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Design and development of a robot for spraying fertilizers and pesticides for agriculture

Materials Today: Proceedings 2023年 81卷 242-248页

作者： Afif Shazwan Abdul Ghafar Sami Salama Hussen Hajjaj Kisheen Rao Gsangaya Mohamed Thariq Hameed Sultan Mohd Fazly Mail Lee Seng Hua Department of Mechanical Engineering Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Centre for Advanced Mechatronics and Robotics (CaMaRo) Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Institute of Informatics and Computing in Energy (IICE) Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Laboratory of Biocomposite Technology Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia Department of Aerospace Engineering Faculty of Engineering Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia Aerospace Malaysia Innovation Centre (944741-A) Prime Minister’s Department MIGHT Partnership Hub Jalan Impact 63000 Cyberjaya Selangor Darul Ehsan Malaysia Farm Mechanization Program Engineering Research Centre Malaysian Agricultural Research and Development Institute (MARDI) 43400 Serdang Selangor Darul Ehsan Malaysia Laboratory of Biopolymer and Derivatives Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia

The agriculture industry is one that is highly resource- and labour-intensive. As such, farmers are increasingly turning to technology and automation to address this issue. However, agricultural robots are far too complicated, slow, and costly to be made publicly available. As a result, the agriculture sector still lags behind in integrating modern technologies. This research paper details the development of a low-cost agricultural robot for spraying fertilizers and pesticides in agriculture fields as well as for general crop monitoring. The prototype system is a two-wheeled robot that consists of a mobile base, a spraying mechanism, a wireless controller for controlling the robot movement, and a camera for crop health and growth monitoring as well as detecting the presence of pests in the agriculture field. Tests conducted on the prototype system show that while the productivity of the robot in terms of crop coverage is slightly lower than a human worker, the labour cost savings afforded by the agricultural robot prototype is much greater as it functions completely in an autonomous mode and only requires the operator to control the robot when placing it at the start of the crop path. Furthermore, the prototype system also provides greater resource savings and reduction in the contamination of underground water sources due to leeching process, thus achieving precision agriculture goals. Lastly, the excellent battery life of the prototype system ensures that there will be no increase in the operation times and reduction in the efficiency of the fertilizer and pesticide spraying process due to the recharging times when replacing human workers. Future recommendations include making the agricultural robot fully autonomous, using either a rail- or line-following system, to further reduce the labour requirements and costs.

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Review of smart grids advancements of energy mix sources

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AIP Conference Proceedings 2023年第1期2746卷

作者： A. N. Woro W. M. W. Muda A. Z. Annuar B. Syaiful Electrical Engineering Study Program Faculty of Engineering Pamulang University Pamulang Tangerang Selatan Banten Indonesia Faculty of Ocean Engineering Technology and Informatics Universiti Malaysia Terengganu 2103 Kuala Nerus Terengganu Malaysia Electrical Engineering Department Faculty of Engineering Pamulang University Pamulang Tangerang Selatan Banten Indonesia. Centre for Nuclear Reactor Technology and Safety National Nuclear Energy Agency of Indonesia Tangerang Selatan Banten Indonesia

The successful implementation of smart grids depends on energy efficiency, mostly relying on the operation of electricity source infrastructure. The combination of energy sources undoubtedly provides complexity in real applications. Some of the challenges for a smart grids comes from the intermittent renewable energy characteristics such as bioenergy, geothermal, hydropower, solar, ocean power, and wind energy to the base load energy such as natural gas, coal, and nuclear. This paper aims to review the implementation of current advances of smart grids from combined energy mix sources. The review includes major components of smart grids, i.e. power plants, monitoring systems, substations, power transmission and distribution, controllers and smart meters. The review also investigates the state of the art contribution of power electronics, artificial intelligence and Internet of Things to more significant optimization, safety and efficiency in these areas. The results are expected to provide a further gap analysis of applicable technologies and best practices in mixed electricity generation sources. The final result will also consider its application in an archipelago country such as Indonesia.

