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Improved inclination correction method applied to the guidance system of agricultural vehicles

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International Journal of Agricultural and Biological Engineering 2020年第6期13卷 183-194页

作者： ricardo Ospina Noboru Noguchi Research Faculty of Agriculture Hokkaido UniversitySapporo 060-8589 HokkaidoJapan

This research introduces a new inclination correction method with increased accuracy applied to the guidance system of an agricultural *** method considers the geometry of a robot tractor and uses an Inertial Measurement Unit(IMU)to correct the lateral error of the RTK-GPS antenna measurements raised by the tractor's inclinations.A parameters optimization experiment and an automatic guidance experiment under real working conditions were used to compare the accuracy of a traditional correction method with the new correction method,by calculating the RMSE of the lateral error and the error reduction *** additional tuned correction method was found by using a simple analytical method to find the optimal variables that reduced the lateral error to a *** results indicate that the new correction method and the tuned correction method display a significant error reduction percentage compared to the traditional correction *** methods could correct the GPS lateral error caused by the roll inclinations in *** resulting lateral deviation caused by the tractor's inclinations could be reduced up to 23%for typical travelling speeds.

关键词： inclination correction method guidance system agricultural vehicles robot tractor IMU RTK-GPS precision farming

Nonlinear direct data-driven control for UAV formation flight system

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Journal of Systems Engineering and Electronics 2023年第6期34卷 1409-1418页

作者： WANG Jianhong ricardo A.RAMIREZ-MENDOZA XU Yang School of Engineering and Sciences Tecnologico de MonterreyMonterrey 64849Mexico School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China

This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight ***,from the theoretical point of view,consider one nonlinear closedloop system with a nonlinear plant and nonlinear feed-forward controller *** avoid the complex identification process for that nonlinear plant,a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly,whose detailed explicit forms are model inverse method and approximated analysis ***,from the practical point of view,after reviewing the UAV formation flight system,nonlinear direct data-driven control is applied in designing the formation controller,so that the followers can track the leader’s desired trajectory during one small time instant only through solving one data fitting *** most natural phenomena have nonlinear properties,the direct method must be the better *** system identification and control algorithms are required to be proposed for those nonlinear systems,and the direct nonlinear controller design is the purpose of this paper.

关键词： nonlinear system nonlinear direct data-driven control model inverse control unmanned aerial vehicle(UAV)formation flight.

The Synaptonemal Complex of Basal Metazoan Hydra:More Similarities to Vertebrate than Invertebrate Meiosis Model Organisms

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Journal of Genetics and Genomics 2014年第3期41卷 107-115页

作者： Johanna Fraune Miriam Wiesner ricardo Benavente Department of Cell and Developmental Biology BiocenterUniversity of Würzburg

The synaptonemal complex （SC） is an evolutionarily well-conserved structure that mediates chromosome synapsis during prophase of the first meiotic division. Although its structure is conserved, the characterized protein components in the current metazoan meiosis model systems （Drosophila melanogaster, Caenorhabditis elegans, and Mus musculus） show no sequence homology, challenging the question of a single evolutionary origin of the SC. However, our recent studies revealed the monophyletic origin of the mammalian SC protein components. Many of them being ancient in Metazoa and already present in the cnidarian Hydra. Remarkably, a comparison between different model systems disclosed a great similarity between the SC components of Hydra and mammals while the proteins of the ecdysozoan systems （D. rnelanogaster and C. elegans） differ significantly. In this review, we introduce the basal-branching metazoan species Hydra as a potential novel invertebrate model system for meiosis research and particularly for the investigation of SC evolution, function and assembly. Also, available methods for SC research in Hydra are summarized.

关键词： Meiosis Synaptonemal complex Hydra Evolution

Comparative Study of Transvesical and Retropubic Prostatic Adenomectomies in the Urology-Andrology Department of Ignace Deen University Hospital Center

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Open Journal of Urology 2024年第4期14卷 227-243页

作者： Lahoumbo ricardo Gnammi Demba Cissé Vahina Alexandre Gamamou Daouda Kanté Mamadou Diawo Bah El-Mouksitou Akinocho Sabi Couscous Hassiatou Abdul-Haqq Bah-L’Imam Thierno Oumar Diallo Thierno Mamadou Oury Diallo Ibrahima Bah Abdoulaye Bobo Diallo Oumar Raphiou Bah Department of Urology-Andrology Ignace Deen UHC Conakry Republic of Guinea School of Public Health Free University of Brussels Brussels Belgium Medical Imaging Department Ambroise Pare Clinic Conakry Guinea

