Development of a row guidance system for an autonomous robot for white asparagus harvesting

The special cultivation features of white asparagus pose new challenges to the research and development of the row guidance control. This paper presents a row tracking system of a two-layer structure for an autonomous robot developed to harvest white asparagus. At the low level, two independent speed control loops are suggested to ensure the actual revolutions of the drive motors to follow their demanded values. A cascade control structure, consisting of an inner orientation error controller and an outer lateral offset controller, is proposed for the high level to drive the robot to track the desired trajectory. The most important advantage of the cascade structure is that the inner loop directly regulates the most significant error (the orientation error), which minimizes the impact of the external disturbances upon the outer loop. Moreover, the cascade scheme allows the orientation angle to be limited within a given range. That ensures a collision-free tracking. The controllers are designed based on the traditional proportional-integral-derivative (PID) algorithms. The control parameters are selected by using root locus analysis, which guarantees the system stability. The effectiveness of the proposed control regime is evaluated by numerical simulations and validated by experiments. The experimental results demonstrate that with the suggested row guidance strategy a satisfactory tracking accuracy of ±0.5 cm is achieved.     

A novel purification method of artemisinin from Artemisia annua

Treatment of uncomplicated malaria relies heavily on the sesquiterpene lactone artemisinin (ART), derived from the Chinese herb Artemisia annua. It is currently used as the first line treatment in the form of ART combination therapies in which different ART derivatives are combined with a non ART-like drug, which displays a different mechanism of action. This treatment regime is prescribed by the WHO in order to (1) effectively treat uncomplicated malaria and (2) to reduce the risk that drug resistance will develop. Considering the importance of ART in this treatment regime, various methods have been developed to increase the global production of ART. These methods include: large scale solvent extraction and purification from high yielding A. annua varieties, chemical/semi-chemical synthesis of artemisinin, and genetic engineering of unrelated organisms to produce ART in high quantities. Currently most of the commercial approaches to produce ART are based on solvent extraction and purification from the plant material. Classical extraction solvents include hexane or petroleum ether while ethanol, which is a more polar solvent, has recently been shown to be equally efficient. We developed a purification method from an ethanolic extract by using a diatomite-based purification protocol. Various volumes and ratios of solvents and diatomite were tested which resulted in ≥98% pure ART with a total recovery of around 60%. Our protocol for the isolation of ART may form a commercial scale alternative as it is both economically attractive due to the small amounts of purification materials needed and also environmentally friendlier than the methods previously described.     

Static site indices from different national forest inventories: harmonization and prediction from site conditions

Key message

Static site indices determined from stands’ top height are derived from different forest inventory sources with height and age information and thus enable comparisons and modeling of a species’ productivity encompassing large environmental gradients.

Context

Estimating forest site productivity under changing climate requires models that cover a wide range of site conditions. To exploit different inventory sources, we need harmonized measures and procedures for the productive potential. Static site indices (SI) appear to be a good choice.

Aims

We propose a method to derive static site indices for different inventory designs and apply it to six tree species of the German and French National Forest Inventory (NFI). For Norway spruce and European beech, the climate dependency of SI is modeled in order to estimate trends in productivity due to climate change.

Methods

Height and age measures are determined from the top diameters of a species at a given site. The SI is determined for a reference age of 100 years.

Results

The top height proves as a stable height measure that can be derived harmoniously from German and French NFI. The boundaries of the age-height frame are well described by the Chapman-Richards function. For spruce and beech, generalized additive models of the SI against simple climate variables lead to stable and plausible model behavior.

Conclusion

The introduced methodology permits a harmonized quantification of forest site productivity by static site indices. Predicting productivity in dependence on climate illustrates the benefits of combined datasets.

     

A prospective study on the clinical features of chronic canine atopic dermatitis and its diagnosis

Canine atopic dermatitis (CAD) is a multifaceted disease associated with exposure to various offending agents such as environmental and food allergens. The diagnosis of this condition is difficult because none of the typical signs are pathognomonic. Sets of criteria have been proposed but are mainly used to include dogs in clinical studies. The goals of the present study were to characterize the clinical features and signs of a large population of dogs with CAD, to identify which of these characteristics could be different in food-induced atopic dermatitis (FIAD) and non–food-induced atopic dermatitis (NFIAD) and to develop criteria for the diagnosis of this condition. Using simulated annealing, selected criteria were tested on a large and geographically widespread population of pruritic dogs. The study first described the signalment, history and clinical features of a large population of CAD dogs, compared FIAD and NFIAD dogs and confirmed that both conditions are clinically indistinguishable. Correlations of numerous clinical features with the diagnosis of CAD are subsequently calculated, and two sets of criteria associated with sensitivity and specificity ranging from 80% to 85% and from 79% to 85%, respectively, are proposed. It is finally demonstrated that these new sets of criteria provide better sensitivity and specificity, when compared to Willemse and Prélaud criteria. These criteria can be applied to both FIAD and NFIAD dogs.     

