Recently graph based SLAM has become a popular representation for solving SLAM problem but it is affected by its inherent nonlinearity due to noisy measurements and reprojection errors which lead to non-consistent map. The proposed system provides the entire robot trajectory at lower cost using stereo camera, generates a globally consistent 3D map and provides linear graph optimization. We show that the validation of our system based on stereo camera which utilizes a linear optimization method which provides only one accurate solution in contrast to the well-known nonlinear global optimization like BA of ORB-SLAM which provides multiple non-accurate solutions for optimization. Furthermore, our system runs in real time and is 3X faster than the current state-of-the-art SLAM systems for stereo SLAM. Our system gives comparable accuracy compared with the state of the art. We tested our system using KITTI data sets. We show that our system can be an alternative to bundle adjustment approaches with a better accuracy, robustness and more efficient than some well-known systems.
: The Principal Component Analysis (PCA), one of multivariate analysis methods elucidates among a set of the traits which ones are decisive in genotypic differentiation and selection. The present study was undertaken in rabi 2013-14 at three locations. The collection comprising of 10 genotypes including two checks namely SS-1 and farmer’s variety was studied using factor analysis. Ten quantitative traits related to seed yield namely days to flowering, days to maturity, plant height, primary branches plant -1 , length of main raceme (cm), number of siliquae on main raceme, number of siliqua/plant, number of seeds siliqua -1 , 1000-seed weight and seed yield/plant. Analysis of variance revealed that there were significant differences between checks and accessions between accessions and between checks for all the traits. It indicated presence of substantial amount of variation among the test entries. The factor analysis was based on Pearson correlation matrix and euclidean distances. Total variance explained by the first principal component was 67.03% and the variation explained by the second component with 10.6%. Latent roots (eigen values) are between 6.703 for the first and 1.06 for the second. Plant height and 1000-seed weight were the important traits in the first principal component. Primary branches per plant and number of siliqua on main raceme were the important traits in second principal component.
Page No.: 13-19 Volume: 15, Issue 1, 2020 ISSN: 1816-9155 Agricultural Journal Copy Right: Medwell Publications Abstract: A field study was conducted to assess the potential of cattle manure wood-ash compost in order to in order to improve soil fertility and productivity in two areas in the centre region of Cameroon distant of 200 km. The farms were amended with four type of compost, C1 (100% cattle manure compost), C2 (95% cattle manure with 10% wood ash admixture), C3 (90% cattle manure compost and 10% wood ash admixture) and C4 (85% cattle manure compost and 15% wood ash admixture). Soybean was the growing plant during the experiment which lasted three months. After the harvesting, physical, chemical, biological and plant parameters were evaluated. The compost significantly increased soil pH, electrical conductivity, total organic carbon, total nitrogen, concentrations of Ca, Mg, K, Na and total phosphorus. The composts also had a stimulatory effect on the total soil bacteria and fungi, cellulase and protease activities. Improvement soil physical, chemical and microbial parameters enhanced biomass production and yield. In summary, cattle manure wood-ashcomposts could be used for alleviating soil acidity and improve soil fertility of tropical acid soils. Future, research is needed to address its sustainability in a long-term study.
Water being the utmost need for everyone in today's world needs to be pure and safe for everyone.This study presents a model on smart water monitoring which holds quantity and quality of water for agriculture, irrigation or drinking purposes.Thus, a model containing Arduino and some sensors for detection of contamination, turbidity, temperature, water level and water flow.The micro-controller Arduino is connected with the sensors which collect the data and then displays the data on the screen.The WI-FI module is used to make a connection with the Arduino which collect all the datas which are sensed by the sensors and then is stored in the cloud server.This model is highly useful for the future safety of the water for the next generation.
The aim of the study is to provide the comprehensive review and to provide the information about the method, technologies, techniques and algorithm for ornamental the performance of medical robotic system that how top robots work during surgery and to whom companies that robots belongs to.In this review article, author present the interaction of medical robots and discuss about the deficiency and drawbacks of those robots.Researcher discuss variety of robots in surgical area that these robots lesser the work of human with the help of artificial intelligent.But companies ignore some little deficiencies in it that thy doesn't properly during some specific surgery, like some time doctor have handle the robot manually which increase the work rather provided facilities.Researcher also discus some cloud and mobile metropolitan robot that isn't the part of surgical era but these robots have much drawbacks and deficiency.The major purpose of this article is to enlighten to provide or describe deficiency to companies that they neglect while making surgical robot.
: This study concerned with energy harvesting of the relay nodes. One solution to this particular problem in the larger information processing wireless networks is to feed some energy from the received source RF signal by harvesting it then forward to the next relay or to the destination node. In this study, we will be considered an Amplify and Forward (AF) relaying networks and the energy harvested from the (RF) signal and uses that harvests energy to forward the source information to the destination. There are two protocols will be considered and discussed extensively Time Switching based Relay (TSR) protocol, Power Splitting based Relay (PSR) protocol. The mathematical analysis for both protocols was discussed and analysis.
