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

Identification of the major active ingredients in illegal pesticide seized by Brazilian Federal Police and quantification of metsulfuron-methyl and tebuconazole

A compilação de relatórios forenses de agrotóxicos, objetos de apreensões pela Polícia Federal no Brasil, mostrou que metsulfurom-metílico, imidacloprido, fipronil, tebuconazol, clorimurom-etílico e glifosato são os principais ingredientes ativos (IA) importados ilegalmente. Apesar destes IA não estarem entre os agrotóxicos mais comercializados no país, o alto preço das formulações correspondentes legalmente registradas pode estimular esta atividade ilegal. Com base neste estudo, amostras de agrotóxicos contrabandeados apreendidos contendo tebuconazol e metsulfurom-metílico foram analisadas quantitativamente utilizando cromatografia a gás e líquida, respectivamente. Tebuconazol, em apresentações líquidas e sólidas, apresentou concentrações concordantes com as informações dos rótulos, enquanto que a maioria das amostras de metsulfurom-metílico, rotuladas como 600 g kg-1, apresentaram concentrações mais baixas nas análises químicas (média de 337,0 g kg-1 + 2,0).The compilation of forensic reports from pesticides seized by the Federal Police in Brazil showed that metsulfuron-methyl, imidacloprid, fipronil, tebuconazole, clorimuron-ether and glyphosate were the dominant active ingredients (AI) illegally imported. Despite these AI were not among the most traded pesticides in Brazil, high prices of corresponding legal formulations may stimulate this illegal activity. Based on this study, smuggled pesticides containing tebuconazole and metsulfuron-methyl were seized and quantitatively analyzed using gas and liquid chromatography, respectively. Tebuconazole results, in liquid and solid presentations, were in accordance with the information on the label, while most metsulfuron-methyl samples, labeled as 600 g kg-1, showed lower concentrations in chemical analysis (mean of 337.0 g kg-1 + 2.0)

Latitude dictates plant diversity effects on instream decomposition

Running waters contribute substantially to global carbon fluxes through decomposition of terrestrial plant litter by aquatic microorganisms and detritivores. Diversity of this litter may influence instream decomposition globally in ways that are not yet understood. We investigated latitudinal differences in decomposition of litter mixtures of low and high functional diversity in 40 streams on 6 continents and spanning 113 degrees of latitude. Despite important variability in our dataset, we found latitudinal differences in the effect of litter functional diversity on decomposition, which we explained as evolutionary adaptations of litter-consuming detritivores to resource availability. Specifically, a balanced diet effect appears to operate at lower latitudes versus a resource concentration effect at higher latitudes. The latitudinal pattern indicates that loss of plant functional diversity will have different consequences on carbon fluxes across the globe, with greater repercussions likely at low latitudes

A Taxonomically-informed Mass Spectrometry Search Tool for Microbial Metabolomics Data

MicrobeMASST, a taxonomically-informed mass spectrometry (MS) search tool, tackles limited microbial metabolite annotation in untargeted metabolomics experiments. Leveraging a curated database of >60,000 microbial monocultures, users can search known and unknown MS/MS spectra and link them to their respective microbial producers via MS/MS fragmentation patterns. Identification of microbial-derived metabolites and relative producers, without a priori knowledge, will vastly enhance the understanding of microorganisms’ role in ecology and human health

Mortality from gastrointestinal congenital anomalies at 264 hospitals in 74 low-income, middle-income, and high-income countries: a multicentre, international, prospective cohort study

