Robotic weeding – from concept to trials

This paper reports on the use of robotic selective mechanical cultivation as an alternative method to herbicide control for managing weed species in zero-till cropping systems. Existing best-practice technology in weed spot spraying utilises infrared technology to detect and selectively spray weeds using herbicide at quantities significantly less than those used in normal blanket spray applications. This reduction in the herbicide de- creases operational costs and can be beneficial for the environment; however, the capital investment in the technology is substantial for farmers who wish to own and operate their equipment. While effective in reducing overall herbicide usage, the technology has done little to tackle the rapid evolution of herbicide resistant weed species. As a potential solution to this issue, our research over the past three years has been focused on the development of non-chemical methods of weed management utilising robot-enabled selective mechanical weeding. Used in conjunction with a robotic vehicle platform, a mechanical weeding array is capable of working throughout the day and night. The weeding tools have been designed to be removable and inter- changeable, allowing the use of tools especially designed for different weed species, weed densities, and soil types. The system developed consists of a one-degree-of-freedom array of weeding tines, actuated into the ground in time to remove individual weeds. Sensing of the weeds is enabled by a vision-based plant detection and classification system, while the timing for the implement actuation to hit the weed is determined as a function of the robot speed. The field trials reported in this paper demonstrate the potential of this robotic system for individualised weed treatment and multi-mode weed management methods. In particular, a trial of the mechanical weeding array in a fallow field over six weeks maintained the weed coverage in robot treated sections to be 1.5%, compared to 37% in the control areas not treated by the robot—a reduction in excess of 90% in weed coverage

Hamiltonian Formalism in Quantum Mechanics

Heisenberg motion equations in Quantum mechanics can be put into the Hamilton form. The difference between the commutator and its principal part, the Poisson bracket, can be accounted for exactly. Canonical transformations in Quantum mechanics are not, or at least not what they appear to be; their properties are formulated in a series of Conjectures

Affine modifications and affine hypersurfaces with a very transitive automorphism group

We study a kind of modification of an affine domain which produces another affine domain. First appeared in passing in the basic paper of O. Zariski (1942), it was further considered by E.D. Davis (1967). The first named author applied its geometric counterpart to construct contractible smooth affine varieties non-isomorphic to Euclidean spaces. Here we provide certain conditions which guarantee preservation of the topology under a modification. As an application, we show that the group of biregular automorphisms of the affine hypersurface $X \subset C^{k+2}$ given by the equation $uv=p(x_1,...,x_k)$ where $p \in C[x_1,...,x_k],$ acts $m-$transitively on the smooth part reg$X$ of $X$ for any $m \in N.$ We present examples of such hypersurfaces diffeomorphic to Euclidean spaces.Comment: 39 Pages, LaTeX; a revised version with minor changes and correction

Lessons learned about the effect of reduced anthropogenic activities on water quality in a large lake system and opportunities towards sustainable management

Despite considerable efforts to protect vulnerable marine, coastal, and freshwater ecosystems, anthropogenic activities remain one of the main causes of poor water quality in rivers, lakes and wetland systems worldwide [1]. To move towards the sustainable management of coastal and aquatic ecosystems, it is important to understand how both natural and anthropogenic processes affect water quality. In 2020, a unique opportunity arose to study water quality in a large lake system in the southwest of India during a period when anthropogenic pressures were reduced due to a nationwide lockdown in response to the COVID-19 pandemic. Using remote sensing and in situ observations to analyse changes in five different water quality indicators, we showed that water quality improved in large areas of Lake Vembanad during the lockdown in 2020 [2]. The lessons learned illustrate that a coordinated response in reducing anthropogenic activities, as seen during the lockdown, could help achieve the targets set out in United Nation’s Sustainable Development Goals 3, 6 and 14 and significantly reduce aquatic pollution and improve water quality by 2030

Effect of Reduced Anthropogenic Activities on Water Quality in Lake Vembanad, India

