Adaptive path planning for fusing rapidly exploring random trees and deep reinforcement learning in an agriculture dynamic environment UAVs

Unmanned aerial vehicles (UAV) are a suitable solution for monitoring growing cultures due to the possibility of covering a large area and the necessity of periodic monitoring. In inspection and monitoring tasks, the UAV must find an optimal or near-optimal collision-free route given initial and target positions. In this sense, path-planning strategies are crucial, especially online path planning that can represent the robot’s operational environment or for control purposes. Therefore, this paper proposes an online adaptive path-planning solution based on the fusion of rapidly exploring random trees (RRT) and deep reinforcement learning (DRL) algorithms applied to the generation and control of the UAV autonomous trajectory during an olive-growing fly traps inspection task. The main objective of this proposal is to provide a reliable route for the UAV to reach the inspection points in the tree space to capture an image of the trap autonomously, avoiding possible obstacles present in the environment. The proposed framework was tested in a simulated environment using Gazebo and ROS. The results showed that the proposed solution accomplished the trial for environments up to 300 m3 and with 10 dynamic objects.The authors would like to thank the following Brazilian Agencies CEFET-RJ, CAPES, CNPq, and FAPERJ. The authors also want to thank the Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Bragança–IPB (UIDB/05757/2020 and UIDP/05757/2020), the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI, and Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC) and IPB, Portugal. This work was carried out under the Project “OleaChain: Competências para a sustentabilidade e inovação da cadeia de valor do olival tradicional no Norte Interior de Portugal” (NORTE-06-3559-FSE-000188), an operation to hire highly qualified human resources, funded by NORTE 2020 through the European Social Fund (ESF).info:eu-repo/semantics/publishedVersio

Cooperative heterogeneous robots for autonomous insects trap monitoring system in a precision agriculture scenario

The recent advances in precision agriculture are due to the emergence of modern robotics systems. For instance, unmanned aerial systems (UASs) give new possibilities that advance the solution of existing problems in this area in many different aspects. The reason is due to these platforms’ ability to perform activities at varying levels of complexity. Therefore, this research presents a multiple-cooperative robot solution for UAS and unmanned ground vehicle (UGV) systems for their joint inspection of olive grove inspect traps. This work evaluated the UAS and UGV vision-based navigation based on a yellow fly trap fixed in the trees to provide visual position data using the You Only Look Once (YOLO) algorithms. The experimental setup evaluated the fuzzy control algorithm applied to the UAS to make it reach the trap efficiently. Experimental tests were conducted in a realistic simulation environment using a robot operating system (ROS) and CoppeliaSim platforms to verify the methodology’s performance, and all tests considered specific real-world environmental conditions. A search and landing algorithm based on augmented reality tag (AR-Tag) visual processing was evaluated to allow for the return and landing of the UAS to the UGV base. The outcomes obtained in this work demonstrate the robustness and feasibility of the multiple-cooperative robot architecture for UGVs and UASs applied in the olive inspection scenario.The authors would like to thank the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021). In addition, the authors would like to thank the following Brazilian Agencies CEFET-RJ, CAPES, CNPq, and FAPERJ. In addition, the authors also want to thank the Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Braganca (IPB) - Campus de Santa Apolonia, Portugal, Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Portugal, INESC Technology and Science - Porto, Portugal and Universidade de Trás-os-Montes e Alto Douro - Vila Real, Portugal. This work was carried out under the Project “OleaChain: Competências para a sustentabilidade e inovação da cadeia de valor do olival tradicional no Norte Interior de Portugal” (NORTE-06-3559-FSE-000188), an operation used to hire highly qualified human resources, funded by NORTE 2020 through the European Social Fund (ESF).info:eu-repo/semantics/publishedVersio

Long-term melatonin treatment reduces ovarian mass and enhances tissue antioxidant defenses during ovulation in the rat

Melatonin regulates the reproductive cycle, energy metabolism and may also act as a potential antioxidant indoleamine. The present study was undertaken to investigate whether long-term melatonin treatment can induce reproductive alterations and if it can protect ovarian tissue against lipid peroxidation during ovulation. Twenty-four adult female Wistar rats, 60 days old (± 250-260 g), were randomly divided into two equal groups. The control group received 0.3 mL 0.9% NaCl + 0.04 mL 95% ethanol as vehicle, and the melatonin-treated group received vehicle + melatonin (100 µg·100 g body weight-1·day-1) both intraperitoneally daily for 60 days. All animals were killed by decapitation during the morning estrus at 4:00 am. Body weight gain and body mass index were reduced by melatonin after 10 days of treatment (P < 0.05). Also, a marked loss of appetite was observed with a fall in food intake, energy intake (melatonin 51.41 ± 1.28 vs control 57.35 ± 1.34 kcal/day) and glucose levels (melatonin 80.3 ± 4.49 vs control 103.5 ± 5.47 mg/dL) towards the end of treatment. Melatonin itself and changes in energy balance promoted reductions in ovarian mass (20.2%) and estrous cycle remained extensive (26.7%), arresting at diestrus. Regarding the oxidative profile, lipid hydroperoxide levels decreased after melatonin treatment (6.9%) and total antioxidant substances were enhanced within the ovaries (23.9%). Additionally, melatonin increased superoxide dismutase (21.3%), catalase (23.6%) and glutathione-reductase (14.8%) activities and the reducing power (10.2% GSH/GSSG ratio). We suggest that melatonin alters ovarian mass and estrous cyclicity and protects the ovaries by increasing superoxide dismutase, catalase and glutathione-reductase activities.21722

Limit cycles in uniform isochronous centers of discontinuous differential systems with four zones

We apply the averaging theory of first order for discontinuous differential systems to study the bifurcation of limit cycles from the periodic orbits of the uniform isochronous center of the differential systems ẋ = -y+x, y = x + xy, and ẋ = -y + xy, y = x + xy, when they are perturbed inside the class of all discontinuous quadratic and cubic polynomials differential systems with four zones separately by the axes of coordinates, respectively. Using averaging theory of first order the maximum number of limit cycles that we can obtain is twice the maximum number of limit cycles obtained in a previous work for discontinuous quadratic differential systems perturbing the same uniform isochronous quadratic center at origin perturbed with two zones separately by a straight line, and 5 more limit cycles than those achieved in a prior result for discontinuous cubic differential systems with the same uniform isochronous cubic center at the origin perturbed with two zones separately by a straight line. Comparing our results with those obtained perturbing the mentioned centers by the continuous quadratic and cubic differential systems we obtain 8 and 9 more limit cycles respectively

Human toxocariasis: contribution by Brazilian researchers

In the present paper the main aspects of the natural history of human infection by Toxocara larvae that occasionally result in the occurrence of visceral and/or ocular larva migrans syndrome were reviewed. The contribution by Brazilian researchers was emphasized, especially the staff of the Tropical Medicine Institute of São Paulo (IMT)