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  • Authors: Anatoly A. Gitelson; Yosef Z. Yacobi; Arnon Karnieli; Nurit Kress;

    Chlorophyll distribution in Haifa Bay was estimated in a period of very high chlorophyll concentrations (up to 70 mg/m3) using remotely sensed data. Radiometric measurements with spectral resolution of 2 nm in the range from 400 to 850 nm, were taken simultaneously with samples for chlorophyll concentration, turbidity and Secchi disk transparency. Prominent features of the reflectance spectra were a wide minimum from 420 to 500 nm, a maximum at 550-570 nm, a minimum at 676 nm and a maximum reflectance showed near 700 nm. High spectral resolution data were used for the selection of the most suitable spectral bands for remote estimating of chlorophyll concentration. The magnitude and position of the peak near 700 nm were highly correlated with chlorophyll concentration. The reflectance height at 690 nm above the baseline from 670 to 850 nm and area above the baseline were used as sensitive indicators of chlorophyll concentration. The best model enabled estimation of chlorophyll concentration with an error of less than 4.3 mg/m3. For the purpose of chlorophyll mapping in Haifa Bay, the use of three relatively narrow spectral bands was sufficient. Radiometric data were also used to simulate radiances in the channels of TM Landsat and to find the algorithm for chlorophyll assessment. The ratios TM3/TM1 and (TM2-TM3)/TM1 were used and enable chlorophyll estimation with an error of less than 8 mg/m3.

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    Authors: Pingale, Reena; Shinde, S. N.;

    A performance of network is evaluated by considering different parameters. The network lifetime depends on many factors Residual energy, Link lifetime and Delay. The Major Challenge in IoT is to the increased lifetime of low power and lossy network (RPL).The process considering input and output to evaluate Network performance by considering the above factors. The proposed system makes use of FIS (Fuzzy Inference System) for selecting the best path to maximize network lifetime. The outcome obtained by using MATLAB and Network performance is increased. The excellent route is selected if Residual Energy is 194, Link quality is 51.2 and Delay is 1.05 then excellent route quality is 73.4%.

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    Tehnički Glasnik
    Article . 2021 . Peer-reviewed
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    Article . 2021
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      Article . 2021 . Peer-reviewed
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      Article . 2021
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    Authors: Tihomir ČUPIĆ; Svetislav POPOVIĆ; Sonja GRLJUŠIĆ; Marijana TUCAK; +2 Authors

    Lucerna (Medicago sativa L.) je kultura za koju je karakteristična prisutnost tvrdog (dormantnog) sjemena, koje je živo ali ne klija pri ispitivanju kvalitete sjemena. Zbog malih potreba za sjemenom lucerne i velikog uvoza u Republiku Hrvatsku, nerijetko se događa da sjeme stoji u skladištu tri do četiri godine. Udio tvrdog sjemena sa starenjem, promjenom temperature i vlage zraka se smanjuje, te s tim neposredno utječe na zadržavanje razine klijavih zrna kroz duže vrijeme skladištenja. Alfalfa (Medicago sativa L.) is a crop characterised by presence of hard (dormant) seed that are viable but do not germinate in seed quality testing. In Republic of Croatia seed are frequently stored for three to four years due to low needs for seed of alfalfa and considerable import. The share of hard seed is decreased by storage time, temperature and air moisture changes and therefore directly keeps the level of seed germination in a longer period of storage.

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    Article . 2005
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      Article . 2005
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    Authors: Payman MORADI; Babak PASARI; Farzad FAYYAZ;