Summary Background Congenital anomalies are the fifth leading cause of mortality in children younger than 5 years globally. Many gastrointestinal congenital anomalies are fatal without timely access to neonatal surgical care, but few studies have been done on these conditions in low-income and middle-income countries (LMICs). We compared outcomes of the seven most common gastrointestinal congenital anomalies in low-income, middle-income, and high-income countries globally, and identified factors associated with mortality. Methods We did a multicentre, international prospective cohort study of patients younger than 16 years, presenting to hospital for the first time with oesophageal atresia, congenital diaphragmatic hernia, intestinal atresia, gastroschisis, exomphalos, anorectal malformation, and Hirschsprung’s disease. Recruitment was of consecutive patients for a minimum of 1 month between October, 2018, and April, 2019. We collected data on patient demographics, clinical status, interventions, and outcomes using the REDCap platform. Patients were followed up for 30 days after primary intervention, or 30 days after admission if they did not receive an intervention. The primary outcome was all-cause, in-hospital mortality for all conditions combined and each condition individually, stratified by country income status. We did a complete case analysis. Findings We included 3849 patients with 3975 study conditions (560 with oesophageal atresia, 448 with congenital diaphragmatic hernia, 681 with intestinal atresia, 453 with gastroschisis, 325 with exomphalos, 991 with anorectal malformation, and 517 with Hirschsprung’s disease) from 264 hospitals (89 in high-income countries, 166 in middleincome countries, and nine in low-income countries) in 74 countries. Of the 3849 patients, 2231 (58·0%) were male. Median gestational age at birth was 38 weeks (IQR 36–39) and median bodyweight at presentation was 2·8 kg (2·3–3·3). Mortality among all patients was 37 (39·8%) of 93 in low-income countries, 583 (20·4%) of 2860 in middle-income countries, and 50 (5·6%) of 896 in high-income countries (p<0·0001 between all country income groups). Gastroschisis had the greatest difference in mortality between country income strata (nine [90·0%] of ten in lowincome countries, 97 [31·9%] of 304 in middle-income countries, and two [1·4%] of 139 in high-income countries; p≤0·0001 between all country income groups). Factors significantly associated with higher mortality for all patients combined included country income status (low-income vs high-income countries, risk ratio 2·78 [95% CI 1·88–4·11], p<0·0001; middle-income vs high-income countries, 2·11 [1·59–2·79], p<0·0001), sepsis at presentation (1·20 [1·04–1·40], p=0·016), higher American Society of Anesthesiologists (ASA) score at primary intervention (ASA 4–5 vs ASA 1–2, 1·82 [1·40–2·35], p<0·0001; ASA 3 vs ASA 1–2, 1·58, [1·30–1·92], p<0·0001]), surgical safety checklist not used (1·39 [1·02–1·90], p=0·035), and ventilation or parenteral nutrition unavailable when needed (ventilation 1·96, [1·41–2·71], p=0·0001; parenteral nutrition 1·35, [1·05–1·74], p=0·018). Administration of parenteral nutrition (0·61, [0·47–0·79], p=0·0002) and use of a peripherally inserted central catheter (0·65 [0·50–0·86], p=0·0024) or percutaneous central line (0·69 [0·48–1·00], p=0·049) were associated with lower mortality. Interpretation Unacceptable differences in mortality exist for gastrointestinal congenital anomalies between lowincome, middle-income, and high-income countries. Improving access to quality neonatal surgical care in LMICs will be vital to achieve Sustainable Development Goal 3.2 of ending preventable deaths in neonates and children younger than 5 years by 2030

Economic analysis of irrigated melon cultivated in greenhouse with and without soil plastic mulching

ABSTRACT The objective of this study was to analyze technically and economically the irrigated ‘Gália’ melon (Hybrid Nectar), cultivated in greenhouse with and without using plastic mulch covering on the soil. Simultaneously, two experiments were conducted using a completely randomized design (CRD), in which melon plants were submitted to five water availability levels, defined by 50, 75, 100, 125, and 150% of crop evapotranspiration, with four replicates. The difference between experiments were only about the soil covering with plastic mulch: with (CC) or without (SC) plastic mulch. The economically optimal irrigation depths were 208.83 and 186.88 mm, resulting in yields of 50.85 and 44.51 t ha-1 for the experiments with and without mulching, respectively. The results showing the economically optimal irrigation depths were very close to those that produced the highest yield