Objective: To compare the results of transvesical and retropubic prostatic adenomectomies at the Urology-Andrology Department of Conakry University Hospital. Methodology: This was a prospective multi-operator analytical study lasting 6 months. It included 70 patients operated on for benign prostatic hypertrophy (BPH), divided into 2 groups of 35 according to the retropubic or transvesical technique. The data was collected using a questionnaire and entered into the Epi info application. The analysis was initially descriptive and then univariate. To identify confounding factors, a multivariate analysis was performed. The application conditions of each test were checked before their application. A p-value Results: Upper adenomectomies represented 53.6% of surgeries performed for BPH. The average age was 73.2 years. The mean prostate volume was 117 ± 51.6 cc and the mean total PSA was 9.2 ± 11.4 ng/ml. The majority of patients had an ASA1 (60%) and ASA2 (37.1%) score. Spinal anesthesia, a double-current silicone probe with hinged hinge 22, and drainage of the prevesical space were carried out in all patients, i.e. 100%. The average overall blood loss was 229 ± 98.2 ml. It was lower in the group of patients operated via the retropubic route (187 ± 60.4 ml). The same was true for the duration of intervention (49.1 ± 7.17 vs 55.4 ± 7.9 min), the catheter wearing time (5.14 ± 0.97 vs 9.29 ± 2 .9 days) and the length of hospitalization (=6.26 ± 1.15 vs 12.1 ± 5.74 days). Conclusion: The retropubic technique has advantages over the transvesical one. These advantages are translated by a gain in the duration of the intervention, blood loss, catheter wearing time and length of hospitalization.

关键词： Upper Adenomectomies BPH Retropubic Approach Transvesical Approach Conakry

Human Interaction Dynamics for Its Use in Mobile Robotics:Impedance Control for Leader-follower Formation

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 696-703页

作者： Daniel Herrera Flavio Roberti Marcos Toibero ricardo Carelli Instituto de Automatica Universidad Nacional de San Juan-CONICET IEEE

A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential *** part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation ***, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured *** to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.

关键词： Human modeling human-machine interaction impedance control robot dynamics social robotics

Sap flow rates of Minquartia guianensis in central Amazonia during the prolonged dry season of 2015–2016

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Journal of Forestry Research 2021年第5期32卷 2067-2076页

作者： Saul A.Antezana-Vera ricardo A.Marenco Botany Graduate Program Instituto Nacional de Pesquisas da Amazônia-INPAAvenida AndréAraújo2936ManausAM 69067-375Brazil Tree Ecophysiology LaboratoryInstituto Nacional de Pesquisas da Amazônia-INPAAvenida AndréAraújo2936ManausAM 69067-375Brazil

Minquartia guianensis *** a slow-growing species with several *** the juvenile state,it is well-adapted to low light conditions of the forest ***,it is still unknown how climate variability affects transpiration of this species,particularly under drought *** this study,we aimed to assess the effect of climatic variability on sap flow rates(SFR).SFR and radial growth were measured in six trees(14-50 cm diameter)in 2015 and ***(precipitation,irradiance,relative humidity and temperature)and soil water content(SWC)data were also *** tended to increase in the dry season,with a negative relationship between SFR and SWC and precipitation(p<0.001),while there was a positive association between radial growth and monthly precipitation(p=0.004).Irradiance and temperature were the environmental factors more closely correlated with SFR during daytime(p<0.001),whereas relative humidity and vapor pressure deficit were the most important factors at night(p<0.001).Although negative SFR were sometimes recorded at night,the mean nocturnal sap flow was positive and across trees the nighttime sap flow accounted for 12.5%of the total daily sap *** transpiration during the dry season suggests that the root system of Minquartia was able to extract water from deep soil *** results widen our understanding of the ecophysiology of Amazonian trees under drought and provide further insight into the potential effect of the forecasted decline in precipitation in the Amazon region.

