Autonomous Navigation System for a Delivery Drone

The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a navigation system that makes feasible the delivery of parcels with autonomous drones. The system generates a path between a start and a final point and controls the drone to follow this path based on its localization obtained through GPS, 9DoF IMU, and barometer. In the landing phase, information of poses estimated by a marker (ArUco) detection technique using a camera, ultra-wideband (UWB) devices, and the drone's software estimation are merged by utilizing an Extended Kalman Filter algorithm to improve the landing precision. A vector field-based method controls the drone to follow the desired path smoothly, reducing vibrations or harsh movements that could harm the transported parcel. Real experiments validate the delivery strategy and allow to evaluate the performance of the adopted techniques. Preliminary results state the viability of our proposal for autonomous drone delivery.Comment: 12 pages, 15 figures, extended version of an paper published at the XXIII Brazilian Congress of Automatica, entitled "Desenvolvimento de um drone aut\^onomo para tarefas de entrega de carga

Characterization of preantral follicle clustering and neighborhood patterns in the equine ovary.

Understanding the transition from quiescent primordial follicles to activated primary follicles is vital for characterizing ovarian folliculogenesis and improving assisted reproductive techniques. To date, no study has investigated preantral follicle crowding in the ovaries of livestock or characterized these crowds according to follicular morphology and ovarian location (portions and regions) in any species. Therefore, the present study aimed to assess the crowding (clustering and neighborhood) patterns of preantral follicles in the equine ovary according to mare age, follicular morphology and developmental stage, and spatial location in the ovary. Ovaries from mares (n = 8) were collected at an abattoir and processed histologically for evaluation of follicular clustering using the Morisita Index and follicular neighborhoods in ovarian sections. Young mares were found to have a large number of preantral follicles with neighbors (n = 2,626), while old mares had a small number (n = 305). Moreover, young mares had a higher number of neighbors per follicle (2.6 ± 0.0) than old mares (1.2 ± 0.1). Follicle clustering was shown to be present in all areas of the ovary, with young mares having more clustering overall than old mares and a tendency for higher clustering in the ventral region when ages were combined. Furthermore, follicles with neighbors were more likely to be morphologically normal (76.5 ± 6.5%) than abnormal (23.5 ± 6.5%). Additionally, morphologically normal activated follicles had increased odds of having neighbors than normal resting follicles, and these normal activated follicles had more neighbors (2.6 ± 0.1) than normal resting follicles (2.3 ± 0.1 neighbors). In the present study, it was demonstrated that preantral follicles do crowd in the mare ovary and that clustering/neighborhood patterns are dynamic and differ depending on mare age, follicular morphology, and follicular developmental stage

Effect of light and sucrose on photoautotrophic and photomixotrophic micropropagation of Physalis angulata

The biotechnological interest in genus Physalis has increased in the last decades, however, there are still few micropropagation studies of this genus. The objective of this study was to evaluate P. angulata photoautotrophic and photomixotrophic micropropagation with gas exchange under seven light spectra and five concentrations of sucrose. Lighting were yellow, blue, white, red, green, red + blue LEDs and natural light filtered by mesh. Sucrose concentrations were 0, 7.5, 15, 22.5 and 30 g.L-1. Phytotechnical, anatomical features and photopigment contents were evaluated through stem and root segment length, leaf number, leaf area, chlorophyll a and b contents, carotenoids, adaxial epidermis, palisadic and spongy parenchyma and abaxial epidermis. The data were compared by Scott-Knott's mean test and principal components analysis using the R software. Comparing the variables within lighting types, it was observed that only the screen treatment, screen-filtered natural illumination, obtained assessment in all variables. Comparing the levels of sucrose, it was observed that the treatment 15 g.L-1 sucrose obtained the highest number of averages with maximum evaluation. It was concluded that the natural light filtered by screen with 50% of shading allowed the photoautotrophic micropropagation of P. angulata. Better development results were observed in photomixotrophic micropropagation with 15 g.L-1 of sucrose

Phenotypic characterization of naturalized swine breeds in Brazil, Uruguay and Colombia

