A novel framework to improve motion planning of robotic systems through semantic knowledge-based reasoning

The need to improve motion planning techniques for manipulator robots, and new effective strategies to manipulate different objects to perform more complex tasks, is crucial for various real-world applications where robots cooperate with humans. This paper proposes a novel framework that aims to improve the motion planning of a robotic agent (a manipulator robot) through semantic knowledge-based reasoning. The Semantic Web Rule Language (SWRL) was used to infer new knowledge based on the known environment and the robotic system. Ontological knowledge, e.g., semantic maps, were generated through a deep neural network, trained to detect and classify objects in the environment where the robotic agent performs. Manipulation constraints were deduced, and the environment corresponding to the agent’s manipulation workspace was created so the planner could interpret it to generate a collision-free path. For reasoning with the ontology, different SPARQL queries were used. The proposed framework was implemented and validated in a real experimental setup, using the planning framework ROSPlan to perform the planning tasks. The proposed framework proved to be a promising strategy to improve motion planning of robotics systems, showing the benefits of artificial intelligence, for knowledge representation and reasoning in robotics.info:eu-repo/semantics/publishedVersio

Development of ternary diagrams for estimating water retention properties using geostatistical approaches

Most pedotransfer functions (PTFs) have adopted soil texture information as the main predictor to estimate soil hydraulic properties, whether inputs are defined in terms of the relative proportion of different grain size particles or texture-based classifications. The objective of this studywas to develop ternary diagrams for estimating soil water retention (θ) at−33 and−1500 kPa matric potentials, corresponding to the field capacity and wilting point, respectively, from particle size distribution using two geostatistical approaches. The texture triangle was divided into a 1% grid of soil texture composition resulting in 4332 different soil textures. Measured soil water retention values determined in 742 soil horizons/layers located in Portugal were then used to develop and validate the hydraulic ternary diagrams. The development subset included two-thirds of the data, and the validation subset the remaining samples. The measured soil water content values were displayed in the ternary diagram according to the coordinates given by the particles size distribution determined in the same soil samples. The volumetric water content values were then predicted for the entire ternary diagram using two different geostatistical interpolation algorithms (ordinary kriging and the empirical best linear unbiased predictor). Uncertainty analysis resulted in a root mean square error below 0.040 and 0.034 cm3 cm−3 when comparing the interpolated water contents at −33 and −1500 kPa matric potential values, respectively, with the measured ones included in the validation dataset. The estimation variance calculated with both methods was also considered to access the uncertainty of the predictions. The available water content of Portuguese soils was then derived from θ−33 kPa and θ−1500 kPa ternary diagrams developed with both approaches. The hydraulic ternary diagrams may thus serve as simplified tools for estimating water retention properties from particle size distribution and eventually serve as an alternative to the traditional statistical regression and data mining techniques used to derive PTFsinfo:eu-repo/semantics/publishedVersio

Tracking of physical activity during adolescence: The 1993 Pelotas Birth Cohort, Brazil

Objective: To analyze physical activity during adolescence in participants of the 1993 Pelotas Birth Cohort Study, Brazil. Methods: Data on leisure time physical activity at 11, 15, and 18 years of age were analyzed. At each visit, a cut-off point of 300 min/week was used to classify adolescents as active or inactive. A total of 3,736 participants provided data on physical activity at each of the three age points. Results: A significant decline in the proportion of active adolescents was observed from 11 to 18 years of age, particularly among girls (from 32.9% to 21.7%). The proportions of girls and boys who were active at all three age points were 28.0% and 55.1%, respectively. After adjustment for sex, economic status, and skin color, participants who were active at 11 and 15 years of age were 58.0% more likely to be active at 18 years of age compared with those who were inactive at 11 and 15 years of age. Conclusions: Physical activity declined during adolescence and inactivity tended to track over time. Our findings reinforce the need to promote physical activity at early stages of life, because active behavior established early tends to be maintained over time

Effect of sodium and nitrogen on yield function of irrigated maize in Southern Portugal