Pathotypes of <Emphasis Type="Italic">Plasmodiophora brassicae</Emphasis> causing damage to oilseed rape in the Czech Republic and Poland

Winter oilseed rape (Brassica napus) is an important crop in the Czech Republic and Poland. Clubroot disease caused by the pathogen Plasmodiophora brassicae is a serious and still-growing problem for oilseed rape growers in both countries. The aim of this study was to evaluate the pathotype composition of P. brassicae populations from the Czech Republic and Poland, according to the three evaluation systems, and to determine soil inoculum loads for representative fields via traditional end-point PCR as well as quantitative PCR analysis. There were considerable differences between the populations of P. brassicae from both countries, and the number of pathotypes varied depending on the evaluation system and the threshold used to distinguish susceptible vs. resistant plant reactions. This is the first study comparing the effect of different thresholds. Using an index of disease (ID) of 25 % to distinguish susceptible vs. resistant reactions, there was a total of seven pathotypes identified based on the differentials of Williams, five with the system of Somé et al., and 18 with the European Clubroot Differential (ECD) set. However, based on a threshold of 50 %, there were nine pathotypes according to the evaluation system by Williams, four based on the differentials of Somé et al., and 15 with the ECD set. Changing of the thresholds led to the reclassification of some pathotypes. Several pathotypes were common in both countries. High amounts of pathogen DNA were found in many of the field soils analysed by quantitative PCR. There was a weak correlation between soil pH and infestation of P. brassicae for the Polish soils.     

Bacterial community composition of sediments from a milkfish Chanos chanos Forsskål farm

Bacterial communities in sediments underneath milkfish cages and adjacent off‐cage areas in Bolinao, Lingayen Gulf, West Philippine Sea were characterized using PCR‐denaturing gradient gel electrophoresis to assess influence of the fish farming to the sediments. The sediments in the fish cage (FC) area showed anoxic conditions [redox potential of ?165 to ?213 mV and acid‐volatile sulphide‐sulphur (AVS‐S) of 0.55–1.88 mg g^?1 (dry weight)] compared to the relatively oxic off‐cage area [redox potential of 72–81 mV and AVS‐S of 0.09–0.14 mg g^?1 (dry weight)]. The composition of the microbial populations revealed influence of the fish feed sedimentation with higher dominance of putative sulphate‐reducing bacteria (SRB) in the FC area. Compositions of the bacterial taxa showed dominance of the Bacteroidetes group and Deltaproteobacteria. The results suggest that the fish feeds created a new suitable environment, in which reductive microorganisms such as SRB, ferric‐ion‐reducing bacteria and nitrate‐reducing bacteria can thrive. Organic load from the feed and quantity of its leftover constituents may be the key factors that influence the structure of the bacterial community in the sediments of the milkfish farms.     

Identification of enterodiol as a masker for caffeine bitterness by using a pharmacophore model based on structural analogues of homoeriodictyol

Starting from previous structure-activity relationship studies of taste modifiers based on homoeriodictyol, dihydrochalcones, deoxybenzoins, and trans-3-hydroxyflavones as obvious analogues were investigated for their masking effect against caffeine. The most active compounds of the newly investigated taste modifiers were phloretin, the related dihydrochalcones 3-methoxy-2',4,4'-trihydroxydihydrochalcone and 2',4-dihydroxy-3-methoxydihydrochalcone, and the deoxybenzoin 2-(4-hydroxy-3-methoxyphenyl)-1-(4-hydroxyphenyl)ethanone. Starting with the whole set of compounds showing activity >22%, a (Q)SAR pharmacophore model for maskers of caffeine bitterness was calculated to explain the structural requirements. After docking of the pharmacophore into a structural model of the broadly tuned bitter receptor hTAS2R10 and docking of enterolactone and enterodiol as only very weakly related structures, it was possible to predict qualitatively their modulating activity. Enterodiol (25 mg L(-1)) reduced the bitterness of the 500 mg L(-1) caffeine solution by about 30%, whereas enterolactone showed no masking but a slight bitter-enhancing effect.     

