Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. Initial field trials in protected cropping environments, with two cultivar, demonstrate the efficacy of this approach achieving a 46% success rate for unmodified crop, and 58% for modified crop. Furthermore, for the more favourable cultivar we were also able to detach 90% of sweet peppers, indicating that improvements in the grasping success rate would result in greatly improved harvesting performance

EDITORIAL

In the spring of 2016, Dr. Steven R. Harmon, Visiting Associate Professor of Historical Theology, Gardner-Webb University School of Divinity, released the latest installment in his ecumenical pilgrimage, Baptist Identity and the Ecumenical Future: Story, Tradition, and the Recovery of Community (Baylor University Press). Author of numerous scholarly articles and books such as Ecumenism Means You, Too (2010) and Towards Baptist Catholicity: Essays on Tradition and the Baptist Vision (2006), Professor Harmon has invested a substantial portion of his career and life's energy on the ecumenical question and the relationship of Baptists to the broader Christian tradition. I have known Steve personally for many years now, and one thing I have come to respect and admire about him is his careful, conscientious, even meticulous attention to detail—and this book is no exception. It is a true labour of love

The Future in their Imaginations: Music and Robotics School Holidays Program for School-Aged Children

This report reflects on an exploratory STEAM workshop at the University of Newcastle, School of Creative Industries, Conservatorium of Music, Australia. Twenty-six middle school-aged students attended the two-day workshop. On the final day, students presented an immersive concert for parents and friends, showcasing creativity, innovation and teamwork. Interestingly, Lego robots were employed as a physical tool through which music-making students interacted with each other and built attributes of creative engagement. These attributes were measured via the Six C’s established by Bers comprising: (1) Collaboration; (2) Community Building; (3) Communication; (4) Content Creation; (5) Creativity; and (6) Choices of Conduct. This report suggests the integration of robots can also enrich the musicianship of students, building upon their traditional music training

Rings and Jets around PSR J2021+3651: the `Dragonfly Nebula'

We describe recent Chandra ACIS observations of the Vela-like pulsar PSR J2021+3651 and its pulsar wind nebula (PWN). This `Dragonfly Nebula' displays an axisymmetric morphology, with bright inner jets, a double-ridged inner nebula, and a ~30" polar jet. The PWN is embedded in faint diffuse emission: a bow shock-like structure with standoff ~1' brackets the pulsar to the east and emission trails off westward for 3-4'. Thermal (kT=0.16 +/-0.02 keV) and power law emission are detected from the pulsar. The nebular X-rays show spectral steepening from Gamma=1.5 in the equatorial torus to Gamma=1.9 in the outer nebula, suggesting synchrotron burn-off. A fit to the `Dragonfly' structure suggests a large (86 +/-1 degree) inclination with a double equatorial torus. Vela is currently the only other PWN showing such double structure. The >12 kpc distance implied by the pulsar dispersion measure is not supported by the X-ray data; spectral, scale and efficiency arguments suggest a more modest 3-4 kpc.Comment: 22 pages, 5 figures, 3 tables, Accepted to Ap

Impacts of the criminalization on the everyday lives of people living in with HIV in Canada

As part of a study on the social consequences of the criminal justice system on people living with HIV or AIDS (PHAs) in Canada, this article focuses on how heightened public identification of HIV with criminal matters is having wide ranging effects on perceived personal security and in particular on negotiating potential romantic and sexual interactions. As articulated by the Supreme Court of Canada, the courts have been enforcing a requirement that HIV-positive people disclose their sero-status to prospective partners, relying on the notion that “through deterrence it [the Criminal Code] will protect and serve to encourage honesty, frankness and safer sexual practices.” Nevertheless an accumulating set of evidence in the social and health sciences is pointing toward the difficulties of carrying out this directive in everyday life and toward the ways in which the application of law creates counter-productive or unanticipated consequences that can run contrary to the ostensible objective of discouraging behaviour likely to transmit HIV

