GPS-guided mobile robot platform featuring modular design elements for agricultural applications : a thesis presented in partial fulfilment of the requirements for the degree of Masters of Engineering in Mechatronics at Massey University Turitea Campus, Palmerston North, New Zealand

The agricultural industry has not seen significant innovation in development of low-cost automated farming solutions, with current systems costing several thousands of dollars to implement. Currently these automated solutions are primarily implemented around crop planting and harvesting, and the large implementation cost of these systems makes them unfeasible for small-scale operations. Within many agricultural industries, workers expend a considerable amount of time undertaking simple tasks that are labour intensive. Many of these tasks could instead be completed using a self-driving robotic platform outfitted with the appropriate devices required for the tasks. This thesis covers the research work aiming to produce a solution that could turn an existing farming vehicle into a multipurpose low-cost agricultural platform, to act as the platform for an autonomous vehicle capable of performing pre-programmed tasks within an agricultural environment. A quad bike was selected as the vehicle platform for this research in which the control modules would control the speed and direction of this farm bike. Four modules were developed to control the vehicle components that would normally be operated by a human operator. These modules are comprised of mechanical actuators coupled with a microcontroller control system and includes some specific designs to maintain the user's ability to manually control the pre-existing systems. A gear-changing module controls the vehicles manual gearbox, providing a method to detect and control the vehicles current gear. A speed control module was developed to control the vehicles throttle and braking system and detects the vehicles speed. A steering module controls the vehicles steering system, allowing for accurate control of the vehicles direction. Finally, a vehicle controller module provides a central command interface that ties the previous three modules together and controls the vehicles electrical components and engine. Development of a low-cost differential GPS (DGPS) system was also undertaken to reduce the implementation cost of the system. Due to inconclusive results in relation to the positional accuracy of this system is was decided that a standard GPS system would be used for the vehicle prototype with further development on the DGPS system would be undertaken in future development of the research. The successful development of a farm automated vehicle platform was achieved through this research. With further improvement on software, intelligent control and the development of a low-cost differential global positioning satellite (GPS) system, a fully autonomous farm platform that can be outfitted with different tools or devices for the required farm tasks is feasible and practical

Helicity -- from Clifford to Graphene

We investigate two seemingly disjoint definitions of helicity, one commonly used in particle physics, the other one used when studying bilinear covariants of Clifford algebras. We can prove that the `mathematical' definition of helicity implies its `physical' counterpart. As an unexpected application of our result we show that the Hamiltonian describing the one-layer superconductor Graphene is proportional to the trace of an operator that is used in the `mathematical' definition of helicity.Comment: 13 page

Phyllosphere microbiology with special reference to diversity and plant genotype

The phyllosphere represents the habitat provided by the aboveground parts of plants, and on a global scale supports a large and complex microbial community. Microbial interactions in the phyllosphere can affect the fitness of plants in natural communities, the productivity of agricultural crops, and the safety of horticultural produce for human consumption. The structure of phyllosphere communities reflects immigration, survival and growth of microbial colonists, which is influenced by numerous environmental factors in addition to leaf physico-chemical properties. The recent use of culture-independent techniques has demonstrated considerable previously unrecognized diversity in phyllosphere bacterial communities. Furthermore, there is significant recent evidence that plant genotype can play a major role in determining the structure of phyllosphere microbial communities. The main aims of this review are: (i) to discuss the diversity of phyllosphere microbial populations; (ii) to consider the processes by which microbes colonize the phyllosphere; (iii) to address the leaf characteristics and environmental factors that determine the survival and growth of colonists; (iv) to discuss microbial adaptations that allow establishment in the phyllosphere habitat and (v) to evaluate evidence for plant genotypic control of phyllosphere communities. Finally, we suggest approaches and priority areas for future research on phyllosphere microbiology

Measurement of the cross-section and charge asymmetry of WW bosons produced in proton-proton collisions at s=8\sqrt{s}=8 TeV with the ATLAS detector

This paper presents measurements of the $W^+ \rightarrow \mu^+\nu$ and $W^- \rightarrow \mu^-\nu$ cross-sections and the associated charge asymmetry as a function of the absolute pseudorapidity of the decay muon. The data were collected in proton--proton collisions at a centre-of-mass energy of 8 TeV with the ATLAS experiment at the LHC and correspond to a total integrated luminosity of 20.2~\mbox{fb^{-1}}. The precision of the cross-section measurements varies between 0.8% to 1.5% as a function of the pseudorapidity, excluding the 1.9% uncertainty on the integrated luminosity. The charge asymmetry is measured with an uncertainty between 0.002 and 0.003. The results are compared with predictions based on next-to-next-to-leading-order calculations with various parton distribution functions and have the sensitivity to discriminate between them.Comment: 38 pages in total, author list starting page 22, 5 figures, 4 tables, submitted to EPJC. All figures including auxiliary figures are available at https://atlas.web.cern.ch/Atlas/GROUPS/PHYSICS/PAPERS/STDM-2017-13

Search for new phenomena in final states with an energetic jet and large missing transverse momentum in pp collisions at √ s = 8 TeV with the ATLAS detector