Nutrient limitation of alpine plants: Implications from leaf N : P stoichiometry and leaf δ15N

Nitrogen (N) deposition can affect grassland ecosystems by altering biomass production, plant species composition and abundance. Therefore, a better understanding of the response of dominant plant species to N input is a prerequisite for accurate prediction of future changes and interactions within plant communities. We evaluated the response of seven dominant plant species on the Tibetan Plateau to N input at two levels: individual species and plant functional group. This was achieved by assessing leaf N : P stoichiometry, leaf δ¹⁵N and biomass production for the plant functional groups. Seven dominant plant species—three legumes, two forbs, one grass, one sedge—were analyzed for N, P, and δ¹⁵N 2 years after fertilization with one of the three N forms: NO$ _3^- $ , NH$ _4^+ $ , or NH₄NO₃ at four application rates (0, 7.5, 30, and 150 kg N ha^–1 y^–1). On the basis of biomass production and leaf N : P ratios, we concluded that grasses were limited by available N or co‐limited by available P. Unlike for grasses, leaf N : P and biomass production were not suitable indicators of N limitation for legumes and forbs in alpine meadows. The poor performance of legumes under high N fertilization was mainly due to strong competition with grasses. The total above‐ground biomass was not increased by N fertilization. However, species composition shifted to more productive grasses. A significant negative correlation between leaf N : P and leaf δ¹⁵N indicated that the two forbs Gentiana straminea and Saussurea superba switched from N deficiency to P limitation (e.g., N excess) due to N fertilization. These findings imply that alpine meadows will be more dominated by grasses under increased atmospheric N deposition.     

Reproducibility of bovine neonatal pancytopenia (BNP) via the application of colostrum

A haemorrhagic diathesis has been observed in young calves since 2007 which is described as bovine neonatal pancytopenia (BNP) and presents a completely new disease. The objectives of our investigation were to test if BNP could be reproduced using colostrum of cows with a BNP history and pre-colostral calves from farms where BNP has not been observed. In the present experiment, 22 German Holstein calves from BNP-free farms were fed four to six hours after birth 2.5 l colostrum from cows which had been reported to have had at least one calf with BNP in the last lactation. We distinguished three different experimental groups according to the composition of the colostrum. In experimental group I, each of the six calves received colostrum of a single cow, in experimental group II all six calves received colostrum from the same cow and in experimental group III each of the ten calves received a colostrum mix from ten different cows. Clinical signs of BNP were observed in 50% of the calves in experimental group I, 67% of the calves in experimental group II and all calves in experimental group III. The lethality in the three experimental groups was significantly different with rates of 16.7%, 66.7% and 80%, respectively. Calves fed with a colostrum-mix in experimental group III had the highest lethality. Neither the farm nor the amount of the colostrum fed had a significant effect on the occurrence and course of BNP. The profiles for thrombocytes, leucocytes and erythrocytes significantly differed in dependence of the severity of BNP signs. Calves with non-lethal BNP showed thrombocytopenia with values below 100 G/l on the 1th to 3rd and the 7th to 11th day of life. In calves with lethal BNP, thrombocytes decreased under 50 G/l from day 5. In calves with non-lethal BNP, a decrease of the leucocytes under the threshold was present only for a short period of time. In calves with lethal BNP, leucocytes decreased in the first 5 days after birth continuously and increased on the 6th to the 8th day to normal values and then a rapid decrease occurred. Erythrocytes decreased under the normal threshold just in the last two days before the calves died or were euthanized. Thus, the present experiments showed that colostrum of cows with a BNP-history and vaccination with PregSure BVD from Pfizer caused lethal BNP. We can assume that the different reactions of the calves are due to immunogenetic reactions to colostral alloreactive antibodies. The reaction spectrum of calves depends on the presence of antigens which can react with these colostral antibodies. The experimental results can explain the different incidences of BNP within and among farms as well as between breeds.     

Examination of the prevalence of skin injuries in debeaked fattened turkeys

Within the framework of a cooperative research project, turkey health as well as numerous aspects of animal welfare were examined in various intensive commercial farms with varying rearing forms. The present study demonstrates the prevalence of skin injuries concerning living animals as well as carcasses of slaughtered turkeys of both sexes. Although all turkeys were debeaked, prevalences of skin injuries at a value of 12.8% with male turkeys and 13.8% with female turkeys could be found at the age of 16 weeks. Within the scope of medically inspections skin injuries were mainly established in the head region, especially the snood as well as in the region of the back. By means of their clinical picture pecking wounds and scratch injuries could be distinguished. Skin lesion produced primary as a result of scratching the skin surface, could be enlarged by the animal itself or by conspecifics by beak pecking, especially after bleeding, in spite of debeaked upper beak. Injuries in the head region, especially of the snood, could be explained mainly as a result of pecking by conspecifics by reason of their clinical picture and were found mainly in male turkeys. Skin injuries in the region of the back, especially at the coxal tuberosity, were identified primarily as scratch marks. They were found mainly in female turkeys. A statistically significant correlation of the injury prevalence to particular husbandry parameters discussed in the literature as "predisposing" or "limiting" factors (e.g., population density, light regime or offer of employment material) could not be established in this study. At the meat inspection fresh scratching injuries at the chest and the hind legs were diagnosed most often. Especially fresh injuries of the carcass point to a misguided behaviour of the staff concerning animal handling during loading and transport which is not conform to animal welfare.