Salinization and nitrate leaching are two of the leading threats to the environment of the European Mediterranean regions. Inefficient use of water and fertilizers has led to a nitrate increase in the aquifers and reduction in crop yields caused by salts. In this study, a triple emitter source irrigation system delivers water, salt (Na+), and fertilizer (N) applications to maize (Zea mays L.). The objective of the study was to evaluate the combined effect of saline water and nitrogen application on crop yields in two different textured soils of Alentejo (Portugal) and to assess if increasing salinity levels of the irrigation water can be compensated by application of nitrogen while still obtaining acceptable crop yield. Maximum yield was obtained from both soils with an application of 13 g m−2 of nitrogen. Yield response to Na+ application was different in the two studied soils and depended on the total amount of Na+ or irrigation water applied. No significant interaction was found between nitrogen and sodium, but a positive effect on maize yield was observed in the medium textured soil for amounts of Na+ less than 905 g m−2 when applied in the irrigation water

Innovative therapeutic approaches for the treatment of myocardial ischemia and angina

Cardiac energy metabolism is complex and has three main components: 1. Substrate utilisation, 2 Oxydative phosphorilation and 3. Transfer of high energy phosphates. Substrate utilization involves the cellular uptake of free fatty acids, glucose and amino acids, their breakdown by beta-oxidation and glycolysis, and the entry of Acetyl Coenzyme A into the Krebs cycle. Oxidative phosphorylation involves the production of energy by the mitochondrial respiratory chain and the production of high-energy phosphates. Until recent it was not known that it was possible to delimitate the infarct size through therapeutic interventions. Likely, the improvement to understand the mechanisms of cellular survivor occurs in that year, when Murry et al. discovered an intrinsic mechanism of myocardial protection, which they denominated as ischemic preconditioning. In that experiment, it was observed that four cycles of five minutes of ischemia, with intermittent reperfusion, before 40 min of ischemia period, resulted in reduction of 75% of the infarct size. Also, it was demonstrated by these researches that this protection it was not resulted by collateral overture and that protective effect of the ischemic preconditioning was abolished in the presence of prolonged ischemia, with duration of 3 h. Two phenomenons, the walk-through angina and the warm up phenomenon could represent a clinical manifestation of preconditioning. The phenomenon of walk-through angina was first related in the end of century XVIII in a patient that developed angina during the effort, but experimented the paradox disappearing of the pain with the exercise continuation. The exact molecular mechanisms involved in ischemic preconditioning are not fully elucidated. Therefore, due to the high prevalence of risk factors to cardiovascular diseases and the high morbidity and mortality associated with coronary artery disease, there is a needed to understand even better the cardiac metabolism during ischemia and the strategies to reduce the consequences of the ischemia, to preserve the viability of the ischemic myocardium

Conception, development and validation of a software interface to assess human’s horizontal intra-cyclic velocity with a mechanical speedo-meter

The aim of this paper was to: (i) calibrate the Swimsportec® speedo-meter; (ii) concept and develop a software’s interface for it (iii) validate the full system. Calibration was done with an industrial robot. The robot arm’s performed a linear and horizontal path at a uniform movement for a set of wide range of velocities (0.5<v<4.5m/s) being the tension data acquire for each specific linear velocity. Software’s interface was developed in LabVIEW® to acquire, display and process pair wises velocity-time data on-line during the subject’s locomotion bout. To transfer data from speedo-meter to the software an acquisition card is used. System validation was done for a set of land-based human locomotion techniques (from slow walk to maximal running) in four subjects and comparing it with a Doppler radar gun. Linear regression models between speedo-meter system and radar gun where very high for both the coefficient of variation of the subject’s velocity within the full gait cycle and his maximal velocity. The 95% of interval confidence agreement limits were very close together in both variables. More than 80% of the Bland- Altman plots were with the 1.96 standard-deviation criteria used on regular basis as rule thumb for techniques validation

Computational intelligence applied to discriminate bee pollen quality and botanical origin

The aim of this work was to develop computational intelligence models based on neural networks (NN), fuzzy models (FM), and support vector machines (SVM) to predict physicochemical composition of bee pollen mixture given their botanical origin. To obtain the predominant plant genus of pollen (was the output variable), based on physicochemical composition (were the input variables of the predictive model), prediction models were learned from data. For the inverse case study, input/output variables were swapped. The probabilistic NN prediction model obtained 98.4% of correct classification of the predominant plant genus of pollen. To obtain the secondary and tertiary plant genus of pollen, the results present a lower accuracy. To predict the physicochemical characteristic of a mixture of bee pollen, given their botanical origin, fuzzy models proven the best results with small prediction errors, and variability lower than 10%.info:eu-repo/semantics/publishedVersio