    This study was carried out as split split plots in a randomized complete block design with three replications at Research Field of Agriculture Faculty, during 2014-2015 in Iran. In this study, the main factor was two safflower cultivars including: Sina and Faraman and subplot were foliar application of fulvic acid in 2 stages as: stem elongation and flowering and also sub sub plot were 3 different fulvic acid concentrations including as: 0: control (distilled water), 0.5 and 1 kg*ha-1. The results showed that the characters including: numbers of seed in head, 1,000 seed weight, seed yield, harvest index and oil percent were affected significantly by safflower cultivars, and also head weight were affected in different growth stages. Also the results of fulvic acid were showed significant different about head numbers, numbers of seed in head, biological yield, harvest index and oil percent. In this study the maximum seed yield and oil percent were achieved by Faraman cultivar in comparison with Sina, as it produced 14.33 and 19.5 percent more seed yield and oil percent in arrangement. Foliar application in stem elongation stage obtained 6.02 percent more seed yield but in flowering stage, fulvic acid spraying were achieved 35.5 percent more oil percent. Finally the results showed the positive effects of foliar application of fulvic acid in 1 kg*ha-1, as it produced 85.67 percent more oil percent in comparison with control.

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    Journal of Central European Agriculture
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    License: CC BY ND
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    Article . 2017
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    Journal of Central European Agriculture
    Article . 2017 . Peer-reviewed
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      Journal of Central European Agriculture
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      Journal of Central European Agriculture
      Article . 2017 . Peer-reviewed
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    Authors: Karthik Desingu; Daniel Mark Isaac; Mirunalini P.; Bharathi B.; +1 Authors

    Uncertainty of traffic in cities makes it difficult for metropolitan buses to adhere to predetermined schedules, making it strenuous for commuters to plan travel reliably. The proposed LocateMyBus system leverages Internet of Things(IoT) set-ups at bus stops and buses, and Machine Learning(ML) to assuage this uncertainty by allowing commuters to track live-runningstatus of buses, disseminate tentative and live-status to commuters through Public Announcement(PA) systems at bus-stops and a web-application interface. The schedule prediction module provides a tentative schedule of buses with stop-wise arrival times estimated using ML based on historic and real-time route data. Arrival times of two bus-routes in the Massachusetts Bay Area were collected for a period of four months by periodically querying its real-time General Transit Feed Systems(GTFS). This dataset was used to train and validate the proposed ML methods. The IoT system was modeled on Proteus, and validated with a miniature prototype. LocateMyBus is proposed as a step forward toward minimal intervention algorithmic set-ups to ease the uncertainty associated with bus commute in cities. It enables commuters to track live running status and avail ML-predicted tentative schedules. Furthermore, it eradicates the computation requirements of GPS-based systems, whilst ensuring stop-level tracking granularity. LocateMyBus's ability to log bus arrival times at each stop paves the way to building real-time GTFSs.

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    Journal of Communications Software and Systems
    Article . 2023 . Peer-reviewed
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      Journal of Communications Software and Systems
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  • image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Authors: Lorch, O.; Albert, A.; Denk, J.; Gerecke, M.; +4 Authors

    Goal-oriented vision-guided biped locomotion requires a high degree of coordination between perception and walking. How to establish this coordination remains a fundamental and rarely studied problem in legged robotics. Some of our investigations into this field are outlined in this article by presenting recent results in vision-guided biped locomotion. The guidance and control approaches developed are experimentally validated on the biped robot BARt-UH. It is shown how perception techniques are employed in closed-loop for step sequence adaptation and locomotion control of a walking machine.

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    https://doi.org/10.1109/irds.2...
    Conference object . 2003 . Peer-reviewed
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      https://doi.org/10.1109/irds.2...
      Conference object . 2003 . Peer-reviewed
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  • image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Authors: Igor M. Verner; Dan Cuperman; Amy Fang; Michael Reitman; +2 Authors

    This paper proposes and explores an approach in which robotics projects of novice engineering students focus on development of learning robots. We implemented a reinforcement learning scenario in which a humanoid robot learns to lift a weight of unknown mass through autonomous trial-and-error search. To expedite the process, trials of the physical robot are substituted by simulations with its virtual twin. The optimal parameters of the robot posture for executing the weightlifting task, found by analysis of the virtual trials, are transmitted to the robot through internet communication. The approach exposes students to the concepts and technologies of machine learning, parametric design, digital prototyping and simulation, connectivity and internet of things. Pilot implementation of the approach indicates its potential for teaching freshman and HS students, and for teacher education.

