial Vehicles

This work presents a study on parallel and distributional deep reinforcement learning applied to the mapless navigation of UAVs. For this, we developed an approach based on the Soft Actor-Critic method, producing a distributed and distributional variant named PDSAC, and compared it with a second one based on the traditional SAC algorithm. In addition, we also embodied a prioritized memory system into them. The UAV used in the study is based on the Hydrone vehicle, a hybrid quadrotor operating solely in the air. The inputs for the system are 23 range findings from a Lidar sensor and the distance and angles towards a desired goal, while the outputs consist of the linear, angular, and, altitude velocities. The methods were trained in environments of varying complexity, from obstacle-free environments to environments with multiple obstacles in three dimensions. The results obtained, demonstrate a concise improvement in the navigation capabilities by the proposed approach when compared to the agent based on the SAC for the same amount of training steps. In summary, this work presented a study on deep reinforcement learning applied to mapless navigation of drones in three dimensions, with promising results and potential applications in various contexts related to robotics and autonomous air navigation with distributed and distributional variants.Comment: 7 pages, 6 figures. Approved at LARS 202

Evaluation of bone texture imaging parameters on panoramic radiographs of patients with Sheehan’s syndrome: a STROBE-compliant case-control study

Summary Sheehan’s syndrome (SHS) is a rare condition related to the risk of osteoporosis and evaluation of bone texture imaging features on panoramic radiographs would be suitable for this condition, which was the aim of the present study. Fractal dimension, lacunarity, and trabecular morphologic aspects were significantly altered in these patients. Introduction SHS is an important public health problem particularly in developing countries. It is characterized as postpartum hypopituitarism secondary to obstetric complications-related ischemic pituitary necrosis that shows significant systemic metabolic repercussions. Thus, this study aimed to evaluate bone texture parameters in digital panoramic radiographs of patients with SHS. Methods A case-control study was conducted with 30 SHS patients from an Endocrinology and Diabetology Service of reference in Brazil, and 30 age- and sex-matched healthy controls. A custom computer program measured fractal dimension, lacunarity, and some morphologic features in the following mandibular regions of interest (50 × 50 pixels): below the mental foramen (F1), between the first and second molars (M1), and at the center of the mandibular ramus (R1). Results The fractal analysis showed a statistically significant difference between the studied groups in all regions of interest. The fractal dimension in F1 (p = 0.016), M1 (p = 0.043), and R1 (p = 0.028) was significantly lower in SHS group, as well as lacunarity in R1 (p = 0.008). Additionally, several morphologic features were statistically significant in the SHS group (p < 0.05). Conclusion Therefore, individuals with SHS showed altered imaging texture parameters on panoramic radiographs, which reflect a smaller spatial organization of the bone trabeculae and, possibly, a state of reduced mineral bone density

Animal Performance in Signalgrass Monoculture or in Silvopastoral Systems

Silvopastoral systems (SPS) can increase overall productivity and long-term income due to the simultaneous production of trees, forage, and livestock. This 2-yr study evaluated animal performance and herbage responses in C4-grass monoculture or in SPS in the sub-humid tropical region of Brazil. The experimental design was randomized complete block with three replications. Treatments were: Urochloa decumbens (Stapf.) R. Webster (Signalgrass) + Mimosa caesalpiniifolia Benth (SPS-Mimosa); Signalgrass + Gliricidia sepium (Jacq.) Kunth ex Walp (SPS-Gliricidia); and Signalgrass monoculture (SM). Response variables included herbage and livestock responses. Cattle were managed under continuous stocking with variable stocking rate. There was interaction between treatment × month for herbage mass. Green herbage accumulation rate ranged from 20 to 80 kg DM ha-1d-1 across months, with SPS-Mimosa presenting lower rates. Average daily gain was greater in SPS-Gliricidia, followed by SM, and SPS-Mimosa, respectively (0.77; 0.56; 0.23 kg d-1), varying across months. Stocking rate ranged from 0.86 to 1.6 AU ha-1. Total gain per area during the experimental period was greater for SPS-Gliricidia (423 kg BW ha-1), followed by signalgrass in monoculture (347 kg BW ha-1), and SPS-Mimosa (50 kg BW ha-1). Silvopasture systems using signalgrass and gliricidia enhanced livestock gains compared with signalgrass in monoculture, and mimosa trees outcompeted signalgrass, reducing livestock gains. Silvopasture systems with tree legumes have potential to provide numerous ecosystem services and reduce C footprint of livestock systems in the tropics, however, the choice of tree species is key and determined by which ecosystem service is prioritized

