More than half of the publishers listed alongside IntechOpen (18 out of 30) are Social Science and Humanities publishers. IntechOpen is an exception to this as a leader in not only Open Access content but Open Access content across all scientific disciplines, including Physical Sciences, Engineering and Technology, Health Sciences, Life Science, and Social Sciences and Humanities.
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Our breakdown of titles published demonstrates this with 47% PET, 31% HS, 18% LS, and 4% SSH books published.
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“Even though ItechOpen has shown the potential of sci-tech books using an OA approach,” other publishers “have shown little interest in OA books.”
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Additionally, each book published by IntechOpen contains original content and research findings.
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We are honored to be among such prestigious publishers and we hope to continue to spearhead that growth in our quest to promote Open Access as a true pioneer in OA book publishing.
Simba Information has released its Open Access Book Publishing 2020 - 2024 report and has again identified IntechOpen as the world’s largest Open Access book publisher by title count.
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Simba Information is a leading provider for market intelligence and forecasts in the media and publishing industry. The report, published every year, provides an overview and financial outlook for the global professional e-book publishing market.
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IntechOpen, De Gruyter, and Frontiers are the largest OA book publishers by title count, with IntechOpen coming in at first place with 5,101 OA books published, a good 1,782 titles ahead of the nearest competitor.
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Since the first Open Access Book Publishing report published in 2016, IntechOpen has held the top stop each year.
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More than half of the publishers listed alongside IntechOpen (18 out of 30) are Social Science and Humanities publishers. IntechOpen is an exception to this as a leader in not only Open Access content but Open Access content across all scientific disciplines, including Physical Sciences, Engineering and Technology, Health Sciences, Life Science, and Social Sciences and Humanities.
\n\n
Our breakdown of titles published demonstrates this with 47% PET, 31% HS, 18% LS, and 4% SSH books published.
\n\n
“Even though ItechOpen has shown the potential of sci-tech books using an OA approach,” other publishers “have shown little interest in OA books.”
\n\n
Additionally, each book published by IntechOpen contains original content and research findings.
\n\n
We are honored to be among such prestigious publishers and we hope to continue to spearhead that growth in our quest to promote Open Access as a true pioneer in OA book publishing.
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\n'}],latestNews:[{slug:"webinar-introduction-to-open-science-wednesday-18-may-1-pm-cest-20220518",title:"Webinar: Introduction to Open Science | Wednesday 18 May, 1 PM CEST"},{slug:"step-in-the-right-direction-intechopen-launches-a-portfolio-of-open-science-journals-20220414",title:"Step in the Right Direction: IntechOpen Launches a Portfolio of Open Science Journals"},{slug:"let-s-meet-at-london-book-fair-5-7-april-2022-olympia-london-20220321",title:"Let’s meet at London Book Fair, 5-7 April 2022, Olympia London"},{slug:"50-books-published-as-part-of-intechopen-and-knowledge-unlatched-ku-collaboration-20220316",title:"50 Books published as part of IntechOpen and Knowledge Unlatched (KU) Collaboration"},{slug:"intechopen-joins-the-united-nations-sustainable-development-goals-publishers-compact-20221702",title:"IntechOpen joins the United Nations Sustainable Development Goals Publishers Compact"},{slug:"intechopen-signs-exclusive-representation-agreement-with-lsr-libros-servicios-y-representaciones-s-a-de-c-v-20211123",title:"IntechOpen Signs Exclusive Representation Agreement with LSR Libros Servicios y Representaciones S.A. de C.V"},{slug:"intechopen-expands-partnership-with-research4life-20211110",title:"IntechOpen Expands Partnership with Research4Life"},{slug:"introducing-intechopen-book-series-a-new-publishing-format-for-oa-books-20210915",title:"Introducing IntechOpen Book Series - A New Publishing Format for OA Books"}]},book:{item:{type:"book",id:"10886",leadTitle:null,fullTitle:"Genetic Polymorphisms - New Insights",title:"Genetic Polymorphisms",subtitle:"New Insights",reviewType:"peer-reviewed",abstract:"This book provides a glimpse into the dynamic process of genetic polymorphism by presenting studies carried out on different kinds of organisms at the DNA level or gene expression level. Chapters address such topics as genetic polymorphism in animals, gametocyte biomarkers, thrombotic disorders, prostate cancer, and more.",isbn:"978-1-83968-811-9",printIsbn:"978-1-83968-810-2",pdfIsbn:"978-1-83968-812-6",doi:"10.5772/intechopen.95195",price:119,priceEur:129,priceUsd:155,slug:"genetic-polymorphisms-new-insights",numberOfPages:224,isOpenForSubmission:!1,isInWos:null,isInBkci:!1,hash:"a71558dd7dfd16ad140168409f887f7e",bookSignature:"Mahmut Çalışkan",publishedDate:"May 4th 2022",coverURL:"https://cdn.intechopen.com/books/images_new/10886.jpg",numberOfDownloads:795,numberOfWosCitations:0,numberOfCrossrefCitations:0,numberOfCrossrefCitationsByBook:0,numberOfDimensionsCitations:0,numberOfDimensionsCitationsByBook:0,hasAltmetrics:0,numberOfTotalCitations:0,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"March 11th 2021",dateEndSecondStepPublish:"April 8th 2021",dateEndThirdStepPublish:"June 7th 2021",dateEndFourthStepPublish:"August 26th 2021",dateEndFifthStepPublish:"October 25th 2021",currentStepOfPublishingProcess:5,indexedIn:"1,2,3,4,5,6",editedByType:"Edited by",kuFlag:!1,featuredMarkup:null,editors:[{id:"51528",title:"Prof.",name:"Mahmut",middleName:null,surname:"Çalışkan",slug:"mahmut-caliskan",fullName:"Mahmut Çalışkan",profilePictureURL:"https://mts.intechopen.com/storage/users/51528/images/system/51528.png",biography:"Mahmut Çalışkan is a Professor of Genetics and Molecular Biology in the Department of Biology, Biotechnology Division, Istanbul University, Turkey. He obtained a BSc from Middle East Technical University, Ankara, and a Ph.D. from the University of Leeds, England. His main research areas include the role of germin gene products during early plant development, analysis of genetic variation, polymorphisms, and the characterization and biotechnological use of halophilic archaea.",institutionString:"Istanbul University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"1",totalChapterViews:"0",totalEditedBooks:"8",institution:{name:"Istanbul University",institutionURL:null,country:{name:"Turkey"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,coeditorOne:null,coeditorTwo:null,coeditorThree:null,coeditorFour:null,coeditorFive:null,topics:[{id:"61",title:"Population Genetics",slug:"biochemistry-genetics-and-molecular-biology-population-genetics"}],chapters:[{id:"78200",title:"Genetic Polymorphism in Animals",doi:"10.5772/intechopen.99423",slug:"genetic-polymorphism-in-animals",totalDownloads:46,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Biological diversity is the variability among living organisms from all sources of nature. Genetic polymorphism study support a lot when any economically important particular species is taken into consideration. The knowledge of genetic background of a species and its population structure is very essential for their successful conservation and management. Molecular techniques have been supporting in the determination of population diversity and also to determine the genetic architecture of a wide variety of closely related individuals. Molecular techniques based on DNA polymorphism are now used in population genetic studies, systematic and molecular taxonomy. This chapter will provide information on genetic diversity of various economically important species such as protozoa, worms, insects, pearl oyster, fishes and birds. The study of genetic variations in economically important species has practical significance for developing strategies to control the disease, to improve reproductive traits, yield more beneficiary products like honey, silk, pearl, manure, etc. Since there are some data gaps, most suitable and promising technology must be used to elucidate the role of every single gene involved in the pathways to be studied in order to apply for more benefit to the society.",signatures:"Subodh Kumar Jain, Shweta Yadav and Sapna Sedha",downloadPdfUrl:"/chapter/pdf-download/78200",previewPdfUrl:"/chapter/pdf-preview/78200",authors:[{id:"302640",title:"Dr.",name:"Subodh Kumar",surname:"Jain",slug:"subodh-kumar-jain",fullName:"Subodh Kumar Jain"},{id:"309434",title:"Dr.",name:"Sapna",surname:"Sedha",slug:"sapna-sedha",fullName:"Sapna Sedha"},{id:"421904",title:"Prof.",name:"Shweta",surname:"Yadav",slug:"shweta-yadav",fullName:"Shweta Yadav"}],corrections:null},{id:"78331",title:"From Genes to Biomarkers: Understanding the Biology of Malaria Gametocytes and Their Detection",doi:"10.5772/intechopen.99364",slug:"from-genes-to-biomarkers-understanding-the-biology-of-malaria-gametocytes-and-their-detection",totalDownloads:130,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:1,abstract:"Each year, approximately 230 million malaria cases and 400,00 malaria deaths are reported worldwide. Malaria is a life-threatening disease caused by Plasmodium parasites that are transmitted from one individual to