Real-time Image-based RGB-D Camera Motion Tracking and Environment Mapping

In this work, image based estimation methods, also known as direct methods, are studied which avoid feature extraction and matching completely. Cost functions use raw pixels as measurements and the goal is to produce precise 3D pose and structure estimates. The cost functions presented minimize the sensor error, because measurements are not transformed or modified. In photometric camera pose estimation, 3D rotation and translation parameters are estimated by minimizing a sequence of image based cost functions, which are non-linear due to perspective projection and lens distortion. In image based structure refinement, on the other hand, 3D structure is refined using a number of additional views and an image based cost metric. Image based estimation methods are particularly useful in conditions where the Lambertian assumption holds, and the 3D points have constant color despite viewing angle. The goal is to improve image based estimation methods, and to produce computationally efficient methods which can be accomodated into real-time applications. The developed image-based 3D pose and structure estimation methods are finally demonstrated in practise in indoor 3D reconstruction use, and in a live augmented reality application.

Carryover effect of fomesafen, applied on edible bean, on sucessional maize

Carryove reffects of fomesafen on successional maize were studied in clay soil. Fomesafen was applied as postemergence at Five rate s (0; 0.12 5: 0.25 ; 0.37 5, and 0.5 kg/ha-1) to edible beans. Maize was planted 198 and 65 days after fomesafen application in 1992 and 212 and 65 days after fomesafen application in 1993. Fomesafen residues were detected in soils up to 20cm depth but residue concentration was higher in 0-10 cm soil depth. Fomesafen residues reduced leaf chlrophyll content and root volume of 10 days old maize when planted 65 days after application but were not affected when planted 212 days after application. However, the decreases in leaf chlorophyll and root volume did not affect the maize yield.

A field survey of crop management practices and distribution of ALS resistant Euphorbia heterophylla in two states in southern Brazil

Herbicide resistance was reported in Brazil almost ten years ago. One of the main weeds with herbicide resistance is wild poinsettia (Euphorbia heterophylla). This work evaluates the distribution of ALS-resistant E. heterophylla in two states in southern Brazil and determines the major contributing management causes for weed resistance selection in the area. E. heterophylla seeds from 148 sites located in Paraná and Rio Grande do Sul were sampled during 2001 and 2002. Farmers provided specific site data for weed control, tillage system, crop rotation and harvesting operations during previous years. ALS resistant E. heterophylla biotypes were found widely distributed in the survey area. Data analysis suggests seed dissemination is unlikely to explain the widespread distribution of resistance. The most probable factor for the selection of the resistant E. heterophylla is the persistent high use of ALS-inhibiting herbicides over time. Indirect evidence is presented demonstrating the need to educate legislators and farmers about the importance of herbicide mixtures as a strategy to prevent herbicide resistance.

Phytosociology in agricultural areas submitted to distinct wintercropping management

Studies related to weed dynamics are essential for agricultural sustainability in tropical soils, as their interference can cause significant yield losses, especially in crops with lower competitive ability. This study aimed to assess the composition of weed communities in the third cropping season in areas submitted to distinct wintercroppings for two consecutive years. Evaluations were made in terms of species composition, level of infestation, and severity of occurrence of each weed species in relation to the others within the same area. The wintercropping management systems were: (1) Brachiaria ruziziensis; (2) corn intercropped with B. ruziziensis; (3) corn and (4) cowpea. Plant communities under these wintercrop systems were evaluated in the third year in terms of relative frequency, relative dominance, relative abundance and importance index for each species. Areas were also compared in terms of species composition by the Sorensen's similarity coefficient. Two years of distinct wintercrop managements were not enough to cause a significant shift in terms of weed composition and severity in a given area. There is also evidence that some weed species are more favored by specific crops, although the causes of this selective behavior are not fully explored in this article. The presence of B. ruziziensis, either alone or intercropped with corn, resulted in lower similarity coefficients when compared to areas where this species was not present. It is suggested that several mechanisms briefly discussed may be involved in the impact of the presence of B. ruziziensis on the weed community.

