Robot Localization in an Agricultural Environment

Localization and Mapping of autonomous robots in an harsh and unstable environment such as a steep slope vineyard is a challenging research topic. The commonly used Dead Reckoning systems can fail due to the harsh conditions of the terrain and the accurate Global Position System can be considerably noisy or not always available. Agriculture is moving towards a precision agriculture, with advanced monitoring systems and wireless sensors networks. These systems and wireless sensors are installed in the crop field and can be considered relevant landmarks for robot localization using different types of technologies.In this work the performance of Pozyx, a low cost Time-of-flight system with Ultra-Wide Bandwidth (UWB) technology, is studied and implemented on a real robot range-based localization system. Firstly the error of both the range-only system and the embedded localization algorithm of the sensor is characterized. Then the range measurements are filtered with an EKF algorithm to output the robot pose and finally compared with the localization algorithm of the sensor.The obtained results are presented and compared with previous works showing an increased redundancy of the robot localization estimation. The UWB is proved to offer a good solution for a harsh environment as the agricultural one since its range-measurements are not much impacted by the atmospheric conditions. The discussion also allows to present formulations for better results of Beacons Mapping Procedure (BMP) required for accurate and reliable localization systems

EFEITOS DO PROGRAMA DE EXTENSÃO “YOGA: AWAKEN ONE” SOBRE A QUALIDADE DE VIDA DE ESTUDANTES UNIVERSITÁRIOS DURANTE A PANDEMIA DE COVID-19

Admission to higher education can stimulate negative changes in the life of young adults, such as reduced physical activity and inappropriate eating habits. These changes can interfere with these young people's perception of quality of life (QL). In addition, the pandemic scenario, given the spread of COVID-19, increased the prevalence of insufficient physical activity. Thus, the present study aimed to investigate the effects of yoga practice on the QOL of university students during the pandemic. Participants performed weekly yoga practices for one month. Classes were given through lives through the social network. The lives lasted 60 minutes, distributed between pranayamas, asanas, and induced relaxation. The WHOQOL-bref questionnaire was used to assess the participants' QL. For data analysis, median, interquartile range (IQR), frequencies (relative and absolute), and the Wilcoxon test (p<0.05) were used. Thirteen students (10 women) were evaluated, with a median age of 23.0 (IQR=3.0) years. The students were divided into a control group (G1; n=4), an experimental group with a frequency of <50% in practices (G2; n=6), and an experimental group with a frequency of ≥50% in practices (G3; n=3). Even with an increase in scores in some domains, there was no significant difference between pre-and post-intervention assessments for any group (p>0.05). It is concluded that the practice of yoga did not affect the QOL of the investigated university students. Future studies with an experimental design, with longer interventions and more representative samples, are encouraged.El ingreso a la educación superior puede tener efectos negativos en la vida de los adultos jóvenes, como la reducción de la actividad física y hábitos alimentarios inadecuados, lo cual puede afectar la percepción de su calidad de vida. La pandemia de COVID-19 ha aumentado la prevalencia de actividad física insuficiente. Por tanto, el objetivo del estudio fue investigar los efectos de la práctica de yoga en la calidad de vida de los estudiantes universitarios durante la pandemia. Los participantes realizaron prácticas semanales de yoga durante un mes a través de vidas en redes sociales. Las clases de 60 minutos incluyeron pranayamas, asanas y relajación inducida. Se utilizó el cuestionario WHOQOL-bref para evaluar la calidad de vida de los participantes, y se analizaron los datos utilizando la mediana, el rango intercuartílico, las frecuencias y la prueba de Wilcoxon (p<0,05). Se evaluaron 13 estudiantes (10 mujeres), con una mediana de edad de 23 años. Los estudiantes se dividieron en un grupo control (G1; n=4), un grupo experimental con una frecuencia <50% en prácticas (G2; n=6) y otro grupo experimental con una frecuencia ≥50% en prácticas (G3; n=3). A pesar de que se observó un aumento en algunas puntuaciones, no hubo una diferencia significativa entre las evaluaciones previas y posteriores a la intervención para ningún grupo (p>0,05). Se concluyó que la práctica de yoga no tuvo efecto en la calidad de vida de los universitarios investigados. Se recomienda realizar futuros estudios con un diseño experimental, intervenciones más largas y muestras más representativas.O ingresso no ensino superior pode estimular mudanças negativas na vida do jovem adulto, como a diminuição da prática de atividade física e hábitos alimentares inadequados. Essas mudanças podem interferir na percepção da qualidade de vida (QV) desses jovens. Em adição, o cenário pandêmico, diante da disseminação da COVID-19, aumentou a prevalência de prática insuficiente de atividade física. Desta forma, o objetivo do presente estudo foi investigar os efeitos da prática de yoga sobre a QV de estudantes universitários durante a pandemia. Os participantes realizaram práticas semanais de yoga, por um período de um mês. As aulas se deram por meio de lives através da rede social. As lives tiveram duração de 60 minutos distribuídos entre a realização de pranayamas, ásanas e relaxamento induzido. O questionário WHOQOL-bref foi utilizado para avaliar a QV dos participantes. Para a análise dos dados utilizou-se mediana, intervalo interquartil (IIQ), frequências (relativas e absolutas) e o teste de Wilcoxon (p<0,05). Foram avaliados 13 estudantes (10 mulheres), com mediana de idade de 23,0 (IIQ=3,0) anos. Os estudantes foram divididos em grupo controle (G1; n=4), grupo experimental com frequência nas práticas <50% (G2; n=6) e grupo experimental com frequência nas práticas ≥50% (G3; n=3). Mesmo tendo um aumento dos escores em alguns domínios, não houve diferença significativa entre as avaliações pré e pós intervenção para nenhum grupo (p>0,05). Conclui-se que a prática de yoga não teve efeito sobre a QV dos universitários investigados. Encoraja-se estudos futuros com delineamento experimental, com intervenções mais longas e amostras mais representativas