Foram colhidos dados morfométricos de 859 suínos naturalizados do Brasil (Piau, Tatu, Nilo, Caruncho, Casco de Burro, Moura, Monteiro e Rabo de Peixe), Colômbia (Criolla Zungo, Sanpedreño e Casco de Mula) e Uruguai (Mamellado) Dados sobre raça, sexo e idade foram coletados, assim como varias avaliações morfométricas. A análise de variância foi realizada utilizando-se o procedimento PROC GLM do SAS sobre os dados morfométricos. Os coeficientes de variância oscilaram de 11,50 a 83,81% e o coeficiente de determinação foi de moderado a alto. As fêmeas foram em geral menores na maioria das avaliações em relação aos machos, indicando dimorfismo sexual. A Moura foi a raça naturalizada mais próxima das raças comerciais, seguida da Piau, enquanto a Monteiro apresentou-se mais distante. O dendograma obtido a partir de informações morfológicas apresentou divisão dentro de três grupos. A caracterização foi possível utilizando-se dados morfológicos e morfométricos.ABSTRACT: Morphometric data was collected on 859 naturalized swine in Brazil (Piau, Tatu, Nilo, Caruncho, Casco de Burro, Moura, Monteiro and Rabo de Peixe), Colombia (Criolla Zungo, Sanpedreño and Casco de Mula) and Uruguay (Mamellado), both on farm and in published material. Information was collected on breed, sex and age, as well as various morphometric measurements. Analysis of variance was carried out using PROC MIXED of SAS ® on phenotypic data. The coefficients of variance varied between 11.50 and 83.81%, and the coefficient of determination was medium to high. Females were in general smaller for most measurements than males, showing sexual dimorphism. The Moura was the closest naturalized breed to the commercial breeds, followed by the Piau, while the Monteiro was the furtherest. The dendrogram obtained from morphological information showed a division of the pigs into three groups. Characterization was possible using morphological and morphometric data

Polyploidy induction in Physalis alkekengi

Physalis alkekengi is an ornamental plant that can also be used as a medicinal plant due to its anti-inflammatory, bactericidal, antitumor and fungicidal properties. Polyploidization can be an important tool in the genetic improvement of this species. The objective this work was to obtain tetraploids in vitro and to evaluate the phytotechnical traits of P. alkekengi. For this, nodal segments of P. alkekengi var. Franchettii were inoculated into petri dishes containing 100 ml of MS medium supplemented with colchicine at concentrations 0; 0.04; 0.08; 0.12; and 0.16% and kept in the dark for 24 and 48h. After the respective treatment periods with colchicine the segments were inoculated into test tubes. The tetraploids were identified by flow cytometry and classical cytogenetics. In vitro seedlings were measured: root length, nodal segment length, leaflet number and total leaf area. In the acclimatization phase, the area of ​​the second leaf and total leaf, petiole radius, stem length, fruit weight with calyx, without calyx, fruit diameter, number of seeds and brix of the pulp were evaluated. Chlorophyll a, chlorophyll b, total chlorophyll, total carotenoid, total chlorophyll / total carotenoid ratio and chlorophyll a / b ratio were also estimated. The treatment that most produced tetraploid seedlings was with 0.08% colchicine per 24h. No significant difference was observed in 7 (seven) variables, these being all variables of photopigments, stem diameter (steam) and brix. In general, diploid (2x) plants were better in 9 (nine) while tetraploid seedlings were better in 6 (six) of the phytotechnical variables. It was concluded that the MS medium supplemented with 0.08% colchicine for 24 h allowed P. alkekengi tetraploides to be obtained with better phytotechnical qualities

Structuring of Bacterioplankton Diversity in a Large Tropical Bay

Structuring of bacterioplanktonic populations and factors that determine the structuring of specific niche partitions have been demonstrated only for a limited number of colder water environments. In order to better understand the physical chemical and biological parameters that may influence bacterioplankton diversity and abundance, we examined their productivity, abundance and diversity in the second largest Brazilian tropical bay (Guanabara Bay, GB), as well as seawater physical chemical and biological parameters of GB. The inner bay location with higher nutrient input favored higher microbial (including vibrio) growth. Metagenomic analysis revealed a predominance of Gammaproteobacteria in this location, while GB locations with lower nutrient concentration favored Alphaproteobacteria and Flavobacteria. According to the subsystems (SEED) functional analysis, GB has a distinctive metabolic signature, comprising a higher number of sequences in the metabolism of phosphorus and aromatic compounds and a lower number of sequences in the photosynthesis subsystem. The apparent phosphorus limitation appears to influence the GB metagenomic signature of the three locations. Phosphorus is also one of the main factors determining changes in the abundance of planktonic vibrios, suggesting that nutrient limitation can be observed at community (metagenomic) and population levels (total prokaryote and vibrio counts)