Limited occurrence of resistant radish (Raphanus sativus) to AHAS-inhibiting herbicides in Argentina

Radish has developed feral and weedy biotypes, which is a concern for agriculture around the world. In Argentina, it is one of the most widespread and troublesome crop weeds. In Brazil, this species has developed herbicide-resistance to acetohydroxyacid synthase (AHAS) inhibiting herbicides. The objective of this study was to record the presence of herbicide-resistant weedy radish plants in Argentina. In spring 2008, we found a small population of radish at the end of the flowering stage in an imidazolinone-tolerant canola field treated with imazethapyr. Screening and dose-response tests were conducted to two successive generations. They proved the biotype resistant status, and showed extensive survival (between 50 and 80% of control) to the application of a double dose of four AHAS‑inhibiting herbicides from two different chemical families (imidazolinones and sulfonylureas). Dose-response assays exhibited very high resistance for imazethapyr (LD50 = 2452.5 g a.i. ha-1, GR50 = 2926.9 g a.i. ha-1) and intermediate for metsulfuron (LD50 = 3.0 g a.i. ha-1, GR50 = 43.2 g a.i. ha-1). The acquisition of cross-resistance to different herbicide families would confer an adaptive and invasive advantage in agricultural environments to this biotype. Due to the herbicide rotation conducted in the field, the dispersion of this biotype was restricted. This is the first report of resistance in weedy radish in Argentina.

Residual herbicides in weed management for glyphosate-resistant soybean in Brazil

In agricultural production systems where the glyphosate-resistant soybean crop (Glycine max) is grown and the practice of crop rotation with alternative herbicides is not adopted, the exclusive and continuous use of glyphosate has led to the occurrence of resistant weed populations that may limit or compromise the benefits of this technology. Thus, the efficacy of weed management programs, including the use of residual herbicides (sulfentrazone, flumioxazin, imazethapyr, diclosulan, chlorimuron and s-metolachlor) applied in preemergence and followed by in-crop postemergence applications of glyphosate (PRE-POST) were compared to glyphosate postemergence only programs - POST. The study was conducted across nine locations during the 2009/2010 and 2010/2011 growing seasons. PRE-POST programs were efficient in the control of Amaranthus viridis, Brachiaria plantaginea, Bidens pilosa, Commelina benghalensis, Eleusine indica, Euphorbia heterophylla and Raphanus raphanistrum, with the level of control being similar when comparing the program with two applications of glyphosate POST. Some PRE-POST programs were not efficient in controlling Cenchrus echinatus, Ipomoea hederifolia and Ipomoea triloba. Sulfentrazone and diclosulam PRE-POST programs improved the control of Ipomoea triloba compared to sequential applications of glyphosate alone. No significant differences in soybean yield were observed between any of the herbicide treatments or study locations. The use of residual herbicides in preemergence followed by glyphosate in-crop postemergence provides consistent weed control and reducing early season weed competition. Furthermore, these programs utilize at least two herbicide modes of action for herbicide use diversity, which will be needed to stay ahead of resistance build-up, regardless of when weeds may appear.

Occurrence of weed species in Jatropha curcas intercropping systems

This study aimed to evaluate the level of infestation by weed species in a consolidated Jatropha plantation, as a function of the plant species grown in interrows. The experiment was installed in 2006 at the district of Itahum, city of Dourados, state of Mato Grosso do Sul, Brazil, made possible through a partnership between Embrapa Western Agriculture and Paraiso Farm. Treatments consisted of (1) Jatropha in monocrop, with no plant at the interrrows; or the following plants cultivaded at the interrows of Jatropha: (2) Stylosanthes spp.; (3) Brachiaria ruziziensis; (4) Brachiaria ruziziensis + Stylosanthess pp.; (5) Brachiaria humidicola; (6) Panicum maximum cv. massai; (7) Cajanus cajan cv. anão; (8) Crotalaria spectabilis; (9) Crop rotation system 1 - (maize second crop -Crambe abyssinica - soybean - peanut); and (10) Crop rotation system 2 - (cowpea - radish - maize - cowpea) conducted for two years. Phytosociological characterization of weed species was accomplished in 2011 based on the Ecological Approach. Estimations of relative abundance, frequency, dominance and Importance Value Index were obtained. Areas were also characterized by the diversity coefficients of Simpson and modified Shannon-Weiner, and then grouped by cluster analysis. Areas with low soil coverage resulted in higher infestation levels; crop rotation in the interrows of Jatropha produced a significant reduction in weed infestation, but the lowest infestation levels were observed when grasses were grown intercropped with Jatropha. Lower diversity coefficients were associated with occurrence of the most troublesome weed species. In the first years after planting Jatropha, species of Brachiaria or a crop rotation involving species with high mulching ability and whose biomass exhibit a high C:N ratio, should be established in the interrows to avoid problems with weeds infestation.

