Development of a support vector machine-based navigation system for driving a mobile robot 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 preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. 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, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.

Shear and rotation in Chaplygin cosmology

We study the effect of shear and rotation on results previously obtained dealing with the application of the spherical collapse model (SCM) to generalized Chaplygin gas (gCg)-dominated universes. The system is composed of baryons and gCg and the collapse is studied for different values of the parameter α of the gCg. We show that the joint effect of shear and rotation is that of slowing down the collapse with respect to the simple SCM. This result is of utmost importance for the so-called unified dark matter models, since the described slowdown in the growth of density perturbations can solve one of the main problems of the quoted models, namely the instability described in previous papers [e.g., H. B. Sandvik, Phys. Rev. D 69, 123524 (2004)] at the linear perturbation level. © 2013 American Physical Society.

Effects of superficial liming and silicate application on soil fertility and crop yield under rotation

Soil acidity and low natural fertility are the main problems for grain production in Brazilian 'cerrado'. Although lime has been the most applied source for soil correction, silicate may be an alternative material due to its lower solubility and Si supply, which is beneficial to several crops. This work aimed to evaluate the efficiency of superficial liming and calcium/magnesium silicate application on soil chemical attributes, plant nutrition, yield components and final yield of a soybean/white oat/maize/bean rotation under no-tillage system in a dry-winter region. The experiment was conducted under no tillage system in a deep acid clayey Rhodic Hapludox, Botucatu-SP, Brazil. The design was the completely randomized block with sixteen replications. Treatments consisted of two sources for soil acidity correction (dolomitic lime: ECC=90%, CaO=36% and MgO=12%; calcium/magnesium silicate: ECC=80%, CaO=34%, MgO=10% and SiO2=22%) applied in October 2006 to raise base saturation up to 70% and a control, with no soil correction. Soybean and white oat were sown in 2006/2007 as the main crop and off-season, respectively. Maize and bean were cropped in the next year (2007/2008). Products from silicate dissociation reach deeper soil layers after 18months from the application, compared to liming. Additionally, silicate is more efficient than lime to increasing phosphorus availability and reducing toxic aluminum. Such benefits in soil chemical attributes were only evidenced during bean cropping, when grain yield was higher after silicate application comparatively to liming. Both correction sources were improved mineral nutrition of all the other crops, mainly Ca and Mg levels and agronomical characteristics, reflecting in higher yield. © 2012 Elsevier B.V.

Closed poly-trajectories and Poincaré index of non-smooth vector fields on the plane

This paper is concerned with closed orbits of non-smooth vector fields on the plane. For a class of non-smooth vector fields we provide necessary and sufficient conditions for the existence of closed poly-trajectorie. By means of a regularization process we prove that hyperbolic closed poly-trajectories are limit sets of a sequence of limit cycles of smooth vector fields. In our approach the Poincaré Index for non-smooth vector fields is introduced. © 2013 Springer Science+Business Media New York.

The Vampirome: Transcriptome and proteome analysis of the principal and accessory submaxillary glands of the vampire bat Desmodus rotundus, a vector of human rabies

Vampire bats are notorious for being the sole mammals that strictly feed on fresh blood for their survival. While their saliva has been historically associated with anticoagulants, only one antihemostatic (plasminogen activator) has been molecularly and functionally characterized. Here, RNAs from both principal and accessory submaxillary (submandibular) salivary glands of Desmodus rotundus were extracted, and ~. 200. million reads were sequenced by Illumina. The principal gland was enriched with plasminogen activators with fibrinolytic properties, members of lipocalin and secretoglobin families, which bind prohemostatic prostaglandins, and endonucleases, which cleave neutrophil-derived procoagulant NETs. Anticoagulant (tissue factor pathway inhibitor, TFPI), vasodilators (PACAP and C-natriuretic peptide), and metalloproteases (ADAMTS-1) were also abundantly expressed. Members of the TSG-6 (anti-inflammatory), antigen 5/CRISP, and CCL28-like (antimicrobial) protein families were also sequenced. Apyrases (which remove platelet agonist ADP), phosphatases (which degrade procoagulant polyphosphates), and sphingomyelinase were found at lower transcriptional levels. Accessory glands were enriched with antimicrobials (lysozyme, defensin, lactotransferrin) and protease inhibitors (TIL-domain, cystatin, Kazal). Mucins, heme-oxygenase, and IgG chains were present in both glands. Proteome analysis by nano LC-MS/MS confirmed that several transcripts are expressed in the glands. The database presented herein is accessible online at http://exon.niaid.nih.gov/transcriptome/D_rotundus/Supplemental-web.xlsx. These results reveal that bat saliva emerges as a novel source of modulators of vascular biology. Biological significance: Vampire bat saliva emerges as a novel source of antihemostatics which modulate several aspects of vascular biology. © 2013.