another through the bites of infected female Anopheles mosquitoes. Malaria parasites replicate asexually in the human host, and, in each replication cycle, a portion of the asexual stages develops into sexual gametocytes that permit transmission. The proportion of infections that carries gametocytes and the infectivity of gametocytes are indicators of human-to-mosquito transmission potential. In P. falciparum, gametocytes appear 10–14 days after infection, whereas in P. vivax gametocytes appear simultaneously with asexual schizonts. Such difference in development not only increases the length of time that an individual is infectious, but also increases the likelihood of transmission before treatment. The conversion from asexual parasites to gametocytes is also highly variable between infections. Differences in age, host immune response, parasite genetic composition, density of red blood cells, presence of co-infecting parasite strains, and antimalarial drug use could affect gametocytes production. In P. vivax, the unique ability to produce hypnozoites, a dormant liver stage of the parasite, may allow gametocytes to be produced periodically from relapse and contribute to transmission. In this chapter, we will provide an overview of the biology of Plasmodium gametocytes, existing tools for gametocyte detection, and features of gametocyte genes. The biological insights and genetic findings are essential to developing better detection biomarkers and effective strategies to reduce transmission in malaria-endemic countries.",signatures:"Daniel Kepple, Anthony Ford, Ebony Little, Gabrielle Kolesar, Beka R. Abagero, Ashley N. Blackwell, Swarnapali De Silva Indrasekara, Delenasaw Yewhalaw and Eugenia Lo",downloadPdfUrl:"/chapter/pdf-download/78331",previewPdfUrl:"/chapter/pdf-preview/78331",authors:[{id:"175958",title:"Dr.",name:"Delenasaw",surname:"Yewhalaw",slug:"delenasaw-yewhalaw",fullName:"Delenasaw Yewhalaw"},{id:"334185",title:"Dr.",name:"Eugenia",surname:"Lo",slug:"eugenia-lo",fullName:"Eugenia Lo"},{id:"355913",title:"B.Sc.",name:"Daniel",surname:"Kepple",slug:"daniel-kepple",fullName:"Daniel Kepple"},{id:"424861",title:"MSc.",name:"Anthony",surname:"Ford",slug:"anthony-ford",fullName:"Anthony Ford"},{id:"424862",title:"Ms.",name:"Ebony",surname:"Little",slug:"ebony-little",fullName:"Ebony Little"},{id:"424863",title:"Ms.",name:"Gabrielle",surname:"Kolesar",slug:"gabrielle-kolesar",fullName:"Gabrielle Kolesar"},{id:"424864",title:"MSc.",name:"Beka R.",surname:"Abagero",slug:"beka-r.-abagero",fullName:"Beka R. Abagero"},{id:"424865",title:"Ms.",name:"Ashley N.",surname:"Blackwell",slug:"ashley-n.-blackwell",fullName:"Ashley N. Blackwell"},{id:"424866",title:"Dr.",name:"Swarnapali",surname:"De Silva Indrasekara",slug:"swarnapali-de-silva-indrasekara",fullName:"Swarnapali De Silva Indrasekara"}],corrections:null},{id:"77598",title:"Thrombosis-Related DNA Polymorphisms",doi:"10.5772/intechopen.98728",slug:"thrombosis-related-dna-polymorphisms",totalDownloads:30,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Venous and arterial thrombosis are complex disorders involving several genetic inherited thrombotic and environmental risk factors as well as many mechanistic pathways including those of hemostatic, inflammatory and oxidative homeostasis. To provide an overview of genetic polymorphisms associated with thrombotic disorders, we studied related pathways and mechanisms of venous and arterial thrombosis along with their genetic polymorphisms in association with their clinical significance. We considered classical polymorphisms in the coagulation pathway factors, particularly the thrombophilia predisposition factors: Factor V, Prothrombin and MTHFR as well as PROC, PROS and antithrombin III. Other known and novel genetic polymorphisms having an impact on the pathogenesis of and the susceptibility to venous and/or arterial thrombotic disorders, in particular those involving inflammatory, immune and oxidant/antioxidant/redox signaling systems, were reviewed.",signatures:"Nouha Bouayed Abdelmoula and Balkiss Abdelmoula",downloadPdfUrl:"/chapter/pdf-download/77598",previewPdfUrl:"/chapter/pdf-preview/77598",authors:[{id:"357263",title:"Prof.",name:"Nouha",surname:"Bouayed Abdelmoula",slug:"nouha-bouayed-abdelmoula",fullName:"Nouha Bouayed Abdelmoula"},{id:"421630",title:"Dr.",name:"Balkiss",surname:"Abdelmoula",slug:"balkiss-abdelmoula",fullName:"Balkiss Abdelmoula"}],corrections:null},{id:"79804",title:"Cytokine Gene Polymorphism and Cancer Risk: A Promising Tool for Individual Susceptibility and Prognostic Implications",doi:"10.5772/intechopen.99363",slug:"cytokine-gene-polymorphism-and-cancer-risk-a-promising-tool-for-individual-susceptibility-and-progno",totalDownloads:94,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Cytokines are potent molecules produced mainly by specific activated immune cells to control inflammatory responses besides other biologic processes. Although active participation of cytokines provides defense against carcinogenesis on the other hand, deregulation at the genetic level influences their activity to promote tumor development. Among many aspects, constitutional polymorphic sequence variations are key factors that derange the cytokine expression to lead an individual’s propensity to risk for different cancers. Cytokine polymorphisms are now believed to alter these critical molecules that have a dual face in carcinogenesis as, when implicated in the activation of the immune response, these molecules check the cancer development while their persistent inflammatory reaction can envisage the development of malignancy and tumor growth. We have given ample evidence of case-control studies in a range of cancers where substantial evidence, as reported in this chapter, links polymorphism of cytokine gene susceptibility with numerous cancers. Cytokine gene polymorphism is vital to be significant bimolecular genetic determinants of susceptibility and prognosis of cancer. A strong need is felt for more case-control association studies in cytokine candidate genes involved in specific pathways for particular cancer in bigger powered sample sizes involving additional variables to disclose their factual risk for cancer.",signatures:"Arshad A. Pandith, Ina Bhat, Sheikh Mansoor, Aabid Koul, Usma Manzoor, Iqra Anwar, Fozia Mohammad, Qurat Ul Aein, Shahid M. Baba and Carmen Vladulescu",downloadPdfUrl:"/chapter/pdf-download/79804",previewPdfUrl:"/chapter/pdf-preview/79804",authors:[{id:"355682",title:"Dr.",name:"Arshad A",surname:"Pandith",slug:"arshad-a-pandith",fullName:"Arshad A Pandith"},{id:"357295",title:"Mr.",name:"Aabid",surname:"Koul",slug:"aabid-koul",fullName:"Aabid Koul"},{id:"357296",title:"Dr.",name:"Sheikh",surname:"Mansoor",slug:"sheikh-mansoor",fullName:"Sheikh Mansoor"},{id:"357297",title:"Ms.",name:"Usma",surname:"Manzoor",slug:"usma-manzoor",fullName:"Usma Manzoor"},{id:"357298",title:"Ms.",name:"Ina",surname:"Bhat",slug:"ina-bhat",fullName:"Ina Bhat"},{id:"357299",title:"Ms.",name:"Fozia",surname:"Mohammad",slug:"fozia-mohammad",fullName:"Fozia Mohammad"},{id:"357301",title:"Ms.",name:"Iqra",surname:"Anwar",slug:"iqra-anwar",fullName:"Iqra Anwar"},{id:"420302",title:"Ms.",name:"Qurat",surname:"Ul Aein",slug:"qurat-ul-aein",fullName:"Qurat Ul Aein"},{id:"438275",title:"Dr.",name:"Carmen",surname:"Vladulescu",slug:"carmen-vladulescu",fullName:"Carmen Vladulescu"},{id:"469095",title:"Dr.",name:"Shahid M.",surname:"Baba",slug:"shahid-m.-baba",fullName:"Shahid M. Baba"}],corrections:null},{id:"78095",title:"Genetic Polymorphism and Prostate Cancer: An Update",doi:"10.5772/intechopen.99483",slug:"genetic-polymorphism-and-prostate-cancer-an-update",totalDownloads:112,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Genetic polymorphism and prostate cancer (PC) are the most pernicious and recurrently malignancy worldwide. It is the most dominating cause of cancer related casualty among men in the US. Asian countries are inflicted with PC at an alarming rate though still the prevalence of PC is lower than European and American men. Some of the genetic and environmental factors that might play a role in PC risk include: age genetic predilection, family history, race/ethnicity, lifestyle, and dietary habits and non-dietary environmental risk factors such as smoking. Socio-economic factors including economic, scholastic and intellectual factors do not, intrinsically seem to straight away influence the risk of acquiring PC. Other genetic changes that may support an increased risk of developing PC include HPC1, HPC2, HPCX, CAPB, ATM,s HOXB13 and mismatch repair genes. PC occurrence rates are highly variable. Almost all PC mortalities are due to metastatic disease, generally through tumors the progress to be hormone refractory or castrate resistant. PC, developing research has acknowledged a number of candidate genes and biological pathways associated with PC. Indirect pathways such as P13K/AKT signaling pathway is one of most well known alternate pathway in PC Vascular endothelial growth factor (VEGF) is widely known to be potent stimulator of angiogenesis. The over expression of EGFR in a very large majority of cases is accompanied by the succession of PC, implying that this may play a mechanistic role. Numerous occupational factors have been proposed to cause PC. Some of the risk factors include; farmers/agricultural workers, pesticides, shift work and flight personnel. PC treatment can be done through surgery, radical prostatectomy is the main type of surgery. Risks of injury are many – reactions to anesthesia, loss of blood, blood clumps in the legs/lungs, injury to surrounding organs, infection at the site of surgery and many more. The other treatments are hormone therapy, chemotherapy and radio therapy chemotherapy. Chemotherapeutic drugs are typically used one at a time for PC such as transurethral resection of prostate (TURP). Some of the chemotherapeutic drugs are Docetaxel, Cabazitaxel, Mitoxantrone and Estramustine. Among the score of biomarkers being studied, numerous markers and techniques deserve awareness and acceptability for both patients and urologists in clinical practice.",signatures:"Surayya Siddiqui, Sridevi I. Puranik, Aimen Akbar and Shridhar C. Ghagane",downloadPdfUrl:"/chapter/pdf-download/78095",previewPdfUrl:"/chapter/pdf-preview/78095",authors:[{id:"227286",title:"Dr.",name:"Shridhar C.",surname:"Ghagane",slug:"shridhar-c.