Localization in orchards using Extended Kalman Filter for sensor-fusion - A FroboMind component

Making an automated vehicle navigate in rows of orchards is a feature, relevant for automating the plant nursing and cultivation of the trees. To be able to navigate accurate and reliably, the vehicle must know its position relative to the trees in the orchards

Hortibot: Feasibility study of a plant nursing robot performing weeding operations – part IV

Based on the development of a robotic tool carrier (Hortibot) equipped with weeding tools, a feasibility study was carried out to evaluate the viability of this innovative technology. The feasibility was demonstrated through a targeted evaluation adapted to the obtainable knowledge on the system performance in horticulture. A usage scenario was designed to set the implementation of the robotic system in a row crop of seeded bulb onions considering operational and functional constraints in organic crop, production. This usage scenario together with the technical specifications of the implemented system provided the basis for the feasibility analysis, including a comparison with a conventional weeding system. Preliminary results show that the automation of the weeding tasks within a row crop has the potential of significantly reducing the costs and still fulfill the operational requirements set forth. The potential benefits in terms of operational capabilities and economic viability have been quantified. Profitability gains ranging from 20 to 50% are achievable through targeted applications. In general, the analyses demonstrate the operational and economic feasibility of using small automated vehicles and targeted tools in specialized production settings

Risiko ved transport af farligt gods

Projektet ”Transport af farligt gods”, er næsten afsluttet. Slutrapporten publiceres i 1999. Den indeholder to risikomodeller for transporter af farligt gods: en model for jernbanetrafik og en model for vejtrafik. Disse modeller angiver risikoen for udslip af forskellige størrelser ved givne transporter. Endvidere angives modeller for konsekvenserne af givne udslip, dels hu-mane konsekvenser i form af fN-kurver for dødsfald, dels miljøkonsekvenser i form af jord-og grundvandsforurening og i form af forurening af overfladevand. Modellerne indlægges i et GIS, som kan anskueliggøre konsekvensernes geografiske fordeling totalt eller vise forskelle ved forskelligt rutevalg for en given transport

Rotational coherence spectroscopy of molecules in helium nanodroplets: Reconciling the time and the frequency domains

Alignment of OCS, CS$_2$ and I$_2$ molecules embedded in helium nanodroplets is measured as a function of time following rotational excitation by a non-resonant, comparatively weak ps laser pulse. The distinct peaks in the power spectra, obtained by Fourier analysis, are used to determine the rotational, B, and centrifugal distortion, D, constants. For OCS, B and D match the values known from IR spectroscopy. For CS$_2$ and I$_2$, they are the first experimental results reported. The alignment dynamics calculated from the gas-phase rotational Schr\"{o}dinger equation, using the experimental in-droplet B and D values, agree in detail with the measurement for all three molecules. The rotational spectroscopy technique for molecules in helium droplets introduced here should apply to a range of molecules and complexes.Comment: ASC and LC contributed equally. 7 pages, 3 figure

Fluorescence spectroscopy as a potential metabonomic tool for early detection of colorectal cancer

Abstract Fluorescence spectroscopy Excitation Emission Matrix (EEM) measurements were applied on human blood plasma samples from a case control study on colorectal cancer. Samples were collected before large bowel endoscopy and included patients with colorectal cancer or with adenomas, and from individuals with other non malignant findings or no findings (N = 308). The objective of the study was to explore the possibilities for applying fluorescence spectroscopy as a tool for detection of colorectal cancer. Parallel Factor Analysis (PARAFAC) was applied to decompose the fluorescence EEMs into estimates of the underlying fluorophores in the sample. Both the pooled score matrix from PARAFAC, holding the relative concentrations of the derived components, and the raw unfolded spectra were used as basis for discrimination models between cancer and the various controls. Both methods gave test set validated sensitivity and specificity values around 0.75 between cancer and controls, and poor discriminations between the various controls. The PARA-FAC solution gave better options for analyzing the chemical mechanisms behind the discrimination, and revealed a blue shift in tryptophan emission in the cancer patients, a result that supports previous findings. The present findings show how fluorescence spectroscopy and chemometrics can help in cancer diagnostics, and with PARAFAC fluorescence spectroscopy can be a potential metabonomic tool

Lithium in drinking water and incidence of suicide:A nationwide individual-level cohort study with 22 years of follow-up

Suicide is a major public health concern. High-dose lithium is used to stabilize mood and prevent suicide in patients with affective disorders. Lithium occurs naturally in drinking water worldwide in much lower doses, but with large geographical variation. Several studies conducted at an aggregate level have suggested an association between lithium in drinking water and a reduced risk of suicide; however, a causal relation is uncertain. Individual-level register-based data on the entire Danish adult population (3.7 million individuals) from 1991 to 2012 were linked with a moving five-year time-weighted average (TWA) lithium exposure level from drinking water hypothesizing an inverse relationship. The mean lithium level was 11.6 μg/L ranging from 0.6 to 30.7 μg/L. The suicide rate decreased from 29.7 per 100,000 person-years at risk in 1991 to 18.4 per 100,000 person-years in 2012. We found no significant indication of an association between increasing five-year TWA lithium exposure level and decreasing suicide rate. The comprehensiveness of using individual-level data and spatial analyses with 22 years of follow-up makes a pronounced contribution to previous findings. Our findings demonstrate that there does not seem to be a protective effect of exposure to lithium on the incidence of suicide with levels below 31 μg/L in drinking water