This paper presents a leader–follower mobile robot control approach using onboard sensors. The follower robot is equipped with an Intel RealSense camera mounted on a rotating platform. Camera ...observations and ArUco markers are used to localize the robots to each other and relative to the workspace. The rotating platform allows the expansion of the perception range. As a result, the robot can use observations that are not within the camera’s field of view at the same time in the localization process. The decision-making process associated with the control of camera rotation is implemented using behavior trees. In addition, measurements from encoders and IMUs are used to improve the quality of localization. Data fusion is performed using the EKF filter and allows the user to determine the robot’s poses. A 3D-printed cuboidal tower is added to the leader robot with four ArUco markers located on its sides. Fiducial landmarks are placed on vertical surfaces in the workspace to improve the localization process. The experiments were performed to verify the effectiveness of the presented control algorithm. The robot operating system (ROS) was installed on both robots.
This paper presents control algorithms for multiple non-holonomic mobile robots moving in formation. Trajectory tracking based on linear feedback control is combined with inter-agent collision ...avoidance. Artificial potential functions (APF) are used to generate a repulsive component of the control. Stability analysis is based on a Lyapunov-like function. Then the presented method is extended to include a goal exchange algorithm that makes the convergence of the formation much more rapid and, in addition, reduces the number of collision avoidance interactions. The extended method is theoretically justified using a Lyapunov-like function. The controller is discontinuous but the set of discontinuity points is of zero measure. The novelty of the proposed method lies in integration of the closed-loop control for non-holonomic mobile robots with the distributed goal assignment, which is usually regarded in the literature as part of trajectory planning problem. A Lyapunov-like function joins both trajectory tracking and goal assignment analyses. It is shown that distributed goal exchange supports stability of the closed-loop control system. Moreover, robots are equipped with a reactive collision avoidance mechanism, which often does not exist in the known algorithms. The effectiveness of the presented method is illustrated by numerical simulations carried out on the large formation of robots.
This paper describes the design and development of a cleaning robot, using adaptive manufacturing technology and its use with a control algorithm for which there is a stability proof. The authors’ ...goal was to fill the gap between theory and practical implementation based on available low-cost components. Adaptive manufacturing was chosen to cut down the cost of manufacturing the robot. Practical verification of the effectiveness of the control algorithm was achieved with the experiments. The robot comprises mainly three assemblies, a four-wheel-drive platform, a four-degrees-of-freedom robotic arm, and a vacuum system. The inlet pipe of the vacuum system was attached to the end effector of the robotic arm, which makes the robot more flexible to clean uneven areas, such as skirting on floors. The robot was equipped with a LIDAR sensor and web camera, giving the opportunity to develop more complex methods. A low-level proportional–integral–derivative (PID) speed controller was implemented, and a high-level controller that uses artificial potential functions to generate repulsive components, which avoids collision with obstacles. Robot operating system (ROS) was installed in the robot’s on-board system. With the help of the ROS node, the high-level controller generates control signals for the low-level controller.
Contemporary trends in horticulture are aimed at limiting the use of mineral fertilizers to the necessary minimum, which is to guarantee adequate profitability of production while maintaining ...high-quality fruit and at the same time preventing environmental pollution. Thus, in the presented study, we investigate the effect of diversified nitrogen fertilization on soil mineral nitrogen content during vegetation season, yielding of apple trees and the nutritional status of apple leaves and fruits. We compared several ammonium nitrate treatments as well as growth without fertilization as a control. The results of our study show that under the conditions of humus-rich soils and with appropriate agrotechnics, N mineralization from the organic matter available in the soil may completely cover demand of apple trees for this component. Achieved outcomes clearly revealed that nitrogen fertilization in the amount of 100 kg N · ha−1 on the entire soil surface carries a real risk of groundwater contamination, and the same nitrogen dose applied within the grassland does not bring any production effects, therefore it should be considered as unjustified. Obtained results revealed that in a rationally managed, fully fruiting apple orchard, the annual dose of N should not exceed 50 kg N∙ha−1. This dosage of N should fully secure the nutritional needs of apple trees, guaranteeing their high yield and complete safety for the environment. What is important is, nitrogen fertilization strongly affects macroelemental composition of apple leaves and fruits.
Measurements of transepithelial potential and resistance in tissue and organ model systems enable the evaluation of the Ni
effect on the epithelial sodium channels, aquaporin 3, and the ...sodium-potassium pump in the epithelial cells. The aim of the presented study was to assess the immediate and prolonged effect of nickel ions on the transport of sodium ions in tissues exposed to direct contact with nickel, including airways, digestive tract and the skin. The influence of 0.1 mM nickel solution was performed on the trachea (n = 34), intestine (n = 44), and skin (n = 51) samples descended from 16 New Zealand albino rabbits. The electrophysiological parameters were measured in a modified Ussing chamber in stationary conditions and during a 15-s mechanical-chemical stimulation. A statistically significant decrease in the electric resistance values and the smallest range of the measured potential were observed for the Ni-treated trachea specimens. The use of nickel solution did not affect the sodium transport in the intestine epithelium. The skin fragments showed altered sodium ion transport, as demonstrated by the lower range and intensity of the measured potential. The gastrointestinal tract seems to be an organ best adapted to contact with nickel ions. In airways, nickel ions most likely enter epithelial cells and the space between them, modifying proteins and the airway surface liquid. The skin turned out to be the most sensitive tissue to the intensification of sodium ion transport through nickel ions.
