Influence of pre-plant densities of Meloidogyne incognita on growth and root infestation of spinach (Spinacia oleracea L.) (Amaranthaceae) – an important dimension towards enhancing crop production

Vegetables represent a main source of micro-nutrients which can improve the health status of malnourished poor in the world. Spinach (Spinacia oleracea L.) is a popular leafy vegetable in many countries which is rich with several important micro-nutrients. Thus, consuming Spinach helps to overcome micro-nutrient deficiencies. Pests and pathogens act as major yield constraints in food production. Root-knot nematodes, Meloidogyne species, constitute a large group of highly destructive plant pests. Spinach is found to be highly susceptible for these nematode attacks. Though agricultural production has largely benefited from modern technologies and innovations, some important dimensions which can minimize the yield losses have been neglected by most of the growers. Pre-plant or initial nematode density in soil is a crucial biotic factor which is directly responsible for crop losses. Hence, information on preplant nematode densities and the corresponding damage is of vital importance to develop successful control procedures to enhance crop production. In the present study, effect of seven initial densities of M. incognita, i.e., 156, 312, 625, 1250, 2,500, 5,000 and 10,000 infective juveniles (IJs)/plant (equivalent to 1000cm3 soil) on the growth and root infestation on potted spinach plants was determined in a screen house. In order to ensure a high accuracy, root infestation was ascertained by the number of galls formed, the percentage galled-length of feeder roots and galled-feeder roots, and egg production, per plant. Fifty days post-inoculation, shoot length and weight, and root length were suppressed at the lowest IJs density. However, the pathogenic effect was pronounced at the highest density at which 43%, 46% and 45% reduction in shoot length and weight, and root length, respectively, was recorded. The highest reduction in root weight (26%) was detected at the second highest density. The Number of galls and percentage galled-length of feeder roots/per plant showed significant progressive increase across the increasing IJs density with the highest mean value of 432.3 and 54%, respectively. The two shoot growth parameters and root length showed significant inverse relationship with the increasing gall formation. Moreover, the shoot and root length were shown to be mutually dependent on each other. Suppression of shoot growth of spinach greatly affects the grower’s economy. Hence, control measures are essentially needed to ensure a better production of spinach via reducing the pre-plant density below the level of 0.156 IJs/cm3.

Suppression of root-knot nematode through innovative mustard biofumigation

The nematicidal activity of mustard plant against hatching, migration and mortality of the root-knot nematode Meloidogyne javanica was investigated. In vitro test confirmed that mixing the sandy clay soil mixture with mustard as 4% as a biofumigant significantly reduce the percentage of egg hatching at all different incubation periods 24, 48, 72, 96 and 168 h, compared to control treatment (un-amended mixture soil and eggs in free water). Results indicate that the percentage of egg hatching reduction was 88.5, 90, 81.4, 74 and 69.4%, respectively. Mustard mixed with soil as a biofumigant led to high percentage of larval mortality at the different intervals periods in vitro. The percentage of larval mortality was 94, 100, 90.5, 90.5, and 79.4%, respectively compared to control. Laboratory results confirmed that the highest reduction in egg hatching and larval mortality was obtained after incubation period for 48 h. In vivo experiment reveals that the incorporation of the soil pots with mustard at all different doses used 3, 5% (48 h before nematode inoculation, or soil infestation with nematode), and 5% (one week before nematode inoculation or 7% of soil weight) significantly reduces all the nematode parameters compared to plant treated nematode alone. All nematode parameters i.e. the number of galls per root system, gall index, number of egg masses per root system, as well as number of juveniles per 250g soil showed high reduction with mixing the soil pots with mustard at 5% (one week before nematode inoculation), followed by the same treatment for 48h before nematode inoculation. Mustard application, one week before nematode inoculation, reduced the nematode parameters by 97, 64, 97, and 93%, respectively, compared to control. The percent of chemical components i.e. total sugars, total amino acids and total phenols were markedly enhanced compared to positive and negative control. The highest percentage was obtained with mustard at 5% one week before nematode inoculation by 68.7, 57.3 and 45%, respectively. Finally, we have to conclude that this modified technology is an innovative and can be used efficiently to control Root-knot nematode under organic agriculture and Global GAP agricultural systems instead of these carcinogenic nematicides.

