Design and development of eggplant harvester for gantry system

This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PLC. Meanwhile, a PLC ladder diagram was designed and developed to control the operation of the eggplant harvester. A visual basic programme was developed to interface the harvester with a greenhouse gantry control system. A videogrammetry method was employed to calculate the distance between the stems of eggplants and the cutter of robot end effector. The end effector used electric as its power source and it was controlled via Programmable Logic Controller (PLC). Visual Basic Programme was developed to interface the harvester with the gantry control system. The accuracy of the videogrammetry was tested to be 67.2% for X-axis, 88.2% for Y-axis and 84.7% for Z-axis. Meanwhile, the speed of the end effector for harvester is 2.4 km/h and it could lift up to 55 cm. In order to determine detachment force of eggplant, 16 samples of mature eggplants were tested in a greenhouse, and as a result, more than 22.76 N force was needed to detach a mature eggplant inside the gantry system

Evolution of interfaces and expansion in width

Interfaces in a model with a single, real nonconserved order parameter and purely dissipative evolution equation are considered. We show that a systematic perturbative approach, called the expansion in width and developed for curved domain walls, can be generalized to the interfaces. Procedure for calculating curvature corrections is described. We also derive formulas for local velocity and local surface tension of the interface. As an example, evolution of spherical interfaces is discussed, including an estimate of critical size of small droplets.Comment: Discussion of stability of the interface is added, and the numerical estimates of width and velocity of the interface in the liquid crystal example are corrected. 25 pages, Latex2

Effect of using agro-fertilizers and N-fixing Azotobacter enhanced biofertilizers on the growth and yield of corn

Corn is an important crop and is grown widely around the world. Corn is a food source for human as well as animal and processed into industrial product such as ethanol. Corn is one of the important productions of Malaysia as the climate is suitable for corn growth. In this study, organic fertilizers such as biofertilizer, N-fixing Azotobacter enhanced biofertilizers and compost were added to the soil to determine best practice in using organic fertilizers for higher corn yield and growth. The study was conducted in plot experiment with five replications based on randomized block design in the summer of 2012. All plots were manually harvested and yield was adjusted to 15% moisture. Grain yield (total corn harvested) at maturity was determined by harvesting the two central rows of each plot. Statistical analysis was performed on the effect of fertilizer treatments on plant growth, corn yield and nitrogen, phosphorous and potassium contents of plant materials. The means were compared according to Duncan multiple range test. The results showed that organic fertilizers in the form of N-fixing Azotobacter enhanced biofertilizer increased yield with positive effects on measured plant height, weight and leaf index. Given the significant enhancement in growth and yield of corn taking place mainly with N-fixing Azotobacter fertilizers under organic condition, the mechanism for this beneficial effect could be due to the more balanced nutrition and improved absorption of nitrogen and other mineral nutrients by the corn

Economic modeling of the combined effects of HIV-disease, cholesterol and lipoatrophy based on ACTG 5142 trial data

<p>Abstract</p> <p>Background</p> <p>This study examines the cost and consequences of initiating an ARV regimen including Lopinavir/ritonavir (LPV/r) or Efavirenz (EFV), using data from a recent clinical trial in a previously published model of HIV-disease.</p> <p>Methods</p> <p>We populated the Markov model of HIV-disease with data from ACTG 5142 study to estimate the economic outcomes of starting ARV therapy with a PI-containing regimen as compared to an NNRTI-containing regimen, given their virologic and immunologic efficacy and effects on cholesterol and lipoatrophy. CNS toxicities and GI tolerability were not included in the model because of their transient nature or low cost remedies, and therefore lack of economic impact. CD4+ T-cell counts and the HIV-1 RNA (viral load) values from the study were used to assign a specific health state (HS) to each patient for each quarter year. The resulting frequencies used as "raw" data directly into the model obviate the reliance on statistical tests, and allow the model to reflect actual patient behavior in the clinical trial. An HS just below the last observed HS was used to replace a missing value.</p> <p>Results</p> <p>The modeled estimates (undiscounted) for the LPV/r-based regimen resulted in 1.41 quality-adjusted life months (QALMs) gained over a lifetime compared to the EFV-based regimen. The LPV/r-based regimen incurred $7,458 (1.8$88,829/QALY. Most of the higher costs accrue before the 7th year of treatment and were offset by subsequent savings. The estimates are highly sensitive to the effect of lipoatrophy on Health-related Quality of Life (HRQOL), but not to the effect of cholesterol levels.</p> <p>Conclusions</p> <p>The cost effectiveness of ARV regimens may be strongly affected by enduring AEs, such as lipoatrophy. It is important to consider specific AE effects from all drugs in a regimen when ARVs are compared.</p> <p>Trial registration</p> <p>(ClinicalTrials.gov number, <a href="http://www.clinicaltrials.gov/ct2/show/NCT00050895">NCT00050895</a><url>http://[ClinicalTrials.gov]</url>).</p