Efeitos da prática de yoga sobre a qualidade de vida de participantes do programa de extensão universitária “yoga: awaken one”

Entering university brings about changes in the lives of university students, a fact that can lead to the adoption of unhealthy habits that can result in negative impacts on the health and quality of life (QoL) of these young people. From this perspective, the present study aimed to investigate the effects of Yoga practice on the QoL of university students participating in the university extension program entitled “Yoga: Awaken ONE”. The study was characterized as pre-experimental, before and after. Participants underwent practical Yoga classes twice a week for 12 weeks. Classes lasted 60 minutes. To assess pre- and post-intervention QoL, the WHOQOL-bref questionnaire was used. With regard to the Domains of QoL and global QoL, there were no significant differences in any of the variables investigated (p>0.05). Based on the findings of the present study, it is concluded that two weekly Yoga practices did not have a significant effect on the QoL of the students investigated. In this way, new studies with longer intervention times and a larger number of participants are encouraged.O ingresso na universidade acarreta mudanças na vida dos estudantes universitários, fato que pode levar à adoção de hábitos não saudáveis que podem resultar em impactos negativos na saúde e na qualidade de vida (QV) desses jovens. Nessa perspectiva, o presente estudo teve como objetivo investigar os efeitos da prática de Yoga na QV de estudantes universitários participantes do programa de extensão universitária intitulado “Yoga: Awaken ONE”. O estudo caracterizou-se como pré-experimental, do tipo antes e depois. Os participantes foram submetidos a aulas práticas de Yoga duas vezes por semana durante 12 semanas. As aulas tiveram duração de 60 minutos. Para avaliação da QV pré e pós intervenção foi utilizado o questionário WHOQOL-bref. No que diz respeito aos Domínios da QV e QV global, não houveram diferenças significativas em nenhuma das variáveis investigadas (p>0,05). Com base nos achados do presente estudo, conclui-se que duas práticas semanais de Yoga não tiveram efeito significativo na QV dos estudantes investigados. Dessa forma, encoraja-se novos estudos com maior tempo de intervenção e com número maior de participantes

Prevención de las autolesiones no suicidas: construcción y validación de material educativo