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    https://doi.org/10.1007/978-3-...
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    Authors: Thomas Panagopoulos; Jorge de Jesus; Jiftah Ben-Asher;

    Geostatistical tools were used to estimate spatial relations between wheat yield and soil parameters under organic farming field conditions. Thematic maps of each factor were created as raster images in R software using kriging. The Geographic Resources Analysis Support System (GRASS) calculated the principal component analysis raster images for soil parameters and yield. The correlation between the raster arising from the PC1 of soil and yield parameters showed high linear correlation (r = 0.75) and explained 48.50% of the data variance. The data show that durum wheat yield is strongly affected by soil parameter variability, and thus, the average production can be substantially lower than its potential. Soil water content was the limiting factor to grain yield and not nitrate as in other similar studies. The use of precision agriculture tools helped reduce the level of complexity between the measured parameters by the grouping of several parameters and demonstrating that precision agriculture tools can be applied in small organic fields, reducing costs and increasing wheat yield. Consequently, site-specific applications could be expected to improve the yield without increasing excessively the cost for farmers and enhance environmental and economic benefits. Foundation for Science and Technology (Fundacao para a Ciencia e a Tecnologia), Portugal [SFRH/BD/8303/2002]; Research Center of Spatial and Organizational Dynamics (CIEO); Ministery of Science, Culture and Sport, Israel; Bundesmenisterium fuer Bildung and Forschung (BMBF)

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    Authors: Omićević, Adrijan;

    Broj pametnih uređaja svake godine sve više raste. Od pojave Interneta stvari pametni uređaji se mogu međusobno povezati, te se između njih mogu prikupljati i dijeliti podaci. Kako bi se pojednostavilo korištenje pametnih uređaja, te se također uštedilo vrijeme i novac, koristi se automatizacija. Razvojem platformi za pametni dom sve se više pametnih uređaja može upariti pomoću kojih se implementira automatizacija. Studijskim primjerom prikazana je automatizacija pametnog doma pomoću platforme Home Assistant. Pomoću platforme integrirani su virtualni pametni uređaji te je automatizacija implementirana pomoću četiri alata za automatizaciju. Alati korišteni u studijskom slučaju su: Home Assistant, Node-RED, AppDaemon i IFTTT. Svaki alat nudi različit način automatizacije te je prikazana jasna razlika u korištenju svakog od alata. Prikaz automatiziranog pametnog doma s virtualnim pametnim uređajima implementiran je u programskom jeziku Java gdje se za prikaz korisničkog grafičkog sučelja koristi API JavaFX. Za slanje poruka o stanju uređaja korišten je protokol MQTT. The number of smart devices is growing every year. Since the advent of the Internet of Things, smart devices can be connected to each other and data can be collected and shared between them. Automation is used to simplify the use of smart devices and also to save time and money. With the development of smart home platforms, more and more smart devices can be connected together to implement automation. A case study shows smart home automation using the Home Assistant platform. The platform integrates virtual smart devices and automation is implemented using four automation tools. The tools used in the study case are: Home Assistant, Node- RED, AppDaemon and IFTTT. Each tool offers a different way of automation and there is a clear difference in the use of each tool. The automated smart home with virtual smart devices is implemented in the Java programming language and the JavaFX API is used to display the graphical user interface. The MQTT protocol was used to send device status messages.

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  • Authors: Elad I. Farhi; Vadim Indelman;

    Inference and decision making under uncertainty are essential in numerous robotics problems. In recent years, the similarities between inference and control triggered much work, from developing unified computational frameworks to pondering about the duality between the two. In spite of the aforementioned efforts, inference and control, as well as inference and belief space planning (BSP) are still treated as two separate processes. In this paper we propose a novel approach that utilizes the similarities between inference and BSP and make the key observation that inference can be efficiently updated using the precursory planning stage, thus paving the way towards a joint inference and BSP paradigm. We develop four different methods that implement our novel approach under simplifying assumptions and validate them in the context of autonomous navigation in unknown environment. Results indicate that not only our methods improve running time by at least two orders of magnitude, compared to iSAM2 paradigm, they also found to be less sensitive to state dimensionality and loop closures.

