Visual 3-D SLAM from UAVs

The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs

Density functional method for nonequilibrium electron transport

We describe an ab initio method for calculating the electronic structure, electronic transport, and forces acting on the atoms, for atomic scale systems connected to semi-infinite electrodes and with an applied voltage bias. Our method is based on the density functional theory (DFT) as implemented in the well tested Siesta approach (which uses non-local norm-conserving pseudopotentials to describe the effect of the core electrons, and linear combination of finite-range numerical atomic orbitals to describe the valence states). We fully deal with the atomistic structure of the whole system, treating both the contact and the electrodes on the same footing. The effect of the finite bias (including selfconsistency and the solution of the electrostatic problem) is taken into account using nonequilibrium Green's functions. We relate the nonequilibrium Green's function expressions to the more transparent scheme involving the scattering states. As an illustration, the method is applied to three systems where we are able to compare our results to earlier ab initio DFT calculations or experiments, and we point out differences between this method and existing schemes. The systems considered are: (1) single atom carbon wires connected to aluminum electrodes with extended or finite cross section, (2) single atom gold wires, and finally (3) large carbon nanotube systems with point defects.Comment: 18 pages, 23 figure

Aplicación de la espectroscopía de reflectancia en el infrarrojo cercano para la estimación de los contenidos de proteína y L-canavanina en semillas de algarroba (Vicia articulata Hornem.)

In this work it has been evaluated the effectiveness of near-infrared reflectance spectroscopy (NIRS) for the estimation of two constituents affecting the nutritional quality of the seeds of one-flowered vetch (Vicia articulata Hornem.): protein and L-canavanine, a toxic non-protein amino acid. The NIRS calibrations showed good statistics with coefficients of multiple determination (R2) of 0.97 for total protein and 0.95 for L-canavanine. The developed equations were further used to estimate the contents of protein and L-canavanine of a set of unknown samples (external validation). The equation for total protein was able to predict with an accuracy similar to that of the reference method showing a correlation (r2) between the reference and predicted values of 0.95. In the case of L-canavanine, r2 was only 0.72 and the equation was only effective to discriminate samples into groups of low, medium and high contents.En este trabajo se ha evaluado la eficacia de la espectroscopía de reflectancia en el infrarrojo cercano (NIRS) en la cuantificación de dos componentes que afectan a la calidad nutricional de las semillas de algarroba (Vicia articulata Hornem.): proteína y L-canavanina, un aminoácido tóxico no proteico. Las calibraciones NIRS mostraron unos buenos estadísticos, con coeficientes de determinación múltiple (R2) de 0,97 para la proteína total y 0,95 para la L-canavanina. Las ecuaciones desarrolladas fueron posteriormente utilizadas para estimar los contenidos en proteína y L-canavanina de un grupo de muestras desconocidas (validación externa). La ecuación para proteína total fue capaz de predecir con una exactitud similar a la del método de referencia, mostrando una correlación (r2) entre los valores de referencia y los predichos de 0,95. En el caso de la L-canavanina, r2 fue sólo de 0,72 y la ecuación sólo sirvió para discriminar las muestras en grupos de bajo, medio y alto contenidos

Epigenetic Barcodes for Detection of Adulterated Plants and Plant-Derived Products

In this chapter, we report a possible alternative use of epigenetics by applying methylation-sensitive amplified fragment length polymorphisms (MS-AFLP) to saffron traceability. Saffron is the most expensive plant-derived product in the world and one of the most frequently adulterated. One of the most frequent adulteration is by adding to saffron stigmas different parts of the saffron flower itself to increase volumes. While DNA is the same in all the parts of the plant, the epigenetic state can vary according to the organ and/or tissue of origin, making it possible to discriminate the stigmas from the other parts of saffron flower. In the subsequent method, the protocol to carry out a MS-AFLP analysis of saffron DNA methylation patterns is described

Perfil químico y biológico de aceites esenciales de plantas aromáticas de interés agro-industrial en Castilla-La Mancha (España)