Measurement of associated production of vector bosons and top quark-antiquark pairs in pp collisions at √s=7 TeV

The first measurement of vector-boson production associated with a top quark-antiquark pair in proton-proton collisions at √s=7 TeV is presented. The results are based on a data set corresponding to an integrated luminosity of 5.0 fb-1, recorded by the CMS detector at the LHC in 2011. The measurement is performed in two independent channels through a trilepton analysis of tt̄Z events and a same-sign dilepton analysis of tt̄V (V=W or Z) events. In the trilepton channel a direct measurement of the tt̄Z cross section σtt̄Z=0.28-0.11+0.14 (stat)-0.03+0.06 (syst) pb is obtained. In the dilepton channel a measurement of the tt̄V cross section yields σtt̄V=0.43-0.15+0.17 (stat)-0.07+0.09 (syst) pb. These measurements have a significance, respectively, of 3.3 and 3.0 standard deviations from the background hypotheses and are compatible, within uncertainties, with the corresponding next-to-leading order predictions of 0.137-0.016+0.012 and 0.306-0.053+0.031 pb. © 2013 CERN. Published by the American Physical Society.

Phosphorus and potassium balance in a corn-soybean rotation under no-till and chiseling

Nutrient use efficiency has become an important issue in agriculture, and crop rotations with deep vigorous rooted cover crops under no till may be an important tool in increasing nutrient conservation in agricultural systems. Ruzigrass (Brachiaria ruziziensis) has a vigorous, deep root system and may be effective in cycling P and K. The balance of P and K in cropping systems with crop rotations using ruzigrass, pearl millet (Pennisetum glaucum) and ruzigrass + castor bean (Ricinus communis), chiseled or not, was calculated down to 0.60 m in the soil profile for 2 years. The cash crops were corn in the first year and soybean in the second year. Crop rotations under no-till increased available P amounts in the soil-plant system from 80 to 100 %, and reduced K losses between 4 and 23 %. The benefits in nutrient balance promoted by crop rotations were higher in the second year and under without chiseling. Plant residues deposited on the soil surface in no-till systems contain considerable nutrient reserve and increase fertilizer use efficiency. However, P release from ruzigrass grown as a sole crop is not synchronized with soybean uptake rate, which may result in decreased yields. © 2013 Springer Science+Business Media Dordrecht.

Multiple higgs and vector boson production beyond the standard model

If the electroweak symmetry breaking is originated from a strongly coupled sector, as for instance in composite Higgs models, the Higgs boson couplings can deviate from their Standard Model values. In such cases, at sufficiently high energies there could occur an onset of multiple Higgs boson and longitudinally polarised electroweak gauge boson (V L ) production. We study the sensitivity to anomalous Higgs couplings in inelastic processes with 3 and 4 particles (either Higgs bosons or V L 's) in the final state. We show that, due to the more severe cancellations in the corresponding amplitudes as compared to the usual 2 → 2 processes, large enhancements with respect to the Standard Model can arise even for small modifications of the Higgs couplings. In particular, we find that triple Higgs production provides the best multiparticle channel to look for these deviations. We briefly explore the consequences of multiparticle production at the LHC. © 2013 SISSA.

