Topological map-based approach for localization and mapping memory optimization

Robotics in agriculture faces several challenges, such as the unstructured characteristics of the environments, variability of luminosity conditions for perception systems, and vast field extensions. To implement autonomous navigation systems in these conditions, robots should be able to operate during large periods and travel long trajectories. For this reason, it is essential that simultaneous localization and mapping algorithms can perform in large-scale and long-term operating conditions. One of the main challenges for these methods is maintaining low memory resources while mapping extensive environments. This work tackles this issue, proposing a localization and mapping approach called VineSLAM that uses a topological mapping architecture to manage the memory resources required by the algorithm. This topological map is a graph-based structure where each node is agnostic to the type of data stored, enabling the creation of a multilayer mapping procedure. Also, a localization algorithm is implemented, which interacts with the topological map to perform access and search operations. Results show that our approach is aligned with the state-of-the-art regarding localization precision, being able to compute the robot pose in long and challenging trajectories in agriculture. In addition, we prove that the topological approach innovates the state-of-the-art memory management. The proposed algorithm requires less memory than the other benchmarked algorithms, and can maintain a constant memory allocation during the entire operation. This consists of a significant innovation, since our approach opens the possibility for the deployment of complex 3D SLAM algorithms in real-world applications without scale restrictions.     

Electrochemical reduction of benzyl halides at a silver electrode

The electrochemical reduction of benzyl halides PhCH₂X (X = Cl, Br and I) has been investigated at Ag and glassy carbon (GC) electrodes in CH₃CN + 0.1 M Et₄NClO₄. At both electrodes reduction of PhCH₂X involves irreversible electron transfer concerted with breaking of the carbon-halogen bond. All three halides exhibit a single 2e⁻ reduction peak at GC, whereas up to three peaks can be observed at the Ag electrode. Silver exhibits remarkable catalytic properties for the reduction process, which is positively shifted by 0.45-0.72 V with respect to GC. The mechanism of reduction of the organic halides at Ag involves adsorption of both the starting reagents and their reduction products. Adsorption of PhCH₂Cl and PhCH₂Br is weak and slow, whereas PhCH₂I is more rapidly and strongly adsorbed, so that two distinct peaks can be observed for the reduction of the dissolved and adsorbed molecules. Controlled-potential electrolyses at Ag have shown that the process may be directed to the production of bibenzyl or toluene, depending on the applied potential.     

Bioactive Phytochemicals from Wild Arbutus unedo L. Berries from Different Locations in Portugal: Quantification of Lipophilic Components

The lipophilic composition of wild Arbutus unedo L. berries, collected from six locations in Penacova (center of Portugal), as well as some general chemical parameters, namely total soluble solids, pH, titratable acidity, total phenolic content and antioxidant activity was studied in detail to better understand its potential as a source of bioactive compounds. The chemical composition of the lipophilic extracts, focused on the fatty acids, triterpenoids, sterols, long chain aliphatic alcohols and tocopherols, was investigated by gas chromatography–mass spectrometry (GC–MS) analysis of the dichloromethane extracts. The lipophilic extractives of the ripe A. unedo berries ranged from 0.72% to 1.66% (w/w of dry weight), and consisted mainly of triterpenoids, fatty acids and sterols. Minor amounts of long chain aliphatic alcohols and tocopherols were also identified. Forty-one compounds were identified and among these, ursolic acid, lupeol, α-amyrin, linoleic and α-linolenic acids, and β-sitosterol were highlighted as the major components. To the best of our knowledge the current research study provides the most detailed phytochemical repository for the lipophilic composition of A. unedo, and offers valuable information for future valuation and exploitation of these berries.     

A Meta-analysis on Classification Model Performance in Real-World Datasets: An Exploratory View

The No Free Lunch (NFL) Theorem imposes a theoretical restriction on optimization algorithms and their equal average performance on different problems, under some particular assumptions. Nevertheless, when brought into practice, a perceived “ranking” on the performance is usually perceived by engineers developing machine learning applications. Questions that naturally arise are what kinds of biases the real world has and in which ways can we take advantage from them. Using exploratory data analysis (EDA) on classification examples, we gather insight on some traits that set apart algorithms, datasets and evaluation measures and to what extent the NFL theorem, a theoretical result, applies under typical real-world constraints.     

Bolus dispersal through the lungs in surfactant replacement therapy

A model is presented of surfactant replacement therapy. An instilled bolus is pushed into the lungs on the first inspiration, coating the airways with a layer of surfactant and depositing some in the alveoli. Layer thickness depends on the capillary number (muU/gamma, where mu, U, and gamma are bolus viscosity, advancing meniscus velocity, and surface tension, respectively). Larger capillary number leads to thicker layers, reducing alveolar delivery. Subsequently, surface tension gradients sweep surfactant into alveoli not receiving surfactant during the first inspiration. The effects on spreading of sorption kinetics, bolus viscosity, initial layer thickness, initial penetration of surfactant, gravity, and shear stress are examined. Sorption nearly eliminates surface tension gradients in central airways but produces a sharp transition at the leading edge of the exogenous layer. Local thinning of the liquid layer results, trapping 95% of the surfactant in the airways. Gravity and ventilation augment transport somewhat. Transport to the periphery takes 4-170 s for the leading edge but considerably longer for the bulk of the surfactant. The model demonstrates how the various physical parameters governing surfactant distribution might alter the response to surfactant replacement therapy.     

Combinatorial Mutasynthesis of Scrambled Beauvericins,Cyclooligomer Depsipeptide Cell Migration Inhibitors from Beauveria bassiana

Fungal cyclooligomer depsipeptides such as beauvericin, bassianolide, and enniatins display antibiotic, antifungal, insecticidal, broad‐spectrum cancer cell antiproliferative, and cell migration inhibitory activities. We have identified a gene encoding a novel enzyme, ketoisovalerate reductase (KIVR), which is the sole provider of D ‐hydroxyisovalerate (D ‐Hiv), a common precursor for cyclooligomer depsipeptide biosynthesis in Beauveria bassiana. KIVR and related hypothetical oxidoreductases encoded in fungal genomes are similar to ketopantoate reductases but not to D ‐hydroxycarboxylate dehydrogenases. We demonstrate that a KIVR knockout B. bassiana strain can be used for the efficient mutasynthesis of unnatural beauvericin congeners. Simultaneous feeding of precursor analogues enabled the combinatorial mutasynthesis of scrambled beauvericins, some assembled entirely from unnatural precursors. The effects of the introduced structural changes on the antiproliferative and cell migration inhibitory activities of these analogues were evaluated.     

Pairing Phase Diagram of Three Holes in the Generalized Hubbard Model

The pairing problem of a three electrons system has been studied by using a real-space method and the generalized Hubbard Hamiltonian. This method includes the correlated hopping interactions as an extension of the previously proposed mapping method, and is based on mapping the correlated many-body problem onto an equivalent site- and bond-impurity tight-binding one in a higher dimensional space, where the problem was solved in a non-perturbative way. In a linear chain, we analyzed the pairing phase diagram of three correlated holes for different values of the Hamiltonian parameters. For some values of the hopping parameters we obtain an analytical solution for all kind of interactions.