Results of a search for new phenomena in final states with an energetic jet and large missing transverse momentum are reported. The search uses 20.3 fb−1 of √ s = 8 TeV data collected in 2012 with the ATLAS detector at the LHC. Events are required to have at least one jet with pT > 120 GeV and no leptons. Nine signal regions are considered with increasing missing transverse momentum requirements between Emiss T > 150 GeV and Emiss T > 700 GeV. Good agreement is observed between the number of events in data and Standard Model expectations. The results are translated into exclusion limits on models with either large extra spatial dimensions, pair production of weakly interacting dark matter candidates, or production of very light gravitinos in a gauge-mediated supersymmetric model. In addition, limits on the production of an invisibly decaying Higgs-like boson leading to similar topologies in the final state are presente

Search for chargino-neutralino production with mass splittings near the electroweak scale in three-lepton final states in √s=13 TeV pp collisions with the ATLAS detector

A search for supersymmetry through the pair production of electroweakinos with mass splittings near the electroweak scale and decaying via on-shell W and Z bosons is presented for a three-lepton final state. The analyzed proton-proton collision data taken at a center-of-mass energy of √s=13  TeV were collected between 2015 and 2018 by the ATLAS experiment at the Large Hadron Collider, corresponding to an integrated luminosity of 139  fb−1. A search, emulating the recursive jigsaw reconstruction technique with easily reproducible laboratory-frame variables, is performed. The two excesses observed in the 2015–2016 data recursive jigsaw analysis in the low-mass three-lepton phase space are reproduced. Results with the full data set are in agreement with the Standard Model expectations. They are interpreted to set exclusion limits at the 95% confidence level on simplified models of chargino-neutralino pair production for masses up to 345 GeV

Molecular Taxonomic Profiling of Bacterial Communities in a Gilthead Seabream (Sparus aurata) Hatchery

As wild fish stocks decline worldwide, land-based fish rearing is likely to be of increasing relevance to feeding future human generations. Little is known about the structure and role of microbial communities in fish aquaculture, particularly at larval developmental stages where the fish microbiome develops and host animals are most susceptible to disease. We employed next-generation sequencing (NGS) of 16S rRNA gene reads amplified from total community DNA to reveal the structure of bacterial communities in a gilthead seabream (Sparus aurata) larviculture system. Early-(2 days after hatching) and late-stage (34 days after hatching) fish larvae presented remarkably divergent bacterial consortia, with the genera Pseudoalteromonas, Marinomonas, Acinetobacter, and Acidocella (besides several unclassified Alphaproteobacteria) dominating the former, and Actinobacillus, Streptococcus, Massilia, Paracoccus, and Pseudomonas being prevalent in the latter. A significant reduction in rearing-water bacterial diversity was observed during the larviculture trial, characterized by higher abundance of the Cryomorphaceae family (Bacteroidetes), known to populate microniches with high organic load, in late-stage rearing water in comparison with early-stage rearing-water. Furthermore, we observed the recruitment, into host tissues, of several bacterial phylotypes-including putative pathogens as well as mutualists-that were detected at negligible densities in rearing-water or in the live feed (i.e., rotifers and artemia). These results suggest that, besides host-driven selective forces, both the live feed and the surrounding rearing environment contribute to shaping the microbiome of farmed gilthead sea-bream larvae, and that a differential establishment of host-associated bacteria takes place during larval development.for ScienPortuguese Foundation ce and Technology [PTDC/MAR/112792/2009, UID/Multi/04326/2013, UID/BIO/04565/2013]; Programa Operacional Regional de Lisboa [007317]info:eu-repo/semantics/publishedVersio

Sugar sensor genes in the murine gastrointestinal tract display a cephalocaudal axis of expression and a diurnal rhythm

Distributed along the length of the gastrointestinal (GI) tract are nutrient sensing cells that release numerous signalling peptides influencing GI function, nutrient homeostasis and energy balance. Recent studies have shown a diurnal rhythm in GI nutrient sensing, but the mechanisms responsible for rhythmicity are poorly understood. In this report we studied murine GI sugar sensor gene and protein expression levels in the morning (7am) and evening (7pm). Sweet taste receptor (tas1r2/tas1r3/gnat3/ gnat1) sugar transporter (slc5a1, slc2a2, slc2a5) and putative sugar sensor (slc5a4a and slc5a4b) gene expression levels were highest in tongue, proximal and distal small intestine, respectively. Clock gene (cry2/arntl) activity was detected in all regions studied. Slc5a4a and slc5a4b gene expression showed clear diurnal rhythmicity in the small intestine and stomach, respectively, although no rhythmicity was detected in SGLT3 protein expression. Tas1r2 and tas1r3, gnat3 and gcg displayed a limited rhythm in gene expression in proximal small intestine. Microarray analysis revealed a diurnal rhythm in gut peptide gene expression in tongue (7am vs 7pm) and in silico promoter analysis indicated intestinal sugar sensors and transporters possessed the canonical E box elements necessary for clock gene control over gene transcription. In this report we present evidence of a diurnal rhythm in genes that are responsible for intestinal nutrient sensing that is most likely controlled by clock gene activity. Disturbances in clock gene/nutrient sensing interactions may be important in the development of diet-related diseases, such as obesity and diabetes.</p

Editorial:Vitamin C in Cancer and Infectious Diseases: Physiological, Biochemical and Therapeutic Interventions

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