The desire to reduce the negative impact of crops on the environment, as well as the growing concern for consumer health, is increasing interest in organic fruit production. In this context, the ...development of new environmentally friendly agrotechnical methods which allows for reducing the use of organic fertilizers by improving the nutrient use efficiency and consequently decreasing the leaching of them is a task of a great importance. The main purpose of this study was to evaluate the effect of mycorrhizal arbuscular fungi (AMF) combined with plant-growth-promoting rhizobacteria (PGPR) on growth and nutritional status of apple trees cultivated on a silty-loam, rich in clay minerals and humus soil under organic farming conditions. Thus, a trial was established in an experimental orchard in Wilanów in Central Poland with three cultivars (‘Topaz’, ‘Odra’, and ‘Chopin’) and a promising clone, U 8869. Trees were or were not inoculated with AMF + PGPR within a split-block experimental design with four replicates. According to the results, mycorrhizal frequency obtained in the inoculated tree roots was on average two-fold higher than in the roots of the control plants. After four years of AMF + PGPR inoculation, 24% higher trunk cross-section area (TCSA) was observed, with the nitrogen and magnesium concentrations in leaves increasing, on average, by 7.8% and 64.2%, and phosphorus and potassium content decreasing by 37.2% and 46.5%, respectively. This study shows that using AMF + PGPR inoculum supports tree roots colonization by AMF. As a result, better nitrogen nutrition status is observed that promote vigorous growth of trees and more efficient uptake of magnesium from the bulk soil. On the other hand, lower phosphorus content in inoculated tree leaves might be explained by a dilution effect, and potassium decrease could occur as a result of fungus–plant competition in conditions of this element deficiency in soil.
The paper is devoted to the leader–follower approach for multiple mobile robots control and its experimental verification. The formation control of mobile robots is motivated by the concept of ...virtual leader tracking, which is enhanced by the collision avoidance between the robots proposed in our previous work. The effectiveness of this approach was verified through realisation of experiments with use of MTracker mobile robots. The OptiTrack vision system was used for robots localization. Software part with control algorithms and communication was prepared with use of the Robot Operating System.
Adipokines and gastrointestinal tract hormones are important metabolic parameters, and both epigenetic factors and differential gene expression patterns may be associated with the alterations in ...their concentrations in children. The function of the FTO gene (FTO alpha-ketoglutarate dependent dioxygenase) in the regulation of the global metabolic rate is well described, whereas the influence of protooncogene PLAG1 (PLAG1 zinc finger) is still not fully understood. A cross-sectional study on a group of 26 children with various BMI values (15.3–41.7; median 28) was carried out. The aim was to evaluate the dependencies between the level of methylation and expression of aforementioned genes with the concentration of selected gastrointestinal tract hormones and adipokines in children. Expression and methylation were measured in peripheral blood mononuclear DNA by a microarray technique and a restriction enzyme method, respectively. All peptide concentrations were determined using the enzyme immunoassay method. The expression level of both FTO and PLAG1 genes was statistically significantly related to the concentration of adipokines: negatively for apelin and leptin receptor, and positively for leptin. Furthermore, both FTO methylation and expression negatively correlated with the concentration of resistin and visfatin. Cholecystokinin was negatively correlated, whereas fibroblast growth factor 21 positively correlated with methylation and expression of the FTO gene, while FTO and PLAG1 expression was negatively associated with the level of cholecystokinin and glucagon-like peptide-1. The PLAG1 gene expression predicts an increase in leptin and decrease in ghrelin levels. Our results indicate that the FTO gene correlates with the concentration of hormones produced by the adipose tissue and gastrointestinal tract, and PLAG1 gene may be involved in adiposity pathogenesis. However, the exact molecular mechanisms still need to be clarified.
The occurrence of childhood obesity is influenced by both genetic and epigenetic factors.
(
alpha-ketoglutarate dependent dioxygenase) is a gene of well-established connection with adiposity, while a ...protooncogene
(
zinc finger) has been only recently linked to this condition. We performed a cross-sectional study on a cohort of 16 obese (aged 6.6-17.7) and 10 healthy (aged 11.4-16.9) children. The aim was to evaluate the relationship between methylation and expression of the aforementioned genes and the presence of obesity as well as alterations in anthropometric measurements (including waist circumference (WC), body fat (BF_kg) and body fat percent (BF_%)), metabolic parameters (lipid profile, blood glucose and insulin levels, presence of insulin resistance) and blood pressure. Expression and methylation were measured in peripheral blood mononuclear cells using a microarray technique and a method based on restriction enzymes, respectively. Multiple regression models were constructed to adjust for the possible influence of age and sex on the investigated associations. We showed significantly increased expression of the
gene in obese children and in patients with documented insulin resistance. Higher
expression was also associated with an increase in WC, BF_kg, and BF_% as well as higher fasting concentration of free fatty acids (FFA).
methylation correlated positively with WC and BF_kg. Increase in
expression was associated with higher BF%. Our results indicate that the
gene is likely to play an important role in the development of childhood adiposity together with coexisting impairment of glucose-lipid metabolism.
Breast cancer remains one of the most important health problems worldwide. The family of steroid receptors (SRs), which comprise estrogen (ER), progesterone (PR), androgen (AR), glucocorticoid (GR) ...and mineralocorticoid (MR) receptors, along with a receptor for a secosteroid—vitamin D, play a crucial role in the pathogenesis of the disease. They function predominantly as nuclear receptors to regulate gene expression, however, their full spectrum of action reaches far beyond this basic mechanism. SRs are involved in a vast variety of interactions with other proteins, including extensive crosstalk with each other. How they affect the biology of a breast cell depends on such factors as post-translational modifications, expression of coregulators, or which SR isoform is predominantly synthesized in a given cellular context. Although ER has been successfully utilized as a breast cancer therapy target for years, research on therapeutic application of other SRs is still ongoing. Designing effective hormone therapies requires thorough understanding of the molecular function of the SRs. Over the past decades, huge amount of data was obtained in multiple studies exploring this field, therefore in this review we attempt to summarize the current knowledge in a comprehensive way.
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