An integrative analysis uncovers a new, pseudo-cryptic species of Amazonian marmoset (Primates: Callitrichidae: Mico) from the arc of deforestation

Amazonia has the richest primate fauna in the world. Nonetheless, the diversity and distribution of Amazonian primates remain little known and the scarcity of baseline data challenges their conservation. These challenges are especially acute in the Amazonian arc of deforestation, the 2500 km long southern edge of the Amazonian biome that is rapidly being deforested and converted to agricultural and pastoral landscapes. Amazonian marmosets of the genus Mico are little known endemics of this region and therefore a priority for research and conservation efforts. However, even nascent conservation efforts are hampered by taxonomic uncertainties in this group, such as the existence of a potentially new species from the Juruena–Teles Pires interfluve hidden within the M. emiliae epithet. Here we test if these marmosets belong to a distinct species using new morphological, phylogenomic, and geographic distribution data analysed within an integrative taxonomic framework. We discovered a new, pseudo-cryptic Mico species hidden within the epithet M. emiliae, here described and named after Horacio Schneider, the pioneer of molecular phylogenetics of Neotropical primates. We also clarify the distribution, evolutionary and morphological relationships of four other Mico species, bridging Linnean, Wallacean, and Darwinian shortfalls in the conservation of primates in the Amazonian arc of deforestation

Photocatalytic performance of textiles coated with TiO2-RGO system for degradation of crude petroleum under similar solar irradiation

The pollution caused by oil and its toxic derivatives presents a considerable risk to the public health and the environment. Here, we studied the influence of TiO2 nanoparticles immobilized on three types of textiles materials (Cotton, Entretela and PLA) coated with reduced graphene oxide (RGO) to be used for degradation of crude petroleum under simulated solar irradiation. The morphological studies of the functionalized textiles substrates were performed by using Scanning Electron Microscopy and Energy Dispersive X-ray Spectroscopy, which indicated an excellent dispersion and adhesion of nanoparticles on the textile fibres covered with RGO. Ultraviolet–visible Diffuse Reflectance spectra suggests a reduction in the band gap energy of TiO2 due to the presence of RGO. The excitation/emission Synchronized Fluorescence and Fourier transform Infrared spectroscopies demonstrated that the functionalized textiles substrates exhibit a great potential for photocatalytic degradation of organic compounds with high prospects in petroleum and wastewater treatment areas

Decadal to monthly timescales of magma transfer and reservoir growth at a caldera volcano

International audienceCaldera-forming volcanic eruptions are low-frequency, highimpact events capable of discharging tens to thousands of cubic kilometres of magma explosively on timescales of hours to days, with devastating effects on local and global scales1. Because no such eruption has been monitored during its long build-up phase, the precursor phenomena are not well understood. Geophysical signals obtained during recent episodes of unrest at calderas such as Yellowstone, USA, and Campi Flegrei, Italy, are difficult to interpret, and the conditions necessary for large eruptions are poorly constrained2,3. Here we present a study of pre-eruptive magmatic processes and their timescales using chemically zoned crystals from the 'Minoan' caldera-formingeruption of Santorini volcano,Greece4, which occurred in the late 1600s BC. The results provide insights into how rapidly large silicic systems may pass from a quiescent state to one on the edge of eruption5,6. Despite the large volume of erupted magma4 (40-60 cubic kilometres), and the 18,000-year gestation period between the Minoan eruption and the previous major eruption, most crystals in the Minoan magma record processes that occurred less than about 100 years before the eruption. Recharge of the magma reservoir by large volumes of silicic magma (and some mafic magma) occurred during the century before eruption, and mixing between different silicicmagmabatches was still taking place during the final months. Final assembly of large silicic magma reservoirs may occur on timescales that are geologically very short by comparison with the preceding repose period, with major growth phases immediately before eruption. These observations have implications for the monitoring of long-dormant, but potentially active, caldera systems