Genetic variants of CYP2C9 and IL-6 on female infertility

AIM: To study the polymorphic variants in CYP2C9*2*3 and the C-174G promoter polymorphism of the IL-6 gene on Infertile Women.BACKGROUND: - Infertility affects 15–20% of couples worldwide. Within the past decades, there has been a steady rise in the treatment of female infertility with several drugs; - The cytochrome P450 (CYP) genes are oxygenases involved in estrogen biosynthesis and metabolism, generation of DNA damaging procarcinogens, and response to anti-estrogen therapies used in female infertility treatments: - Interleukin-6 (IL-6) is a pleiotropic proinflammatory cytokine, highly expressed in the female urogenital tract and reproductive organs. It has been implicated in estrogen metabolism imbalance.N/

Avaliação de biofertilizantes, extratos vegetais e diferentes substâncias alternativas no manejo de tripes em cebola em sistema orgânico.

Avaliou-se substâncias alternativas no manejo de tripes (Thrips tabaci Lind.), em cebola, cv, Crioula, no sistema orgânico. Os experimentos foram conduzidos na EPAGRI, Ituporanga (SC). Os períodos entre transplante e colheita foram de 11/09/1996 a 10/01/1997 e 13/08/1997 a 11/12/1997. O delineamento foi de blocos ao acaso com 8 tratamentos em 1996 e 12 tratamentos em 1997 e quatro repetições. Em 1996 os tratamentos incluíram o biofertilizante anaeróbico 50%, biofertilizante aeróbico 5%, sulfato de manganês 1%, extrato hidroalcoólico de própolis 0,2%, macerado de ervas (“fersoral”) 2% e 4%, extrato de fumo (Nicotiana tabacum) 2 L ha-1 + 1% detergente neutro, testemunha sem aplicação. Em 1997 os tratamentos incluíram o macerado de ervas (“fersoral”) 5% 10%, enxofre pó molhável 0,25% + extrato hidroalcoólico de própolis 0,2% + extrato de samambaia 3%, biofertilizante anaeróbico 50%, biofertilizante aeróbico 5%, extrato de losna (Artemisia verlotorum) 3%, extrato de timbó (Ateleia glazioviana) 0,5%, extrato de samambaia (Pteridium aquilinum) 10%, extrato de erva-de-santa-maria (Chenopodium ambrosioides) 10%, extrato de cinamomo (Melia azedarach) 10%,extrato de camomila (Matricaria chamomilla) 5%, testemunha sem aplicação. Para aplicação dos produtos empregou-se pulverizador de pressão constante a base de CO2. Os tratamentos não causaram redução significativa na incidência de tripes e aumentos significativos na produtividade

Estudo da aceitação e adequabilidade dos ovos de algumas espécies de noctuídeos como hospedeiros de Trichogramma sp. (Hymenoptera: Trichogrammatidae)

The acceptance and suitability of a species of Trichogramma captured in a processing tomatoes field in a tract of marshy land alongside a river, in Vila Franca “lezíria”, of the eggs of four species of noctuids (Helicoverpa armigera, Thysanoplusia orichalcea, Autographa gamma e Chrysodeixis chalcites) is studied in a preliminary trial. The specificity of the Trichogramma species towards the key pest of tomato, H. armigera, is evaluated, as well as the potential of other noctuids present in the processing tomato ecosystem as its alternative hosts. Acceptance is evaluated offering eggs of the four species of noctuids to Trichogramma sp. females while suitability is inferred from the biological traits of the progeny. In spite of the small differences between hosts, it is observed that all the hosts evaluated are readily accepted to parasitism by Trichogramma sp. females, and are suitable to parasitoid development. This species of Trichogramma does not seem to show specificity towards H. armigera, which suggests the importance of the remaining lepidopterans as parasitoid hosts in the field