-ghagane",fullName:"Shridhar C. Ghagane"},{id:"328244",title:"Dr.",name:"Sridevi I.",surname:"Puranik",slug:"sridevi-i.-puranik",fullName:"Sridevi I. Puranik"},{id:"419378",title:"Ms.",name:"Aimen",surname:"Akbar",slug:"aimen-akbar",fullName:"Aimen Akbar"},{id:"419396",title:"Ms.",name:"Surayya",surname:"Siddiqui",slug:"surayya-siddiqui",fullName:"Surayya Siddiqui"}],corrections:null},{id:"78188",title:"HER2Ile655Val Polymorphism and Risk of Breast Cancer",doi:"10.5772/intechopen.99482",slug:"her2-em-sup-ile655val-sup-em-polymorphism-and-risk-of-breast-cancer",totalDownloads:102,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"HER2 plays a vital role in the development and progression of several types of human cancer, so the HER2 becomes one of major targets for HER2-positive breast cancer treatment. Several reports have shown that the HER2 oncogene expression relates to clinicopathological factors in cancer patients. HER2Ile655Val single nucleotide polymorphism associates with malignant tumors, including prostate cancer, colorectal cancer, osteosarcoma, gastric cancer, uterine cervical carcinoma, fibroadenoma, and breast cancer. To understand the precise association, this chapter was described to estimate the association between HER2Ile655Val single nucleotide polymorphism and susceptibility to breast cancer. Our findings suggest that the Val allele in HER2 codon 655 single nucleotide polymorphism is strongly associated with the risk of breast cancer. HER2Ile655Val single nucleotide polymorphism might also be a susceptibility factor that favors early-onset breast cancer.",signatures:"Tung Nguyen-Thanh, Thong Ba Nguyen and Thuan Dang-Cong",downloadPdfUrl:"/chapter/pdf-download/78188",previewPdfUrl:"/chapter/pdf-preview/78188",authors:[{id:"340643",title:"Dr.",name:"Thuan",surname:"Dang-Cong",slug:"thuan-dang-cong",fullName:"Thuan Dang-Cong"},{id:"348281",title:"Dr.",name:"Tung",surname:"Nguyen-Thanh",slug:"tung-nguyen-thanh",fullName:"Tung Nguyen-Thanh"},{id:"426404",title:"Dr.",name:"Thong",surname:"Ba-Nguyen",slug:"thong-ba-nguyen",fullName:"Thong Ba-Nguyen"}],corrections:null},{id:"78433",title:"Human Genetic Polymorphisms Associated with Susceptibility to COVID-19 Infection and Response to Treatment",doi:"10.5772/intechopen.99877",slug:"human-genetic-polymorphisms-associated-with-susceptibility-to-covid-19-infection-and-response-to-tre",totalDownloads:98,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Clinicians and researchers observing the natural history of endemic and epidemic infections have always been fascinated by the vagaries of these diseases, in terms of both the changing nature of the disease severity and phenotype over time and the variable susceptibility of hosts within exposed populations. SARS-CoV-2, the virus that causes COVID-19 and is believed to originate from bats, quickly transformed into a global pandemic. The pandemic of the novel severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) has been posing great threats to the global health in many aspects. Currently, there are no proven effective vaccines or therapeutic agents against the virus. Comprehensive understanding of the biology of SARS-CoV-2 and its interaction with hosts is fundamentally important in the fight against SARS-CoV-2. Advanced age, male sex, and comorbidities such as hypertension and cardiovascular disease as well as diabetes and obesity have been identified as risk factors for more severe COVID-19. However, which and to what extent specific genetic factors may account for the predisposition of individuals to develop severe disease or to contract the infection remains elusive. The increasing availability of data from COVID-19 patient populations is allowing for potential associations to be established between specific gene loci and disease severity, susceptibility to infection, and response to current/future drugs.",signatures:"Necla Benlier, Nevhiz Gundogdu and Mehtap Ozkur",downloadPdfUrl:"/chapter/pdf-download/78433",previewPdfUrl:"/chapter/pdf-preview/78433",authors:[{id:"355315",title:"Associate Prof.",name:"Necla",surname:"Benlier",slug:"necla-benlier",fullName:"Necla Benlier"},{id:"355871",title:"Prof.",name:"Mehtap",surname:"Ozkur",slug:"mehtap-ozkur",fullName:"Mehtap Ozkur"},{id:"355872",title:"Dr.",name:"Nevhiz",surname:"Gundogdu",slug:"nevhiz-gundogdu",fullName:"Nevhiz Gundogdu"}],corrections:null},{id:"77721",title:"Characterization, Comparative, and Phylogenetic Analyses of Retrotransposons in Diverse Plant Genomes",doi:"10.5772/intechopen.99074",slug:"characterization-comparative-and-phylogenetic-analyses-of-retrotransposons-in-diverse-plant-genomes",totalDownloads:137,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Retrotransposons are transposable elements that use reverse transcriptase as an intermediate to copy and paste themselves into a genome via transcription. The presence of retrotransposons is ubiquitous in the genomes of eukaryotic organisms. This study analyzed the structures and determined the comparative distributions and relatedness of retrotransposons across diverse orders (34) and families (58) of kingdom Plantae. In silico analyses were conducted on 134 plant retrotransposon sequences using ClustalW, EMBOSS Transeq, Motif Finder, and MEGA X. So far, the analysis of these plant retrotransposons showed a significant genomic relationship among bryophytes and angiosperms (216), bryophytes and gymnosperms (75), pteridophytes and angiosperms (35), pteridophytes and gymnosperms (28), and gymnosperms and angiosperms (70). There were 13 homologous plant retrotransposons, 30 conserved domains, motifs (reverse transcriptase, integrase, and gag domains), and nine significant phylogenetic lineages identified. This study provided comprehensive information on the structures, motifs, domains, and phylogenetic relationships of retrotransposons across diverse orders and families of kingdom Plantae. The ubiquitousness of retrotransposons across diverse taxa makes it an excellent molecular marker to better understand the complexity and dynamics of plant genomes.",signatures:"Aloysius Brown, Orlex B. Yllano, Leilani D. Arce, Ephraim A. Evangelista, Ferdinand A. Esplana, Lester Harris R. Catolico and Merbeth Christine L. Pedro",downloadPdfUrl:"/chapter/pdf-download/77721",previewPdfUrl:"/chapter/pdf-preview/77721",authors:[{id:"414099",title:"Prof.",name:"Orlex B.",surname:"Yllano",slug:"orlex-b.-yllano",fullName:"Orlex B. Yllano"},{id:"418530",title:"Mr.",name:"Aloysius",surname:"Brown",slug:"aloysius-brown",fullName:"Aloysius Brown"},{id:"421987",title:"Ph.D. Student",name:"Leilani D.",surname:"Arce",slug:"leilani-d.-arce",fullName:"Leilani D. Arce"},{id:"421989",title:"Mr.",name:"Epharaim A.",surname:"Evangelista",slug:"epharaim-a.-evangelista",fullName:"Epharaim A. Evangelista"},{id:"421990",title:"Mr.",name:"Ferdinand A.",surname:"Esplana",slug:"ferdinand-a.-esplana",fullName:"Ferdinand A. Esplana"},{id:"421991",title:"Mr.",name:"Lester",surname:"Harris R. Catolico",slug:"lester-harris-r.-catolico",fullName:"Lester Harris R. Catolico"},{id:"421992",title:"Ms.",name:"Merbeth",surname:"Christine L. Pedro",slug:"merbeth-christine-l.-pedro",fullName:"Merbeth Christine L. Pedro"}],corrections:null},{id:"81165",title:"Sex Determination",doi:"10.5772/intechopen.98537",slug:"sex-determination",totalDownloads:50,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"A wide array of sex determination mechanisms, encompassing genetic and non-genetic pathways (i.e., hormonal, environmental, and epigenetic factors), have been found among different organisms. The presence of two complementary sexes, male and female, is an ancient feature in biology. Triggering the differentiation of male and female reproductive organs is a conserved ontogenic process, and sex determination is an inherently fascinating process. Sex determination is dependent on molecular signaling whether the male and the female differentiating pathway is activated, and different triggering elements such as genetic, non-genetic, and epigenetic factors control the whole process. This chapter describes various aspects of sex determination, such as historical development, the evolution of sex chromosomes, and different sex determination systems in other organisms.",signatures:"Rakesh Choudhary, Subhash Chand, Tejveer Singh, Rajesh K. Singhal, Vinay K. 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\n\t\t\t
1. Introduction
\n\t\t\t
Bismuth ferrite (BiFeO3) is one of the most promising lead-free ferroelectric materials. Both bulk and thin film forms have been investigated and found a remarkably large ferroelectric polarization as well as G-type antiferromagnetism, often called it as multiferroics having ferroelectricity, magnetism, and ferroelasticity. There are several thin film fabrication methods including pulsed laser deposition, metal organic chemical vapour deposition, sputtering, and chemical solution deposition for this material. In this chapter, we describe the basic property of BiFeO3 and the general outline of chemical solution deposition.