Objective: to develop and valida te educational material to strengthen adolescent health care on non-suicidal self-injury. Method: methodological research designed in three stages: (1) construction of the material based on a mixed study on needs related to the theme through social networks and an umbrella review on health care related to non-suicidal self-injury; (2) validation with 10 experts in mental health and/or self-inflicted violence selected through the Lattes Platform; (3) evaluation by the target public, with health professionals being invited, without restriction of training. Validation and evaluation data were collected by using a sociodemographic questionnaire and the Suitability Assessment of Materials for evaluation of health-related information for adults. We used descriptive statistics, content validity index, and Gwet’s AC1 test. Results: the material obtained good general acceptance and reliability in the validation by the experts (AC1= 0.633; p=0.0000) and in the evaluation by the target public (AC1=0.716; p=0.0000). All professionals pointed out the personal contribution and educational potential of the material. Conclusion: we highlight the construction of science-based educational material to strengthen the health care for adolescents with non-suicidal self-injury.Objetivo: elaborar e validar um material educativo para fortalecer a assistência em saúde aos adolescentes sobre a autolesão não suicida. Método: pesquisa metodológica delineada em três etapas: (1) construção do material a partir de estudo misto sobre necessidades ligadas à temática por meio das redes sociais e uma revisão guarda-chuva sobre a assistência relacionada à autolesão não suicida; (2) validação com 10 especialistas em saúde mental e/ou violência autoprovocada selecionados pela Plataforma Lattes; (3) avaliação pelo público-alvo, sendo convidados profissionais de saúde, sem restrição de formação. A coleta dos dados de validação e avaliação foi realizada por um questionário sociodemográfico e o Suitability Assessment of Materials for evaluation of health-related information for adults. Foi empregada a estatística descritiva, índice de validade de conteúdo e o teste AC1 de Gwet. Resultados: o material obteve boa aceitação geral e confiabilidade na validação pelos especialistas (AC1=0,633; p=0,0000) e na avaliação pelo público-alvo (AC1=0,716; p=0,0000). Todos os profissionais apontaram a contribuição pessoal e potencial educativo do material. Conclusão: destaca-se a construção de material educativo embasado em ciência para o fortalecimento da assistência aos adolescentes com autolesão não suicida.Objetivo: elaborar e validar um material educativo para fortalecer a assistência em saúde aos adolescentes sobre a autolesão não suicida. Método: pesquisa metodológica delineada em três etapas: (1) construção do material a partir de estudo misto sobre necessidades ligadas à temática por meio das redes sociais e uma revisão guarda-chuva sobre a assistência relacionada à autolesão não suicida; (2) validação com 10 especialistas em saúde mental e/ou violência autoprovocada selecionados pela Plataforma Lattes; (3) avaliação pelo público-alvo, sendo convidados profissionais de saúde, sem restrição de formação. A coleta dos dados de validação e avaliação foi realizada por um questionário sociodemográfico e o Suitability Assessment of Materials for evaluation of health-related information for adults. Foi empregada a estatística descritiva, índice de validade de conteúdo e o teste AC1 de Gwet. Resultados: o material obteve boa aceitação geral e confiabilidade na validação pelos especialistas (AC1=0,633; p=0,0000) e na avaliação pelo público-alvo (AC1=0,716; p=0,0000). Todos os profissionais apontaram a contribuição pessoal e potencial educativo do material. Conclusão: destaca-se a construção de material educativo embasado em ciência para o fortalecimento da assistência aos adolescentes com autolesão não suicida