Aspectos técnicos e econômicos da poda e do controle químico de Brevipalpus phoenicis no manejo da leprose dos citros

The objective of this study was to evaluate different citrus leprosis management tactics during seven seasons, based in pruning and acaricide applications, considering technical and economic aspects of each tactic. The trial was conducted from October 2003 to August 2010 in an orange plantation of Pera cv. located in the municipality of Reginópolis-SP, Brazil. The plants of citrus used were12 years old and grafted onto Cleopatra tangerine. The experimental design used was randomized blocks, in a factorial scheme, made up of factors type of pruning (A), with six levels: (1) drastic pruning, (2) intermediate pruning without leprosis lesions, (3) intermediate pruning with leprosis lesions (4) light pruning, (5) without pruning and (6) replant; acaricide applications factor (B), with three levels: (1) without acaricides applications, (2) with lime sulfur applications and (3) spirodiclofen or cyhexatin applied in rotation; pruning factor to remove leprosis symptomatic branches (C), with two levels: (1) with pruning for removal, (2) without removal pruning. The combination of factors, with respective levels (6 x 3 x 2), resulted in 36 treatments that were repeated four times, with each parcel being made up of three plants in a row. After seven years, it was observed that the types of the pruning and remove of leprosis symptomatic branches used as single management tactic, is not sufficient to leprosis control. Therefore, the results demonstrated that for leprosis management, it is essential the association between tactics, especially the control mite vector. For ensuring the citrus production economically, the use of acaricides highly efficient is essential in B. phoenicis control. The recommendation of the type of pruning should be in function of the leprosis incidence and severity in the orchard. In orchards with low leprosis incidence and severity the light pruning is more appropriate, because it is efficient and ensures greater financial balance. However, in orchards with high leprosis incidence and severity it is indicated the severe pruning for reducing or eliminating inoculum source. Between the severe prunings, the intermediate pruning with leprosis lesions is the most relevant, because the financial return will be faster. Replant is indicated only for young orchards, because does not imply in changes onto cultural practices.

A finite element approach for predicting the ultimate rotation capacity of RC beams

This paper presents a numerical approach to model the complex failure mechanisms that define the ultimate rotational capacity of reinforced concrete beams. The behavior in tension and compression is described by a constitutive damage model derived from a combination of two specific damage models [1]. The nonlinear behavior of the compressed region is treated by the compressive damage model based on the Drucker-Prager criterion written in terms of the effective stresses. The tensile damage model employs a failure criterion based on the strain energy associated with the positive part the effective stress tensor. This model is used to describe the behavior of very thin bands of strain localization, which are embedded in finite elements to represent multiple cracks that occur in the tensioned region [2]. The softening law establishes dissipation energy compatible with the fracture energy of the concrete. The reinforcing steel bars are modeled by truss elements with elastic-perfect plastic behavior. It is shown that the resulting approach is able to predict the different stages of the collapse mechanism of beams with distinct sizes and reinforcement ratios. The tensile damage model and the finite element embedded crack approach are able to describe the stiffness reduction due to concrete cracking in the tensile zone. The truss elements are able to reproduce the effects of steel yielding and, finally, the compressive damage model is able to describe the non-linear behavior of the compressive zone until the complete collapse of the beam due to crushing of concrete. The proposed approach is able to predict well the plastic rotation capacity of tested beams [3], including size-scale effects.

Dynamics of rotation of super-Earths

We numerically investigate the dynamics of rotation of several close-in terrestrial exoplanet candidates. In our model, the rotation of the planet is disturbed by the torque of the central star due to the asymmetric equilibrium figure of the planet. We model the shape of the planet by a Jeans spheroid. We use surfaces of section and spectral analysis to explore numerically the rotation phase space of the systems adopting different sets of parameters and initial conditions close to the main spin-orbit resonant states. One of the parameters, the orbital eccentricity, is critically discussed here within the domain of validity of orbital circularization timescales given by tidal models. We show that, depending on some parameters of the system like the radius and mass of the planet, eccentricity etc., the rotation can be strongly perturbed and a chaotic layer around the synchronous state may occupy a significant region of the phase space. 55 Cnc e is an example. © 2013 Springer Science+Business Media Dordrecht.

