CNN-Based Terrain Classification with Moisture Content Using RGB-IR Images

Unmanned mobile robots in rough terrains are a key technology for achieving smart agriculture and smart construction. The mobility performance of robots highly depends on the moisture content of soil, and past few studies have focused on terrain classification using moisture content. In this study, we demonstrate a convolutional neural network-based terrain classification method using RGB-infrared (IR) images. The method first classifies soil types and then categorizes the moisture content of the terrain. A three-step image preprocessing for RGB-IR images is also integrated into the method that is applicable to an actual environment. An experimental study of the terrain classification confirmed that the proposed method achieved an accuracy of more than 99% in classifying the soil type. Furthermore, the classification accuracy of the moisture content was approximately 69% for pumice and 100% for dark soil. The proposed method can be useful for different scenarios, such as small-scale agriculture with mobile robots, smart agriculture for monitoring the moisture content, and earthworks in small areas.

Dirt, Saliva and Leprosy: Anti-Inflammatory and Anti-Infectious Effects

Ancient Egyptians smeared a mixture of dark soil on their eyelids and believed it protected eyes from unknown forces (illness). Recent studies have proven that the dark soil across the Nile River is rich in natural compounds including lead sulfide, which in low levels, promotes the production of nitric oxide (240-fold) by keratinocytes, with strong immune stimulatory and antimicrobial properties. Current investigations reveal anti-inflammatory and anti-infectious activities—including cytokines and chemokines—in saliva, as well as its friendly microbiota, which lines the surface of the oral cavity, its protection against inflammatory and infectious organisms in the stoma and other organs, such as the cardiovascular and central nervous systems. In fact, saliva may soon become a safe and practical surrogate biomarker for genomic/proteomic evaluations and to replace painful blood drawing and its side effects. Another example is leprosy, or Hansen’s disease, a chronic inflammatory syndrome and neglected tropical disease, which affects the skin, and peripheral and trigeminal neurons causing a lack of sensation to heat and cold and loss of extremities. Leprosy has horrified humans for over 2000 years, as lepers were considered unclean sinners and were subsequently drawn out of towns. This communication scrutinizes the past and the present state of saliva and leprosy to encounter possible mystery and/or wisdom in ancient healing as the mixture of “sputum and dirt” as reported in the biblical time.

Radiative forcing and feedback by forests in warm climates – a sensitivity study

The biogeophysical effect of forests in a climate with permanent high-latitude ice cover has already been investigated. We extend this analysis to warm, basically ice-free climates, and we choose the early Eocene, some 54 to 52 million years ago, as paradigm for such type of climate. We use the Max Planck Institute for Meteorology Earth System Model to evaluate the radiative forcing of forests and the feedbacks triggered by forests in early Eocene and pre-industrial climate, respectively. To isolate first-order effects, we compare idealised simulations in which all continents are covered either by dense forests or by deserts with either bright or dark soil. In comparison with desert continents covered by bright soil, forested continents warm the planet in the early Eocene climate and in the pre-industrial climate. The warming can be attributed to different feedback processes, though. The lapse-rate – water-vapour feedback is stronger in early Eocene climate than in pre-industrial climate, but strong and negative cloud-related feedbacks nearly outweigh the positive lapse-rate – water-vapour feedback in the early Eocene climate. Subsequently, global mean warming by forests is weaker in the early Eocene climate than in the pre-industrial climate. Sea-ice related feedbacks are weak in the almost ice-free climate of the early Eocene, thereby leading to a weaker high-latitude warming by forests than in the pre-industrial climate. When the land is covered with dark soils, forests cool the early Eocene climate stronger than the pre-industrial climate because the lapse-rate and water-vapour feedbacks are stronger in the early Eocene climate. Cloud-related feedbacks are equally strong in both climates. We conclude that radiative forcing by forests varies little with the climate state, while most subsequent feedbacks depend on the climate state.

Zilchogyra franzi Weyrauch, 1965 (Gastropoda: Charopidae), a minute landsnail rediscovered in Sierra de la Venatana (Southern Pampas, Argentina)

Zilchogyra franzi was described on the basis of a single specimen (holotype in Fundación Miguel Lillo: FML 1217, Fig. 1) from the Ventania mountain system (Weyrauch 1965b) and this was so far the only publication on this species. Weyrauch (1965b) described the shell and gave a brief account of the habitat, based on the information provided by the collector Dr. Herbert Franz. Franz had found Z. franzi in a ravine in Sierra de la Ventana, in a humid hollow in the rock, lined with dark soil with ferns and “bromeliads” (probably Eryngium spp., Apiaceae).