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Design and fabrication of an agricultural robot for crop seeding

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Materials Today: Proceedings 2023年 81卷 283-289页

作者： Hussain Nor Azmi Sami Salama Hussen Hajjaj Kisheen Rao Gsangaya Mohamed Thariq Hameed Sultan Mohd Fazly Mail Lee Seng Hua Department of Mechanical Engineering Universiti Tenaga Nasional Jalan IKRAM-UNITEN Kajang Selangor Darul Ehsan 43000 Malaysia Centre for Advanced Mechatronics and Robotics (CaMaRo) Universiti Tenaga Nasional Jalan IKRAM-UNITEN Kajang Selangor Darul Ehsan 43000 Malaysia Institute of Informatics and Computing in Energy (IICE) Universiti Tenaga Nasional Jalan IKRAM-UNITEN Kajang Selangor Darul Ehsan 43000 Malaysia Laboratory of Biocomposite Technology Institute of Trop‘ical Forestry and Forest Products (INTROP) Universiti Putra Malaysia UPM Serdang Selangor Darul Ehsan 43400 Malaysia Department of Aerospace Engineering Faculty of Engineering Universiti Putra Malaysia UPM Serdang Selangor Darul Ehsan 43400 Malaysia Aerospace Malaysia Innovation Centre (944741-A) Prime Minister’s Department MIGHT Partnership Hub Jalan Impact Cyberjaya Selangor Darul Ehsan 63000 Malaysia Farm Mechanization Program Engineering Research Centre Malaysian Agricultural Research and Development Institute (MARDI) Serdang Selangor Darul Ehsan 43400 Malaysia Laboratory of Biopolymer and Derivatives Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia Serdang Selangor Darul Ehsan 43400 Malaysia

Crop seeding is a time-consuming and tedious activity for farmers and is only exacerbated in large agriculture fields. Manually sowing seeds by hand is a highly inefficient process that requires a lot of human effort and can lead to health concerns for farmers, while spreading seedlings using tractors results in a high wastage of seedlings. This research paper describes the development of a low-cost agricultural robot for crop seeding. The prototype system consists of two parts, namely a mobile base for robot movement and a seeding mechanism attached to the mobile base for crop seeding application. The mobile base has a four-wheel design to ease movement on uneven terrains, while the seeding mechanism uses the concept of a crank-slider to continuously inject seedlings into the ground. Crop seeding tests show that the robot is able to sow 138 seedlings in 5 min, with an accuracy of 92%, compared to 102 seedlings by human workers. This demonstrates an increase in the crop seeding efficiency of over 35%. As for the battery life test, it was determined that the robot can function for up to 4 h on a single charge. Thus, there will not be an increase in the operation time and reduction in the efficiency of the crop seeding process due to the recharging times when human workers are replaced with the prototype system. The recharging duration for the robot power supply is 1.5 h. While the prototype system has successfully achieved its objective of reducing human interference, labour requirement, and the overall operating costs in the field of agriculture for crop seeding process, by making the robot fully autonomous, using either a rail- or line-following system, labour costs can be further reduced as an operator is not required to manually steer the robot to each seeding path.

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Adaptive Traffic Signal Control for Developing Countries Using Fused Parameters Derived from Crowd-Source Data

arXiv

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arXiv 2022年

作者： Mishra, Sumit Singh, Vishal Gupta, Ankit Bhattacharya, Devanjan Mudgal, Abhisek The Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Member of Technical Staff VMware Inc Palo AltoCA United States Department of Civil Engineering Indian Institute of Technology Banaras Hindu University Varanasi India Marie Sklodowska-Curie Actions TRAIN@ED School of Law School of Informatics University of Edinburgh United Kingdom Universidade Nova de Lisboa Campus de Campolide Lisboa1070-312 Portugal

Advancement of mobile technologies has enabled economical collection, storage, processing, and sharing of traffic data. These data are made accessible to intended users through various application program interfaces (API) and can be used to recognize and mitigate congestion in real time. In this paper, quantitative (time of arrival) and qualitative (color-coded congestion levels) data were acquired from the Google traffic APIs. New parameters that reflect heterogeneous traffic conditions were defined and utilized for real-time control of traffic signals while maintaining the green-to-red time ratio. The proposed method utilizes a congestion-avoiding principle commonly used in computer networking. Adaptive congestion levels were observed on three different intersections of Delhi (India), in peak hours. It showed good variation, hence sensitive for the control algorithm to act efficiently. Also, simulation study establishes that proposed control algorithm decreases waiting time and congestion. The proposed method provides an inexpensive alternative for traffic sensing and tracking technologies. © 2022, CC BY.

