Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform

In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance capability, the target destination for each robot is provided by a global planner. The global planner and the ground vehicles (robots) constitute a multi agent system (MAS) which communicate with each other over a wireless network. Three different approaches are explored for implementation. The first two approaches make use of the distributed computing based Networked Robotics architecture and communication framework of Robot Operating System (ROS) itself while the third approach uses Rapyuta Cloud Robotics framework for this implementation. The comparative performance of these approaches are analyzed through simulation as well as real world experiment with actual robots. These analyses provide an in-depth understanding of the inner working of the Cloud Robotics Platform in contrast to the usual ROS framework. The insight gained through this exercise will be valuable for students as well as practicing engineers interested in implementing similar systems else where. In the process, we also identify few critical limitations of the current Rapyuta platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape

Experimental Investigation and Thermophysics Analysis of Joule Thomson Cooler Applicable to Infrared Imaging

Recuperative type of heat exchanger (H-E) based miniature Joule-Thomson (J-T) cooler operated in the steady-state condition is employed extensively in applications towards infrared detectors cooling, thermal imaging cameras, and homing guidance devices in a wide variety of defence projectile systems. In this study, a theoretical thermal design of recuperative H-E for determining a viable geometry using iterative methodology is discussed. A steady-state numerical analysis for the developed geometrical model of the H-E is also reported, along with the experimental studies for typical operating conditions. A custom numerical code using the Runge-Kutta method has been developed in MATLAB, and the results from the code compared with predictions of COMSOL multi-physics are in good agreement. Further, results have been validated proving the efficacy of the theoretical model and custom numerical code developed

Importance of Biochar in Agriculture and Its Consequence

Climate change is affecting all four dimensions of food security: food availability, food accessibility, food utilization, and food systems stability. It is also affecting human health, livelihood assets, food production, and distribution channels, as well as changing purchasing power and market flows. Keeping in view, the present chapter is focusing mostly on biochar. Biochar is usually produced by pyrolysis of biomass at around temperature range of 300–600°C. It is under investigation as an approach to carbon sequestration to produce negative carbon emissions. Present agriculture is leading mining of nutrients and reduction in soil organic matter levels through repetitive harvesting of crops. The most widespread solution to this depletion is the application of soil amendments in the form of fertilizers containing the three major nutrients. The nitrogen is considered the most limiting nutrient for plant growth useful for protein builds, structures, hormones, chlorophyll, vitamins, and enzymes. Biochar may be added to soils to improve soil health, improve soil fertility, and sequester carbon. However, the variable application rates, uncertain feedstock effects, and initial soil state provide a wide range of cost for marginally improved yield from biochar additions, which is often economically impracticable. There is a need for further research on optimizing biochar application to improve crop yields

Genetic diversity amongst oat (Avena sativa) lines for micronutrients and agro-morphological traits

The present experiment was conducted during winter (rabi) seasons of 2019–20 and 2020–21 at the ICAR-Indian Grassland and Fodder Research Institute, Jhansi, Uttar Pradesh to study the genetic diversity amongst oat (Avena sativa L.) lines for micronutrients and agro-morphological traits. For study, 150 oat accessions collected from different sources were evaluated for two years and four micronutrients (Zn, Cu, Fe and Mn) and 9 agro-morphological traits were recorded. Genotypes IG02122 (464.0 mg/kg), IG02156 (48.1 mg/kg), IG03271 (136.0 mg/kg), and IG03213 (22.0 mg/kg) had maximum Fe, Zn, Mn and Cu content in fodder (harvested at 50% flowering). Genotype IG0280 had both high Zn (36.97 mg/kg) and Mn (114.33 mg/kg); IG03233 had high Cu (18.0 mg/kg) and Mn (124.0 mg/kg); and IG02131 had high Cu (18.33 mg/kg) and Fe (369.0 mg/kg) content. Analysis of variance (ANOVA) highlighted significant genotypic differences (P<0.001) for micronutrient content and fodder yield and related traits. High heritability coupled with high genetic advance was found for micronutrients, green fodder yield, test weight, dry matter yield, plant height, tiller number and grain number suggested the preponderance of additive and fixable genetic variance for these traits. The Cu content had significant negative association with Mn content but positive with leaf length and leaf width. Principal component analysis separated the total genetic variation into five main components and covered 59.09% of the total genetic variation. Based on Mahalanobis distances, genotypes were grouped into six clusters where maximum inter-cluster distance was observed for cluster 4 and 5. Therefore, genotypes from these two clusters can be used as parents for the future breeding programmes

