Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion

Agricultural mobile robots have great potential to effectively implement different agricultural tasks. They can save human labour costs, avoid the need for people having to perform risky operations and increase productivity. Automation and advanced sensing technologies can provide up-to-date information that helps farmers in orchard management. Data collected from on-board sensors on a mobile robot provide information that can help the farmer detect tree or fruit diseases or damage, measure tree canopy volume and monitor fruit development. In orchards, trees are natural landmarks providing suitable cues for mobile robot localisation and navigation as trees are nominally planted in straight and parallel rows. This thesis presents a novel tree trunk detection algorithm that detects trees and discriminates between trees and non-tree objects in the orchard using a camera and 2D laser scanner data fusion. A local orchard map of the individual trees was developed allowing the mobile robot to navigate to a specific tree in the orchard to perform a specific task such as tree inspection. Furthermore, this thesis presents a localisation algorithm that does not rely on GPS positions and depends only on the on-board sensors of the mobile robot without adding any artificial landmarks, respective tapes or tags to the trees. The novel tree trunk detection algorithm combined the features extracted from a low cost camera's images and 2D laser scanner data to increase the robustness of the detection. The developed algorithm used a new method to detect the edge points and determine the width of the tree trunks and non-tree objects from the laser scan data. Then a projection of the edge points from the laser scanner coordinates to the image plane was implemented to construct a region of interest with the required features for tree trunk colour and edge detection. The camera images were used to verify the colour and the parallel edges of the tree trunks and non-tree objects. The algorithm automatically adjusted the colour detection parameters after each test which was shown to increase the detection accuracy. The orchard map was constructed based on tree trunk detection and consisted of the 2D positions of the individual trees and non-tree objects. The map of the individual trees was used as an a priority map for mobile robot localisation. A data fusion algorithm based on an Extended Kalman filter was used for pose estimation of the mobile robot in different paths (midway between rows, close to the rows and moving around trees in the row) and different turns (semi-circle and right angle turns) required for tree inspection tasks. The 2D positions of the individual trees were used in the correction step of the Extended Kalman filter to enhance localisation accuracy. Experimental tests were conducted in a simulated environment and a real orchard to evaluate the performance of the developed algorithms. The tree trunk detection algorithm was evaluated under two broad illumination conditions (sunny and cloudy). The algorithm was able to detect the tree trunks (regular and thin tree trunks) and discriminate between trees and non-tree objects with a detection accuracy of 97% showing that the fusion of both vision and 2D laser scanner technologies produced robust tree trunk detection. The mapping method successfully localised all the trees and non-tree objects of the tested tree rows in the orchard environment. The mapping results indicated that the constructed map can be reliably used for mobile robot localisation and navigation. The localisation algorithm was evaluated against the logged RTK-GPS positions for different paths and headland turns. The average of the RMS of the position error in x, y coordinates and Euclidean distance were 0.08 m, 0.07 m and 0.103 m respectively, whilst the average of the RMS of the heading error was 3:32°. These results were considered acceptable while driving along the rows and when executing headland turns for the target application of autonomous mobile robot navigation and tree inspection tasks in orchards

Cytokine Gene Polymorphisms across Tuberculosis Clinical Spectrum in Pakistani Patients

BACKGROUND: Pakistan ranks 7(th) globally in terms of tuberculosis (TB) disease burden (incidence 181/100000 pop./yr; prevalence of 329/pop./yr). Reports from different populations show variable associations of TB susceptibility and severity with cytokine gene polymorphisms. Tuberculosis clinical severity is multi-factorial and cytokines play a pivotal role in the modulation of disease severity. We have recently reported that the ratio of two key cytokines (IFNgamma and IL10) show significant correlation with the severity spectrum of tuberculosis. The objective of the current study was to analyze the frequency of cytokine gene polymorphisms linked to high and low responder phenotypes (IFNgamma +874 T(hi)-->A(lo) and IL10 -1082 G(lo)-->A(hi)) in tuberculosis patients. METHODS AND FINDINGS: STUDY GROUPS WERE STRATIFIED ACCORDING TO DISEASE SITE AS WELL AS DISEASE SEVERITY: Pulmonary N = 111 (Minimal, PMN = 19; Moderate, PMD = 63; Advance, PAD = 29); Extra-pulmonary N = 67 (Disseminated DTB = 20, Localized LTB = 47) and compared with healthy controls (TBNA = 188). Genotype analyses were carried out using amplification refractory mutation system-PCR (ARMS-PCR) and stimulated whole blood (WB) culture assay was used for assessing cytokine profiles. Our results suggest that the IFNgamma +874 TT genotype and T allele was overrepresented in PMN (p = 0.01) and PMD (p = 0.02). IFNgamma +874 TT in combination with IL10 GG(lo) genotypes showed the highest association (chi(2) = 6.66, OR = 6.06, 95% CI = 1.31-28.07, p = 0.01). IFNgamma AA(lo) on the other hand in combination with IL10 GG(lo) increased the risk of PAD (OR = 5.26; p = 0.005) and DTB (OR = 3.59; p = 0.045). CONCLUSION: These findings are consistent with the role of IL10 in reducing collateral tissue damage and the protective role of IFNgamma in limiting disease in the lung

