Comparing support vector machines and artificial neural networks in the recognition of steering angle for driving of mobile robots through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science

Population Dynamics of Lepidoptera Pests in Eucalyptus urophylla Plantations in the Brazilian Amazonia

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Alpha and beta diversity of lepidoptera in eucalyptus plantations in the amazonian region of Brazil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Dynamics of soil exploration by fine roots down to a depth of 10 m throughout the entire rotation in Eucalyptus grandis plantations

Although highly weathered soils cover considerable areas in tropical regions, little is known about exploration by roots in deep soil layers. Intensively managed Eucalyptus plantations are simple forest ecosystems that can provide an insight into the belowground growth strategy of fast-growing tropical trees. Fast exploration of deep soil layers by eucalypt fine roots may contribute to achieving a gross primary production that is among the highest in the world for forests. Soil exploration by fine roots down to a depth of 10 m was studied throughout the complete cycle in Eucalyptus grandis plantations managed in short rotation. Intersects of fine roots, less than 1 mm in diameter, and medium-sized roots, 1-3 mm in diameter, were counted on trench walls in a chronosequence of 1-, 2-, 3.5-, and 6-year-old plantations on a sandy soil, as well as in an adjacent 6-year-old stand growing in a clayey soil. Two soil profiles were studied down to a depth of 10 m in each stand (down to 6 m at ages 1 and 2 years) and 4 soil profiles down to 1.5-3.0 m deep. The root intersects were counted on 224 m(2) of trench walls in 15 pits. Monitoring the soil water content showed that, after clear cutting, almost all the available water stored down to a depth of 7 m was taken up by tree roots within 1.1 year of planting. The soil space was explored intensively by fine roots down to a depth of 3 m from 1 year after planting, with an increase in anisotropy in the upper layers throughout the rotation. About 60% of fine root intersects were found at a depth of more than 1 m, irrespective of stand age. The root distribution was isotropic in deep soil layers and kriged maps showed fine root clumping. A considerable volume of soil was explored by fine roots in eucalypt plantations on deep tropical soils, which might prevent water and nutrient losses by deep drainage after canopy closure and contribute to maximizing resource uses.

Effects of potassium and sodium supply on drought-adaptive mechanisms in Eucalyptus grandis plantations

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Optimizing row spacing and plant population arrangement for a new short-height castor genotype in fall-winter

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Heating value of eucalypt wood grown on SRC for energy production

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Cor do solo na caracterização de áreas específicas de manejo para cultura do café

Pós-graduação em Agronomia (Ciência do Solo) - FCAV

Influence of spacing in the upper lateral incisor area on the perception of smile esthetics among orthodontists and laypersons

Background: The aim of this study was to determine the perception of smile esthetics among orthodontists and laypeople with respect to the presence of diastemas in the upper lateral incisor in the mesial, distal, and both surfaces using an oblique smile analysis. Methods: Two standardized oblique photos of pleasant smiles from two white women were selected. Images were digitally altered to create diastemas in the lateral incisor, in 0.5-mm increments, in the mesial, distal, or both surfaces. Final images were randomly assembled in a photo album, which was given to 120 judgesd60 orthodontists and 60 laypersons. Each rater was asked to evaluate the attractiveness of the images on a visual analog scale. The data collected were submitted to statistical analysis by the means of one-way ANOVA with the Tukey post hoc test and the unpaired Student’s t test. Results: The most attractive smile was the one without spacing, and the presence of diastemas was considered unattractive by both groups of raters, following a pattern: the greater and the more mesially located, the more unattractive was the smile. Conclusions: The results of this study suggest that diastemas in the upper lateral incisor area were considered unattractive, following a pattern: the greater and the more mesially located, the more unattractive was the smile.

Available nitrogen and responses to nitrogen fertilizer in brazilian eucalypt plantations on soils of contrasting texture

Eucalyptus plantations have seldom responded to N fertilization in tropical and subtropical regions of Brazil. This implies that rates of N mineralization have been adequate to supply tree needs. However, subsequent crop rotations with low N fertilization may result in declining concentrations of organic and potentially mineralizable N (N-0), and consequent loss of wood productivity. This study investigated (a) in situ N mineralization and N-0 in soils of eucalypt plantations in Sao Paulo state, Brazil; (b) tree growth responses to N fertilizer applied 6-18 months after planting; and (c) the relationships between N-0,N- other soil attributes and tree growth. We established eleven N fertilizer trials (maximum 240 kg ha(-1) of N) in E. grandis and E. grandis x urophylla plantations. The soil types at most sites were Oxisols and Quartzipsamments, with a range of organic matter (18 to 55 g kg(-1)) and clay contents (8% to 67%) in the 0-20 cm layer. Concentrations of N-0 were measured using anaerobic incubation on soil samples collected every three months (different seasons). The samples collected in spring and summer had N-0 140-400 kg ha(-1) (10%-19% total soil N), which were best correlated with soil texture and organic matter content. Rates of in situ net N mineralization (0-20 cm) ranged from 100 to 200 kg ha(-1) year(-1) and were not correlated with clay, total N, or N-0. These high N mineralization rates resulted in a low response to N fertilizer application during the early ages of stand growth, which were highest on sandy soils. At the end of the crop rotation, the response to N fertilizer was negligible and non-significant at all sites.

Measured and modeled interactive effects of potassium deficiency and water deficit on gross primary productivity and light-use efficiency in Eucalyptus grandis plantations

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Cotton yield and fiber quality affected by row spacing and shading at different growth stages

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Biological control of Glycaspis brimblecombei (Hemiptera: Aphalaridae) in eucalyptus plantations

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Does diatomaceous earth control leaf-cutter ants (Hymenoptera: Formicidae) in the Eucalyptus plantations?

Genus Atta includes some of the most important Formicidae leaf cutter ants which cause extensive damage to the eucalyptus plantations. Atta sexdens rubropilosa Forel, one of the chief pests in Brazilian reforestation, can restrict and reduce forest productivity by its intense and constant leaf-cutting activities on plants at all stages. Therefore, the demand for new products to control A. sexdens rubropilosa indicates the study of the utilization of the dry powder formulation of diatomaceous earth (DE) against this pest in the eucalyptus cultivars. The study was conducted using 120 colonies of A. sexdens rubropilosa in Eucalyptus grandis Hill ex. Maiden x Eucalyptus urophylla Blake (Myrtaceae) (urograndis) stand. The randomized block experimental design was used with six treatments (1, 10, 25, and 50 g/m2 of DE, 6.0 g/m2 sulfluramid bait per square meter of loose soil, and the control) with five replications, each with four colonies of this ant. Diatomaceous earth was applied to the active A. sexdens rubropilosa ant holes, and the sulfluramid bait was applied in bulk in a localized manner. The control efficacy of A. sexdens rubropilosa with DE was low, showing values similar to that of the control, and, for this reason, it cannot be used to control this ant. The bait with sulfluramid showed higher efficacy than those of the other treatments.