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  • 1
    Online Resource
    Online Resource
    Springer Science and Business Media LLC ; 2022
    In:  Journal of Intelligent & Robotic Systems Vol. 105, No. 1 ( 2022-05)
    In: Journal of Intelligent & Robotic Systems, Springer Science and Business Media LLC, Vol. 105, No. 1 ( 2022-05)
    Type of Medium: Online Resource
    ISSN: 0921-0296 , 1573-0409
    Language: English
    Publisher: Springer Science and Business Media LLC
    Publication Date: 2022
    detail.hit.zdb_id: 1479543-7
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  • 2
    In: Agronomy, MDPI AG, Vol. 11, No. 9 ( 2021-09-21), p. 1890-
    Abstract: The agricultural sector plays a fundamental role in our society, where it is increasingly important to automate processes, which can generate beneficial impacts in the productivity and quality of products. Perception and computer vision approaches can be fundamental in the implementation of robotics in agriculture. In particular, deep learning can be used for image classification or object detection, endowing machines with the capability to perform operations in the agriculture context. In this work, deep learning was used for the detection of grape bunches in vineyards considering different growth stages: the early stage just after the bloom and the medium stage where the grape bunches present an intermediate development. Two state-of-the-art single-shot multibox models were trained, quantized, and deployed in a low-cost and low-power hardware device, a Tensor Processing Unit. The training input was a novel and publicly available dataset proposed in this work. This dataset contains 1929 images and respective annotations of grape bunches at two different growth stages, captured by different cameras in several illumination conditions. The models were benchmarked and characterized considering the variation of two different parameters: the confidence score and the intersection over union threshold. The results showed that the deployed models could detect grape bunches in images with a medium average precision up to 66.96%. Since this approach uses low resources, a low-cost and low-power hardware device that requires simplified models with 8 bit quantization, the obtained performance was satisfactory. Experiments also demonstrated that the models performed better in identifying grape bunches at the medium growth stage, in comparison with grape bunches present in the vineyard after the bloom, since the second class represents smaller grape bunches, with a color and texture more similar to the surrounding foliage, which complicates their detection.
    Type of Medium: Online Resource
    ISSN: 2073-4395
    Language: English
    Publisher: MDPI AG
    Publication Date: 2021
    detail.hit.zdb_id: 2607043-1
    SSG: 23
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  • 3
    In: Agronomy, MDPI AG, Vol. 12, No. 2 ( 2022-01-31), p. 356-
    Abstract: The harvesting operation is a recurring task in the production of any crop, thus making it an excellent candidate for automation. In protected horticulture, one of the crops with high added value is tomatoes. However, its robotic harvesting is still far from maturity. That said, the development of an accurate fruit detection system is a crucial step towards achieving fully automated robotic harvesting. Deep Learning (DL) and detection frameworks like Single Shot MultiBox Detector (SSD) or You Only Look Once (YOLO) are more robust and accurate alternatives with better response to highly complex scenarios. The use of DL can be easily used to detect tomatoes, but when their classification is intended, the task becomes harsh, demanding a huge amount of data. Therefore, this paper proposes the use of DL models (SSD MobileNet v2 and YOLOv4) to efficiently detect the tomatoes and compare those systems with a proposed histogram-based HSV colour space model to classify each tomato and determine its ripening stage, through two image datasets acquired. Regarding detection, both models obtained promising results, with the YOLOv4 model standing out with an F1-Score of 85.81%. For classification task the YOLOv4 was again the best model with an Macro F1-Score of 74.16%. The HSV colour space model outperformed the SSD MobileNet v2 model, obtaining results similar to the YOLOv4 model, with a Balanced Accuracy of 68.10%.
    Type of Medium: Online Resource
    ISSN: 2073-4395
    Language: English
    Publisher: MDPI AG
    Publication Date: 2022
    detail.hit.zdb_id: 2607043-1
    SSG: 23
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  • 4
    Online Resource
    Online Resource
    MDPI AG ; 2023
    In:  Robotics Vol. 12, No. 4 ( 2023-08-14), p. 117-
    In: Robotics, MDPI AG, Vol. 12, No. 4 ( 2023-08-14), p. 117-
    Abstract: In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.