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1.1. Crystal structure of BiFeO3\n\t\t\t\t
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Bulk BiFeO3 shows a rhombohedral symmetry (point group R3c) with lattice parameters of a = 0.396 nm and α = 89.6° at room temperature (RT). Its transition temperature was investigated by Roginskaya et al. and a structural change showed at around 1100 K (Roginskaya et al., 1963). A detailed crystalline structure above the transition temperature has been investigated by Palai et al.. They reported that the transition temperature from rhombohedral to orthorhombic symmetry was at around 1100 K as well as orthorhombic to cubic symmetry at around 1200 K (Palai et al., 2008).
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1.2. Electrical property of BiFeO3\n\t\t\t\t
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Rhombohedral BiFeO3 has a ferroelectric polarization along [111]. Polarization of the single crystal was measured and showed small polarizations of 6.1 μC/cm2 along [111] and 3.5 μC/cm2 along [100] at 80 K (Teague et al., 1970). These small polarizations are regarded as low sample-quality now. Recent reports showed saturated polarizations of ~60 μC/cm2 with single crystals as well as ~40 μC/cm2 with ceramics measured at RT (Lebeugle et al., 2007; Shvartsman et al., 2007).
\n\t\t\t\t
Recent study has also been focused on BiFeO3 thin films. A saturated polarization of 55 μC/cm2 along [001] was reported from epitaxial films on SrRuO3/SrTiO3 (001) substrates measured at RT (Wang et al., 2003; Li et al., 2004). Films also showed ferroelectric polarizations of 80 μC/cm2 on SrTiO3 (110) and 100 μC/cm2 on SrTiO3 (111), having an equivalent relationship between √3P\n\t\t\t\t\t(001), √2P\n\t\t\t\t\t(101), and P\n\t\t\t\t\t(111) (Li et al., 2004). Moreover, a giant ferroelectric polarization beyond 150 μC/cm2 has been reported from polycrystalline BiFeO3 thin films with a tetragonal structure measured at 80 K (Yun et al., 2004). Recent theoretical calculation showed a polarization of about 100 μC/cm2 in a rhombohedral structure as well as about 150 μC/cm2 in a tetragonal structure. These values showed a good agreement with the experimental ones (Ederer et al., 2006; Ricinschi et al., 2006).
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1.3. General outline of chemical solution deposition
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Chemical solution deposition (CSD) is one of the thin film fabrication methods, and it includes spin-coating, drying and annealing processes. Precursor solution is deposited onto a substrate by a spin-coating process. After the spin-coating process, a film dying process is carried out to evaporate the solvent and decompose metal-organic compounds in the precursor. An amorphous film is obtained at this stage. These processes are repeated several times to obtain a desired film thickness. For the film crystallization, an annealing process is carried out. It is usually carried out by a rapid thermal annealing (RTA) equipment to crystallize and densify the film. Higher heating rate usually decomposes metal organic compounds quickly and then desired oxide films with a higher density can be obtained (Schwartz, 1997).
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There are some advantages for CSD; (i) uniformity of the molecules in precursor solutions and thin films, (ii) control of the film thickness by changing the solution concentration or the coating speed, (iii) control of the composition ratio by mixing solutions, (iv) film fabrication in ambient pressure, (v) synthesis of a non-equilibrium phase by the low-temperature process. However, there are some disadvantages for this method; (i) possibility of cracks in a film fabrication process, (ii) contamination which results in a difficulty of the manufacturing process, (iii) films with low-coherency comparing with other thin film fabrication methods such as pulsed laser deposition, chemical vapor deposition, and molecular beam epitaxy.
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1.4. Precursor solutions for BiFeO3\n\t\t\t\t
\n\t\t\t\t
Precursor solutions for the CSD method are distinctly important. They consist of metal organic compounds and solvent which determine process parameters such as drying and annealing temperatures, film thickness per one spin-coating process, and coating affinity to the substrates. In this chapter, BiFeO3 thin films were prepared by CSD with precursor solutions using 2-ethylhexanoate bismuth [Bi(OCO(CH)(C2H5)C4H9)3] and trisacetylacetonato iron [Fe(C5H7O2)3] as metal organic materials, and toluene as a solvent.
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2. Ferroelectric property of BiFeO3 thin films prepared by CSD with controlling Bi/Fe ratio in the precursor solution
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In this section, we demonstrate the BiFeO3 thin film growth with controlling Bi/Fe ratio of the precursor solutions. Composition ratio affects the crystal growth and the electric property of the films. We obtain both good crystallinity and ferroelectric polarization of 85 μC/cm2 with films using 10 mol% Bi-excess solution (\n\t\t\t\t\tNakamura et al., 2007\n\t\t\t\t; Nakamura et al., 2008).
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2.1. Film preparation by CSD with controlling Bi/Fe ratio
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BiFeO3 thin films were deposited on a Pt (200 nm)/TiO2 (40 nm)/SiO2 (600 nm)/Si substrate by CSD using precursor solutions of different Bi/Fe ratios: 10 mol% Fe-excess (10%Fe-ex.), stoichiometric, 5 mol% Bi-excess (5%Bi-ex.), 10 mol% Bi-excess (10%Bi-ex.), and 20 mol% Bi-excess (20%Bi-ex.). The precursor solution was spin-coated at 3000 rpm for 30 s and dried at 250°C for 5 min in air. These processes were repeated 20 times to obtain a film thickness of 250 nm. Then the films were annealed at 450 °C for 15 min in nitrogen atmosphere using the RTA equipment. For electrical measurement, Pt top electrodes with a diameter of 190 μm and a thickness of 100 nm were formed on the films by rf sputtering at RT. We confirmed by inductively coupled plasma (ICP) analysis that the composition ratios of BiFeO3 thin films were the same as the precursor solutions.
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2.2. Crystal structure
\n\t\t\t\t
\n\t\t\t\t\tFigure 1 shows θ–2θ scans of the XRD patterns of the BiFeO3 thin films with different Bi/Fe ratios. All the films show polycrystalline perovskite phase mainly. However, the 10%Fe-ex. BiFeO3 film has small amount of a Bi2Fe4O9 phase and the 20%Bi-ex. film shows a Bi2O3 phase. This indicates that excessive Fe or Bi compounds in the precursor solution tend to form impurity phase. Comparing the peak intensities corresponding to the (010) and (110) planes, the 10%Bi-ex. and 20%Bi-ex. films show higher diffraction intensities, indicating that they are crystallized well. This result suggests that Bi compounds in the precursor solution contribute the promotion of the film crystallization but that 5 mol% excess Bi is insufficient for the crystallization of such films.
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2.3. Surface texture and raman spectrum
\n\t\t\t\t
\n\t\t\t\t\tFigures 2(a-e) show the atomic force microscope (AFM) images of BiFeO3 films taken in a 20 × 20 μm2 area. All the BiFeO3 thin films show a rosette structure, which consists of circular regions with an uneven texture and outer regions with a flat surface. These structures were also reported in PbZrO3 thin films prepared by the sol–gel method (Alkoy et al., 2005). Table I shows the percentages of circular regions, RMS roughnesses and total boundary lengths surrounding the circular regions evaluated from Figs. 2(a-e). As can be seen in Table I, the percentage of circular region and RMS roughness tend to increase with an increase in Bi/Fe ratio. On the other hand, the total boundary length is ~200 μm and seems to have no systematic dependence.
\n\t\t\t\t
Figure 1.
XRD θ–2θ patterns of BiFeO3 thin films prepared using 10 mol%Fe-excess (10%Fe-ex.), stoichiometric, 5 mol% Bi-excess (5%Bi-ex.), 10 mol% Bi-excess (10%Bi-ex.), and 20 mol% Bi-excess (20%Bi-ex.) precursor solutions.