A Reinforcement-Learning Approach to Power Management

We describe an adaptive, mid-level approach to the wireless device power management problem. Our approach is based on reinforcement learning, a machine learning framework for autonomous agents. We describe how our framework can be applied to the power management problem in both infrastructure and ad~hoc wireless networks. From this thesis we conclude that mid-level power management policies can outperform low-level policies and are more convenient to implement than high-level policies. We also conclude that power management policies need to adapt to the user and network, and that a mid-level power management framework based on reinforcement learning fulfills these requirements.

Reinforcement Learning by Policy Search

One objective of artificial intelligence is to model the behavior of an intelligent agent interacting with its environment. The environment's transformations can be modeled as a Markov chain, whose state is partially observable to the agent and affected by its actions; such processes are known as partially observable Markov decision processes (POMDPs). While the environment's dynamics are assumed to obey certain rules, the agent does not know them and must learn. In this dissertation we focus on the agent's adaptation as captured by the reinforcement learning framework. This means learning a policy---a mapping of observations into actions---based on feedback from the environment. The learning can be viewed as browsing a set of policies while evaluating them by trial through interaction with the environment. The set of policies is constrained by the architecture of the agent's controller. POMDPs require a controller to have a memory. We investigate controllers with memory, including controllers with external memory, finite state controllers and distributed controllers for multi-agent systems. For these various controllers we work out the details of the algorithms which learn by ascending the gradient of expected cumulative reinforcement. Building on statistical learning theory and experiment design theory, a policy evaluation algorithm is developed for the case of experience re-use. We address the question of sufficient experience for uniform convergence of policy evaluation and obtain sample complexity bounds for various estimators. Finally, we demonstrate the performance of the proposed algorithms on several domains, the most complex of which is simulated adaptive packet routing in a telecommunication network.

Hybrid coordination of reinforcement learning-based behaviors for AUV control

This paper proposes a hybrid coordination method for behavior-based control architectures. The hybrid method takes advantages of the robustness and modularity in competitive approaches as well as optimized trajectories in cooperative ones. This paper shows the feasibility of applying this hybrid method with a 3D-navigation to an autonomous underwater vehicle (AUV). The behaviors are learnt online by means of reinforcement learning. A continuous Q-learning implemented with a feed-forward neural network is employed. Realistic simulations were carried out. The results obtained show the good performance of the hybrid method on behavior coordination as well as the convergence of the behaviors

A behavior-based scheme using reinforcement learning for autonomous underwater vehicles

This paper presents a hybrid behavior-based scheme using reinforcement learning for high-level control of autonomous underwater vehicles (AUVs). Two main features of the presented approach are hybrid behavior coordination and semi on-line neural-Q_learning (SONQL). Hybrid behavior coordination takes advantages of robustness and modularity in the competitive approach as well as efficient trajectories in the cooperative approach. SONQL, a new continuous approach of the Q_learning algorithm with a multilayer neural network is used to learn behavior state/action mapping online. Experimental results show the feasibility of the presented approach for AUVs

Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

This paper proposes a field application of a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. The learning system is characterized by using a direct policy search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed up the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEU AUV

Autonomous underwater vehicle control using reinforcement learning policy search methods

Autonomous underwater vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of subsea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an autonomous robot. The system is characterized by the use of reinforcement learning direct policy search methods (RLDPS) for learning the internal state/action mapping of some behaviors. We demonstrate its feasibility with simulated experiments using the model of our underwater robot URIS in a target following task

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

HTC brand reinforcement – �an attempt to create a global brand leader

Research Skills Presentation

Is maternal deprivation the root of all evil?

In this paper we seriously entertain the question, “Is maternal deprivation the root of all evil?” Our consideration of this question is broken down into three parts. In the fi rst part, we discuss the nature of evil, focusing in particular on the legal concept of depravity. In the second part, we discuss the nurture of evil, focusing in particular on the common developmental trajectory seen in those who are depraved. In the third part, we discuss the roots of evil, focusing in particular on the animal and human research regarding maternal deprivation. Our conclusion is that maternal deprivation may actually be the root of all evil, but only because depraved individuals have been deprived of normative maternal care, which is the cradle of our humanity.