The chemical composition and biological activities of essential oils of <i>Salvia officinalis</i> L., <i>Salvia lavandulifolia</i> Vahl., <i>Lavandula x intermedia</i> Emeric ex Loisel., <i>Lavandula latifolia</i> Medik., <i>Lavandula angustifolia</i> Mill. and <i>Thymus vulgaris</i> L. are presented. The essential oils have been analysed by Gas Chromatography Mass Spectrometry and 61 compounds were identified, 23 of which represented more than 1% of the essential oil. The 1,8 cineole (16-23%) appeared as the main compound of <i>Salvia</i> sp. essential oils. The high content of α-thujone was characteristic in <i>S. officinalis</i> oil. Remarkable concentrations of linalool (30-33%), camphor (5-17%) and linalyl acetate (9-28%) were detected in <i>Lavandula</i> sp. oils while carvacrol (21.6%) and p-cimene (23.7%) were the most abundant compounds in <i>T. vulgaris</i> oil. Biological characterization was based on their bioplaguicide activity. The essential oils studied had strong antifeedant effects against <i>Leptinotarsa decemlineata</i> Say, <i>Spodoptera littoralis</i> Boisd., <i>Myzus persicae</i> Sulzer and <i>Rhopalosiphum padi</i> L., phytotoxic activity against <i>Lactuca sativa</i> L. and <i>Lolium perenne</i> L. and also exhibited high antifungal activity against <i>Fusarium</i> sp. Oils from <i>T. vulgaris</i> and <i>L. latifolia</i> showed the highest levels of bioactivity against all target species. These results provide an added-value to the essential oils of aromatic plants of agro-industrial interest for its potential use in the development of natural agrochemicals.<br><br>En este trabajo se presenta el estudio químico y biológico de los aceites esenciales de <i>Salvia officinalis</i> L., <i>Salvia lavandulifolia</i> Vahl., <i>Lavandula</i> x intermedia Emeric ex Loisel., <i>Lavandula latifolia</i> Medik., <i>Lavandula angustifolia</i> Mill. y <i>Thymus vulgaris</i> L. El estudio químico por cromatografía de gases acoplada a espectrometría de masas de los aceites esenciales permitió la identificación de 61 compuestos, de los cuales 23 presentaron un porcentaje mayor o igual al 1 %. Los aceites esenciales de <i>Salvia</i> sp. se caracterizaron por presentar un alto contenido de 1,8 cineol (16-23%) y, en el caso específico de <i>S. officinalis</i>, una elevada proporción de α-tuyona (15.7%). En <i>Lavandula</i> sp., los compuestos mayoritarios del aceite fueron linalol (30-33%), alcanfor (5-17%) y acetato de linalilo (9-28%); mientras que en <i>T. vulgaris</i> lo fueron carvacrol (21.6%) y p-cimeno (23.7%). La caracterización biológica, desde el punto de vista de la actividad bioplaguicida, mostró que los aceites ensayados disminuyeron significativamente la alimentación de <i>Leptinotarsa decemlineata</i> Say, <i>Spodoptera littoralis</i> Boisd., <i>Myzus persicae</i> Sulzer y <i>Rhopalosiphum padi</i> L., mostraron actividad fitotóxica frente a <i>Lactuca sativa</i> L. y <i>Lolium perenne</i> L. y disminuyeron el crecimiento del micelio del hongo de Fusarium sp. Los aceites de <i>T. vulgaris</i> y <i>L. latifolia</i> fueron los más activos frente a todas las especies empleadas como dianas biológicas. Los resultados obtenidos potencian el valor añadido de los aceites de plantas aromáticas de interés agro-industrial en Castilla- La Mancha como una alternativa interesante en programas de desarrollo de agroquímicos naturales

Massive Bilateral Serous Retinal Detachment in a Case of Hypertensive Chorioretinopathy

Introduction: Systemic high blood pressure is related to a variety of retinal manifestations. We present an atypical case of hypertensive chorioretinopathy with massive bilateral serous retinal detachment. Case Report: A 26-year-old male with a genitourinary malformation and secondary grade IV chronic kidney failure as well as high blood pressure complained of acute vision loss. Dilated fundus examination evidenced a bilateral serous retinal detachment with macular involvement. The patient was unresponsive to oral antihypertensive therapy and dialysis treatment. The serous retinal detachment progressively decreased after the restoration of dialysis and antihypertensive therapy. The final visual acuity was 0.50 in both eyes. Discussion: In cases of serous macular detachment, it is mandatory to rule out different systemic and ocular diseases. The presence of uncontrolled high blood pressure may produce aggressive bilateral retinal changes, thus hypertension must be under early and strict control in order to improve the visual outcomes

Determination of γ-glutamyl-S-ethenyl-cysteine in narbon vetch (Vicia narbonensis L.) seeds by high performance liquid chromatography