关键词： Reverse sap flow Soil water content Transpiration Tree growth

One image is worth more than a thousand words:producing an atlas of medical signs for teaching clinical and forensic toxicology

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Forensic Sciences Research 2022年第4期7卷 815-822页

作者： ricardo Jorge Dinis-Oliveira TOXRUN-Toxicology Research Unit University Institute of Health SciencesAdvanced Polytechnic and University Cooperative(CESPU)CRLGandraPortugal Department of Public Health and Forensic Sciences and Medical EducationFaculty of MedicineUniversity of PortoPortoPortugal UCIBIO-REQUIMTE Laboratory of ToxicologyDepartment of Biological SciencesFaculty of PharmacyUniversity of PortoPortoPortugal

Clinical and forensic toxicology are critically involved in the acquisition of basic skills to correctly suspect intoxication,collect biological and non-biological materials for toxicological analysis,comprehend the complexities inherent to laboratory activity,and understand the fundamentals of toxicokinetics and toxicodynamics that underlie the interpretation of *** works presents a pedagogical innovation proposal for the teaching of clinical and forensic toxicology based on a compilation of more than 3000 cases where the image was fulcra for *** experience in this article follows the model practiced in bachelors,masters,and PhD degrees,as well as in other continuing training courses,where we are teaching toxicology for more than 15 *** these levels of education are considered fundamental to the sound development of this *** approach aims also to offer strength to the intervention of the true toxicologist in all the toxicological phases,besides the classic analytical ***,it is impossible to provide effective clinical and forensic toxicological interpretations without a proper and broad education,and not thinking exclusively in terms of laboratory *** the future,it will be interesting to evaluate knowledge retention and to propose a database of videos of signs related to intoxications.

关键词： Forensic sciences clinical and forensic toxicology teaching learning signs of exposure pre-analytical phase

Predatory journals and meetings in forensic sciences:what every expert needs to know about this“parasitic”publishing model

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Forensic Sciences Research 2021年第3期6卷 303-309页

作者： ricardo Jorge Dinis-Oliveira ToXrUn-Toxicology research Unit University institute of health sciences(iUc)CESPUCRLGandraPortugal Department of Public health and Forensic sciences and Medical educationFaculty of MedicineUniversity of PortoPortoPortugal UCIBIO REQUIMETLaboratory of ToxicologyDepartment of Biological sciencesFaculty of PharmacyUniversity of PortoPortoPortugal

The emergence of the internet has transformed all areas of *** includes the universe of scientific publications,with several publishers now exclusively focusing on the electronic format and open access model while expanding to a megajournal *** this context,the pandemic of predatory open access journals(POAJs)and meetings are of grave concern to the academic and research *** new shift within academia produces a variety of new victims;namely,the authors *** turn,scientific knowledge is often discredited,with the public placing less trust in *** more than ever,performing research with integrity and selecting a journal in which to publish requires close attention and ***“predatory movement”has developed increasingly sophisticated techniques for misleading people into believing what seem to be credible professional layouts and legitimate *** such as the Jeffrey Beall’s list,the Cabell’s Scholarly Analytics and *** offer some guidance to uncover the“parasitic”intervention of predatory journals and meetings,but specific education in this field is sorely *** work aims to review the main characteristics of predatory journals and meetings and to analyze this topic in the context of forensic and legal medicine research.

关键词： Forensic sciences predatory open access journals predatory meetings Jeffrey Beall’s list research integrity peer review scientific publishing

Leaf water potential and gas exchange of eucalypt clonal seedlings to leaf solar protectant

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Journal of Forestry Research 2019年第1期30卷 57-64页

作者： Talita Miranda Teixeira Xavier José Eduardo Macedo Pezzopane ricardo Miguel Penchel José ricardo Macedo Pezzopane Departamento de Ciências Florestais e da Madeira Universidade Federal do Espírito Santo Fibria Celulose S.A Rodovia General Euryale Jesus Zerbini Embrapa Pecuária Sudeste

This experiment was carried out in acclimatized greenhouses with seedlings of two hybrid clones of Eucalyptus urophylla×Eucalyptus grandis. A sunscreen protector consisting of 62.5% calcium carbonate was sprayed on the seedlings at weekly intervals. Water stress was induced by suspending irrigation until the soil reached 30% available water and water was then replaced so that it returned to field capacity. Gas exchange and leaf water status were measured after 50 days. The experiment was set up in a 4×2 factorial randomized block design in four distinct environments:(1) temperatures less than 21.2℃ and vapor pressure deficit of 0.15 kPa;(2) intermediate temperatures of 24.2℃ and vapor pressure deficit of 0.69 kPa;(3) high temperatures of 27.0℃ and high vapor pressure deficit of 1.4 kPa; and,(4) high temperature of 27.0℃ and vapor pressure deficit below 1.10 kPa. Two leaf sun protector treatments were used, with five replications each. High atmospheric demand acted as a stress factor for the seedlings during the initial growth *** of leaf sunscreen protector provided beneficial effects in maintaining optimum water status and gas exchanges of the plants under water stress.

关键词： Eucalyptus urophylla×Eucalyptus grandis Calcium carbonate Water stress Atmospheric demand