关键词： Crowdsourcing

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A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch

A Prototype Power Transmission System with Backdrivability a...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Zhuoyi He Mitsuhiro Kamezaki Peizhi Zhang Sahil Shembekar Ryuichiro Tsunoda Shigeki Sugano Graduate Program for Embodiment Informatics for Leading Graduate Schools Waseda University Tokyo Japan Research Institute for Science and Engineering (RISE) Waseda University Tokyo Japan School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Transmission systems that enable speed, torque, and direction conversion with high responsiveness and back-drivability are strongly required for higher performance robotic systems. Engagement states can be changed by clutches, but traditional clutches cannot change the direction and provide sufficient backdrivability. On the other hand, direction conversion can be realized by gear box such as bevel gears, but its backdrivability is poor. Thus, we newly develop a prototype transmission system with backdrivablity and responsiveness integrating clutch and direction converter using magnetorheological fluid (MRF). MRF is a functional fluid consisted of magnetic particles and carrier fluids which can change its viscosity rapidly and continuously according to the strength of magnetic field. MRF clutch consists of driving and driven shaft connected by vanes and coils for controlling MRF. MRF direction converter consists of bevel gears, brake, and MRF for reversing the output direction. In addition to traditional functions, such as speed and torque conversion, the proposed power transmission system provides five working modes: forward direction, reverse direction, and three kinds of free, according to states of the MRF clutch, MRF direction converter, and brake. Preliminary experiments revealed that the proposed transmission system could adequately realize implemented functions.

关键词： Viscosity Torque Gears Prototypes Power transmission Magnetic liquids Brakes

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A General-Purpose Self-Supervised Model for Computational Pathology

arXiv

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arXiv 2023年

作者： Chen, Richard J. Ding, Tong Lu, Ming Y. Williamson, Drew F.K. Jaume, Guillaume Chen, Bowen Zhang, Andrew Shao, Daniel Song, Andrew H. Shaban, Muhammad Williams, Mane Vaidya, Anurag Sahai, Sharifa Oldenburg, Lukas Weishaupt, Luca L. Wang, Judy J. Williams, Walt Le, Long Phi Gerber, Georg Mahmood, Faisal Department of Pathology Brigham and Women’s Hospital Harvard Medical School BostonMA United States Department of Pathology Massachusetts General Hospital Harvard Medical School BostonMA United States Cancer Program Broad Institute of Harvard MIT CambridgeMA United States Cancer Data Science Program Dana-Farber Cancer Institute BostonMA United States Department of Biomedical Informatics Harvard Medical School BostonMA United States CambridgeMA United States Health Sciences and Technology Harvard-MIT CambridgeMA United States Harvard John A. Paulson School of Engineering And Applied Sciences Harvard University CambridgeMA United States Department of Systems Biology Harvard University CambridgeMA United States Harvard Data Science Initiative Harvard University CambridgeMA United States

Tissue phenotyping is a fundamental computational pathology (CPath) task in learning objective characterizations of histopathologic biomarkers in anatomic pathology. However, whole-slide imaging (WSI) poses a complex computer vision problem in which the large-scale image resolutions of WSIs and the enormous diversity of morphological phenotypes preclude large-scale data annotation. Current efforts have proposed using pretrained image encoders with either transfer learning from natural image datasets or self-supervised pretraining on publicly-available histopathology datasets, but have not been extensively developed and evaluated across diverse tissue types at scale. We introduce UNI, a general-purpose self-supervised model for pathology, pretrained using over 100 million tissue patches from over 100,000 diagnostic haematoxylin and eosin-stained WSIs across 20 major tissue types, and evaluated on 33 representative CPath clinical tasks in CPath of varying diagnostic difficulties. In addition to outperforming previous state-of-the-art models, we demonstrate new modeling capabilities in CPath such as resolution-agnostic tissue classification, slide classification using few-shot class prototypes, and disease subtyping generalization in classifying up to 108 cancer types in the OncoTree code classification system. UNI advances unsupervised representation learning at scale in CPath in terms of both pretraining data and downstream evaluation, enabling data-efficient AI models that can generalize and transfer to a gamut of diagnostically-challenging tasks and clinical workflows in anatomic pathology. Copyright © 2023, The Authors. All rights reserved.