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\n\t\t\t\t\tFigure 3(a) shows an AFM image of the 10%Bi-ex. BiFeO3 thin film with white circles marking the measurement location of Raman spectroscopy. A laser with a 0.7 μm spot size and an excitation wavelength of 515 nm was applied to the film surface labelled ”Circular region” and “Outer region” in Fig. 3(a). Figure 3(b) shows the Raman spectra measured at RT in each measurement location shown in Fig. 3(a). The spectrum measured in BiFeO3 ceramic is also shown as a reference. As shown in Fig. 3(b), the spectrum measured in the circular region is almost similar to that of BiFeO3 ceramic consisting of polycrystalline grains. On the other hand, the spectrum measured in the outer region has a broad shape, found frequently in amorphous materials, and is different from that of BiFeO3 ceramic.
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Figure 2.
× 20 μm2 surface AFM images for the BiFeO3 films of (a) 10%Fe-ex., (b) stoichiometric, (c) 5%Bi-ex., (d) 10%Bi-ex., and (e) 20%Bi-ex.. Each film shows a rosette structure, which consists of circular regions and outer regions.
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Sample
\n\t\t\t\t\t\t\t
Circular region area (%)
\n\t\t\t\t\t\t\t
RMS roughness (nm)
\n\t\t\t\t\t\t\t
Boundary length (mm)
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
10%Fe-ex.
\n\t\t\t\t\t\t\t
46.0
\n\t\t\t\t\t\t\t
3.6
\n\t\t\t\t\t\t\t
238
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
Stoichiometric
\n\t\t\t\t\t\t\t
48.1
\n\t\t\t\t\t\t\t
5.1
\n\t\t\t\t\t\t\t
225
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
5%Bi-ex.
\n\t\t\t\t\t\t\t
41.1
\n\t\t\t\t\t\t\t
5.6
\n\t\t\t\t\t\t\t
196
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
10%Bi-ex.
\n\t\t\t\t\t\t\t
85.9
\n\t\t\t\t\t\t\t
4.8
\n\t\t\t\t\t\t\t
165
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
20%Bi-ex.
\n\t\t\t\t\t\t\t
53.7
\n\t\t\t\t\t\t\t
6.8
\n\t\t\t\t\t\t\t
208
\n\t\t\t\t\t\t
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Table 1.
Circular region areas, RMS roughnesses, and boundary lengths for all samples.
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The same results are also obtained in BiFeO3 thin films prepared using the other precursor solutions with different Bi/Fe ratios. These results indicate that the circular regions have a BiFeO3 crystalline phase, while the outer regions have an amorphous BiFeO3 phase. Moreover, it can be considered that each phase exists from the top to the bottom of the film in a vertical direction because the excitation can sufficiently penetrate up to the bottom of the film. Consequently, the BiFeO3 thin films of 10%Bi-ex. and 20%Bi-ex. have more circular regions and show good crystallinity, as shown in Fig. 1. This tendency is also observed in the Pb(Zr,Ti)O3 (PZT) thin film prepared by the sol–gel method. Excessive Pb compounds in the precursor solution promote the formation of PZT and lead to show more circular regions (Alkoy et al., 2005). From Figs. 1 and 2, however, the 20%Bi-ex. film shows a Bi2O3 phase, and the area of circular regions does not seem to increase so much compared with that in the 10%Bi-ex. film. This result suggests that excessive Bi compounds in the precursor solution are more reactive, thereby they promote the formation of BiFeO3. However, the major amount of Bi compounds tends to form Bi2O3 as well as BiFeO3, therefore the circular region does not seem to increase so much.
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2.4. Ferroelectric property
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\n\t\t\t\t\tFigure 4(a) shows the leakage current density versus electric field (J–E) property of the BiFeO3 thin films measured at RT. A comparatively larger leakage current is obtained in the films that contain more Bi. Figure 4(b) shows P–E hysteresis loops of the BiFeO3 thin film measured at RT with a scanning frequency of 20 kHz. The 10%Bi-ex. BiFeO3 thin film shows more squareness in hysteresis loop than the other films. The remanent polarizations (P\n\t\t\t\t\tr) for the maximum applied electric field of 1.2 MV/cm are 30, 38, 28, 85, and 53 μC/cm2 for the films of 10%Fe-ex., stoichiometric, 5%Bi-ex., 10%Bi-ex., and 20% Bi-ex., respectively.
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Figure 4.
a) J–E characteristics of BiFeO3 thin films measured at RT. (b) P–E hysteresis loops measured at RT.
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Figure 5.
Leakage current of BiFeO3 thin films at 240 kV/cm as function of (a) amount of excess Bi, (b) percentage of circular region area, (c) RMS roughness, and (d) boundary length.
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Figure 6.
Remanent polarization of BiFeO3 thin films as function of (a) amount of excess Bi and (b) percentage of circular region area.
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2.5. Relationship between surface texture and ferroelectricity
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To investigate the influences of the surface texture and Bi/Fe ratio on the leakage current of BiFeO3 thin films, we consider the amount of excess Bi, percentage of circular region area, RMS roughness, and boundary length at the surface between crystal and amorphous phases, as shown in Table I. Figures 5(a-d) show the leakage current measured at 240 kV/cm versus (a) amount of excess Bi, (b) circular region area, (c) RMS roughness, and (d) boundary length. As shown in Figs. 5(a-c), leakage current tends to exponentially increase with an increase in the amount of excess Bi, circular region area, and RMS roughness although some scattering of the data is observed in Fig. 5(c). On the other hand, the length between the circular regions and the outer regions does not seem to affect the leakage current as shown in Fig. 5(d). These results suggest that the BiFeO3 thin film prepared using the Bi excess precursor solution tends to have more circular regions that have BiFeO3 crystals and to have a larger RMS roughness. From these leakage trends, leakage current mainly passes through circular regions consisting of crystalline BiFeO3 rather than through outer amorphous region, and that current is increased by a rough surface. We further investigate the influences of the surface texture and Bi/Fe ratio on the ferroelectric polarization of BiFeO3 thin films. We plot the amount of excess Bi and percentage of circular region area that has BiFeO3 crystals, as shown in Fig. 3(b). Figures 6(a) and 6(b) show the remanent polarization measured at RT versus (a) amount of excess Bi and (b) circular region area. The remanent polarization increases with an increase in Bi ratio below the 10%Bi-ex. BiFeO3 film. However, the 20%Bi-ex. film decreases its remanent polarization because of the mixed phase of BiFeO3 and Bi2O3. As shown in Fig. 6(b), the remanent polarization linearly increases with an increase in the percentage of the circular region area. From the extrapolated line in Fig. 6(b), fully crystallized BiFeO3 thin films are expected to show 100 μC/cm2. According to leakage and polarization plots in Fig. 5 and Fig. 6, a 10 mol% Bi-excess solution gives BiFeO3 thin films the best ferroelectric property with more circular regions.
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3. Insertion effect of Bi-excess layer on BiFeO3 thin films
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In section 2, Bi-excess solution, or precursor solution with excessive Bi compounds, promotes film crystallization, leading to a good ferroelectricity. In this section, we demonstrate the insertion effect of Bi-excess layer to the stoichiometric BiFeO3 thin films to improve the crystal growth and ferroelectricity of the films (\n\t\t\t\t\tNakamura et al., 2007\n\t\t\t\t; Nakamura et al., 2008).
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3.1. Insertion effect
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Insertion effect, inserting Bi-excess BiFeO3 layer to the film, is aiming to promote the crystal growth of the film and to obtain a good ferroelectricity. There are some reports that ferroelectric thin films prepared by CSD show a non-crystalline layer at the interface between the thin film and the electrode. Such a layer is reported as an interfacial layer which degrades the ferroelectric property of the film (Grossmann et al., 2002). These reports suggest that the low crystallinity part is concentrated at the interface between the film and the electrode. To improve the low crystallinity part, an insertion layer promoting crystal growth will be effective.
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In our BiFeO3 thin films, a thin film with stoichiometric solution shows low crystallinity with a small polarization, and a film with 10 mol% Bi-excess solution shows high crystallinity and a large polarization. Thus an insertion layer with 10 mol% Bi-excess solution is expected to be effective. To investigate the insertion effect of Bi-excess layers, three types of thin films were prepared on Pt/TiO2/SiO2/Si substrates, as shown in Fig. 7: stoichiometric BiFeO3 thin film with Bi-excess top layer (Bi-T), bottom layer (Bi-B), and top and bottom layer (Bi-TB). Then the films were annealed at 450 °C for 15 min in a nitrogen atmosphere using the RTA process. For the electrical measurement, Pt top electrodes with a diameter of 190 μm were formed by rf sputtering.
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Figure 7.
Schematic models of BiFeO3 thin films inserting Bi-excess top and bottom layer (Bi-TB), top layer (Bi-T), and bottom layer (Bi-B).