Artificial Light at Night: A Global Threat to Plant Biological Rhythms and Eco-Physiological Processes

Light is crucial environmental factor for primary resource and signalling in plants and provide optimum fitness under fluctuating environments from millions of year. However, due to urbanization, and human development activities lot of excess light generated in environment during night time and responsible for anthropogenic generated pollution (ALAN; artificial night light pollution). This pollution has cause for serious problem in plants as it affects their processes and functions which are under the control of light or diurnal cycle. Plant biorhythms mostly diurnal rhythms such as stomatal movements, photosynthetic activity, and many more metabolic processes are under the control of period of light and dark, which are crucially affected by artificial light at night. Similarly, the crucial plant processes such as pollination, flowering, and yield determining processes are controlled by the diurnal cycle and ALAN affects these processes and ultimately hampers the plant fitness and development. To keep in mind the effect of artificial light at night on plant biorhythm and eco-physiological processes, this chapter will focus on the status of global artificial night light pollution and the responsible factors. Further, we will explore the details mechanisms of plant biorhythm and eco-physiological processes under artificial light at night and how this mechanism can be a global threat. Then at the end we will focus on the ANLP reducing strategies such as new light policy, advanced lightening technology such as remote sensing and lightening utilisation optimisation

Elevated CO₂ Concentration Improves Heat-Tolerant Ability in Crops

The rising concentration of atmospheric carbon dioxide (aCO2) and increasing temperature are the main reasons for climate change, which are significantly affecting crop production systems in this world. However, the elevated carbon dioxide (CO2) concentration can improve the growth and development of crop plants by increasing photosynthetic rate (higher availability of photoassimilates). The combined effects of elevated CO2 (eCO2) and temperature on crop growth and carbon metabolism are not adequately recognized, while both eCO2 and temperature triggered noteworthy changes in crop production. Therefore, to increase crop yields, it is important to identify the physiological mechanisms and genetic traits of crop plants which play a vital role in stress tolerance under the prevailing conditions. The eCO2 and temperature stress effects on physiological aspects as well as biochemical profile to characterize genotypes that differ in their response to stress conditions. The aim of this review is directed the open-top cavities to regulate the properties like physiological, biochemical, and yield of crops under increasing aCO2, and temperature. Overall, the extent of the effect of eCO2 and temperature response to biochemical components and antioxidants remains unclear, and therefore further studies are required to promote an unperturbed production system

Potential Role of Plant Growth Regulators in Administering Crucial Processes Against Abiotic Stresses