关键词： Pathology

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Question-Answering System Extracts Information on Injection Drug Use from Clinical Notes

arXiv

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arXiv 2023年

作者： Mahbub, Maria Goethert, Ian Danciu, Ioana Knight, Kathryn Srinivasan, Sudarshan Tamang, Suzanne Rozenberg-Ben-Dror, Karine Solares, Hugo Martins, Susana Trafton, Jodie Begoli, Edmon Peterson, Gregory D. Cyber Resilience and Intelligence Division Oak Ridge National Laboratory Oak RidgeTN United States Information Technology Services Division Oak Ridge National Laboratory Oak RidgeTN United States Computational Sciences and Engineering Division Oak Ridge National Laboratory Oak RidgeTN United States Department of Biomedical Informatics Vanderbilt University NashvilleTN United States Program Evaluation and Resource Center Office of Mental Health and Suicide Prevention Department of Veterans Affairs United States Department of Medicine Stanford University School of Medicine StanfordCA United States Veterans Affairs Great Lakes Health Care System WestchesterIL United States Department of Electrical Engineering and Computer Science University of Tennessee Knoxville KnoxvilleTN United States

Background: Injection drug use (IDU) is a dangerous health behavior that increases mortality and morbidity. Identifying IDU early and initiating harm reduction interventions can benefit individuals at risk. However, extracting IDU behaviors from patients’ electronic health records (EHR) is difficult because there is no International Classification of Disease (ICD) code and the only place IDU information can be indicated is unstructured free-text clinical notes. Although natural language processing can efficiently extract this information from unstructured data, there are no validated tools. Methods: To address this gap in clinical information, we design and demonstrate a question-answering (QA) framework to extract information on IDU from clinical notes. Our framework involves two main steps: (1) generating a gold-standard QA dataset and (2) developing and testing the QA model. We utilize 2323 clinical notes of 1145 patients sourced from the VA Corporate Data Warehouse to construct the gold-standard dataset for developing and evaluating the QA model. We also demonstrate the QA model’s ability to extract IDU-related information on temporally out-of-distribution data. Results: Here we show that for a strict match between gold-standard and predicted answers, the QA model achieves 51.65% F1 score. For a relaxed match between the gold-standard and predicted answers, the QA model obtains 78.03% F1 score, along with 85.38% Precision and 79.02% Recall scores. Moreover, the QA model demonstrates consistent performance when subjected to temporally out-of-distribution data. Conclusions: Our study introduces a QA framework designed to extract IDU information from clinical notes, aiming to enhance the accurate and efficient detection of people who inject drugs, extract relevant information, and ultimately facilitate informed patient care. © 2023, CC BY-NC-ND.

关键词： Data warehouses

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Statistical Power Analysis for Designing Bulk, Single-Cell, and Spatial Transcriptomics Experiments: Review, Tutorial, and Perspectives

arXiv

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arXiv 2023年

作者： Jeon, Hyeongseon Xie, Juan Jeon, Yeseul Jung, Kyeong Joo Gupta, Arkobrato Chang, Won Chung, Dongjun Department of Biomedical Informatics The Ohio State University ColumbusOH United States Pelotonia Institute for Immuno-Oncology The James Comprehensive Cancer Center The Ohio State University ColumbusOH43210 United States The Interdisciplinary PhD program in Biostatistics The Ohio State University ColumbusOH United States Department of Statistics and Data Science Yonsei University Seoul Korea Republic of Department of Applied Statistics Yonsei University Seoul Korea Republic of Department of Computer Science and Engineering The Ohio State University ColumbusOH United States Division of Statistics and Data Science University of Cincinnati CincinnatiOH United States

Gene expression profiling technologies have been used in various applications such as cancer biology. The development of gene expression profiling has expanded the scope of target discovery in transcriptomic studies, and each technology produces data with distinct characteristics. In order to guarantee biologically meaningful findings using transcriptomic experiments, it is important to consider various experimental factors in a systematic way through statistical power analysis. In this paper, we review and discuss the power analysis for three types of gene expression profiling technologies from a practical standpoint, including bulk RNA-seq, single-cell RNA-seq, and high-throughput spatial transcriptomics. Specifically, we describe the existing power analysis tools for each research objective for each of the bulk RNA-seq and scRNA-seq experiments, along with recommendations. On the other hand, since there are no power analysis tools for high-throughput spatial transcriptomics at this point, we instead investigate the factors that can influence power analysis. © 2023, CC BY-NC-ND.