SARS-CoV-2 introductions and early dynamics of the epidemic in Portugal

Genomic surveillance of SARS-CoV-2 in Portugal was rapidly implemented by the National Institute of Health in the early stages of the COVID-19 epidemic, in collaboration with more than 50 laboratories distributed nationwide. Methods By applying recent phylodynamic models that allow integration of individual-based travel history, we reconstructed and characterized the spatio-temporal dynamics of SARSCoV-2 introductions and early dissemination in Portugal. Results We detected at least 277 independent SARS-CoV-2 introductions, mostly from European countries (namely the United Kingdom, Spain, France, Italy, and Switzerland), which were consistent with the countries with the highest connectivity with Portugal. Although most introductions were estimated to have occurred during early March 2020, it is likely that SARS-CoV-2 was silently circulating in Portugal throughout February, before the first cases were confirmed. Conclusions Here we conclude that the earlier implementation of measures could have minimized the number of introductions and subsequent virus expansion in Portugal. This study lays the foundation for genomic epidemiology of SARS-CoV-2 in Portugal, and highlights the need for systematic and geographically-representative genomic surveillance.We gratefully acknowledge to Sara Hill and Nuno Faria (University of Oxford) and Joshua Quick and Nick Loman (University of Birmingham) for kindly providing us with the initial sets of Artic Network primers for NGS; Rafael Mamede (MRamirez team, IMM, Lisbon) for developing and sharing a bioinformatics script for sequence curation (https://github.com/rfm-targa/BioinfUtils); Philippe Lemey (KU Leuven) for providing guidance on the implementation of the phylodynamic models; Joshua L. Cherry (National Center for Biotechnology Information, National Library of Medicine, National Institutes of Health) for providing guidance with the subsampling strategies; and all authors, originating and submitting laboratories who have contributed genome data on GISAID (https://www.gisaid.org/) on which part of this research is based. The opinions expressed in this article are those of the authors and do not reflect the view of the National Institutes of Health, the Department of Health and Human Services, or the United States government. This study is co-funded by Fundação para a Ciência e Tecnologia and Agência de Investigação Clínica e Inovação Biomédica (234_596874175) on behalf of the Research 4 COVID-19 call. Some infrastructural resources used in this study come from the GenomePT project (POCI-01-0145-FEDER-022184), supported by COMPETE 2020 - Operational Programme for Competitiveness and Internationalisation (POCI), Lisboa Portugal Regional Operational Programme (Lisboa2020), Algarve Portugal Regional Operational Programme (CRESC Algarve2020), under the PORTUGAL 2020 Partnership Agreement, through the European Regional Development Fund (ERDF), and by Fundação para a Ciência e a Tecnologia (FCT).info:eu-repo/semantics/publishedVersio

A search for ultra-high-energy photons at the Pierre Auger Observatory exploiting air-shower universality

The Pierre Auger Observatory is the most sensitive detector to primary photons with energies above ∼0.2 EeV. It measures extensive air showers using a hybrid technique that combines a fluorescence detector (FD) with a ground array of particle detectors (SD). The signatures of a photon-induced air shower are a larger atmospheric depth at the shower maximum (X$_{max}$) and a steeper lateral distribution function, along with a lower number of muons with respect to the bulk of hadron-induced background. Using observables measured by the FD and SD, three photon searches in different energy bands are performed. In particular, between threshold energies of 1-10 EeV, a new analysis technique has been developed by combining the FD-based measurement of X$_{max}$ with the SD signal through a parameter related to its muon content, derived from the universality of the air showers. This technique has led to a better photon/hadron separation and, consequently, to a higher search sensitivity, resulting in a tighter upper limit than before. The outcome of this new analysis is presented here, along with previous results in the energy ranges below 1 EeV and above 10 EeV. From the data collected by the Pierre Auger Observatory in about 15 years of operation, the most stringent constraints on the fraction of photons in the cosmic flux are set over almost three decades in energy

Study on multi-ELVES in the Pierre Auger Observatory

Since 2013, the four sites of the Fluorescence Detector (FD) of the Pierre Auger Observatory record ELVES with a dedicated trigger. These UV light emissions are correlated to distant lightning strikes. The length of recorded traces has been increased from 100 μs (2013), to 300 μs (2014-16), to 900 μs (2017-present), to progressively extend the observation of the light emission towards the vertical of the causative lightning and beyond. A large fraction of the observed events shows double ELVES within the time window, and, in some cases, even more complex structures are observed. The nature of the multi-ELVES is not completely understood but may be related to the different types of lightning in which they are originated. For example, it is known that Narrow Bipolar Events can produce double ELVES, and Energetic In-cloud Pulses, occurring between the main negative and upper positive charge layer of clouds, can induce double and even quadruple ELVES in the ionosphere. This report shows the seasonal and daily dependence of the time gap, amplitude ratio, and correlation between the pulse widths of the peaks in a sample of 1000+ multi-ELVES events recorded during the period 2014-20. The events have been compared with data from other satellite and ground-based sensing devices to study the correlation of their properties with lightning observables such as altitude and polarity