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3.2. Crystal structure
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\n\t\t\t\t\tFigure 8 shows the θ–2θ scans of XRD patterns of the BiFeO3 thin films with Bi-excess top and bottom layer (Bi-TB), top layer (Bi-T), and bottom layer (Bi-B). These results show that all the films exhibit mainly polycrystalline perovskite single phase without nonperovskite phases such as Bi2Fe4O9 and Bi2O3. Comparing peak intensities corresponding to (010) and (110) planes, the crystallinity of Bi-TB is the best. Bi-T is the second best, followed by Bi-B. This result indicates that the Bi-excess top layer improves the crystallization in the annealing process. Moreover, this tendency suggests that the crystallization is produced from the surface to the bottom using the RTA process. As for the difference between Bi-TB and Bi-T, crystallinity of BiFeO3 film can be enhanced by inserting the Bi-excess layer on the top surface and the bottom.
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Figure 8.
XRD θ–2θ patterns of Bi-TB, Bi-T, and Bi-B BiFeO3 thin films.
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3.3. Surface texture and raman spectrum
\n\t\t\t\t
\n\t\t\t\t\tFigures 9(a-c) show the AFM images of BiFeO3 films taken over a 10 × 10 μm2 area. As can be seen in Fig. 9(a), Bi-TB forms more grains than the others. On the other hand, Bi-T and Bi-B form finer grains as well as larger grains, as shown in Figs. 9(b) and 9(c). In addition, Bi-T seems to form larger grains than the film of Bi-B. The surface RMS roughness is estimated as 7.7, 6.7, and 5.0 nm for the films of Bi-TB, Bi-T, and Bi-B, respectively. The number of grains and the surface roughness increase with increasing crystallinity, comparing Fig. 9 with Fig. 8. To investigate the difference between finer and larger grains, Raman spectroscopy was carried out. A laser with a 0.7 μm spot size irradiated the points labelled A–C, which form large grains, and D–F, which form fine grains, as shown in Figs. 9(a-c). Figures 9(d) and 9(e) show Raman spectra measured at RT. These figures also include the spectrum measured in BiFeO3 ceramic, as a reference. As shown in Fig. 9(d), the spectra measured in the areas A–C are almost the same as the spectrum of BiFeO3 ceramic. On the other hand, the spectra measured in the areas D–F are different from the spectrum of BiFeO3 ceramic, as shown in Fig. 9(e). These results indicate that the areas A–C have good BiFeO3 crystals while the areas D–F seem to be amorphized. Moreover, the area at which the BiFeO3 crystal spectrum was observed is the largest in Bi-TB. This result relates that Bi-TB crystallizes the best, comparing Figs. 9 and 8.
\n\t\t\t\t
Figure 9.
× 10 μm2 surface AFM images with markings of the typical locations of Raman spectroscopy for the films of (a) Bi-TB, (b) Bi-T, and (c) Bi-B, respectively. Areas A–C form large grains, while areas D–F form fine grains. (d) and (e) Raman spectra measured at RT for the locations shown in Figs. 9(a) –9(c).
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\n\t\t\t
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3.4. Ferroelectric property
\n\t\t\t\t
\n\t\t\t\t\tFigure 10 shows the leakage current density versus electric field (J–E) of BiFeO3 thin films measured at (a) RT and (b) 80 K. When the electric field is lower than 300 kV/cm, the leakage currents are almost unchanged among three types of films both at RT and 80 K. This suggests that the amorphous phase of the surface limits the conduction in the case of lower electric field, as mentioned in Abe et al. (Abe et al., 1993). On the other hand, when the electric field is higher than 300 kV/cm at 80 K, the leakage current becomes large for the film of Bi-TB. Therefore, it is suggested that the amorphous phase includes defects that limit the carrier emission at the interface, and the leakage current increases at higher electric fields in the Bi-TB film. In the case of Bi-T and Bi-B, the amorphous phase might suppress the leakage current at high electric field. Figure 11 shows ferroelectric polarization versus electric field (P–E) hysteresis loops of BiFeO3 thin film at (a) RT and (b) 80 K, respectively. At RT, the remanent polarizations (P\n\t\t\t\t\tr) for maximum applied electric field of 1.0 MV/cm are 55, 26, and 17 μC/cm2 for the films of Bi-TB, Bi-T, and Bi-B, respectively. In addition, the coercive field of Bi-TB is 385 kV/cm, which is the lowest in the three types of films. At 80 K, the remanent polarizations for maximum applied electric field of 2.0 MV/cm are 65, 46, and 32 μC/cm2 for the films of Bi-TB, Bi-T, and Bi-B, respectively. The remanent polarization of Bi-TB is about twice that of the film prepared by stoichiometric solution (28 μC/cm2 at RT, and 38 μC/cm2 at 80 K). These results show that BiFeO3 thin film of Bi-TB gives the best ferroelectric property among the three types of films, which is attributed to the good crystallinity of the BiFeO3 film, comparing Figs. 11 and 8.
\n\t\t\t\t
Figure 10.
Leakage current characteristics of BiFeO3 thin films measured at (a) RT and (b) 80 K.
\n\t\t\t\t
Figure 11.
\n\t\t\t\t\t\t\tP–E hysteresis loops of BiFeO3 thin films measured at (a) RT and (b) 80 K.
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\n\t\t
\n\t\t
\n\t\t\t
4. Improvement of ferroelectricity of BiFeO3 thin films by postmetallization annealing and electric field application
\n\t\t\t
In this section, we describe the postmetallization annealing and electric field application by using 10 mol% Bi-excess BiFeO3 thin film which shows good ferroelectricity in section 2. These are the ways to improve ferroelectricity of BiFeO3 thin films. Postmetallizaton annealing is the electrode annealing process to reduce the leakage current which has already reported in several thin film materials such as BaTiO3, (Ba,Sr)TiO3, (Pb,Sr)TiO3, and PZT after the deposition of top electrodes (Lee et al., 2004; Joo et al., 1997; Chung et al., 2001; Thakoor, 1994). Electric field application is to apply a high electric field to reverse its polarization reversal easily. It is typically carried out in bulk materials such as PZT (Kamel et al., 2007). These two approaches are expected to be effective to improve ferroelectric properties of BiFeO3 thin films (Nakamura et al., 2009).
\n\t\t\t
\n\t\t\t\t
4.1. Film preparation methods
\n\t\t\t\t
BiFeO3 thin films were deposited on a Pt/TiO2/SiO2/Si substrate by CSD using 10mol % Bi-excess precursor solution. Spin-coating and drying processes were the same as in chapter 2. These processes were repeated 20 times to obtain a film thickness of 250 nm. Then, the films were treated by the RTA process at 450 °C for 20 min in nitrogen atmosphere. For the electrical measurement, Pt top electrodes were formed on the BiFeO3 film by rf sputtering. After the deposition of Pt top electrodes, the sample was divided into three pieces and labelled as BFO, BFO-N, and BFO-O, respectively. Then the postmetallization annealing was carried out for 5 min at 300 °C in nitrogen atmosphere for BFO-N, and oxygen atmosphere for BFO-O by the RTA process. Finally, the following three films were obtained; BFO (as prepared film without postmetallization annealing), BFO-N (the film with the annealing in nitrogen atmosphere), and BFO-O (the film with the annealing in oxygen atmosphere).
\n\t\t\t
\n\t\t\t
\n\t\t\t\t
4.2. Improvement of ferroelectric property of BiFeO3 thin films by postmetallization annealing
\n\t\t\t\t
\n\t\t\t\t\tFigure 12(a) shows the θ-2θ patterns of the XRD of the BiFeO3 thin films with and without the postmetallization annealing. All the films consist mainly of polycrystalline perovskite phase, but a Bi2O3 phase is slightly observed. Evaluating the diffraction peak intensity of each film, it does not change among three films. This result indicates that the crystallinity of BiFeO3 does not change by the postmetallization annealing. We note that the intensity of an observed Bi2O3 phase is much smaller than the BiFeO3 phase and its intensity does not change after the postmetallization annealing. Therefore, it is enough to evaluate the dielectric property of BiFeO3 and the annealing effect of the electrode. There may be a possibility of a peak shift due to a strain relaxation between the BiFeO3 film and the Pt electrode by the postmetallization annealing, however, it is hard to observe the strain relaxation from such a small 190 μm diameter dot electrode because an incident X-ray beam width is about 2 mm, making it difficult to analyze the crystalline property of the small area. To confirm the strain relaxation, a 100 nm thick Pt film was deposited on the whole BiFeO3 film surface and then the postmetallization annealing was carried out. Figure 12(b) shows the XRD patterns near (010) peak before and after the Pt deposition and the postmetallization annealing in nitrogen atmosphere. The peak intensity is decreased due to the deposition of the Pt film, but the peak shift is not observed. This result suggests that a clear strain relaxation does not occur near the interface between the BiFeO3 film and the Pt electrode after the postmetallization annealing.
\n\t\t\t\t
Figure 12.
a) XRD θ-2θ scans of as-prepared (BFO), N2 annealed (BFO-N), and O2 annealed (BFO-O) BiFeO3 thin films. (b) Expanded scans near the (010) peak before and after the Pt deposition and the postmetallization annealing. A 100 nm thick of Pt film was deposited on the whole surface of the BiFeO3 film.