The impassable use of technologies contributes to on condition that the accurate amount of water needed by plants.Agricultural country like India where more than 70% of rural population depends on farming and contributes around 18% to the GDP.Despite of having modern facilities, farmers are still using traditional methods for irrigation.The main reason is the lack of knowledge and the cost of resources are too high which cannot bear by the farmers.It is mostly seen that the farmer uses ground water for irrigation.The management of ground water for irrigation is essential, while contributing to environmental sustainability.Here the word management is to irrigate more and more using the least water.IoT technologies can be a better option to achieve this goal.IoT technology is used in management of ground water for irrigation in the agriculture.But the commonality of the same thing has been found in all systems, i.e., the farmer has to buy lots of equipment's to apply the smart irrigation.This paper implements a gadget that provide information of the crop situation like degree the resistance or conductivity across the soil matrix among two contacts are basically junk, soil disease sensor regulates while the seeds will germinate and how rapid your flowers will develop in step with those data, microcontroller take the motion in form of induction motor gets ON/OFF when it's far required.This paper is also aim to shield 3 phase induction motor from inrush currents on the spreading device like fluctuations and single phasing.
Rice blast caused by M. oryzae is one of the most devastating fungal disease of rice in the world.The crop suffers from the chronic fungal pathogen from seedling to adult plant stages affecting leaves, collar, node, panicle, neck, roots, seeds, etc.The main objectives of this review paper is to know the symptoms of rice blast disease, its epidemics and diffferent measures of effective disease control.Resistant varieties and chemical control are most effective means of disease control.Findings shows >100 resistant genes and 350 quantative trait loci's for blast resistant has been identified in rice.Extensively used persistant chemicals should replaced by Neem based commercial pesticides and biocontrol agents like Pseudomonas fluorescens, Streptomyces for sustainable and ecofriendly control of rice blast havoc.Disease forecasting methods developed by researchers provides pre-information of disease occurrence that helps to design control measures combination for effective management of the disease.
Let, R be a ring and σ is an endomorphism for R. With multiplication rule xa = σ(a)x for all a0R, the set of polynomials a 0 +a 1 x+, ..., +a n x n where a i 0R, forms a ring.The ring is called skew polynomial ring.This ring is non-commutative due to the multiplication rule.
The study was conducted in Babil governorate and for ten different sites using the Sodium Chloride (TI) sodium oxidation detector and then calculating the content of the samples of Potassium 40 K, Uranium 238 U and Thurium 238 Th.It was found that the radioactivity of Potassium 40 K in the studied models ranged from (2067.3-623), 238 U (136.5-64) Bq kgG 1 , Thorium 232 Th, (244-12.29)Bq kgG 1 , respectively.Therefore, it was found that the radiation levels of the studied models are within the limits allowed globally.
: The Pelpeledgi is a fermented fish product consume in central African countries. A survey was done to assess sociocultural value and how it’s process. Some physicochemical characteristics, microbiological profile and sensorial attributes were also evaluated. It was found that this product is largely produce and consumed in the area as traditional dish. Process technology is transmitted toward generation from parents to children. Process steps of Pelpeledgi involve catching, washing, gutting, paring, evisceration, spontaneous fermentation during 6-48 h depending of seasons and drying for 3-5 days. None salting step was noted. pH of Pelpeledgi samples range from 6.80-8.41. Salt content and moisture range from 2.42-3.38% and from 10.22-19.11%. Concerning microbiological characteristics, total microbial count was high in all samples ranging from 6.41-7.70 log cfu/g. lactic acid floras and Bacillus seems to be the predominant flora of Pelpeledgi. Lactic flora and Bacillus load of Pelpeledgi ranging from 4.57-5.28 log cfu/g and from 3.47-4.85 log cfu/g, respectively . Yeast and moulds ranging from 3.06-3.10 log cfu/g, E. coli was present in certain samples, ranging from 1.23-1.70 log cfu/g and no Salmonella were detected. Staphylococcus aureus and total coliform were present in all samples, ranging from 1.75-2.65 log cfu/g and 3.82-4.85, respectively which is a potential risk for consumer. Thus, the fish product is microbiologically unsafe. Sensory analyses shows that samples from Blangoua are most appreciated with positive correlation between total microbial count and sensory attributes. Despite of microbiological diversity and sensorial attributes, efforts are needed to improve Pelpeledgi process through HACCP and use of starter culture with interesting technological properties to obtain better product for the public consumption.
