Moregrasp: Restoration of Upper Limb Function in Individuals with High Spinal Cord Injury by Multimodal Neuroprostheses for Interaction in Daily Activities

The aim of the MoreGrasp project is to develop a noninvasive, multimodal user interface including a brain-computer interface (BCI) for intuitive control of a grasp neuroprosthesis to support individuals with high spinal cord injury (SCI) in everyday activities. We describe the current state of the project, including the EEG system, preliminary results of natural movements decoding in people with SCI, the new electrode concept for the grasp neuroprosthesis, the shared control architecture behind the system and the implementation of a user-centered design

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

Pulgas-de-Água (Daphnia spp.)

Daphnia spp. (pulgas-de-água) - Os organismos do género Daphnia são micro-crustáceos planctónicos de água doce pertencentes à ordem Cladocera (classe Branchiopoda), que ocorrem em ecossistemas lênticos. Devem o nome de “pulga-de-água” aos movimentos natatórios irregulares, análogos aos saltos das pulgas “verdadeiras”.info:eu-repo/semantics/publishedVersio

WebSTAMP: a Web Application for STPA & STPA-Sec

STAMP (System-Theoretic Accident Model and Processes) techniques such as STPA (System- Theoretic Process Analysis) and STPA-Sec (STPA for Security) have been applied only in an adhoc manner, without the aid of tools. More recently, tools have been proposed to help the application of STPA and STPA-Sec. Most of the tools focus on user experience issues and do not cover all the aspects of STPA and STPA-Sec. Three aspects of tools are systematization, automation and analysis completeness. Systematization allows the analysis to be performed in a more disciplined way while automation allows a more time efficient analysis. Analysis’ completeness is the analysis coverage in a given domain. We identify the essential requirements supporting business and stakeholders' needs for a STAMP based tool. We propose a STAMPcompliant web application, named WebSTAMP, for STPA and STPA-Sec. WebSTAMP is intended to aid analysts throughout the analysis process in a more automated and comprehensive way, and it aims to be a collaborative tool. We illustrate how the requirements are implemented in the current version of WebSTAMP with an example of use. The results show that WebSTAMP assists analysts to conduct safety and security analyses in a more systematic, automated and comprehensive manner

Generalised second law of thermodynamics for interacting dark energy in the DGP brane world

In this paper, we investigate the validity of the generalized second law of thermodynamics (GSLT) in the DGP brane world when universe is filled with interacting two fluid system: one in the form of cold dark matter and other is holographic dark energy. The boundary of the universe is assumed to be enclosed by the dynamical apparent horizon or the event horizon. The universe is chosen to be homogeneous and isotropic FRW model and the validity of the first law has been assumed here

Continuous variable entanglement and quantum state teleportation between optical and macroscopic vibrational modes through radiation pressure

We study an isolated, perfectly reflecting, mirror illuminated by an intense laser pulse. We show that the resulting radiation pressure efficiently entangles a mirror vibrational mode with the two reflected optical sideband modes of the incident carrier beam. The entanglement of the resulting three-mode state is studied in detail and it is shown to be robust against the mirror mode temperature. We then show how this continuous variable entanglement can be profitably used to teleport an unknown quantum state of an optical mode onto the vibrational mode of the mirror.Comment: 18 pages, 10 figure

Star Models with Dark Energy

We have constructed star models consisting of four parts: (i) a homogeneous inner core with anisotropic pressure (ii) an infinitesimal thin shell separating the core and the envelope; (iii) an envelope of inhomogeneous density and isotropic pressure; (iv) an infinitesimal thin shell matching the envelope boundary and the exterior Schwarzschild spacetime. We have analyzed all the energy conditions for the core, envelope and the two thin shells. We have found that, in order to have static solutions, at least one of the regions must be constituted by dark energy. The results show that there is no physical reason to have a superior limit for the mass of these objects but for the ratio of mass and radius.Comment: 20 pages, 1 figure, references and some comments added, typos corrected, in press GR

Dermatophylosis in Santa Inês sheep from Distrito Federal

Relataram-se quatro casos de dermatofilose em ovinos da raça Santa Inês, no período de um ano. Microscopicamente observaram-se filamentos na forma de "trilho de bonde" e zoósporos nos quatro casos. A tentativa do isolamento do microrganismo foi realizada por meio do método de Haalstra e em apenas um caso obteve-se sucesso, observando-se colônias de aparência lisa, formato circular, cor amarelada e hemolítica em ágar sangue. O exame direto com coloração de Gram mostrou-se um método bastante eficiente na confirmação da presença do microrganismo afetando a epiderme em razão da morfologia típica do agente.Four cases of dermatophylosis were reported in Santa Inês sheep in a study period of one year. Microscopically, septate filaments and coccoid forms zoospores were observed. Attempts to isolate the microorganisms were accomplished using Haastra's method and it was successful in only one case. Dermatophilus congolensis samples have grown on blood agar, colonies where hemolytic, small, round and pigmentation vary from yellow to orange. The gram staining method was efficient to confirm the presence of the microorganism affecting the epidermis due to typical morphology of the agent