The United Nation’s Sustainable Development Goal Life Below Water (SDG-14) aims to “conserve and sustainably use the oceans, seas, and marine resources for sustainable development”. Within SDG-14, targets 14.1 and 14.2 deal with marine pollution and the adverse impacts of human activities on aquatic systems. Here, we present a remote-sensing-based analysis of short-term changes in the Vembanad-Kol wetland system in the southwest of India. The region has experienced high levels of anthropogenic pressures, including from agriculture, industry, and tourism, leading to adverse ecological and socioeconomic impacts with consequences not only for achieving the targets set out in SDG-14, but also those related to water quality (SDG-6) and health (SDG-3). To move towards the sustainable management of coastal and aquatic ecosystems such as Lake Vembanad, it is important to understand how both natural and anthropogenic processes affect water quality. In 2020, a unique opportunity arose to study water quality in Lake Vembanad during a period when anthropogenic pressures were reduced due to a nationwide lockdown in response to the global pandemic caused by SARS-CoV-2 (25 March–31 May 2020). Using Sentinel-2 and Landsat-8 multi-spectral remote sensing and in situ observations to analyse changes in five different water quality indicators, we show that water quality improved in large areas of Lake Vembanad during the lockdown in 2020, especially in the more central and southern regions, as evidenced by a decrease in total suspended matter, turbidity, and the absorption by coloured dissolved organic matter, all leading to clearer waters as indicated by the Forel-Ule classification of water colour. Further analysis of longer term trends (2013–2020) showed that water quality has been improving over time in the more northern regions of Lake Vembanad independent of the lockdown. The improvement in water quality during the lockdown in April–May 2020 illustrates the importance of addressing anthropogenic activities for the sustainable management of coastal ecosystems and water resources

Reconciling models of primary production and photoacclimation

This is the final version. Available on open access from the Optical Society of America via the DOI in this recordPrimary production and photoacclimation models are two important classes of physiological models that find applications in remote sensing of pools and fluxes of carbon associated with phytoplankton in the ocean. They are also key components of ecosystem models designed to study biogeochemical cycles in the ocean. So far, these two classes of models have evolved in parallel, somewhat independently of each other. Here we examine how they are coupled to each other through the intermediary of the photosynthesis–irradiance parameters. We extend the photoacclimation model to accommodate the spectral effects of light penetration in the ocean and the spectral sensitivity of the initial slope of the photosynthesis–irradiance curve, making the photoacclimation model fully compatible with spectrally resolved models of photosynthesis in the ocean. The photoacclimation model contains a parameter , which is the maximum chlorophyll-to-carbon ratio that phytoplankton can attain when available light tends to zero. We explore how size-class-dependent values of could be inferred from field data on chlorophyll and carbon content in phytoplankton, and show that the results are generally consistent with lower bounds estimated from satellite-based primary production calculations. This was accomplished using empirical models linking phytoplankton carbon and chlorophyll concentration, and the range of values obtained in culture measurements. We study the equivalence between different classes of primary production models at the functional level, and show that the availability of a chlorophyll-to-carbon ratio facilitates the translation between these classes. We discuss the importance of the better assignment of parameters in primary production models as an important avenue to reduce model uncertainties and to improve the usefulness of satellite-based primary production calculations in climate research.Simons FoundationEuropean Space AgencyNational Centre for Earth ObservationNational Science Foundatio

Metabolic evolution and the self-organization of ecosystems

Metabolism mediates the flow of matter and energy through the biosphere. We examined how metabolic evolution shapes ecosystems by reconstructing it in the globally abundant oceanic phytoplankter Prochlorococcus To understand what drove observed evolutionary patterns, we interpreted them in the context of its population dynamics, growth rate, and light adaptation, and the size and macromolecular and elemental composition of cells. This multilevel view suggests that, over the course of evolution, there was a steady increase in Prochlorococcus' metabolic rate and excretion of organic carbon. We derived a mathematical framework that suggests these adaptations lower the minimal subsistence nutrient concentration of cells, which results in a drawdown of nutrients in oceanic surface waters. This, in turn, increases total ecosystem biomass and promotes the coevolution of all cells in the ecosystem. Additional reconstructions suggest that Prochlorococcus and the dominant cooccurring heterotrophic bacterium SAR11 form a coevolved mutualism that maximizes their collective metabolic rate by recycling organic carbon through complementary excretion and uptake pathways. Moreover, the metabolic codependencies of Prochlorococcus and SAR11 are highly similar to those of chloroplasts and mitochondria within plant cells. These observations lead us to propose a general theory relating metabolic evolution to the self-amplification and self-organization of the biosphere. We discuss the implications of this framework for the evolution of Earth's biogeochemical cycles and the rise of atmospheric oxygen.Simons Foundation (Grant SCOPE 329108)Gordon and Betty Moore Foundation (Grant 3778)Gordon and Betty Moore Foundation (Grant 495.01

Holomorphic automorphisms of Danielewski surfaces II -- structure of the overshear group

We apply Nevanlinna theory for algebraic varieties to Danielewski surfaces and investigate their group of holomorphic automorphisms. Our main result states that the overshear group which is known to be dense in the identity component of the holomorphic automorphism group, is a free amalgamated product.Comment: 24 page