    Type of Medium: Online Resource
    ISSN: 2218-6581
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2662587-8
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  • 5
    In: Agronomy, MDPI AG, Vol. 13, No. 2 ( 2023-02-04), p. 463-
    Abstract: The efficiency of agricultural practices depends on the timing of their execution. Environmental conditions, such as rainfall, and crop-related traits, such as plant phenology, determine the success of practices such as irrigation. Moreover, plant phenology, the seasonal timing of biological events (e.g., cotyledon emergence), is strongly influenced by genetic, environmental, and management conditions. Therefore, assessing the timing the of crops’ phenological events and their spatiotemporal variability can improve decision making, allowing the thorough planning and timely execution of agricultural operations. Conventional techniques for crop phenology monitoring, such as field observations, can be prone to error, labour-intensive, and inefficient, particularly for crops with rapid growth and not very defined phenophases, such as vegetable crops. Thus, developing an accurate phenology monitoring system for vegetable crops is an important step towards sustainable practices. This paper evaluates the ability of computer vision (CV) techniques coupled with deep learning (DL) (CV_DL) as tools for the dynamic phenological classification of multiple vegetable crops at the subfield level, i.e., within the plot. Three DL models from the Single Shot Multibox Detector (SSD) architecture (SSD Inception v2, SSD MobileNet v2, and SSD ResNet 50) and one from You Only Look Once (YOLO) architecture (YOLO v4) were benchmarked through a custom dataset containing images of eight vegetable crops between emergence and harvest. The proposed benchmark includes the individual pairing of each model with the images of each crop. On average, YOLO v4 performed better than the SSD models, reaching an F1-Score of 85.5%, a mean average precision of 79.9%, and a balanced accuracy of 87.0%. In addition, YOLO v4 was tested with all available data approaching a real mixed cropping system. Hence, the same model can classify multiple vegetable crops across the growing season, allowing the accurate mapping of phenological dynamics. This study is the first to evaluate the potential of CV_DL for vegetable crops’ phenological research, a pivotal step towards automating decision support systems for precision horticulture.
    Type of Medium: Online Resource
    ISSN: 2073-4395
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2607043-1
    SSG: 23
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  • 6
    In: Sensors, MDPI AG, Vol. 21, No. 10 ( 2021-05-20), p. 3569-
    Abstract: The development of robotic solutions for agriculture requires advanced perception capabilities that can work reliably in any crop stage. For example, to automatise the tomato harvesting process in greenhouses, the visual perception system needs to detect the tomato in any life cycle stage (flower to the ripe tomato). The state-of-the-art for visual tomato detection focuses mainly on ripe tomato, which has a distinctive colour from the background. This paper contributes with an annotated visual dataset of green and reddish tomatoes. This kind of dataset is uncommon and not available for research purposes. This will enable further developments in edge artificial intelligence for in situ and in real-time visual tomato detection required for the development of harvesting robots. Considering this dataset, five deep learning models were selected, trained and benchmarked to detect green and reddish tomatoes grown in greenhouses. Considering our robotic platform specifications, only the Single-Shot MultiBox Detector (SSD) and YOLO architectures were considered. The results proved that the system can detect green and reddish tomatoes, even those occluded by leaves. SSD MobileNet v2 had the best performance when compared against SSD Inception v2, SSD ResNet 50, SSD ResNet 101 and YOLOv4 Tiny, reaching an F1-score of 66.15%, an mAP of 51.46% and an inference time of 16.44ms with the NVIDIA Turing Architecture platform, an NVIDIA Tesla T4, with 12 GB. YOLOv4 Tiny also had impressive results, mainly concerning inferring times of about 5 ms.
    Type of Medium: Online Resource
    ISSN: 1424-8220
    Language: English
    Publisher: MDPI AG
    Publication Date: 2021
    detail.hit.zdb_id: 2052857-7
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  • 7
    In: REVISTA GEONORTE, Revista Geonorte, Vol. 11, No. 38 ( 2020-12-18), p. 35-51
    Abstract: This article analyzes the discursive representations in the collective thinking of socio-environmentalists about the competencies and responsibilities of the policy of protected areas with the attention to the health of the riverside populations.The method is an exploratory descriptive of qualitative approach based on the collective thinking of socioenvironmentalists working in the protected areas policy of Mamirauá Sustainable Development Reserve from seven interviews collected through a semi-structured script which were analyzed by the Collective Subject Discourse technique.Respondents express knowledge about the constitutional competences of the municipality with health, but they have difficulty in dialogue with the city halls on the subject; the responsibilities of the management of conservation units (UC) and public non-state organizations that work in support of co-management are attributed the responsibility as to captain the public policies and the formulator of scientific information for the improvement of local health. The absence of dialogue adds to the lack of a public agenda within the scope of environmental policy. There are experiences of access to health in the rural area adapted to the socio-environmental context of the reserve, however, these suffer discontinuity.The discursive representations of the collective thinking of socioenvironmentalists express knowledge about municipal competences with health and concerns regarding meeting these needs. The meeting of social needs is organized in a conflictual manner, and this is due to the lack of coordination between the various institutions that operate in this territory. The decentralization of competences and responsibilities over natural resources through the co-management of UCs imposed new roles and authorities on the territories.
