Publikasjoner
NIBIOs ansatte publiserer flere hundre vitenskapelige artikler og forskningsrapporter hvert år. Her finner du referanser og lenker til publikasjoner og andre forsknings- og formidlingsaktiviteter. Samlingen oppdateres løpende med både nytt og historisk materiale. For mer informasjon om NIBIOs publikasjoner, besøk NIBIOs bibliotek.
2015
Forfattere
Arne SteffenremSammendrag
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Forfattere
Eldrid Lein MoltebergSammendrag
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Forfattere
Tor J. JohansenSammendrag
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Forfattere
Lars Olav BrandsæterSammendrag
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Vehicles which operate in agricultural row crops, need to strictly follow the established wheel tracks. Errors in navigation where the robot sways of its path with one or more wheels may damage the crop plants. The specific focus of this paper is on an agricultural robot operation in row cultures. The robot performs machine vision detecting weeds within the crop rows and treats the weeds by high precision drop-on-demand application of herbicide. The navigation controller of the robot needs to follow the established wheel tracks and minimize the camera system offset from the seed row. The problem has been formulated as a Nonlinear Model Predictive Control (NMPC) problem with the objective of keeping the vision modules centered over the seed rows, and constraining the wheel motion to the defined Wheel tracks. The system and optimization problem has been implemented in Python using the Casadi framework. The implementation has been evaluated through simulations of the system, and compared with a PD controller. The NMPC approach display advantages and better performance when facing the path constraints of operating in row crops.
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Epigenetic memory formed in the Norway spruce embryos permanently affect the timing of bud burst and bud set in the progenies, vitally important adaptive traits in this long-lived forest species. Epigenetic memory marks are established in response to the temperature conditions prevailing during embryogenesis; the epitype is fixed by the time the embryo is fully developed and is mitotically propagated throughout the tree’s life span. Somatic embryogenesis closely mimics the natural zygotic embryo formation and results in epigenetically different plants in a predictable temperature-dependent manner with respect to altered phenology. Using RNAseq transcriptome analysis of mRNA and noncodingRNA (ncRNA) changes were monitored in somatic embryos under different temperatures. We found distinct differences in mRNA and ncRNA transcriptomes between the genetically identical embryogenic tissues grown under the epitype-inducing temperatures suggesting temperature-dependent canalizing of gene expression during embryo formation, putatively based on chromatin modifications.