: There has been decrease in productivity of maize in recent time due to factors such as obsolete farm management practices, inadequate resource use fragile ecosystem, land tenure among others. Thus, this study examined technical efficiency among maize farmers in Oyo state, Nigeria. Primary data was collected through a multistage sampling procedure with stochastic frontier analysis as an analytical technique. Findings shows that there are more male 70.56%, majority are married (76.49%), 78.88% have either of primary, secondary and tertiary institutions with 34.4% of the farmers have access to credit. The mean farming experience is 7.11 years with 83.89% of the farmers having experience of (0-10 years), mean income of the farmers is x 51512.22 and average farm size 19.12 heatares.
ArcGis 10.1 Software and Landsat 7 imageries of 1985 and 2017 were used for this study.The result of the research showed a rapid growth in built-up land occupying 182.2 km 2 (70.0%) and cultivation occupying 7.4 km 2 (2.9%) in 2017 while 1985 witnessed a reduction in this classes having 83.4 km 2 (32.0%) and 3.7 km 2 (1.4%), respectively.In 1985, vegetation occupied 169.9 km 2 (65.3%) and experienced a reduction in 2017 to 67.4 km 2 (25.9%) while water body remained 3.3 km 2 (1.3%) with little or no notable changes between the referenced years.It was also observed that the changes that occurred in the sampling points at the referenced years replicated itself in other parts of the study area, hence, the recommendation to raise awareness among relevant stakeholders about the importance of protecting vegetative land cover as well as the adverse effects and consequences associated with deforestation, overgrazing and improper agriculture activities on vegetation.
: Cereal is very important crop for human consumption in the world. Among the cereal crops, tef is one of the most popular and staple crop that originated and highly diversified in Ethiopia. The demand is very high in the country and it needs production expansion to the area where tef is not primary grown. The current study was consists of forty-nine tef genotypes were conducted by using simple lattice design at Assosa, Western Ethiopia for two consecutive cropping seasons (2016 and 2017) to evaluate the performance of tef genotypes for the non-traditional tef growing area particularly Assosa, Ethiopia. The analysis of variance indicated that there was high (p # 0.01) significant difference among tested tef genotypes for days to heading, plant height, panicle length, culm length, grain yield and harvest index. From the mean performance of genotypes, the maximum grain yield of 14.70, 14.33, 13.49 and 13.31 kgha -1 were obtained from G-12, G-1, G-37 and G-19. These genotypes were showed superior performance in grain yield and they could be recommended for further evaluating under the next breeding phase of variety trail.
: The study investigated the trend of climatic elements and its effect on vegetation cover in Adamawa state from 1988-2017. Pearson correlation coefficient was used to check the strength of relations between NDVI and the related climate elements (i.e., temperature, precipitation, relative humidity and sunshine hours) and regression analysis was further used to identify the effectiveness of each climate elements on vegetation cover. The result indicated that NDVI had a positive correlation with precipitation and temperature (p = 0.672) in Yola and Gyawana for three decades, followed with marginal negative correlation (p = 0.000) in the last three decades. Ganye in the same period had slightly stable precipitation with positive correlation (p = 0.005) while Mubi recorded remarkable decreased of precipitation slightly negative correlation (p = 0.109) but a slightly negative correlation with relative humidity and sunshine hours at Yala (p = 0.129), Gyawana (p = 0.015) and Ganye. Evaporation and temperature shows similar negative correlation in both study sites Yala (0.768; 0.129 0.263), Gyawana (0.015) and Ganye. Annual maximum temperature had noticeable increased during the study period in both study sites 2003 was recorded highest 43°C while 2000 was recorded lowest 31°C with no significant correlation in Yola (p = 0.201). Precipitation and temperature trend exhibited a positive slope of the model line indicating overall increased in precipitation and temperature with time in Yola, Gyawana and Ganye with positive relationship with NDVI (p = 0.672; 0.000; 0.005) while Mubi recorded remarkable decreased with negative relationship (p = 0.109). Evaporation, sun shine and relative humidity shows similar negative trend with low relationship in Yola and Mubi while sun shine trend increases in Ganye and relative humidity in Gyawana; it is concluded that based on the close relationship between NDVI and the major climate elements (Precipitation and Temperature) revealed in this studies, further investigations became necessary to investigate the vegetation dynamic responses to changes in the two major climate variables and establish quantitative relations between them.
Absract: Foot-and-Mouth Disease (FMD) is the most contagious, acute and economically important transboundary animal disease affecting cloven hoofed wild and domestic animals.It is caused by a virus that belongs to the genus aphthovirus of the family picornaviridae.There are seven recognized serotypes of FMD (O, A, C, Asia1, SAT1, SAT2 and SAT3) which differ in distribution across the world.It becomes endemic in Ethiopia and leads a great economic loss in the livestock's sector.Therefore, the objective of this study is to review the epidemiology and economic impact of FMD in Ethiopia.The seroprevalence, temporal, serotype and regional distribution, topotypes present, the direct and indirect economic impacts of FMD in Ethiopia are reviewed in this seminar paper.Foot and mouth disease outbreaks are occurred in Ethiopia every year and reported from all regions of the country.However, most of the outbreaks are reported from central, Southern and Southeastern part of Ethiopia associated with the movement of animals for trade, agro ecology, animal density and production system of the community.These outbreaks of FMD results in huge economic loss directly due to production losses and indirectly due to export restriction, control and prevention costs.Therefore, the epidemiology of the serotypes present should be studied in detail.This helps to develop a vaccine which is effective to all the serotypes present in Ethiopia.Control of animal's movement should be strengthened to limit spreading of serotypes.
