Gain scheduling for hybrid force/velocity control in contour tracking task

In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique

CubeSat constellations provide enhanced crop phenology and digital agricultural insights using daily leaf area index retrievals

Satellite remote sensing has great potential to deliver on the promise of a data-driven agricultural revolution, with emerging space-based platforms providing spatiotemporal insights into precisionlevel attributes such as crop water use, vegetation health and condition and crop response to management practices. Using a harmonized collection of high-resolution Planet CubeSat, Sentinel-2, Landsat-8 and additional coarser resolution imagery from MODIS and VIIRS, we exploit a multisatellite data fusion and machine learning approach to deliver a radiometrically calibrated and gap-filled time-series of daily leaf area index (LAI) at an unprecedented spatial resolution of 3 m. The insights available from such high-resolution CubeSat-based LAI data are demonstrated through tracking the growth cycle of a maize crop and identifying observable within-field spatial and temporal variations across key phenological stages. Daily LAI retrievals peaked at the tasseling stage, demonstrating their value for fertilizer and irrigation scheduling. An evaluation of satellite-based retrievals against field-measured LAI data collected from both rain-fed and irrigated fields shows high correlation and captures the spatiotemporal development of intra- and inter-field variations. Novel agricultural insights related to individual vegetative and reproductive growth stages were obtained, showcasing the capacity for new high-resolution CubeSat platforms to deliver actionable intelligence for precision agricultural and related applications

Search for the γ decay of the narrow near-threshold proton resonance in 11B

The γ decay of the elusive narrow, near-threshold proton resonance in 11B was investigated at Laboratori Nazionali di Legnaro (INFN) in a particle-γ coincidence experiment, using the 6Li(6Li,pγ) fusion-evaporation reaction and the GALILEO-GALTRACE setup. No clear signature was found for a possible E1 decay to the 1/2 , first-excited state of 11B, predicted by the Shell Model Embedded in the Continuum (SMEC) with a branching of with respect to the dominant particle-decaying modes. The statistical analysis of the γ-ray spectrum provided an average upper limit of for this γ-ray branching, with a global significance of 5σ. On the other hand, by imposing a global confidence level of 3σ, a significant excess of counts was observed for E keV, corresponding to a resonance energy of 11429(20) keV (namely 200(20) keV above the proton separation energy of 11B) and a γ-ray branching of . This result is compatible with the SMEC calculations, potentially supporting the existence of a near-threshold proton resonance in 11B.This work was supported by the Italian Istituto Nazionale di Fisica Nucleare, the Polish National Science Centre, Poland under research project No. 2020/39/D/ST2/03443 , the PRIN2017 call for funding, under the project 2017P8KMFT CTADIR from the Italian Ministry of Education, University and Research, the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, grant no. 2020R1A6A3A03039081 , the MCIN/AEI/10.13039/501100011033, Spain with grant PID2020-118265GB-C42 , by Generalitat Valenciana, Spain with grant CIAPOS/2021/114 and by the EU FEDER funds.Departamento de Física Aplicad

A multi-scale hierarchical framework for developing understanding of river behaviour to support river management

The work leading to this paper was funded through the European Union’s FP7 programme under Grant Agreement No. 282656 (REFORM). The framework methodology was developed within the context of Deliverable D2.1 of the REFORM programme, and all partners who contributed to the development of the four parts of this deliverable are included in the author list of this paper. More details on the REFORM framework can be obtained from part 1 of Deliverable D2.1 (Gurnell et al. 2014), which is downloadable from http://​www.​reformrivers.​eu/​results/​deliverables

Testing ab initio nuclear structure in neutron-rich nuclei: Lifetime measurements of second 2+ state in 16C and 20O

To test the predictive power of ab initio nuclear structure theory, the lifetime of the second 2+ state in neutron-rich 20O,τ(2+2)=150+80−30fs, and an estimate for the lifetime of the second 2+ state in 16C have been obtained for the first time. The results were achieved via a novel Monte Carlo technique that allowed us to measure nuclear state lifetimes in the tens-to-hundreds of femtoseconds range by analyzing the Doppler-shifted γ-transition line shapes of products of low-energy transfer and deep-inelastic processes in the reaction 18O(7.0MeV/u)+181Ta. The requested sensitivity could only be reached owing to the excellent performances of the Advanced γ-Tracking Array AGATA, coupled to the PARIS scintillator array and to the VAMOS++ magnetic spectrometer. The experimental lifetimes agree with predictions of ab initio calculations using two- and three-nucleon interactions, obtained with the valence-space in-medium similarity renormalization group for 20O and with the no-core shell model for 16C. The present measurement shows the power of electromagnetic observables, determined with high-precision γ spectroscopy, to assess the quality of first-principles nuclear structure calculations, complementing common benchmarks based on nuclear energies. The proposed experimental approach will be essential for short lifetime measurements in unexplored regions of the nuclear chart, including r-process nuclei, when intense beams, produced by Isotope Separation On-Line (ISOL) techniques, become available

Unmanned Aerial Vehicle-Based Phenotyping Using Morphometric and Spectral Analysis Can Quantify Responses of Wild Tomato Plants to Salinity Stress

With salt stress presenting a major threat to global food production, attention has turned to the identification and breeding of crop cultivars with improved salt tolerance. For instance, some accessions of wild species with higher salt tolerance than commercial varieties are being investigated for their potential to expand food production into marginal areas or to use brackish waters for irrigation. However, assessment of individual plant responses to salt stress in field trials is time-consuming, limiting, for example, longitudinal assessment of large numbers of plants. Developments in Unmanned Aerial Vehicle (UAV) sensing technologies provide a means for extensive, repeated and consistent phenotyping and have significant advantages over standard approaches. In this study, 199 accessions of the wild tomato species, Solanum pimpinellifolium, were evaluated through a field assessment of 600 control and 600 salt-treated plants. UAV imagery was used to: (1) delineate tomato plants from a time-series of eight RGB and two multi-spectral datasets, using an automated object-based image analysis approach; (2) assess four traits, i.e., plant area, growth rates, condition and Plant Projective Cover (PPC) over the growing season; and (3) use the mapped traits to identify the best-performing accessions in terms of yield and salt tolerance. For the first five campaigns, >99% of all tomato plants were automatically detected. The omission rate increased to 2–5% for the last three campaigns because of the presence of dead and senescent plants. Salt-treated plants exhibited a significantly smaller plant area (average control and salt-treated plant areas of 0.55 and 0.29 m2, respectively), maximum growth rate (daily maximum growth rate of control and salt-treated plant of 0.034 and 0.013 m2, respectively) and PPC (5–16% difference) relative to control plants. Using mapped plant condition, area, growth rate and PPC, we show that it was possible to identify eight out of the top 10 highest yielding accessions and that only five accessions produced high yield under both treatments. Apart from showcasing multi-temporal UAV-based phenotyping capabilities for the assessment of plant performance, this research has implications for agronomic studies of plant salt tolerance and for optimizing agricultural production under saline conditions