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  • Authors: Anatoly A. Gitelson; Yosef Z. Yacobi; Arnon Karnieli; Nurit Kress;

    Chlorophyll distribution in Haifa Bay was estimated in a period of very high chlorophyll concentrations (up to 70 mg/m3) using remotely sensed data. Radiometric measurements with spectral resolution of 2 nm in the range from 400 to 850 nm, were taken simultaneously with samples for chlorophyll concentration, turbidity and Secchi disk transparency. Prominent features of the reflectance spectra were a wide minimum from 420 to 500 nm, a maximum at 550-570 nm, a minimum at 676 nm and a maximum reflectance showed near 700 nm. High spectral resolution data were used for the selection of the most suitable spectral bands for remote estimating of chlorophyll concentration. The magnitude and position of the peak near 700 nm were highly correlated with chlorophyll concentration. The reflectance height at 690 nm above the baseline from 670 to 850 nm and area above the baseline were used as sensitive indicators of chlorophyll concentration. The best model enabled estimation of chlorophyll concentration with an error of less than 4.3 mg/m3. For the purpose of chlorophyll mapping in Haifa Bay, the use of three relatively narrow spectral bands was sufficient. Radiometric data were also used to simulate radiances in the channels of TM Landsat and to find the algorithm for chlorophyll assessment. The ratios TM3/TM1 and (TM2-TM3)/TM1 were used and enable chlorophyll estimation with an error of less than 8 mg/m3.

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    Authors: Pingale, Reena; Shinde, S. N.;

    A performance of network is evaluated by considering different parameters. The network lifetime depends on many factors Residual energy, Link lifetime and Delay. The Major Challenge in IoT is to the increased lifetime of low power and lossy network (RPL).The process considering input and output to evaluate Network performance by considering the above factors. The proposed system makes use of FIS (Fuzzy Inference System) for selecting the best path to maximize network lifetime. The outcome obtained by using MATLAB and Network performance is increased. The excellent route is selected if Residual Energy is 194, Link quality is 51.2 and Delay is 1.05 then excellent route quality is 73.4%.

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    Authors: Tihomir ČUPIĆ; Svetislav POPOVIĆ; Sonja GRLJUŠIĆ; Marijana TUCAK; +2 Authors

    Lucerna (Medicago sativa L.) je kultura za koju je karakteristična prisutnost tvrdog (dormantnog) sjemena, koje je živo ali ne klija pri ispitivanju kvalitete sjemena. Zbog malih potreba za sjemenom lucerne i velikog uvoza u Republiku Hrvatsku, nerijetko se događa da sjeme stoji u skladištu tri do četiri godine. Udio tvrdog sjemena sa starenjem, promjenom temperature i vlage zraka se smanjuje, te s tim neposredno utječe na zadržavanje razine klijavih zrna kroz duže vrijeme skladištenja. Alfalfa (Medicago sativa L.) is a crop characterised by presence of hard (dormant) seed that are viable but do not germinate in seed quality testing. In Republic of Croatia seed are frequently stored for three to four years due to low needs for seed of alfalfa and considerable import. The share of hard seed is decreased by storage time, temperature and air moisture changes and therefore directly keeps the level of seed germination in a longer period of storage.

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    Authors: Payman MORADI; Babak PASARI; Farzad FAYYAZ;

    This study was carried out as split split plots in a randomized complete block design with three replications at Research Field of Agriculture Faculty, during 2014-2015 in Iran. In this study, the main factor was two safflower cultivars including: Sina and Faraman and subplot were foliar application of fulvic acid in 2 stages as: stem elongation and flowering and also sub sub plot were 3 different fulvic acid concentrations including as: 0: control (distilled water), 0.5 and 1 kg*ha-1. The results showed that the characters including: numbers of seed in head, 1,000 seed weight, seed yield, harvest index and oil percent were affected significantly by safflower cultivars, and also head weight were affected in different growth stages. Also the results of fulvic acid were showed significant different about head numbers, numbers of seed in head, biological yield, harvest index and oil percent. In this study the maximum seed yield and oil percent were achieved by Faraman cultivar in comparison with Sina, as it produced 14.33 and 19.5 percent more seed yield and oil percent in arrangement. Foliar application in stem elongation stage obtained 6.02 percent more seed yield but in flowering stage, fulvic acid spraying were achieved 35.5 percent more oil percent. Finally the results showed the positive effects of foliar application of fulvic acid in 1 kg*ha-1, as it produced 85.67 percent more oil percent in comparison with control.