Prevalence of alternative splicing choices in Arabidopsis thaliana

<p>Abstract</p> <p>Background</p> <p>Around 14% of protein-coding genes of <it>Arabidopsis thaliana </it>genes from the TAIR9 genome release are annotated as producing multiple transcript variants through alternative splicing. However, for most alternatively spliced genes in <it>Arabidopsis</it>, the relative expression level of individual splicing variants is unknown.</p> <p>Results</p> <p>We investigated prevalence of alternative splicing (AS) events in <it>Arabidopsis thaliana </it>using ESTs. We found that for most AS events with ample EST coverage, the majority of overlapping ESTs strongly supported one major splicing choice, with less than 10% of ESTs supporting the minor form. Analysis of ESTs also revealed a small but noteworthy subset of genes for which alternative choices appeared with about equal prevalence, suggesting that for these genes the variant splicing forms co-occur in the same cell types. Of the AS events in which both forms were about equally prevalent, more than 80% affected untranslated regions or involved small changes to the encoded protein sequence.</p> <p>Conclusions</p> <p>Currently available evidence from ESTs indicates that alternative splicing in <it>Arabidopsis </it>occurs and affects many genes, but for most genes with documented alternative splicing, one AS choice predominates. To aid investigation of the role AS may play in modulating function of <it>Arabidopsis </it>genes, we provide an on-line resource (ArabiTag) that supports searching AS events by gene, by EST library keyword search, and by relative prevalence of minor and major forms.</p

Exploring healthcare workers' perceptions on the use of morbidity and mortality audits as an avenue for learning and care improvement in Kenyan hospitals' newborn units

Background: In many sub-Saharan African countries, including Kenya, the use of mortality and morbidity audits in maternal and perinatal/neonatal care as an avenue for learning and improving care delivery is sub-optimal due to structural, organizational, and human barriers. While attempts to address these barriers have been reported, lots of emphasis has been paid to addressing the role of tangible inputs (e.g., availing guidelines and training staff in the success of mortality and morbidity audits), while process-related factors (i.e., the role of the people, their experiences, relationships, and motivations) remain inadequately explored. We examined the processes of neonatal audits, their potential in promoting learning from gaps in care and improving care delivery, with a deliberate focus on process-related factors that generally influence mortality and morbidity (M&M) audits. Methods: This was an exploratory qualitative study, conducted in three hospitals, in Nairobi and Muranga counties. We employed a mix of in-depth interviews (17) and observation of 12 mortality and morbidity audit meetings. Our study participants included: nurses, doctors, trainee clinicians (i.e., junior doctors on internships), and nursing students involved in providing newborn care. These data were coded using NVivo12 employing a thematic content analysis approach. Results: Perceived shortcomings in the conduct of M&M audits such as unclear structure was reported to have contributed to its sub-optimal nature in promoting learning. These shortcomings, in addition to hierarchy and power dynamics, poor implementation of audit recommendations, and negative experiences, (e.g., blame) also demotivated health workers from attendance and participation in audits. Despite these, positive outcomes linked to audit recommendations, such as revision of care protocols, were reported. Overall, leadership and a blame-free culture enabled positive changes and promoted learning from audit-identified modifiable factors. Conclusion: Our findings indicate that M&M audits provide a space for meaningful discussions, which may lead to learning and improvement in care delivery processes. However, a lack of participation, lack of observed positive outcomes, and negative experiences may reduce their usefulness. An enabling environment characterized by minimized effects of hierarchy and positive use of power and a blame-free culture may promote active participation, enhancing positive relationships and interactions thus promoting team learning

Understanding intra- and interprofessional team and teamwork processes by exploring facility-based neonatal care in Kenyan hospitals