Airway space changes after maxillomandibular counterclockwise rotation and mandibular advancement with TMJ Concepts® total joint prostheses: Three-dimensional assessment

This study focused on three-dimensional (3D) airway space changes and stability following simultaneous maxillomandibular counterclockwise rotation, mandibular advancement, and temporomandibular joint (TMJ) reconstruction with custom-made total joint prostheses (TMJ Concepts®). Cone beam computed tomography (CBCT) scans of 30 consecutive female patients with irreversibly compromised TMJs were obtained at the following intervals: T1, presurgery; T2, immediately after surgery; and T3, at least 6 months after surgery. The CBCT volumetric datasets were analysed with Dolphin Imaging ® software to evaluate surgical and postsurgical changes to oropharyngeal airway parameters. The average changes in airway surface area (SA), volume (VOL), and minimum axial area (MAA) were, 179.50 mm2, 6302.60 mm3, and 92.23 mm2, respectively, at the longest follow-up (T3 - T1) (P ≤ 0.001). Significant correlations between the amount of mandibular advancement and counterclockwise rotation of the occlusal plane and 3D airway changes were also found (P ≤ 0.01). The results of this investigation showed a significant immediate 3D airway space increase after maxillomandibular counterclockwise rotation and mandibular advancement with TMJ Concepts total joint prostheses, which remained stable over the follow-up period. © 2013 International Association of Oral and Maxillofacial Surgeons.

The Genome of Anopheles darlingi, the main neotropical malaria vector

Anopheles darlingi is the principal neotropical malaria vector, responsible for more than a million cases of malaria per year on the American continent. Anopheles darlingi diverged from the African and Asian malaria vectors ∼100 million years ago (mya) and successfully adapted to the New World environment. Here we present an annotated reference A. darlingi genome, sequenced from a wild population of males and females collected in the Brazilian Amazon. A total of 10 481 predicted protein-coding genes were annotated, 72% of which have their closest counterpart in Anopheles gambiae and 21% have highest similarity with other mosquito species. In spite of a long period of divergent evolution, conserved gene synteny was observed between A. darlingi and A. gambiae. More than 10 million single nucleotide polymorphisms and short indels with potential use as genetic markers were identified. Transposable elements correspond to 2.3% of the A. darlingi genome. Genes associated with hematophagy, immunity and insecticide resistance, directly involved in vectorhuman and vectorparasite interactions, were identified and discussed. This study represents the first effort to sequence the genome of a neotropical malaria vector, and opens a new window through which we can contemplate the evolutionary history of anopheline mosquitoes. It also provides valuable information that may lead to novel strategies to reduce malaria transmission on the South American continent. The A. darlingi genome is accessible at www.labinfo.lncc.br/index.php/anopheles- darlingi. © 2013 The Author(s).

A single chart with supplementary runs rules for monitoring the mean vector and the covariance matrix of multivariate processes

The MRMAX chart is a single chart based on the standardized sample means and sample ranges for monitoring the mean vector and the covariance matrix of multivariate processes. User's familiarity with the computation of these statistics is a point in favor of the MRMAX chart. As a single chart, the recently proposed MRMAX chart is very appropriate for supplementary runs rules. In this article, we compare the supplemented MRMAX chart and the synthetic MRMAX chart with the standard MRMAX chart. The supplementary and the synthetic runs rules enhance the performance of the MRMAX chart. © 2013 Elsevier Ltd.

Peixoto's Theorem for vector fields on S2 with impasse points

The structural stability of vector fields with impasse regular curves on S2 is studied and a version of Peixoto's Theorem is established. Moreover a global analysis of normal forms of the constrained systems. A(x).ẋ=F(x),x∈R3,A∈M(3),F:R3→R3 in the Poincaré ball (i.e. in the compactification of R3 with the sphere S2 of the infinity) is made. © 2013 Elsevier Masson SAS.