Abstract: This paper introduces our first efforts of developing a
new team for RoboCup Middle Size Competition. In our robots we
have applied omni directional based mobile system with omnidirectional
vision system and fuzzy control algorithm to navigate
robots. The control architecture of MRL middle-size robots is a three
layered architecture, Planning, Sequencing, and Executing. It also
uses Blackboard system to achieve coordination among agents.
Moreover, the architecture should have minimum dependency on low
level structure and have a uniform protocol to interact with real
robot.
Abstract: Five vegetables (spinach, lettuce, cabbage, tomato, and onion) were freshly harvested from the Alau Dam and Gongulong agricultural areas for the determination of some organochlorine pesticide residues (o, p-DDE, p,p’-DDD, o,p’-DDD, p,p’-DDT, α-BHC, γ-BHC, metoxichlor, lindane, endosulfan dieldrin, and aldrin.) Soil samples were also collected at different depths for the determination of the above pesticides. Samples collection and preparation were conducted using standard procedures. The concentrations of all the pesticides in the soil and vegetable samples were determined using GC/MS SHIMADZU (GC-17A) equipped with electron capture detector (ECD). The highest concentration was that of p,p’-DDD (132.4±13.45µg/g) which was observed in the leaf of cabbage, while the lowest concentration was that of p,p’-DDT (2.34µg/g) was observed in the root of spinach. Similar trends were observed at the Gongulong agricultural area, with p,p’-DDD having the highest concentration of 153.23µg/g in the leaf of cabbage, while the lowest concentration was that of p,p’-DDT (12.45µg/g) which was observed in the root of spinach. α-BHC, γ-BHC, Methoxychlor, and lindane were detected in all the vegetable samples studied. The concentrations of all the pesticides in the soil samples were observed to be higher at a depth of 21-30cm, while the lowest concentrations were observed at a depth of 0-10cm. The concentrations of all the pesticides in the vegetables and soil samples from the two agricultural sites were observed to be at alarming levels, much higher than the maximum residue limits (MRLs) and acceptable daily intake values (ADIs) .The levels of the pesticides observed in the vegetables and soil samples investigated, are of such a magnitude that calls for special attention and laws to regulate the use and circulation of such chemicals. Routine monitoring of pesticide residues in these study areas is necessary for the prevention, control and reduction of environmental pollution, so as to minimize health risks.
Abstract: The Combination of path planning and path following is the main purpose of this paper. This paper describes the developed practical approach to motion control of the MRL small size robots. An intelligent controller is applied to control omni-directional robots motion in simulation and real environment respectively. The Brain Emotional Learning Based Intelligent Controller (BELBIC), based on LQR control is adopted for the omni-directional robots. The contribution of BELBIC in improving the control system performance is shown as application of the emotional learning in a real world problem. Optimizing of the control effort can be achieved in this method too. Next the implicit communication method is used to determine the high level strategies and coordination of the robots. Some simple rules besides using the environment as a memory to improve the coordination between agents make the robots' decision making system. With this simple algorithm our team manifests a desirable cooperation.
Abstract: This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.
Abstract: Participation in global trade means that Chinas vegetables and fruits industry faces international food safety standards and increased scrutiny worldwide. The objectives of this paper were to investigate how existing food safety standards and regulations in the importing countries impact the export of vegetables and fruits from China. This paper discussed the current and historical situations of Chinas vegetables and fruits export from 1996 to 2010, analyzed the Maximum Residual Limit (MRL) standards of pesticides imposed by importing countries, quantitatively estimated the impacts of food safety standards on Chinas vegetables and fruits export based on a gravity model. The results showed that although transportation distance between trade partners and tariff rates on vegetables and fruits were still the importantly resistant factors for China export, vegetables and fruits export was sensitive to the number of regulated pesticides, the strictness, and the level of food safety standards imposed by importing countries, which showed a significant trade flow effect, stricter food safety standards, increased number of regulated pesticides significantly inhibit China export of vegetables and fruits. Moreover, Chinas food safety standards also showed a significantly effect on vegetables and fruits export, which inhibited export to some extent. KeywordsFood safety standards, MRL, Vegetables, Fruits, Export.
Abstract: Multi-residue analysis method for penicillins was
developed and validated in bovine muscle, chicken, milk, and flatfish.
Detection was based on liquid chromatography tandem mass
spectrometry (LC/MS/MS). The developed method was validated for
specificity, precision, recovery, and linearity. The analytes were
extracted with 80% acetonitrile and clean-up by a single
reversed-phase solid-phase extraction step. Six penicillins presented
recoveries higher than 76% with the exception of Amoxicillin
(59.7%). Relative standard deviations (RSDs) were not more than
10%. LOQs values ranged from 0.1 and to 4.5 ug/kg. The method was
applied to 128 real samples. Benzylpenicillin was detected in 15
samples and Cloxacillin was detected in 7 samples. Oxacillin was
detected in 2 samples. But the detected levels were under the MRL
levels for penicillins in samples.