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

The conservation status of the world’s reptiles

Effective and targeted conservation action requires detailed information about species, their distribution, systematics and ecology as well as the distribution of threat processes which affect them. Knowledge of reptilian diversity remains surprisingly disparate, and innovative means of gaining rapid insight into the status of reptiles are needed in order to highlight urgent conservation cases and inform environmental policy with appropriate biodiversity information in a timely manner. We present the first ever global analysis of extinction risk in reptiles, based on a random representative sample of 1500 species (16% of all currently known species). To our knowledge, our results provide the first analysis of the global conservation status and distribution patterns of reptiles and the threats affecting them, highlighting conservation priorities and knowledge gaps which need to be addressed urgently to ensure the continued survival of the world’s reptiles. Nearly one in five reptilian species are threatened with extinction, with another one in five species classed as Data Deficient. The proportion of threatened reptile species is highest in freshwater environments, tropical regions and on oceanic islands, while data deficiency was highest in tropical areas, such as Central Africa and Southeast Asia, and among fossorial reptiles. Our results emphasise the need for research attention to be focussed on tropical areas which are experiencing the most dramatic rates of habitat loss, on fossorial reptiles for which there is a chronic lack of data, and on certain taxa such as snakes for which extinction risk may currently be underestimated due to lack of population information. Conservation actions specifically need to mitigate the effects of human-induced habitat loss and harvesting, which are the predominant threats to reptiles

Brazilian Flora 2020: Leveraging the power of a collaborative scientific network

International audienceThe shortage of reliable primary taxonomic data limits the description of biological taxa and the understanding of biodiversity patterns and processes, complicating biogeographical, ecological, and evolutionary studies. This deficit creates a significant taxonomic impediment to biodiversity research and conservation planning. The taxonomic impediment and the biodiversity crisis are widely recognized, highlighting the urgent need for reliable taxonomic data. Over the past decade, numerous countries worldwide have devoted considerable effort to Target 1 of the Global Strategy for Plant Conservation (GSPC), which called for the preparation of a working list of all known plant species by 2010 and an online world Flora by 2020. Brazil is a megadiverse country, home to more of the world's known plant species than any other country. Despite that, Flora Brasiliensis, concluded in 1906, was the last comprehensive treatment of the Brazilian flora. The lack of accurate estimates of the number of species of algae, fungi, and plants occurring in Brazil contributes to the prevailing taxonomic impediment and delays progress towards the GSPC targets. Over the past 12 years, a legion of taxonomists motivated to meet Target 1 of the GSPC, worked together to gather and integrate knowledge on the algal, plant, and fungal diversity of Brazil. Overall, a team of about 980 taxonomists joined efforts in a highly collaborative project that used cybertaxonomy to prepare an updated Flora of Brazil, showing the power of scientific collaboration to reach ambitious goals. This paper presents an overview of the Brazilian Flora 2020 and provides taxonomic and spatial updates on the algae, fungi, and plants found in one of the world's most biodiverse countries. We further identify collection gaps and summarize future goals that extend beyond 2020. Our results show that Brazil is home to 46,975 native species of algae, fungi, and plants, of which 19,669 are endemic to the country. The data compiled to date suggests that the Atlantic Rainforest might be the most diverse Brazilian domain for all plant groups except gymnosperms, which are most diverse in the Amazon. However, scientific knowledge of Brazilian diversity is still unequally distributed, with the Atlantic Rainforest and the Cerrado being the most intensively sampled and studied biomes in the country. In times of “scientific reductionism”, with botanical and mycological sciences suffering pervasive depreciation in recent decades, the first online Flora of Brazil 2020 significantly enhanced the quality and quantity of taxonomic data available for algae, fungi, and plants from Brazil. This project also made all the information freely available online, providing a firm foundation for future research and for the management, conservation, and sustainable use of the Brazilian funga and flora

Association between administration of IL-6 antagonists and mortality among patients hospitalized for COVID-19 : a meta-analysis