In Ghana, cassava is a marginalized crop in food policies due to low research attention given it. However, high starch in cassava root is an important characteristic that makes the crop a potential industrial cash crop. In light of this, the Government of Ghana in 2001 introduced the Presidential Special Initiative (PSI) on Cassava, which aimed at industrializing the cassava sector for job creation and livelihood improvement through starch extraction. One of the import industrial products from cassava starch is ethanol. Ethanol is reported as the largest opportunity for cassava industrialization in Ghana followed by food-grade starch. However, the local ethanol consuming industry, Kasapreko, operates by importing over 25 million litres of ethanol every year due to inadequate supply of ethanol from local starch factories. This situation exists because of lack of cassava varieties that can yield more starch (75% or more) per total dry weight to feed the starch factories for sustainable production. Therefore, this review explores the relevance of developing high starch yielding cassava to the industrialization of the cassava sector in Ghana and lessons to learn from the success story of Thailand, the country with the world’s most industrialized cassava sector.
The biggest challenge in increasing the population of beef cattle and beef production in Indonesia is on the main actor of beef cattle business, farmers. Farmers as the subject and the main player in livestock business are very important in increasing livestock population and beef production. It is because of 99% of livestock business in Indonesia is managed by community livestock business. This study aims to measure the level of profit and the competitiveness of beef cattle breeding business in North Penajam Paser Regency. Furthermore, the results of this study are used as a basic consideration of improvement of beef cattle breeding business performance especially in community livestock-based. The data collection was conducted by using a survey method. Meanwhile the data analysis was conducted by using qualitative descriptive method and Policy Analysis Matrix (PAM) method. Based on the result, the value of financial analysis is 949,803 IDR per head per period and the value of economy analysis is 86,585 IDR per head per period. The result shows that the business is profitable and feasible. Based on the competitive and comparative advantage analysis, the PCR value is 0.77 and the DCR value is 0.96. it shows that the beef cattle breeding business in North Penajam Paser Regency competitively and comparatively has competitiveness.
This research is conducted to evaluate the bimaxillary protrusion in adult Filipino subjects according the inclusive criteria of this study to investigate the behavior of the discrepancy. Seventy cephalograms were selected according the inclusive and the exclusive criteria for bimaxillary protrusion. Then all were traced and analyzed by the cephalometric analysis with related variables which used in the study. Results of the study showed that the patients with bimaxillary protrusion indicated the high angle mandibular plane partly due to excessive upper posterior dentoalveolar height and partly because of short ramus. The patients showed hyperdivergent facial pattern with decreased overbite which demonstrated skeletal openbite and long face pattern. Filipino patients with bimaxillary protrusion have varied degrees of skeletal vertical discrepancy which makes the primary horizontal discrepancy more complicated. Hence, vertical consideration before any corrective treatment should take into the account regarding the limitations of the orthodontic treatment, especially in the severe cases.
Adoption of high yielding wheat varieties is one of the measures presumed to enhance wheat yield in Ethiopia. However, there are several socioeconomic and institutional factors that limit the adoption of high yielding wheat varieties. The main objective of this study was to identify factors affecting adoption of high yielding wheat varieties in Mao-Komo district of Benishangul-Gumuz, Ethiopia. The study used cross-sectional data collected from sample of 174 farm households selected through two-stage stratified random sampling techniques. Descriptive statistics and econometric models were used to analyze the data. Probit model was employed for adoption analyze of high yielding wheat varieties. The probit model result depicted that land holding size, tropical livestock unit, access to agricultural information, frequency of extension contacts, off-farm income, and perception of farmers toward attributes of high yielding wheat varieties affected the likelihood of adoption of high yielding wheat varieties positively and significantly. But, sex of household heads, and affiliation to organizations had negative and significant effect on the likelihood of adoption of high yielding wheat varieties. The findings suggest that the government and stakeholders should need to focus on improving farm land and livestock productivity, strengthening frequency of extension visits, encouraging participation in off-farm activities, creating reliable information and awareness towards farmers’ perceptions in the area. Finally, further support of high yielding wheat varieties adoption should be given due attention for smallholders. Keywords: Adoption, High yielding wheat varieties, Smallholder, Binary probit DOI : 10.7176/DCS/9-1-01