Impact of opioid-free analgesia on pain severity and patient satisfaction after discharge from surgery: multispecialty, prospective cohort study in 25 countries

Background: Balancing opioid stewardship and the need for adequate analgesia following discharge after surgery is challenging. This study aimed to compare the outcomes for patients discharged with opioid versus opioid-free analgesia after common surgical procedures.Methods: This international, multicentre, prospective cohort study collected data from patients undergoing common acute and elective general surgical, urological, gynaecological, and orthopaedic procedures. The primary outcomes were patient-reported time in severe pain measured on a numerical analogue scale from 0 to 100% and patient-reported satisfaction with pain relief during the first week following discharge. Data were collected by in-hospital chart review and patient telephone interview 1 week after discharge.Results: The study recruited 4273 patients from 144 centres in 25 countries; 1311 patients (30.7%) were prescribed opioid analgesia at discharge. Patients reported being in severe pain for 10 (i.q.r. 1-30)% of the first week after discharge and rated satisfaction with analgesia as 90 (i.q.r. 80-100) of 100. After adjustment for confounders, opioid analgesia on discharge was independently associated with increased pain severity (risk ratio 1.52, 95% c.i. 1.31 to 1.76; P < 0.001) and re-presentation to healthcare providers owing to side-effects of medication (OR 2.38, 95% c.i. 1.36 to 4.17; P = 0.004), but not with satisfaction with analgesia (beta coefficient 0.92, 95% c.i. -1.52 to 3.36; P = 0.468) compared with opioid-free analgesia. Although opioid prescribing varied greatly between high-income and low- and middle-income countries, patient-reported outcomes did not.Conclusion: Opioid analgesia prescription on surgical discharge is associated with a higher risk of re-presentation owing to side-effects of medication and increased patient-reported pain, but not with changes in patient-reported satisfaction. Opioid-free discharge analgesia should be adopted routinely

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Some new results on the face index of certain polycyclic chemical networks

Silicate minerals make up the majority of the earth's crust and account for almost 92 percent of the total. Silicate sheets, often known as silicate networks, are characterised as definite connectivity parallel designs. A key idea in studying different generalised classes of graphs in terms of planarity is the face of the graph. It plays a significant role in the embedding of graphs as well. Face index is a recently created parameter that is based on the data from a graph's faces. The current draft is utilizing a newly established face index, to study different silicate networks. It consists of a generalized chain of silicate, silicate sheet, silicate network, carbon sheet, polyhedron generalized sheet, and also triangular honeycomb network. This study will help to understand the structural properties of chemical networks because the face index is more generalized than vertex degree based topological descriptors

Immune response profile in patients with active tuberculosis in a BCG vaccinated area

Tuberculosis patients with pulmonary (N = 95) or lymph node disease (N = 23) were assessed for Th1 responses (PPD skin test and lymphocyte blastogenic and interferon gamma) and Th2 responses (polyclonal and antigen specific IgE). Skin test responses to PPD and lymphocyte proliferative responses to crude mycobacterial antigens (PPD, culture filtrate and sonicate) and recall antigens (tetanus toxoid and streptolysin O) were significantly suppressed (p \u3c 0.001) in patients with pulmonary disease compared to endemic controls. However, mitogen (phytohemagglutinin)-stimulated responses were comparable in patients and controls. Polyclonal and antigen specific (M. tuberculosis culture filtrate) IgE responses which are considered to be surrogate markers for Th2 responses were significantly higher in patients with pulmonary disease compared to healthy endemic controls (Mann Whitney analysis p \u3c 0.01). Patients with lymph node disease showed strong Th1 responses but did not show significant responses for either polyclonal or antigen specific IgE. Thus overall suppression of T cell memory response was observed only in patients with pulmonary disease but not in patients with lymph node disease suggesting that sequestration of antigen in different compartments leads to differential activation of Th1 and Th2 responses. PPD skin test responses were highly positive in endemic controls (47% positive) and household contacts (86% positive). Furthermore, PPD positivity decreased with disease severity. Therefore PPD positivity in a BCG vaccinated TB endemic area cannot be used as a diagnostic marker for active tuberculosis particularly in advanced disease