A new method for fast and easy determination of γ-glutamyl-S-ethenyl-cysteine (GEC) in narbon vetch (Vicia narbonensis L.) seeds was developed as a tool for the selection of low GEC varieties. Samples (n= 20) were analyzed by reverse-phase HPLC, using isocratic elution and monitoring at 215 nm. Calibration curve showed very good linearity of the response between 2.5 and 20. μg GEC. The limits of detection and quantification were 0.013 and 0.049 mg/mL, respectively. The repeatability (average coefficient of variation (CV) = 0.023) and reproducibility (average CV = 0.016) of the method were within the recommendations for the validation of HPLC methods. The method yielded similar results in comparison with a previously established method. © 2011 Elsevier B.V.This study is supported by the Project PAI09-0015-7008, which is funded by the Consejería de Educación y Ciencia, Junta de Comunidades de Castilla–La Mancha.Peer Reviewe

A colorimetric method for determination of γ-glutamyl-S-ethenyl- cysteine in narbon vetch (Vicia narbonensis L.) seeds

A new colorimetric method based on the bleaching of the iodoplatinate ion has been developed for fast and easy determination of γ-glutamyl-S- ethenyl-cysteine (GEC) in narbon vetch (Vicia narbonensis L.) seeds. The calibration curve showed a good correlation (r2 = 0.9959) between absorbance and GEC amounts from 5.5 to 33 μg (10-59.78 μmol/L). The limits of detection and quantification were 1.16 and 3.55 μmol/L, respectively, and no significant interferences from other sulfur-containing compounds were observed. The method showed excellent repeatability (relative standard deviation [RSD] = 0.28%), reproducibility (RSD = 4.4%), and accuracy (94%). Determination of GEC in 20 narbon vetch accessions yielded values that were in agreement with those reported previously using capillary electrophoresis and high-performance liquid chromatography methods. The method could be especially valuable for determination of GEC during the process of production of new low-GEC narbon vetch varieties. Copyright © 2011 Published by Elsevier Inc. All rights reserved.This study is part of the project PAI09-0015-7008, which is funded by the Consejería de Educación y Ciencia, Junta de Comunidades de Castilla–La Mancha.Peer Reviewe

Epigenetic variability among saffron crocus (Crocus sativus L.) accessions characterized by different phenotypes.

Saffron (Crocus sativus L.) is a sterile triploid (2n=3x=24), initially assumed to be of autotriploid origin, although a growing number of evidences support alloploidy as the most probable mechanism to have occurred. The crop vegetatively multiplies year by year by means of corms. Corm multiplication does not generate genome variations with the exception of some spontaneous mutations that in a triploid saffron population are not easily detectable. At the present time, the real level of genetic variability inside saffron is still debated and in literature it is possible to recover contradictory articles providing contrasting results about if the species is monomorphic or not. In a preliminary characterisation of 50 saffron accessions of the WSCC (World Saffron and Crocus Collection, located in the Bank of Plant Germplasm of Cuenca), characters related to phenology (date of sprouting and flowering, duration of flowering), floral morphology (length and width of tepals, and length of stamen filaments and anthers) and saffron production (percentage of flowering corms, number of flowers per corm, saffron spice weight per flower) were measured and a big variation detected. This raises the question about the origin of such variability, and, considering that gene expression can be influenced both by genetic and epigenetic changes, epigenetic variation could be a possible origin of the alternative phenotypes. In order to have a deeper insight in the epigenetic of saffron, the present study was devoted to the analysis of the cytosine methylation among saffron accessions with different geographic origin and cultivated for at least three consecutive years in the same conditions inside the saffron “CrocusBank” collection. The analysis of the methylation was carried out by using the High C+G Patch (HCGP) Filtration method coupled with high throughput sequencing. The accessions have been selected based on geographic origin, different phenotypes, and different agronomic characters and were characterized by high or low saffron production, early and late flowering time. The presence of high epigenetic variability in DNA regions associated with gene expression was detected. Finally, in order to gain information on the stability along the years of the epigenetic in a vegetatively propagated plant, saffron epigenetics of 17 different accessions stored in the “CrocusBank” collection was analysed in 4 consecutive years from 2013 to 2016. Each accession, despite the cultivation in proximity in the same field and despite the presence of intra- and inter-accession variability, tended to maintain a proper epigenotype clearly different from the other accessions