Excavation of a burnt mound at Meur, Sanday, Orkney

In early 2005 a cluster of orthostat stones was exposed by coastal erosion at Meur, Sanday, Orkney. The excavation revealed a stone trough within the centre of an open space defined by walls. It was associated with at least one compartment and a secondary corbelled cistern with an overflow drain and was surrounded by a mound of dark soil and burnt stones. This burnt mound structure, comparable with other burnt mounds in the Northern Isles, was occupied at some time between the late 2[Formula: see text] millennium and the mid 1[Formula: see text] millennium BC. The evidence from Meur and its comparison with evidence from elsewhere strongly indicates cooking as the primary function of this burnt mound. It is proposed that such cooking took the form of communal feasts that served to optimise the limited resources of the island's land holdings and so maintain social cohesion. This accords with evidence from elsewhere on Sanday for social and economic stability throughout this period.

Sowing date: The factor of yield and quality of fenugreek seed (Trigonella foenum graecum L)

Results of a two-year investigation (2005 and 2006) for the yield and quality of fenugreek seed (Trigonella foenum graecum L) obtained on the location in South Banat (around Pancevo) on marsh dark soil are presented in the paper. Fenugreek seed used in this investigation was produced in the collection of the Institute of Medicinal Plant Research "Dr Josif Pancic" in Pancevo. The effect of sowing date on yield (kg/ha) and quality of fenugreek seed (germination energy and total germination) were investigated. Sowing was carried out on seven dates, 10 days between dates of each sowing. Yield of fenugreek seed sowed on different dates differed in both years. Sowing carried out in the first two weeks in April resulted in considerably higher yield compared to sowing at the end of April and during May. The highest yield was produced in the second sowing date from April 10, then in the first (April 1) and the third sowing period (April 20). The lowest yield of fenugreek seed was recorded in sowing carried out at the end of May. Yield of fenugreek seed wasn't significantly different in study years. Earlier dates of sowing resulted in seed of better quality (better germination energy and total germination). In the second sowing date fenugreek seed obtained was of best germination energy and total germination (approx. 99%). Later sowing dates gave seed of lower quality. So, sowing carried out at the end of May resulted in seed with the lowest value of germination energy and total germination (approx. 91%).

The Indian Springs #2 Site(41BW512): A Late 18th Century Kadahadacho Settlement in Northeast Texas

The Indian Springs #2 site (41BW512) is on a high alluvial terrace or bluff edge (330 ft. amsl), overlooking the Red River floodplain and Hubbard Slough, an old channel of the river. The current channel of the river is ca. 1.6 km north of the site. The site appears to be a late 18th century Kadohadacho settlement with a small cemetery, although there is evidence in the collections known to have come from it that it was also occupied in Archaic and Early Caddo times (ca. A.D. 900-1200) as well as in the early to mid-19'h century. The site was discovered by the landowner, Mr. Julian Cranfill during earth-moving activities associated with construction of a pond. When European glass beads were noted by Mr. Cranfill on the disturbed ground surface, he began a limited excavation of the area where the beads were found, attempting to ascertain their context and what other kinds of artifacts may be associated with them. He excavated a circular area about 3-4 m in diameter along the eastern side of the bluff, on a small knoll. During this work, he documented three obvious cultural features and a dark charcoal-stained patch of burned soil that may represent remnants of a shallowly-buried burned structure. Feature I and II are burials of Caddo people, and both had European glass beads and pottery vessels placed in the grave as funerary objects. Feature III is a pit that contained butchered hog jaws; it may be associated with the later 19tb century Anglo-American farm occupation also present at the site. The Feature I burial pit was oriented east-west, and was the size of a child or subadult burial. The burial pit extended to ca. 66 em bs, and the bottom 2-5 em of the pit fill was a very dark soil. This soil is probably the product of firing episodes associated with Caddo burial ceremonies. There was a large concentration of glass beads at the eastern end of the burial, probably from necklaces of beads that were worn by the deceased. More than 3000 beads came from this area, along with a few preserved teeth, and three ceramic vessels. Feature II was a larger burial pit, probably that of an adult Caddo, oriented almost north-south. According to Mr. Cranfill, there were four ceramic vessels, more than 430 glass beads, and five triangular Fresno arrow points accompanying this individual.