Environmental fate of S-Metolachlor: a review

S-metolachlor is a preemergent herbicide used for the control of annual grasses and small-seeded broadleaf weeds in more than 70 agricultural crops worldwide. Recently, Smetolachlor has been used to control imidazolinone-resistant red rice in rice-soybean rotation in lowland environments of the Southern Brazil. However, limited information concerning the environmental fate of S-metolachlor in lowland soil is available in the literature. Thus, this review was designed to describe the major transport and dissipation processes of Smetolachlor in attempting to improve weed management programs used in rice-soybean rotation and mitigate environmental contamination of lowland areas.

Evolution of Ryegrass Seed Banks Depending on Soil Tillage and Crops

The seed bank is characterized by the amount of seeds and other viable reproductive structures in the soil and it is changed by the input and output of seeds, being classified by its permanence in the soil as transient or permanent. The tillage and crops used decisively influence this dynamic and more disturbed areas tend to have richer seed banks. The purpose of this study was to test different soil tillage and crop systems, aiming to reduce or eliminate the ryegrass in the area. The experiment was conducted from 2010 to 2012. In the first year, the effect of chemical tillage was assessed, compared to the area without tillage. From the second year on, in the area that received chemical tillage, the second experiment was installed, where it was assessed the effect of soil tillage and crop rotation in the ryegrass seed yield. The soil tillage treatment was chisel plow and non-chisel plow. The crop rotation was: fallow/soybean; wheat/soybean; black oat/maize. The samples of soil were taken three times a year and split in 0-5, 5-10, 10-15 and 15-20 cm. After sampling, the seeds were separated from the soil and sterilized. Afterwards, germination and tetrazolium test were conducted. In the same plots used for soil sampling, the emergence flow of ryegrass was assessed in the winter 2011 and 2012. In the first year it was observed that chemical tillage had considerably reduced the amount of ryegrass in the soil. The crop rotations used were more effective than soil tillage in reducing the seed banks in the soil. The rotation oat/maize and wheat/soybean, in only two years, practically zeroed the ryegrass seed banks in the area.

Carryover of Imazethapyr + Imazapic on Ryegrass and Non-tolerant Rice as Affected by Thickness of Soil Profile

Herbicides used in Clearfield(r) rice system may persist in the environment, damaging non-tolerant crops sown in succession and/or rotation. These damages vary according to soil characteristics, climate and soil management. The thickness of the soil profile may affect carryover effect; deeper soils may allow these molecules to leach, reaching areas below the roots absorption zone. The aim of this study was to evaluate the effect of the thickness of soil profile in the carryover of imazethapyr + imazapic on ryegrass and non-tolerant rice, sown in succession and rotation to rice, respectively. Lysimeters of different thicknesses (15, 20, 30, 40, 50 and 65 cm) were constructed, where 1 L ha-1 of the imazethapyr + imazapic formulated mixture was applied in tolerant rice. Firstly, imidazolinone-tolerant rice was planted, followed by ryegrass and non-tolerant rice in succession and rotation, respectively. Herbicide injury, height reduction and dry weight of non-tolerant species were assessed. There was no visual symptoms of herbicide injury on ryegrass sown 128 days after the herbicide application; however it causes dry weight mass reduction of plants. The herbicides persist in the soil and cause injury in non-tolerant rice, sown 280 days after application, and the deeper the soil profile, the lower the herbicides injury on irrigated rice.