Neurobiology of expectancy effects and omission of reinforcement on behavior

The reinforcement omission effects have been traditionally interpreted in terms of: behavioral facilitation after reinforcement omission induced by primary frustration or behavioral suppression after reinforcement delivery induced by postconsummatory states. The studies reviewed here indicate that amygdala is involved in modulation of these effects. However, the fact that amygdala lesions, extensive or selective, can eliminate, reduce and enhance the omission effects makes it difficult to understand how it is the exact nature of their involvement. The amygdala is related to several functions that depend on its connections with other brain systems. Thus, it is necessary to consider the involvement of a more complex neural network in the modulation of the reinforcement omission effects. The connection of amygdala subareas to cortical and subcortical structures may be involved in this modulation since they also are linked to processes related to reward and expectancy.

An artificial economy based on reinforcement learning and agent based modeling

In this paper, we employ techniques from artificial intelligence such as reinforcement learning and agent based modeling as building blocks of a computational model for an economy based on conventions. First we model the interaction among firms in the private sector. These firms behave in an information environment based on conventions, meaning that a firm is likely to behave as its neighbors if it observes that their actions lead to a good pay off. On the other hand, we propose the use of reinforcement learning as a computational model for the role of the government in the economy, as the agent that determines the fiscal policy, and whose objective is to maximize the growth of the economy. We present the implementation of a simulator of the proposed model based on SWARM, that employs the SARSA(λ) algorithm combined with a multilayer perceptron as the function approximation for the action value function.

Gradient-based reinforcement learning techniques for underwater robotics behavior learning

Darrerament, l'interès pel desenvolupament d'aplicacions amb robots submarins autònoms (AUV) ha crescut de forma considerable. Els AUVs són atractius gràcies al seu tamany i el fet que no necessiten un operador humà per pilotar-los. Tot i això, és impossible comparar, en termes d'eficiència i flexibilitat, l'habilitat d'un pilot humà amb les escasses capacitats operatives que ofereixen els AUVs actuals. L'utilització de AUVs per cobrir grans àrees implica resoldre problemes complexos, especialment si es desitja que el nostre robot reaccioni en temps real a canvis sobtats en les condicions de treball. Per aquestes raons, el desenvolupament de sistemes de control autònom amb l'objectiu de millorar aquestes capacitats ha esdevingut una prioritat. Aquesta tesi tracta sobre el problema de la presa de decisions utilizant AUVs. El treball presentat es centra en l'estudi, disseny i aplicació de comportaments per a AUVs utilitzant tècniques d'aprenentatge per reforç (RL). La contribució principal d'aquesta tesi consisteix en l'aplicació de diverses tècniques de RL per tal de millorar l'autonomia dels robots submarins, amb l'objectiu final de demostrar la viabilitat d'aquests algoritmes per aprendre tasques submarines autònomes en temps real. En RL, el robot intenta maximitzar un reforç escalar obtingut com a conseqüència de la seva interacció amb l'entorn. L'objectiu és trobar una política òptima que relaciona tots els estats possibles amb les accions a executar per a cada estat que maximitzen la suma de reforços totals. Així, aquesta tesi investiga principalment dues tipologies d'algoritmes basats en RL: mètodes basats en funcions de valor (VF) i mètodes basats en el gradient (PG). Els resultats experimentals finals mostren el robot submarí Ictineu en una tasca autònoma real de seguiment de cables submarins. Per portar-la a terme, s'ha dissenyat un algoritme anomenat mètode d'Actor i Crític (AC), fruit de la fusió de mètodes VF amb tècniques de PG.

Study of bond behaviour between FRP reinforcement and concrete

El uso de barras de materiales compuestos (FRP) se propone como una alternativa efectiva para las tradicionales estructuras de hormigón armadas con acero que sufren corrosión en ambientes agresivos. La aceptación de estos materiales en el mundo de la construcción está condicionada a la compresión de su comportamiento estructural. Este trabajo estudia el comportamiento adherente entre barras de FRP y hormigón mediante dos programas experimentales. El primero incluye la caracterización de la adherencia entre barras de FRP y hormigón mediante ensayos de pull-out y el segundo estudia el proceso de fisuración de tirantes de hormigón reforzados con barras de GFRP mediante ensayo a tracción directa. El trabajo se concluye con el desarrollo de un modelo numérico para la simulación del comportamiento de elementos de hormigón reforzado bajo cargas de tracción. La flexibilidad del modelo lo convierte en una herramienta flexible para la realización de un estudio paramétrico sobre las variables que influyen en el proceso de fisuración.