Design and experiments with a SLAM system for low-density canopy environments in greenhouses based on an improved Cartographer framework.

To address the problem that the low-density canopy of greenhouse crops affects the robustness and accuracy of simultaneous localization and mapping (SLAM) algorithms, a greenhouse map construction method for agricultural robots based on multiline LiDAR was investigated. Based on the Cartographer framework, this paper proposes a map construction and localization method based on spatial downsampling. Taking suspended tomato plants planted in greenhouses as the research object, an adaptive filtering point cloud projection (AF-PCP) SLAM algorithm was designed. Using a wheel odometer, 16-line LiDAR point cloud data based on adaptive vertical projections were linearly interpolated to construct a map and perform high-precision pose estimation in a greenhouse with a low-density canopy environment. Experiments were carried out in canopy environments with leaf area densities (LADs) of 2.945-5.301 m2/m3. The results showed that the AF-PCP SLAM algorithm increased the average mapping area of the crop rows by 155.7% compared with that of the Cartographer algorithm. The mean error and coefficient of variation of the crop row length were 0.019 m and 0.217%, respectively, which were 77.9% and 87.5% lower than those of the Cartographer algorithm. The average maximum void length was 0.124 m, which was 72.8% lower than that of the Cartographer algorithm. The localization experiments were carried out at speeds of 0.2 m/s, 0.4 m/s, and 0.6 m/s. The average relative localization errors at these speeds were respectively 0.026 m, 0.029 m, and 0.046 m, and the standard deviation was less than 0.06 m. Compared with that of the track deduction algorithm, the average localization error was reduced by 79.9% with the proposed algorithm. The results show that our proposed framework can map and localize robots with precision even in low-density canopy environments in greenhouses, demonstrating the satisfactory capability of the proposed approach and highlighting its promising applications in the autonomous navigation of agricultural robots.

Distributed Group Coordination of Multiagent Systems in Cloud Computing Systems Using a Model-Free Adaptive Predictive Control Strategy.

This article studies the group coordinated control problem for distributed nonlinear multiagent systems (MASs) with unknown dynamics. Cloud computing systems are employed to divide agents into groups and establish networked distributed multigroup-agent systems (ND-MGASs). To achieve the coordination of all agents and actively compensate for communication network delays, a novel networked model-free adaptive predictive control (NMFAPC) strategy combining networked predictive control theory with model-free adaptive control method is proposed. In the NMFAPC strategy, each nonlinear agent is described as a time-varying data model, which only relies on the system measurement data for adaptive learning. To analyze the system performance, a simultaneous analysis method for stability and consensus of ND-MGASs is presented. Finally, the effectiveness and practicability of the proposed NMFAPC strategy are verified by numerical simulations and experimental examples. The achievement also provides a solution for the coordination of large-scale nonlinear MASs.

Mobility of metal(loid)s in Pb/Zn tailings under different revegetation strategies.

Metal tailings are potential sources of strong environmental pollution. In situ remediation involves the installation of a plant cover to stabilize materials and pollutants. Whether metal(loid)s are effectively immobilized in remediated tailing ponds submitted to heavy rainfall remains uncertain. In this study, tailing materials were collected from bare tailings (control), grass-planted (G) and grass-shrub planted (GS) areas on a former Pb/Zn mine site. Batch column experiments were performed with three rainfall intensities of 0.36, 0.48, and 0.50 mL min-1 for 18 d in the lab. The pH, Eh, Cd, Pb, Zn and As concentration in leachate were recorded. Selected leached tailing materials were finally characterized. Results showed that leachates from control were strongly acidic (pH 3.11-4.65), and that Cd, Pb, Zn and As were quickly released at high rate (e.g., 945 mg L-1 Zn). During the experiment up to 4% Cd present in the material was released and almost 1% Zn. With material collected from the G area, leachates were even more acidic (2.16-2.84) with a rainfall intensity of 0.50 mL min-1 and exhibited a high redox potential (588-639 mV). However, concentrations of metals in leachates were much lower than that in the control, except for Zn (e.g., 433 mg L-1), and they tended to decrease with time. Cumulative leaching rate was still relatively high (e.g., 0.68% Cd; 0.75% Zn) during the first eight days (stage I). However, with the GS treatment, leachate pH gradually raised from acid to alkaline values (3.9-8.2) during stage I, then remained high until the end of the experiment (stage II). Also, amounts of elements released during the 18 d were low in general. The releasing ratios of Cd (R2 > 0.95), Pb (R2 > 0.95), As (R2 > 0.87), and Zn (R2 > 0.90) fitted well with a two-constant model. In conclusion, under subtropical climate with heavy rainfall, phytostabilization is effective but immobilization of metals is higher with a combination of grass and shrub than with only grass to reduce leaching of As and Zn.