SELECTION OF HERBICIDES TARGETING THE USE IN CROP SYSTEMS CULTIVATED WITH SHOWY CROTALARIA

ABSTRACT The increase in the area planted with Crotalaria spectabilishas occurred by several factors, highlighting the potential to reduce the nematodes, nitrogen fixation and the high production of biomass. By becoming a species sown as a crop, it is necessary to control the weeds that coexist with showy crotalaria. This change in the use of this crop creates the possibility of this specie becoming a weed. The aim of this study was to assess the potential use of herbicides applied in preemergence and postemergence of C.spectabilisfor different purposes (control of volunteer and selectivity plants). Three experiments were installed in a greenhouse (two with herbicides applied in preemergence - in soils with distinct textural categories; and one experiment with herbicides applied in postemergence). The results of the experiments with herbicides applied in preemergence showed that: amicarbazone, atrazine, diuron, metribuzin, prometryn, fomesafen and sulfentrazone showed effectiveness for control of C.spectabilis in clayey soil. Besides these, flumioxazin and isoxaflutole also showed potential to be used in the control of showy crotalaria in soils with loam texture. In relation to the postemergence herbicides, atrazine, diuron, prometryn, flumioxazin, fomesafen, lactofen, saflufenacil, amonio-glufosinate and glyphosate can be used aiming the chemical control of C.spectabilis. Herbicides chlorimuron-ethyl, diclosulan, imazethapyr, pyrithiobac-sodium, trifloxysulfuron-sodium, clomazone, pendimethalin, S-metolachlor and trifluralin applied in preemergence, and imazethapyr, pyrithiobac-sodium, flumiclorac, bentazon and clethodim applied in postemergence caused low levels of injury to C.spectabilis plants, making necessary the development of new searches to ensure the selectivity of these products.

Weed Community in a Raw Sugarcane Renovation Area Submitted to Different Soil Managements

The objective of this study was to evaluate the weed community in a raw sugarcane renovation area with three soil managements and peanut sowing in succession. The experiment was conducted during the 2007/08 season on a raw sugarcane area harvested without prior burning in the last five cuts. A randomized block design with treatments arranged in a split plot and arranged in four replications was used. The main treatments consisted of three cropping systems: conventional tillage, minimum tillage and direct planting, and subplots consisted in the absence (resting) or presence of crop rotation with peanuts. After 135 days from planting peanuts and 180 days of sugarcane harvest, the number of weeds m-2 was counted and the shoot dry biomass of the weeds collected was determined. The data were interpreted by analysis of variance and the means were compared by Tukey's test at 5% probability so that phytosociological indices a, b, c e d were calculated. The use of soil conservation tillage and peanut in rotation with sugarcane in the renovation areas is effective in controlling weeds and suppression of weed species difficult to control like Cyperus rotundus, Commelina bengalensis, Urochloa plantaginea, and Digitaria nuda.

Influence of reactant absorption and dissolution in heterogeneous precipitation processes