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    Journal of Central European Agriculture
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    Journal of Central European Agriculture
    Article . 2017 . Peer-reviewed
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      Journal of Central European Agriculture
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      Journal of Central European Agriculture
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    Authors: Karthik Desingu; Daniel Mark Isaac; Mirunalini P.; Bharathi B.; +1 Authors

    Uncertainty of traffic in cities makes it difficult for metropolitan buses to adhere to predetermined schedules, making it strenuous for commuters to plan travel reliably. The proposed LocateMyBus system leverages Internet of Things(IoT) set-ups at bus stops and buses, and Machine Learning(ML) to assuage this uncertainty by allowing commuters to track live-runningstatus of buses, disseminate tentative and live-status to commuters through Public Announcement(PA) systems at bus-stops and a web-application interface. The schedule prediction module provides a tentative schedule of buses with stop-wise arrival times estimated using ML based on historic and real-time route data. Arrival times of two bus-routes in the Massachusetts Bay Area were collected for a period of four months by periodically querying its real-time General Transit Feed Systems(GTFS). This dataset was used to train and validate the proposed ML methods. The IoT system was modeled on Proteus, and validated with a miniature prototype. LocateMyBus is proposed as a step forward toward minimal intervention algorithmic set-ups to ease the uncertainty associated with bus commute in cities. It enables commuters to track live running status and avail ML-predicted tentative schedules. Furthermore, it eradicates the computation requirements of GPS-based systems, whilst ensuring stop-level tracking granularity. LocateMyBus's ability to log bus arrival times at each stop paves the way to building real-time GTFSs.

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    Journal of Communications Software and Systems
    Article . 2023 . Peer-reviewed
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      Journal of Communications Software and Systems
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    Authors: Lorch, O.; Albert, A.; Denk, J.; Gerecke, M.; +4 Authors

    Goal-oriented vision-guided biped locomotion requires a high degree of coordination between perception and walking. How to establish this coordination remains a fundamental and rarely studied problem in legged robotics. Some of our investigations into this field are outlined in this article by presenting recent results in vision-guided biped locomotion. The guidance and control approaches developed are experimentally validated on the biped robot BARt-UH. It is shown how perception techniques are employed in closed-loop for step sequence adaptation and locomotion control of a walking machine.

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    https://doi.org/10.1109/irds.2...
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      https://doi.org/10.1109/irds.2...
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    Authors: Igor M. Verner; Dan Cuperman; Amy Fang; Michael Reitman; +2 Authors

    This paper proposes and explores an approach in which robotics projects of novice engineering students focus on development of learning robots. We implemented a reinforcement learning scenario in which a humanoid robot learns to lift a weight of unknown mass through autonomous trial-and-error search. To expedite the process, trials of the physical robot are substituted by simulations with its virtual twin. The optimal parameters of the robot posture for executing the weightlifting task, found by analysis of the virtual trials, are transmitted to the robot through internet communication. The approach exposes students to the concepts and technologies of machine learning, parametric design, digital prototyping and simulation, connectivity and internet of things. Pilot implementation of the approach indicates its potential for teaching freshman and HS students, and for teacher education.