Background Within intensive care settings such as neonatal intensive care units, effective intra- and interprofessional teamwork has been linked to a significant reduction of errors and overall improvement in the quality of care. In Kenya, previous studies suggest that coordination of care among healthcare teams providing newborn care is poor. Initiatives aimed at improving intra- and interprofessional teamwork in healthcare settings largely draw on studies conducted in high-income countries, with those from resource-constrained low and middle countries, particularly in the context of newborn care lacking. In this study, we explored the nature of intra- and interprofessional teamwork among health care providers in newborn units (NBUs) of three hospitals in Kenya, and the professional and contextual dynamics that shaped their interactions. Methods This exploratory qualitative study was conducted in three hospitals in Nairobi and Muranga Counties in Kenya. We adopted an ethnographic approach, utilizing both in-depth interviews (17) and non-participant observation of routine care provision in NBUs (250 observation hours). The study participants included: nurses, nursing students, doctors, and trainee doctors. All the data were thematically coded in NVIVO 12. Results The nature of intra- and interprofessional teamwork among healthcare providers in the study newborn units is primarily shaped by broader contextual factors and varying institutional contexts. As a result, several team types emerged, loosely categorized as the ‘core’ team which involves providers physically present in the unit most times during the work shift; the emergency team and the temporary ad-hoc teams which involved the ‘core’ team, support staff students and mothers. The emergence of these team types influenced relationships among providers. Overall, institutionalized routines and rituals shaped team relations and overall functioning. Conclusions Poor coordination and the sub-optimal nature of intra-and interprofessional teamwork in NBUs are attributed to broader contextual challenges that include low staff to patient ratios and institutionalized routines and rituals that influenced team norming, relationships, and team leadership. Therefore, mechanisms to improve coordination and collaboration among healthcare teams in these settings need to consider contextual dynamics including institutional cultures while also targeting improvement of team-level processes including leadership development and widening spaces for more interaction and better communication

HIVpositive people\u27s perspectives on Canadian criminal law and non-disclosure

The largest survey to date of people living with HIV regarding attitudes toward criminalization of HIV non-disclosure, this study investigates: sources of legal information available to HIV-positive people; perceptions of how criminal prosecutions and media coverage affect understanding of rights and responsibilities of self and others; and where HIV-positive people themselves stand on the role the criminal justice system should play. While mainstream media constructions of criminal iconography do affect PHA views, those who have higher levels of formal education, are active in the dating scene, and have been living longer with HIV hold less punitive views than those who do not. While the overall pattern of agreement on where to draw the line in criminal prosecution holds regardless of demographic characteristics, there is some statistically significant variation in degree of punitiveness according to sexual orientation and gender as well

Emergence of three general practitioner contracting-in models in South Africa: a qualitative multi-case study

Background: The general practitioner contracting initiative (GPCI) is a health systems strengthening initiative piloted in the first phase of national health insurance (NHI) implementation in South Africa as it progresses towards universal health coverage (UHC). GPCI aimed to address the shortage of doctors in the public sector by contracting-in private sector general practitioners (GPs) to render services in public primary health care clinics. This paper explores the early inception and emergence of the GPCI. It describes three models of contracting-in that emerged and interrogates key factors influencing their evolution. Methods: This qualitative multi-case study draws on three cases. Data collection comprised document review, key informant interviews and focus group discussions with national, provincial and district managers as well as GPs (n = 68). Walt and Gilson’s health policy analysis triangle and Liu’s conceptual framework on contracting-out were used to explore the policy content, process, actors and contractual arrangements involved. Results: Three models of contracting-in emerged, based on the type of purchaser: a centralized-purchaser model, a decentralized-purchaser model and a contracted-purchaser model. These models are funded from a single central source but have varying levels of involvement of national, provincial and district managers. Funds are channelled from purchaser to provider in slightly different ways. Contract formality differed slightly by model and was found to be influenced by context and type of purchaser. Conceptualization of the GPCI was primarily a nationally-driven process in a context of high-level political will to address inequity through NHI implementation. Emergence of the models was influenced by three main factors, flexibility in the piloting process, managerial capacity and financial management capacity. Conclusion: The GPCI models were iterations of the centralized-purchaser model. Emergence of the other models was strongly influenced by purchaser capacity to manage contracts, payments and recruitment processes. Findings from the decentralized-purchaser model show importance of local context, provincial capacity and experience on influencing evolution of the models. Whilst contract characteristics need to be well defined, allowing for adaptability to the local context and capacity is critical. Purchaser capacity, existing systems and institutional knowledge and experience in contracting and financial management should be considered before adopting a decentralized implementation approach