Development and Validation of a Sensitive UHPLC-MS/MS Method for the Measurement of Gardneramine in Rat Plasma and Tissues and its Application to Pharmacokinetics and Tissue Distribution Study.

As a novel monoterpenoid indole alkaloid, gardneramine has been confirmed to possess excellent nervous depressive effects. However, there have been no reports about the measurement of gardneramine in vitro and in vivo. The motivation of this study was to establish and validate a specific, sensitive, and robust analytical method based on UHPLC-MS/MS for quantification of gardneramine in rat plasma and various tissues after intravenous administration. The analyte was extracted from plasma and tissue samples by protein precipitation with methanol using theophylline as an internal standard (I.S.). The analytes were separated on an Agilent ZORBAX Eclipse Plus C18 column using a gradient elution of acetonitrile and 0.1% formic acid in water at a flow rate of 0.3 mL/min. Gardneramine and I.S. were detected and quantified using positive electrospray ionization in multiple reaction monitoring (MRM) mode with transitions of m/z 413.1→217.9 for gardneramine and m/z 181.2→124.1 for I.S.. Perfect linearity range was 1-2000 ng/mL with a correlation coefficient (r2) of ≥0.990. The lower limit of quantification (LLOQ) of 1.0 ng/mL was adequate for application to different preclinical studies. The method was successfully applied for determination of gardneramine in bio-samples.

Predicting Pre-emptive Discussions of Biologic Treatment: Results from an Openness and Preference Survey of Inflammatory Bowel Disease Patients and Their Prescribers.

INTRODUCTION: It is important to compare patient and provider discrepancies on stated openness to and preference for biologics as well as predictors associated with initial discussions on biologic use. METHODS: Patients (N = 263) and physicians (N = 100) completed a self-administered Web-based survey assessing demographics, health characteristics, and behaviors related to inflammatory bowel disease (IBD) treatment. Bootstrap methods were used to check discrepancies between providers' and patients' stated openness to and preference for biologics. Classification and regression tree (CART) analysis identified patient-specific predictors associated with initial biologics discussions. RESULTS: A total of 170 patients responded consistently to preference questions, and 169 patients responded consistently to openness questions. Physicians significantly overestimated patients' openness to biologics in general (85.46% vs. 74.61%, p < 0.0001), but underestimated patients' openness to the intravenous (IV) mode of administration (MOA; 55.97% vs. 63.96%, p < 0.0001). Overall, physicians significantly underestimated patient preference for IV MOA (22.07% vs. 42.35%, p < 0.0001) and, to a lesser extent, subcutaneous MOA (48.84% vs. 54.69%, p < 0.0001). Among Crohn's disease (CD) patients (N = 123), CART threshold analysis identified an inpatient visit in the last 6 months, CD diagnosis for more than 3 years, and non-adherence to prior IBD treatment as most positively predictive of having an initial biologics discussion. CONCLUSION: Physicians appear to underestimate patient preferences in favor of biologics, especially IV formulations. Since it is unclear if physicians were aware of the patients' preferences beforehand, this study supports the need for validated, shared decision-making tools when initiating IBD treatment. Additional studies are necessary to measure physicians' influences on patient preference/treatment-related decisions and the impact on patient outcomes.