    Type of Medium: Online Resource
    ISSN: 2237-1419 , 2237-1419
    Uniform Title: Health care in Environmental Conservation Units in Amazonas: conflicts of competence or question of responsibility?
    URL: Issue
    Language: Unknown
    Publisher: Revista Geonorte
    Publication Date: 2020
    detail.hit.zdb_id: 2892256-6
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  • 8
    In: Pesquisa Agropecuária Brasileira, FapUNIFESP (SciELO), Vol. 56 ( 2021)
    Abstract: Resumo: O objetivo deste trabalho foi avaliar se o plantio de pau-de-balsa e seu manejo nutricional aumentam os estoques de carbono no solo. Os estoques de carbono total do sistema solo-biomassa à profundidade de 0,0-0,30 m foram avaliados em três níveis de adubação, após três e sete anos, e comparados com mata nativa e pastagem degradada. No nível de maior adubação, o pau-de-balsa apresentou estoque de carbono semelhante ao da mata nativa (65,38 Mg ha-1) e, após sete anos, aumentou o estoque de carbono em 18%, no solo, e em 42%, no sistema solo-biomassa.
    Type of Medium: Online Resource
    ISSN: 1678-3921 , 0100-204X
    Language: English
    Publisher: FapUNIFESP (SciELO)
    Publication Date: 2021
    detail.hit.zdb_id: 2053197-7
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  • 9
    In: Revista Brasileira de Zootecnia, FapUNIFESP (SciELO), Vol. 33, No. 1 ( 2004-02), p. 251-257
    Abstract: Twelve milking cows, purebred and crossbred Holstein, with average weight of 550 kg, were allotted to three Latin Squares 4 x 4. The experimental period lasted 18 days, seven days for the adaptation to the diets and eleven days for data collection. Feeding was supplied to met the requirements of non pregnant cows, producing 20 kg of milk with 4.5% fat. The objective of this research was to evaluate the effects of replacement (0, 33, 67, 100%) of corn meal by pelleted citrus pulp in the concentrate in total mixed rations, observing the parameters digestibility of the nutrients, and ruminal pH and ammonia concentration during two periods of collection of sample of feces (2 and 5 days). The digestibility of the nutrients were not affected by the collection period, as well as there were not differences in the digestibility for the increasing levels of citrus pulp. No significant differences were observed for pH and ammonia concentration of the rumen for the different treatments. The citrus pulp can substitute up to 100% of the corn in complete diets for cows producing 20 kg of milk in average, without effect on the ruminal parameters (pH and ammonia concentration).
    Type of Medium: Online Resource
    ISSN: 1516-3598
    Language: Unknown
    Publisher: FapUNIFESP (SciELO)
    Publication Date: 2004
    detail.hit.zdb_id: 2078814-9
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  • 10
    In: Gestão & Produção, FapUNIFESP (SciELO), Vol. 27, No. 1 ( 2020)
    Abstract: Resumo Em setores extremamente dinâmicos, cuja estrutura não se revela tão evidente, tanto a abordagem fundamentada no paradigma Estrutura-Conduta-Desempenho, quanto a abordagem baseada nos recursos se mostram limitadas para explicar as fontes das vantagens competitivas das firmas e o desempenho alcançado a partir de suas escolhas estratégicas. Nesse contexto, ao enfatizar o ajuste da firma às transformações de ambientes extremamente dinâmicos e o enfrentamento dos desafios impostos por setores voláteis, por meio da integração, reconfiguração e renovação de seus recursos, competências e capacidades, a perspectiva das capacidades dinâmicas se apresenta como abordagem promissora não só para o entendimento das fontes de vantagens sustentáveis das firmas, mas de como tais vantagens são desenvolvidas e implementadas. O artigo consiste em um ensaio teórico que analisa o conceito de capacidades dinâmicas a partir das principais definições coletadas na literatura, fazendo uma síntese conclusiva e discutindo acerca das contribuições teóricas consultadas. Os autores propõem um modelo teórico das relações entre dimensões de capacidades dinâmicas para explicar a construção e a sustentação da vantagem competitiva, tendo a construção de sentido (sense-making) como capacidade fundamental, determinante para a melhoria da eficácia das demais capacidades dinâmicas, constituindo elemento unificador entre elas e possibilitando o direcionamento das decisões e escolhas estratégicas da firma.
    Type of Medium: Online Resource
    ISSN: 1806-9649 , 0104-530X
    Language: English
    Publisher: FapUNIFESP (SciELO)
    Publication Date: 2020
    detail.hit.zdb_id: 2144855-3
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