Plant growth regulators are naturally biosynthesized chemicals in plants that influence physiological processes. Their synthetic analogous trigger numerous biochemical and physiological processes involved in the growth and development of plants. Nowadays, due to changing climatic scenario, numerous biotic and abiotic stresses hamper seed germination, seedling growth, and plant development leading to a decline in biological and economic yields. However, plant growth regulators (PGRs) can potentially play a fundamental role in regulating plant responses to various abiotic stresses and hence, contribute to plant adaptation under adverse environments. The major effects of abiotic stresses are growth and yield disturbance, and both these effects are directly overseen by the PGRs. Different types of PGRs such as abscisic acid (ABA), salicylic acid (SA), ethylene (ET), and jasmonates (JAs) are connected to boosting the response of plants to multiple stresses. In contrast, PGRs including cytokinins (CKs), gibberellins (GAs), auxin, and relatively novel PGRs such as strigolactones (SLs), and brassinosteroids (BRs) are involved in plant growth and development under normal and stressful environmental conditions. Besides, polyamines and nitric oxide (NO), although not considered as phytohormones, have been included in the current review due to their involvement in the regulation of several plant processes and stress responses. These PGRs are crucial for regulating stress adaptation through the modulates physiological, biochemical, and molecular processes and activation of the defense system, upregulating of transcript levels, transcription factors, metabolism genes, and stress proteins at cellular levels. The current review presents an acumen of the recent progress made on different PGRs to improve plant tolerance to abiotic stress such as heat, drought, salinity, and flood. Moreover, it highlights the research gaps on underlying mechanisms of PGRs biosynthesis under stressed conditions and their potential roles in imparting tolerance against adverse effects of suboptimal growth conditions.Fil: Sabagh, Ayman EL. Kafrelsheikh University; EgiptoFil: Mbarki, Sonia. National Institute Of Research In Rural Engineering; TúnezFil: Hossain, Akbar. Bangladesh Agricultural Research Institute; BangladeshFil: Iqbal, Muhammad Aamir. University Of Poonch Rawalakot; PakistánFil: Islam, Mohammad Sohidul. Hajee Mohammad Danesh And Technology University; BangladeshFil: Raza, Ali. Fujian Agriculture And Forestry University; ChinaFil: Llanes, Analia Susana. Universidad Nacional de Rio Cuarto. Facultad de Cs.exactas Fisicoquimicas y Naturales. Instituto de Investigaciones Agrobiotecnologicas. - Consejo Nacional de Investigaciones Cientificas y Tecnicas. Centro Cientifico Tecnologico Conicet - Cordoba. Instituto de Investigaciones Agrobiotecnologicas.; ArgentinaFil: Reginato, Mariana Andrea. Universidad Nacional de Rio Cuarto. Facultad de Cs.exactas Fisicoquimicas y Naturales. Instituto de Investigaciones Agrobiotecnologicas. - Consejo Nacional de Investigaciones Cientificas y Tecnicas. Centro Cientifico Tecnologico Conicet - Cordoba. Instituto de Investigaciones Agrobiotecnologicas.; ArgentinaFil: Rahman, Md Atikur. Grassland And Forage Division National Institute; Corea del SurFil: Mahboob, Wajid. Nuclear Institute Of Agriculture,; PakistánFil: Singhal, Rajesh Kumar. Indian Council Of Agricultural Research; IndiaFil: Kumari, Arpna. Guru Nanak Dev University; IndiaFil: Rajendran, Arvind. Vellore Institute Of Technology; IndiaFil: Wasaya, Allah. Bahauddin Zakariya University; PakistánFil: Javed, Talha. Fujian Agriculture And Forestry University; JapónFil: Shabbir, Rubab. University Of Poonch Rawalakot; PakistánFil: Rahim, Junaid. University Of Çukurova; PakistánFil: Barutçular, Celaleddin. Institute Of Crop Science And Resource Conservation; AlemaniaFil: Habib Ur Rahman, Muhammad. Sichuan Agricultural University; ChinaFil: Raza, Muhammad Ali. Sichuan Agricultural University; ChinaFil: Ratnasekera, Disna. University Of Ruhuna; Sri LankaFil: Konuskan l, Ömer. Mustafa Kemal University; TurquíaFil: Hossain, Mohammad Anwar. Bangladesh Agricultural Research Institute; BangladeshFil: Meena, Vijay Singh. Indian Council Of Agricultural Research; IndiaFil: Ahmed, Sharif. Bangladesh Agricultural Research Institute; BangladeshFil: Ahmad, Zahoor. Bangladesh Wheat And Maize Research Institute; BangladeshFil: Mubeen, Muhammad. Sichuan Agricultural University; ChinaFil: Singh, Kulvir. Punjab Agricultural University; IndiaFil: Skalicky, Milan. Czech University Of Life Sciences Prague; República ChecaFil: Brestic, Marian. Slovak University Of Agriculture; EslovaquiaFil: Sytar, Oksana. Slovak University Of Agriculture; EsloveniaFil: Karademir, Emine. Siirt University; TurquíaFil: Karademir, Cetin. Siirt University; TurquíaFil: Erman, Murat. Siirt University; TurquíaFil: Farooq, Muhammad. College Of Agricultural And Marine Sciences Sultan; Omá