关键词： RNA

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A Foundational Multimodal Vision Language AI Assistant for Human Pathology

arXiv

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arXiv 2023年

作者： Lu, Ming Y. Chen, Bowen Williamson, Drew F.K. Chen, Richard J. Ikamura, Kenji Gerber, Georg Liang, Ivy Phi Le, Long Ding, Tong Parwani, Anil V. Mahmood, Faisal Department of Pathology Brigham and Women's Hospital Harvard Medical School BostonMA United States Department of Pathology Massachusetts General Hospital Harvard Medical School BostonMA United States Cancer Program Broad Institute of Harvard and MIT CambridgeMA United States Cancer Data Science Program Dana-Farber Cancer Institute BostonMA United States Department of Biomedical Informatics Harvard Medical School BostonMA United States CambridgeMA United States Harvard John A. Paulson School of Engineering And Applied Sciences Harvard University CambridgeMA United States Department of Pathology Wexner Medical Center Ohio State University ColumbusOH United States Harvard Data Science Initiative Harvard University CambridgeMA United States

The field of computational pathology has witnessed remarkable progress in the development of both taskspecific predictive models and task-agnostic self-supervised vision encoders. However, despite the explosive growth of generative artificial intelligence (AI), there has been limited study on building general purpose, multimodal AI assistants tailored to pathology. Here we present PathChat, a vision-language generalist AI assistant for human pathology using an in-house developed foundational vision encoder pretrained on 100 million histology images from over 100,000 patient cases and 1.18 million pathology image-caption pairs. The vision encoder is then combined with a pretrained large language model and the whole system is finetuned on over 250,000 diverse disease agnostic visual language instructions. We compare PathChat against several multimodal vision language AI assistants as well as GPT4V, which powers the commercially available multimodal general purpose AI assistant ChatGPT-4. When relevant clinical context is provided with the histology image, PathChat achieved a diagnostic accuracy of 87% on multiple-choice questions based on publicly available cases of diverse tissue origins and disease models. Additionally, using open-ended questions and human expert evaluation, we found that overall PathChat produced more accurate and pathologist-preferable responses to diverse queries related to pathology. As an interactive and general vision language AI assistant that can flexibly handle both visual and natural language inputs, PathChat can potentially find impactful applications in pathology education, research, and human-in-the-loop clinical decision making. © 2023, CC BY-NC-ND.

关键词： Pathology

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Mind the Performance Gap: Examining Dataset Shift During Prospective Validation 6

Mind the Performance Gap: Examining Dataset Shift During Pro...

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6th Machine Learning for Healthcare Conference, MLHC 2021

作者： Ötleş, Erkin Oh, Jeeheh Li, Benjamin Bochinski, Michelle Joo, Hyeon Ortwine, Justin Shenoy, Erica Washer, Laraine Young, Vincent B. Rao, Krishna Wiens, Jenna Department of Industrial & Operations Engineering University of Michigan United States Medical Scientist Training Program University of Michigan Medical School United States Division of Computer Science & Engineering University of Michigan United States Nursing Informatics Michigan Medicine United States Department of Anesthesiology University of Michigan Medical School United States Department of Learning Health Sciences University of Michigan Medical School United States Infection Control Unit Division of Infectious Diseases Massachusetts General Hospital Harvard Medical School United States Department of Internal Medicine Division of Infectious Diseases University of Michigan Medical School United States Department of Microbiology & Immunology University of Michigan Medical School United States

Once integrated into clinical care, patient risk stratification models may perform worse compared to their retrospective performance. To date, it is widely accepted that performance will degrade over time due to changes in care processes and patient populations. However, the extent to which this occurs is poorly understood, in part because few researchers report prospective validation performance. In this study, we compare the 2020-2021 (’20-’21) prospective performance of a patient risk stratification model for predicting healthcare-associated infections to a 2019-2020 (’19-’20) retrospective validation of the same model. We define the difference in retrospective and prospective performance as the performance gap. We estimate how i) "temporal shift", i.e., changes in clinical workflows and patient populations, and ii) "infrastructure shift", i.e., changes in access, extraction and transformation of data, both contribute to the performance gap. Applied prospectively to 26,864 hospital encounters during a twelve-month period from July 2020 to June 2021, the model achieved an area under the receiver operating characteristic curve (AUROC) of 0.767 (95% confidence interval (CI): 0.737, 0.801) and a Brier score of 0.189 (95% CI: 0.186, 0.191). Prospective performance decreased slightly compared to’19-’20 retrospective performance, in which the model achieved an AUROC of 0.778 (95% CI: 0.744, 0.815) and a Brier score of 0.163 (95% CI: 0.161, 0.165). The resulting performance gap was primarily due to infrastructure shift and not temporal shift. So long as we continue to develop and validate models using data stored in large research data warehouses, we must consider differences in how and when data are accessed, measure how these differences may negatively affect prospective performance, and work to mitigate those differences. © 2021 E. Ötleş & J. Oh et al.

关键词： Data warehouses

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