\n\t\t\t\t
\n\t\t\t\t\tFigures 13(a) and 13(b) show the J-E characteristics of BiFeO3 thin films measured at (a) 80 K and at (b) RT. The leakage current is suppressed in both the BFO-N and BFO-O films at 80 K. This suppression is also observed at RT. Joo et al. reported that the leakage current is suppressed by the postmetallization annealing in oxygen atmosphere due to the reduction of oxygen vacancies in a film (Joo et al., 1997). Contrary to their result, our result suggests that the postmetallization annealing improves the contact between the BiFeO3 film and the Pt electrode or the reduction of defects near the interface between the BiFeO3 film and the Pt electrode as suggested in Pt/PZT/Pt capacitors, rather than the compensation of oxygen vacancies in the BiFeO3 film.
\n\t\t\t\t
Figure 13.
Current density-electric field (J-E) characteristics of BiFeO3 thin films measured at (a) 80 K and at (b) RT.
\n\t\t\t\t
\n\t\t\t\t\tFigures 14(a) and 14(b) show frequency dependences of the dielectric constant and the dielectric loss tan δ measured at (a) 80 K and at (b) RT. The dielectric constant and the loss tangent of BiFeO3 thin films measured at 80 K are found to be 185 and 0.061, 172 and 0.045, and 186 and 0.048 for the BFO, BFO-N, and BFO-O film with a measuring frequency of 1 MHz, respectively. In addition, the frequency variability of from 103 to 106 Hz is 20.5% BFO, 16.9% BFO-N, and 18.3% BFO-O. The reduction in the frequency variability and the dielectric loss may be due to the reduction in the leakage current as shown in Fig. 13(a). The same tendencies are also observed in the BiFeO3 films measured at RT, as shown in Fig. 13(b). The frequency variability from 103 to 106 Hz is 30.6% BFO, 23.3% BFO-N, and 23.4% BFO-O measured at RT. These results indicate that the frequency variability of and the dielectric loss are successfully reduced by the postmetallization annealing.
\n\t\t\t\t
Figure 14.
Dielectric constant-frequency (ε-F) characteristics of BiFeO3 thin films measured at (a) 80 K and at (b) RT.
\n\t\t\t\t
\n\t\t\t\t\tFigures 15(a) and 15(b) show P-E hysteresis loops of BiFeO3 thin films measured at (a) 80 K and at (b) RT with a scanning frequency of 20 kHz. The remanent polarizations (P\n\t\t\t\t\tr) measured at 80 K under the maximum applied electric field of 1.2 MV/cm are 91, 87, and 89
\n\t\t\t\t
μC/cm2 for the films of BFO, BFO-N, and BFO-O, respectively. In addition, the double coercive field (2E\n\t\t\t\t\tc) is reduced at about 90 kV/cm in the nitrogen-annealed film. The slight reduction of coercive field is also observed at RT, as shown in Fig. 15(b). This reduction of the coercive field may be due to the improvement of the contact between the Pt electrode and the BiFeO3 film or the reduction in defects near the interface between BiFeO3 film
\n\t\t\t\t
and the Pt electrode, as mentioned above.
\n\t\t\t\t
Figure 15.
\n\t\t\t\t\t\t\tP-E hysteresis loops measured at (a) 80 K and at (b) RT under 20 kHz triangular scanning voltage of as-prepared (BFO), N2 annealed (BFO-N), and O2 annealed (BFO-O) BiFeO3 thin films.
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\n\t\t\t
\n\t\t\t\t
4.3. Improvement of ferroelectric property of BiFeO3 thin films by electric filed application
\n\t\t\t\t
To evaluate the effect of the electric field application, P-E hysteresis loops were measured at 80 K in a following order; the first measurement was carried out by the applied voltage from 5 to 70 V, which corresponds to 0.2 MV/cm to 2.8 MV/cm, and then, the second measurement was carried out from 70 to 5 V with 1 kHz triangular wave. The temperature was set at 80 K to reduce the thermal effect and to apply high electric field. This measurement was carried out for the BFO-N film because it has the best insulation and ferroelectric characteristics among three films. Figures 16(a-d) show hysteresis changes in BFO-N film before (black lines) and after (red lines) applying the electric field of 0.4, 1.2, 2.0, and 2.8 MV/cm corresponding 10, 30, 50, and 70 V, respectively at 80 K. After applying the electric field of 2.8 MV/cm, which corresponds to 70 V, the shape of hysteresis loop is dramatically changed in the second measurement. In the sequence from Figs. 16(a-d), the remanent polarizations of the first measurement are 0.19, 29.9, 74.5, and 104 μC/cm2 under the maximum field of 0.4, 1.2, 2.0, and 2.8 MV/cm, respectively. In addition, the remanent polarizations of the second measurement are 17.4, 84.4, 97.6, and 106.5 μC/cm2 under the maximum field of 0.4, 1.2, 2.0, and 2.8 MV/cm, respectively.
\n\t\t\t\t
Figure 16.
\n\t\t\t\t\t\t\tP-E hysteresis of BiFeO3 thin films measured at 80 K under the maximum field of (a) 0.4 MV/cm (10 V), (b) 1.2 MV/cm (30 V), (c) 2.0 MV/cm (50 V), and (d) 2.8 MV/cm (70 V), respectively. Hysteresis loops were measured from 5 to 70 V the first measurement and then measured from 70 to 5 V the second measurement.
\n\t\t\t\t
Moreover, the leakage current is reduced at about 1 order of magnitude after the P-E measurement, as shown in Fig. 17. Dependences of P\n\t\t\t\t\tr and E\n\t\t\t\t\tc on the applied electric field are shown in Fig. 18. P\n\t\t\t\t\tr and E\n\t\t\t\t\tc obtained in the first measurement are gradually increased with increase in the electric field, and then, the second measurement keeps large P\n\t\t\t\t\tr value even in lower electric field. The third measurement from 5 to 70 V was carried out and values of P\n\t\t\t\t\tr and E\n\t\t\t\t\tc are almost the same as the second data, as shown in Fig. 18. Kohli et al. reported that the hysteresis of the PZT thin film was changed by applying pulse electric field because of the removal of 90° domain pinning (Kohli et al., 1998). Okamura et al. reported that the wake-up phenomenon, which shows an increase in the remanent polarization by applying switching pulses and removing the locked polarizations in the SrBi2Ta2O9 film (Okamura et al., 2000). The improvement of ferroelectricity is possibly due to the relaxation of pinned domains or locked polarizations in the BiFeO3 film by applying high electric field.
\n\t\t\t\t
Figure 17.
Current density-electric field (J-E) characteristics of BiFeO3 thin films measured at 80 K. The measurement was carried out before and after the P-E measurement shown in Fig. 5 (d).
\n\t\t\t\t
Figure 18.
Applied field dependences of remanent polarization and coercive field at 80 K for the first, the second, and the third measurement.
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\n\t\t
\n\t\t
\n\t\t\t
5. Conclusion
\n\t\t\t
We describe BiFeO3 thin films prepared by CSD with several approaches to improve its ferroelectricity. Controlling Bi/Fe ratio in the precursor solution contributes the promotion of the film crystallization and shows a large polarization of 85 μC/cm2 with 10 mol% Bi-excess solution. Insertion of the 10 mol% Bi-excess layer to the stoichiometric BiFeO3 films also promotes the film crystallization, leading to the improvement of the ferroelectricity. Ferroelectric property of films using 10 mol% Bi-excess solution can further improve by the postmetallization annealing as well as the electric field application. These are the effective methods to improve ferroelectricity of BiFeO3.
\n\t\t
\n\t
Acknowledgments
\n\t\t\t
The authors thank Takaaki Nakamura, Hideo Fukumura, and Professor Hiroshi Harima of Kyoto Institute of Technology for conducting Raman spectroscopy.