A self assembled monolayer based microfluidic sensor for urea detection

Urease (Urs) and glutamate dehydrogenase (GLDH) have been covalently co-immobilized onto a self-assembled monolayer (SAM) comprising of 10-carboxy-1-decanthiol (CDT) via EDC–NHS chemistry deposited onto one of the two patterned gold (Au) electrodes for estimation of urea using poly(dimethylsiloxane) based microfluidic channels (2 cm × 200 μm × 200 μm). The CDT/Au and Urs-GLDH/CDT/Au electrodes have been characterized using Fourier transform infrared (FTIR) spectroscopy, contact angle (CA), atomic force microscopy (AFM) and electrochemical cyclic voltammetry (CV) techniques. The electrochemical response measurement of a Urs-GLDH/CDT/Au bioelectrode obtained as a function of urea concentration using CV yield linearity as 10 to 100 mg dl−1, detection limit as 9 mg dl−1 and high sensitivity as 7.5 μA mM−1 cm−2

Bronchiectasis in India:results from the European Multicentre Bronchiectasis Audit and Research Collaboration (EMBARC) and Respiratory Research Network of India Registry

BACKGROUND: Bronchiectasis is a common but neglected chronic lung disease. Most epidemiological data are limited to cohorts from Europe and the USA, with few data from low-income and middle-income countries. We therefore aimed to describe the characteristics, severity of disease, microbiology, and treatment of patients with bronchiectasis in India. METHODS: The Indian bronchiectasis registry is a multicentre, prospective, observational cohort study. Adult patients ( 6518 years) with CT-confirmed bronchiectasis were enrolled from 31 centres across India. Patients with bronchiectasis due to cystic fibrosis or traction bronchiectasis associated with another respiratory disorder were excluded. Data were collected at baseline (recruitment) with follow-up visits taking place once per year. Comprehensive clinical data were collected through the European Multicentre Bronchiectasis Audit and Research Collaboration registry platform. Underlying aetiology of bronchiectasis, as well as treatment and risk factors for bronchiectasis were analysed in the Indian bronchiectasis registry. Comparisons of demographics were made with published European and US registries, and quality of care was benchmarked against the 2017 European Respiratory Society guidelines. FINDINGS: From June 1, 2015, to Sept 1, 2017, 2195 patients were enrolled. Marked differences were observed between India, Europe, and the USA. Patients in India were younger (median age 56 years [IQR 41-66] vs the European and US registries; p&lt;0\ub70001]) and more likely to be men (1249 [56\ub79%] of 2195). Previous tuberculosis (780 [35\ub75%] of 2195) was the most frequent underlying cause of bronchiectasis and Pseudomonas aeruginosa was the most common organism in sputum culture (301 [13\ub77%]) in India. Risk factors for exacerbations included being of the male sex (adjusted incidence rate ratio 1\ub717, 95% CI 1\ub703-1\ub732; p=0\ub7015), P aeruginosa infection (1\ub729, 1\ub710-1\ub750; p=0\ub7001), a history of pulmonary tuberculosis (1\ub720, 1\ub707-1\ub734; p=0\ub7002), modified Medical Research Council Dyspnoea score (1\ub732, 1\ub725-1\ub739; p&lt;0\ub70001), daily sputum production (1\ub716, 1\ub703-1\ub730; p=0\ub7013), and radiological severity of disease (1\ub703, 1\ub701-1\ub704; p&lt;0\ub70001). Low adherence to guideline-recommended care was observed; only 388 patients were tested for allergic bronchopulmonary aspergillosis and 82 patients had been tested for immunoglobulins. INTERPRETATION: Patients with bronchiectasis in India have more severe disease and have distinct characteristics from those reported in other countries. This study provides a benchmark to improve quality of care for patients with bronchiectasis in India. FUNDING: EU/European Federation of Pharmaceutical Industries and Associations Innovative Medicines Initiative inhaled Antibiotics in Bronchiectasis and Cystic Fibrosis Consortium, European Respiratory Society, and the British Lung Foundation