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    https://doi.org/10.1007/978-3-...
    Part of book or chapter of book . 2017 . Peer-reviewed
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      https://doi.org/10.1007/978-3-...
      Part of book or chapter of book . 2017 . Peer-reviewed
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    Authors: Thomas Panagopoulos; Jorge de Jesus; Jiftah Ben-Asher;

    Geostatistical tools were used to estimate spatial relations between wheat yield and soil parameters under organic farming field conditions. Thematic maps of each factor were created as raster images in R software using kriging. The Geographic Resources Analysis Support System (GRASS) calculated the principal component analysis raster images for soil parameters and yield. The correlation between the raster arising from the PC1 of soil and yield parameters showed high linear correlation (r = 0.75) and explained 48.50% of the data variance. The data show that durum wheat yield is strongly affected by soil parameter variability, and thus, the average production can be substantially lower than its potential. Soil water content was the limiting factor to grain yield and not nitrate as in other similar studies. The use of precision agriculture tools helped reduce the level of complexity between the measured parameters by the grouping of several parameters and demonstrating that precision agriculture tools can be applied in small organic fields, reducing costs and increasing wheat yield. Consequently, site-specific applications could be expected to improve the yield without increasing excessively the cost for farmers and enhance environmental and economic benefits. Foundation for Science and Technology (Fundacao para a Ciencia e a Tecnologia), Portugal [SFRH/BD/8303/2002]; Research Center of Spatial and Organizational Dynamics (CIEO); Ministery of Science, Culture and Sport, Israel; Bundesmenisterium fuer Bildung and Forschung (BMBF)

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    Other literature type . Article . 2015 . Peer-reviewed
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  • image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Authors: Omićević, Adrijan;

    Broj pametnih uređaja svake godine sve više raste. Od pojave Interneta stvari pametni uređaji se mogu međusobno povezati, te se između njih mogu prikupljati i dijeliti podaci. Kako bi se pojednostavilo korištenje pametnih uređaja, te se također uštedilo vrijeme i novac, koristi se automatizacija. Razvojem platformi za pametni dom sve se više pametnih uređaja može upariti pomoću kojih se implementira automatizacija. Studijskim primjerom prikazana je automatizacija pametnog doma pomoću platforme Home Assistant. Pomoću platforme integrirani su virtualni pametni uređaji te je automatizacija implementirana pomoću četiri alata za automatizaciju. Alati korišteni u studijskom slučaju su: Home Assistant, Node-RED, AppDaemon i IFTTT. Svaki alat nudi različit način automatizacije te je prikazana jasna razlika u korištenju svakog od alata. Prikaz automatiziranog pametnog doma s virtualnim pametnim uređajima implementiran je u programskom jeziku Java gdje se za prikaz korisničkog grafičkog sučelja koristi API JavaFX. Za slanje poruka o stanju uređaja korišten je protokol MQTT. The number of smart devices is growing every year. Since the advent of the Internet of Things, smart devices can be connected to each other and data can be collected and shared between them. Automation is used to simplify the use of smart devices and also to save time and money. With the development of smart home platforms, more and more smart devices can be connected together to implement automation. A case study shows smart home automation using the Home Assistant platform. The platform integrates virtual smart devices and automation is implemented using four automation tools. The tools used in the study case are: Home Assistant, Node- RED, AppDaemon and IFTTT. Each tool offers a different way of automation and there is a clear difference in the use of each tool. The automated smart home with virtual smart devices is implemented in the Java programming language and the JavaFX API is used to display the graphical user interface. The MQTT protocol was used to send device status messages.

    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao FER Repositoryarrow_drop_down
    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao FER Repositoryarrow_drop_down
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
  • Authors: Elad I. Farhi; Vadim Indelman;

    Inference and decision making under uncertainty are essential in numerous robotics problems. In recent years, the similarities between inference and control triggered much work, from developing unified computational frameworks to pondering about the duality between the two. In spite of the aforementioned efforts, inference and control, as well as inference and belief space planning (BSP) are still treated as two separate processes. In this paper we propose a novel approach that utilizes the similarities between inference and BSP and make the key observation that inference can be efficiently updated using the precursory planning stage, thus paving the way towards a joint inference and BSP paradigm. We develop four different methods that implement our novel approach under simplifying assumptions and validate them in the context of autonomous navigation in unknown environment. Results indicate that not only our methods improve running time by at least two orders of magnitude, compared to iSAM2 paradigm, they also found to be less sensitive to state dimensionality and loop closures.

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