Compost feedstock characteristics and ratio modelling for organic waste materials co-composting in Malaysia

In Malaysia, large amounts of organic materials, which lead to disposal problems, are generated from agricultural residues especially from palm oil industries. Increasing landfill costs and regulations, which limit many types of waste accepted at landfills, have increased the interest in composting as a component of waste management. The objectives of this study were to characterize compost feedstock properties of common organic waste materials available in Malaysia. Thus, a ratio modelling of matching ingredients for empty fruit bunches (EFBs) co-composting using different organic materials in Malaysia was done. Organic waste materials with a C/N ratio of<30 can be applied as a nitrogen source in EFB co-composting. The outcome of this study suggested that the percentage of EFB ranged between 50% and 60%, which is considered as the ideal mixing ratio in EFB co-composting. Conclusively, EFB can be utilized in composting if appropriate feedstock in term of physical and chemical characteristics is coordinated in the co-composting process

The viability of aluminum Zintl anion moieties within magnesium-aluminum clusters

Through a synergetic combination of anion photoelectron spectroscopy and density functional theory based calculations, we have investigated the extent to which the aluminum moieties within selected magnesium-aluminum clusters are Zintl anions. Magnesium-aluminum cluster anions were generated in a pulsed arc discharge source. After mass selection, photoelectron spectra of Mg m Al n − (m, n = 1,6; 2,5; 2,12; and 3,11) were measured by a magnetic bottle, electron energy analyzer. Calculations on these four stoichiometries provided geometric structures and full charge analyses for the cluster anions and their neutral cluster counterparts, as well as photodetachment transition energies (stick spectra). Calculations revealed that, unlike the cases of recently reported sodium-aluminum clusters, the formation of aluminum Zintl anion moieties within magnesium-aluminum clusters was limited in most cases by weak charge transfer between the magnesium atoms and their aluminum cluster moieties. Only in cases of high magnesium content, e.g., in Mg 3 Al 11 and Mg 2 Al 12 −, did the aluminum moieties exhibit Zintl anion-like characteristics

The permutation principle in quantificational logic

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/43176/1/10992_2006_Article_BF02329199.pd

Occurrence of emerging brominated flame retardants and organophosphate esters in marine wildlife from the Norwegian Arctic

To understand the exposure and potential sources of emerging brominated flame retardants (EBFR) and organophosphate esters (OPEs) in marine wildlife from the Norwegian Arctic, we investigated concentrations of EBFRs in 157 tissue samples from nine species of marine vertebrates and OPEs in 34 samples from three whale species. The samples, collected from a wide range of species with contrasting areal use and diets, included blubber of blue whales, fin whales, humpback whales, white whales, killer whales, walruses and ringed seals and adipose tissue and plasma from polar bears, as well as adipose tissue from glaucous gulls. Tris(2-ethylhexyl) phosphate (TEHP) and tris(2-chloroisopropyl) phosphate (TCIPP) ranged from <0.61 to 164 and < 0.8–41 ng/g lipid weight, respectively, in blue whales and fin whales. All other EBRFs and OPEs were below the detection limit or detected only at low concentration. In addition to the baseline information on the occurrence of EBFRs and OPEs in marine wildlife from the Arctic, we provide an in-depth discussion regarding potential sources of the detected compounds. This information is important for future monitoring and management of EBFRs and OPEs

Aluminum Zintl anion moieties within sodium aluminum clusters

Through a synergetic combination of anion photoelectron spectroscopy and density functional theory based calculations, we have established that aluminum moieties within selected sodium-aluminum clusters are Zintl anions. Sodium–aluminum cluster anions, Na m Al n −, were generated in a pulsed arc discharge source. After mass selection, their photoelectron spectrawere measured by a magnetic bottle, electron energy analyzer. Calculations on a select sub-set of stoichiometries provided geometric structures and full charge analyses for both cluster anions and their neutral cluster counterparts, as well as photodetachment transition energies (stickspectra), and fragment molecular orbital based correlation diagrams