In this research work, the aim was to investigate the volumetric mass transfer coefficient [kLa] of oxygen in stirred tank in the presence of solid particle experimentally. The kLa correlations as a function of propeller rotation speed and flow rate of gas feed were studied. The O2 and CO2 absorption in water and in solid-liquid suspensions and heterogeneous precipitation of MgCO3 were thoroughly examined. The absorption experiments of oxygen were conducted in various systems like pure water and in aqueous suspensions of quartz and calcium carbonate particles. Secondly, the precipitation kinetics of magnesium carbonate was also investigated. The experiments were performed to study the reactive crystallization with magnesium hydroxide slurry and carbon dioxide gas by varying the feed rates of carbon dioxide and rotation speeds of mixer. The results of absorption and precipitation are evaluated by titration, total carbon (TC analysis), and ionic chromatrography (IC). For calcium carbonate, the particle concentration was varied from 17.4 g to 2382 g with two size fractions: 5 µm and 45-63 µm sieves. The kLa and P/V values of 17.4 g CaCO3 with particle size of 5µm and 45-63 µm were 0.016 s-1 and 2400 W/m3. At 69.9 g concentration of CaCO3, the achieved kLa is 0.014 s-1 with particle size of 5 µm and 0.017 s-1 with particle size of 45 to 63 µm. Further increase in concentration of calcium carbonate, i.e. 870g and 2382g , does not affect volumetric mass transfer coeffienct of oxygen. It could be concluded from absorption results that maximum value of kLa is 0.016 s-1. Also particle size and concentration does affect the transfer rate to some extend. For precipitation experiments, the constant concentration of Mg(OH)2 was 100 g and the rotation speed varied from 560 to 750 rpm, whereas the used feed rates of CO2 were 1 and 9 L/min. At 560 rpm and feed rate of CO2 is 1 L/min, the maximum value of Mg ion and TC were 0.25 mol/litre and 0.12 mol/litre with the residence time of 40 min. When flow rate of CO2 increased to 9 L/min with same 560 rpm, the achieved value of Mg and TC were 0.3 mol/litre and 0.12 mol/L with shorter residence time of 30 min. It is concluded that feed rate of CO2 is dominant in precipitation experiments and it has a key role in dissociation and reaction of magnesium hydroxide in precipitation of magnesium carbonate.

Comparative lifecycle assessment on organic and conventional carrots – case: Carrots from South-Savo and imported carrots from Italy

Organic farming is perceived to be an environmental friendly method of food production, thus assumed to be an alternative means of minimizing food-based environmental footprints. However, lower yield and unproductive years in organic crop rotation raise questions of whether it is really an environmentally friendly farming practice. Thus, the aim of this thesis was to examine the carbon footprint and energy demands of organic carrots cultivated and sold in South-Savo, Finland and compare them with those of local and imported conventional carrots using lifecycle assessment (LCA) as a method. From the investigation, it was found that organic carrots produced in South-Savo have the lowest GHG emissions and energy demand. The GHG emissions of local organic, local conventional and imported conventional carrots were found to be 4g CO2 eq. kgcarrots-1, 142g CO2 eq. kgcarrots-1 and 280 g CO2 eq. kgcarrots-1, respectively. On the other hand, energy demand for those carrots was found to be 1,33 MJ, 1,88 MJ and 3,68 MJ kgcarrots-1. Furthermore, it was also found that local organic carrots would have approximately similar GHG emissions as conventional counterpart if soil carbon stock change was excluded from the study.

Dual light barrier method for six degrees of freedom tool center point calibration of an industrial robot

Tool center point calibration is a known problem in industrial robotics. The major focus of academic research is to enhance the accuracy and repeatability of next generation robots. However, operators of currently available robots are working within the limits of the robot´s repeatability and require calibration methods suitable for these basic applications. This study was conducted in association with Stresstech Oy, which provides solutions for manufacturing quality control. Their sensor, based on the Barkhausen noise effect, requires accurate positioning. The accuracy requirement admits a tool center point calibration problem if measurements are executed with an industrial robot. Multiple possibilities are available in the market for automatic tool center point calibration. Manufacturers provide customized calibrators to most robot types and tools. With the handmade sensors and multiple robot types that Stresstech uses, this would require great deal of labor. This thesis introduces a calibration method that is suitable for all robots which have two digital input ports free. It functions with the traditional method of using a light barrier to detect the tool in the robot coordinate system. However, this method utilizes two parallel light barriers to simultaneously measure and detect the center axis of the tool. Rotations about two axes are defined with the center axis. The last rotation about the Z-axis is calculated for tools that have different width of X- and Y-axes. The results indicate that this method is suitable for calibrating the geometric tool center point of a Barkhausen noise sensor. In the repeatability tests, a standard deviation inside robot repeatability was acquired. The Barkhausen noise signal was also evaluated after recalibration and the results indicate correct calibration. However, future studies should be conducted using a more accurate manipulator, since the method employs the robot itself as a measuring device.