IMPORTANCE Clinical trials assessing the efficacy of IL-6 antagonists in patients hospitalized for COVID-19 have variously reported benefit, no effect, and harm. OBJECTIVE To estimate the association between administration of IL-6 antagonists compared with usual care or placebo and 28-day all-cause mortality and other outcomes. DATA SOURCES Trials were identified through systematic searches of electronic databases between October 2020 and January 2021. Searches were not restricted by trial status or language. Additional trials were identified through contact with experts. STUDY SELECTION Eligible trials randomly assigned patients hospitalized for COVID-19 to a group in whom IL-6 antagonists were administered and to a group in whom neither IL-6 antagonists nor any other immunomodulators except corticosteroids were administered. Among 72 potentially eligible trials, 27 (37.5%) met study selection criteria. DATA EXTRACTION AND SYNTHESIS In this prospectivemeta-analysis, risk of biaswas assessed using the Cochrane Risk of Bias Assessment Tool. Inconsistency among trial results was assessed using the I-2 statistic. The primary analysis was an inverse variance-weighted fixed-effects meta-analysis of odds ratios (ORs) for 28-day all-cause mortality. MAIN OUTCOMES AND MEASURES The primary outcome measurewas all-cause mortality at 28 days after randomization. There were 9 secondary outcomes including progression to invasive mechanical ventilation or death and risk of secondary infection by 28 days. RESULTS A total of 10 930 patients (median age, 61 years [range of medians, 52-68 years]; 3560 [33%] were women) participating in 27 trials were included. By 28 days, there were 1407 deaths among 6449 patients randomized to IL-6 antagonists and 1158 deaths among 4481 patients randomized to usual care or placebo (summary OR, 0.86 [95% CI, 0.79-0.95]; P =.003 based on a fixed-effects meta-analysis). This corresponds to an absolute mortality risk of 22% for IL-6 antagonists compared with an assumed mortality risk of 25% for usual care or placebo. The corresponding summary ORs were 0.83 (95% CI, 0.74-0.92; P <.001) for tocilizumab and 1.08 (95% CI, 0.86-1.36; P =.52) for sarilumab. The summary ORs for the association with mortality compared with usual care or placebo in those receiving corticosteroids were 0.77 (95% CI, 0.68-0.87) for tocilizumab and 0.92 (95% CI, 0.61-1.38) for sarilumab. The ORs for the association with progression to invasive mechanical ventilation or death, compared with usual care or placebo, were 0.77 (95% CI, 0.70-0.85) for all IL-6 antagonists, 0.74 (95% CI, 0.66-0.82) for tocilizumab, and 1.00 (95% CI, 0.74-1.34) for sarilumab. Secondary infections by 28 days occurred in 21.9% of patients treated with IL-6 antagonists vs 17.6% of patients treated with usual care or placebo (OR accounting for trial sample sizes, 0.99; 95% CI, 0.85-1.16). CONCLUSIONS AND RELEVANCE In this prospectivemeta-analysis of clinical trials of patients hospitalized for COVID-19, administration of IL-6 antagonists, compared with usual care or placebo, was associated with lower 28-day all-cause mortality

Measurement of the D∗D^* longitudinal polarization in B0→D∗−τ+ντB^0 \to D^{* -}\tau^+\nu_{\tau} decays

The longitudinal polarization fraction of the $D^*$ meson is measured in $B^0 \to D^{* -}\tau^+\nu_{\tau}$ decays, where the $\tau$ lepton decays to three charged pions and a neutrino, using proton-proton collision data collected by the LHCb experiment at center-of-mass energies of 7, 8 and 13 TeV and corresponding to an integrated luminosity of 5 fb$^{-1}$. The $D^*$ polarization fraction $F_L^{D^*}$ is measured in two $q^2$ regions, below and above 7 GeV$^2$/c$^4$, where $q^2$ is defined as the squared invariant mass of the $\tau\nu_{\tau}$ system. The $F_L^{D^*}$ values are measured to be $0.51 \pm 0.07 \pm 0.03$ and $0.35 \pm 0.08 \pm 0.02$ for the lower and higher $q^2$ regions, respectively. The first uncertainties are statistical and the second systematic. The average value over the whole $q^2$ range is: $$F_L^{D^*} = 0.43 \pm 0.06 \pm 0.03.$$ These results are compatible with the Standard Model predictions.The longitudinal polarization fraction of the $D^{*}$ meson is measured in $B^0\to D^{*-}\tau^{+}\nu_{\tau}$ decays, where the $\tau$ lepton decays to three charged pions and a neutrino, using proton-proton collision data collected by the LHCb experiment at center-of-mass energies of 7, 8 and 13 TeV and corresponding to an integrated luminosity of 5 fb$^{-1}$. The $D^{*}$ polarization fraction $F_{L}^{D^{*}}$ is measured in two $q^{2}$ regions, below and above 7 GeV$^{2}/c^{4}$, where $q^{2}$ is defined as the squared invariant mass of the $\tau\nu_{\tau}$ system. The $F_{L}^{D^{*}}$ values are measured to be $0.51 \pm 0.07 \pm 0.03$ and $0.35 \pm 0.08 \pm 0.02$ for the lower and higher $q^{2}$ regions, respectively. The first uncertainties are statistical and the second systematic. The average value over the whole $q^{2}$ range is: $$F_{L}^{D^{*}} = 0.43 \pm 0.06 \pm 0.03.$$ These results are compatible with the Standard Model predictions