Role and task allocation framework for Multi-Robot Collaboration with latent knowledge estimation

In this work a novel framework for modeling role and task allocation in Cooperative Heterogeneous Multi‐Robot Systems (CHMRSs) is presented. This framework encodes a CHMRS as a set of multidimensional relational structures (MDRSs). This set of structure defines collaborative tasks through both temporal and spatial relations between processes of heterogeneous robots. These relations are enriched with tensors which allow for geometrical reasoning about collaborative tasks. A learning schema is also proposed in order to derive the components of each MDRS. According to this schema, the components are learnt from data reporting the situated history of the processes executed by the team of robots. Data are organized as a multirobot collaboration treebank (MRCT) in order to support learning. Moreover, a generative approach, based on a probabilistic model, is combined together with nonnegative tensor decomposition (NTD) for both building the tensors and estimating latent knowledge. Preliminary evaluation of the performance of this framework is performed in simulation with three heterogeneous robots, namely, two Unmanned Ground Vehicles (UGVs) and one Unmanned Aerial Vehicle (UAV)

Environmental Abiotic Stress and Secondary Metabolites Production in Medicinal Plants: A Review

Medicinal plants that produce various secondary metabolites are quite useful to us owing to their anti-microbial properties, presence of huge amounts of anti-oxidants, cytotoxic nature, and various other medically significant properties. Medicinal plants, therefore, serve as raw materials for modern pharmaceutical medicines and several herbal medical supplements. Expansion and advancement of growing medicinal plants on large scale has flourished over the last few years. However, prolonged environmental changes have made medicinal plants susceptible to numerous abiotic stresses. On being exposed to abiotic stresses chiefly light (quality and quantity), extreme temperature conditions, water stress (drought or flooding), nutrients available, presence of heavy metals and salt content in the soil, medicinal plants undergo several changes physiologically and their chemical composition also gets altered. To combat the effects of abiotic stress, several mechanisms at morphological, anatomical, biochemical, and molecular levels are adapted by plants, which also include a change in the production of the secondary metabolites. However, plants cannot cope with extreme events of stress and eventually die. Several strategies stress such as the use of endophytes, chemical treatment, and biotechnological methods have therefore been introduced to help the plants tolerate the period of extreme stress. Moreover, nano bionics is also being developed as new technology to help plants survive stressful conditions.WosScopu

Standardization of post-harvest practices for best quality essential oil production of Mentha arvensis L.

Mentha species belongs to Lamiaceae family is an important industrial crop, cultivated commercially on large scale. In this study, a common cultivar of M. arvensis with a high essential oil content (Cim Kranti) was investigated to determine the impact of drying techniques for 10 days immediately following harvest on the essential oil content and its chemical profile under three conditions: open field (S1), shade (S2), and ventilated chamber (S3). According to results, significantly higher essential oil (0.723%) with 77.58 % of menthol content was observed in freshly harvested crop on same /1st day of harvest (T1) than any other conditions. M. arvensis was harvested and drying in open field condition (S1) has showed 0.68% of essential oil having rich amount of menthol (76.86 % ) content on fresh sample (T1) which decline to 0.51% essential oil content with menthol content 76.88% at 10th days after harvest. M. arvensis dying in ventilated room (S3) showed essential oil (0.71%) and menthol content 76.58 % on same day of harvest, which later decreases upto 0.6% essential oil with menthol content 74.32% on 10th day after harvest. Results concluded that the best quality and high yield of essential oil of M. arvensis should willingly be distilled fresh just after harvest. It also indicates that postharvest processes should immediately followed harvesting with appropriate drying method to minimize the loss of high quality essential oil.</jats:p

Pelargonium graveolens L. (Rose-scented geranium): New hope for doubling Indian farmers’ income

Pelargonium graveolens is a species in the Pelargonium genus and falls within the plant family of Geraniaceae. The total production of essential oil is estimated at 300-350 tone, whereas the world market demands more than 400 t per year. Now geranium crop has been cultivated for commercial purpose in areas with high altitude and milder climate. P. graveolens is also come up very well mainly in the Nilgiris and Kodaikanal Hilly region of Tamil Nadu and around the Bangalore in Karnataka in an area of 2000 ha. At medium altitude, rose scented geranium is an important high-value perennial crop but grown as seasonal in plain areas. This aromatic shrub can reach up to the height of 70 cm and lateral of 90cm. In-spite of this the commercial cultivation of Rose-scented geranium still scanty being it’s a high economic value in per unit area and time crops as compared to other medicinal and aromatic plants (MAPs). Because, rose-scented geranium is sensitive to rainy season and noted 100% mortality in open field condition during rainy season. Hence the major bottleneck in its popularization seems to be saving of quality planting material in rainy season. Hence, there is an urgent need to develop new approach or way through agronomic, breeding, acclimatization, etc to save quality planting material during rainy season. If, we are able to develop this type approach, then Rose-scented geranium can play a beneficial role in doubling the income of Indian farmers.</jats:p