\n\t\t
\n',keywords:null,chapterPDFUrl:"https://cdn.intechopen.com/pdfs/18057.pdf",chapterXML:"https://mts.intechopen.com/source/xml/18057.xml",downloadPdfUrl:"/chapter/pdf-download/18057",previewPdfUrl:"/chapter/pdf-preview/18057",totalDownloads:3408,totalViews:297,totalCrossrefCites:1,totalDimensionsCites:2,totalAltmetricsMentions:0,impactScore:1,impactScorePercentile:53,impactScoreQuartile:3,hasAltmetrics:0,dateSubmitted:"October 15th 2010",dateReviewed:"March 1st 2011",datePrePublished:null,datePublished:"August 24th 2011",dateFinished:null,readingETA:"0",abstract:null,reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/18057",risUrl:"/chapter/ris/18057",book:{id:"174",slug:"ferroelectrics-material-aspects"},signatures:"Yoshitaka Nakamura, Seiji Nakashima and Masanori Okuyama",authors:[{id:"26451",title:"Dr.",name:"Yoshitaka",middleName:null,surname:"Nakamura",fullName:"Yoshitaka Nakamura",slug:"yoshitaka-nakamura",email:"nakamura1983@gmail.com",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",institution:null},{id:"37558",title:"Dr.",name:"Seiji",middleName:null,surname:"Nakashima",fullName:"Seiji Nakashima",slug:"seiji-nakashima",email:"nakashima@eng.u-hyogo.ac.jp",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",institution:null},{id:"37559",title:"Prof.",name:"Masanori",middleName:null,surname:"Okuyama",fullName:"Masanori Okuyama",slug:"masanori-okuyama",email:"okuyama@insd.osaka-u.ac.jp",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",institution:null}],sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_1_2",title:"1.1. Crystal structure of BiFeO3\n\t\t\t\t",level:"2"},{id:"sec_2_2",title:"1.2. Electrical property of BiFeO3\n\t\t\t\t",level:"2"},{id:"sec_3_2",title:"1.3. General outline of chemical solution deposition",level:"2"},{id:"sec_4_2",title:"1.4. Precursor solutions for BiFeO3\n\t\t\t\t",level:"2"},{id:"sec_6",title:"2. Ferroelectric property of BiFeO3 thin films prepared by CSD with controlling Bi/Fe ratio in the precursor solution",level:"1"},{id:"sec_6_2",title:"2.1. Film preparation by CSD with controlling Bi/Fe ratio",level:"2"},{id:"sec_7_2",title:"2.2. Crystal structure",level:"2"},{id:"sec_8_2",title:"2.3. Surface texture and raman spectrum",level:"2"},{id:"sec_9_2",title:"2.4. Ferroelectric property",level:"2"},{id:"sec_10_2",title:"2.5. Relationship between surface texture and ferroelectricity",level:"2"},{id:"sec_12",title:"3. Insertion effect of Bi-excess layer on BiFeO3 thin films",level:"1"},{id:"sec_12_2",title:"3.1. Insertion effect",level:"2"},{id:"sec_13_2",title:"3.2. Crystal structure",level:"2"},{id:"sec_14_2",title:"3.3. Surface texture and raman spectrum",level:"2"},{id:"sec_15_2",title:"3.4. Ferroelectric property",level:"2"},{id:"sec_17",title:"4. Improvement of ferroelectricity of BiFeO3 thin films by postmetallization annealing and electric field application",level:"1"},{id:"sec_17_2",title:"4.1. Film preparation methods",level:"2"},{id:"sec_18_2",title:"4.2. Improvement of ferroelectric property of BiFeO3 thin films by postmetallization annealing",level:"2"},{id:"sec_19_2",title:"4.3. Improvement of ferroelectric property of BiFeO3 thin films by electric filed application",level:"2"},{id:"sec_21",title:"5. Conclusion",level:"1"},{id:"sec_22",title:"Acknowledgments",level:"1"}],chapterReferences:[{id:"B1",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tRoginskaya\n\t\t\t\t\t\t\tYu. E.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tVenevtsev\n\t\t\t\t\t\t\tYu. 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Graduate School of Engineering Science, Osaka University, Japan
Graduate School of Engineering Science, Osaka University, Japan
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1. Introduction
Nowadays indoor navigation is one of the most popular topics in the field of scientific research; this is because it is itself a very interesting challenge from the scientific point of view and with a potentially huge impact on the current market with multiple applications ranging from the industrial sector to the relief sector in emergency situations.
As well known, while in outdoor navigation, UAVs use Global Position System (GPS) signal to easily understand, with good accuracy, their position in space, in indoor navigation the possibility to use this technology for positioning and localization decays [1, 2, 3]. In fact, the Global Navigation Satellite System (GNSS) in indoor environments is almost blocked or made too weak by buildings, walls or several potential sources of interference.
The first approaches to indoor UAV navigation used technologies such as Wi-Fi, Bluetooth or Ultra-Wide Band [4]. The disadvantage and the great limitation of these technologies is that they need to structure or prepare the environment in order to be able to navigate inside with the UAVs.
In recent years, the miniaturization of both visual sensors and computers that guarantee good computing power and at the same time less weight has made possible a new different approach to the topic of UAV indoor navigation.
This approach is based on inertial and visual systems, for example, see [5, 6, 7], with enormous advantage of being free from any kind of need to structure the environment and therefore potentially flexible and universal. The position of the UAV is estimated using inertial measurements provided by gyroscopes and accelerometers that are now available in every smartphone and with small dimensions and weights. The accuracy of this type of inertial measurements is good but not sufficient in order to guarantee a precise indoor positioning. In fact the estimate of the UAV position based only on inertial systems tends to diverge and drift over time due to the fact that inertial measurement unit (IMU) measurements are corrupted by noise and bias with the results in pose estimates unreliable for long-term navigation. To avoid the effects of this phenomenon, the inertial system is combined with a visual one that uses a camera to collect information and extract futures from the surrounding environment and track them over time in order to estimate the trajectory of the camera. This approach is usually referred to as visual-inertial odometry (VIO). Information from the camera can also be used to build a map of the environment and then perform what is called simultaneous localization and mapping (SLAM).
In this chapter we propose a system architecture that allows a UAV to inspect a tunnel, which is a closed environment, navigating autonomously. To estimate the position of the UAV in the absence of GPS, we used Robust Visual Inertial Odometry (ROVIO) which is a predictor of inertial visual states based on an extended Kalman filter (EKF) that combines the visual information of a monocular camera with the measurements derived from the IMU inertial platform. At the same time, a navigation and obstacle avoidance algorithm based purely on a Lidar sensor is proposed.
The UAV is equipped with a companion computer in which Robotic Operating System (ROS) is installed and allows the processing of information coming from the monocular camera and the IMU as well as those coming from the Lidar for the navigation.
Furthermore, a scheduling system has been implemented and embedded on the computer companion that allows to set different strategies to approach the inspection of the tunnel before starting the mission. Defined safety patterns that are activated in case of dangerous situations for UAV and humans are also into the scheduling system.
The chapter is organized as follows. In Section 2, we briefly analyze and describe the sensors used and their characteristics, and we go into detail on how the architecture of the system is defined. In Section 3, we explain which criteria characterize the navigation system and what is the logic behind it. In conclusion we present the results achieved, outlining the performance of the proposed system for indoor navigation evaluating possible improvements for future research.
2. System architecture
This chapter describes the overall system architecture under different points of view. We start with a short description of ROS, that is, the framework that allows to manage different UAV’s operation. Then we move to analyze the hardware and payload of the UAV, we describe all the crucial characteristics and we explain why those characteristics and components are crucial for the project. Afterwards we explain why between the several VIO algorithms implemented in the past years, we select and use ROVIO and how we design the visual-inertial sensor. Moreover, we propose a scheduling system based on some setting parameters that are crucial to well set up at the beginning of the mission in order to define the positioning of the UAV inside the tunnel. These parameters allow to define both inspection and navigation settings, the last ones are useful to change based on the geometrical characteristic of the tunnel. Instead, the parameters define the type of inspection that is needed to be performed in order to collect data or achieve the inspection’s objectives.
2.1 Robot operating system
The heart of the whole system is robot operating system (ROS); it is an open source framework to manage robot’s operations, tasks and motions. Among the several features that ROS has, the most relevant is the availability of code, packages and open source projects. This is a key element in the development of complex systems which often encompass different skills and concepts [8, 9].
A set of processes can be represented in a graph as a node that can receive, send and process messages, called topics, coming from other sensors, actuators and nodes.
In this system the two main topics for the construction of the algorithm are those of the Lidar and the odometry that give to the system the information about the obstacles around the drone (coming from the Lidar) and the pose outgoing from ROVIO which defines the position and the orientations of the UAV along the six DOF.
The information on these two messages is fed to the navigation algorithm which returns the topic of the speed to be assigned to the drone during the inspection.
2.2 UAV’s payload
Referring to Figures 1 and 2, the main components of the UAV are:
Custom frame with a propulsion system designed for a total payload of about 4 kg
LED lighting system for navigation and acquisition of frames even in complete darkness and absence of light
Cameras for the acquisition of photograms that allow the construction of a three-dimensional model of the inspected tunnel and environment
Visual-inertial sensor used for positioning, control and as the main source of odometry
Laser sensors for detecting distance from the ground
Voltage and current distribution system, mainly 12 and 5 V
LiDAR 2D laser scanner for detecting obstacles and relative distances
Figure 1.
Assembly UAV payload, first perspective.
Figure 2.
Assembly UAV payload, second perspective.
As a payload there is also a mini computer companion that has the necessary power to perform, record, process and analyze data from all the sensors and to move the UAV accordingly.
2.3 Visual-inertial sensor
As mentioned in the introduction, the lack of a GPS requires the use of a sensor that can guarantee the correct positioning inside a closed space. In particular, follow the research trend in the field of computer vision; the sensor is composed by a monocular camera and an IMU inertial measurement sensor. These two sensors are connected to each other by a mechanism called hardware trigger. This choice was made to ensure maximum precision in the acquisition of data from both sensors since it is a crucial point in order to obtain a precise positioning of the UAV. The kind of sensors described above is preferable to purely visual-based techniques or any other sensor configurations for large number of advantages:
Unlike monocular simultaneous localization and mapping (SLAM) based only on visual sensor, the generated maps have an absolute scale.
Status estimation and feature tracking, which allow to understand how the UAV is moving in the space, are more robust to the motion blur and fast rotations than exclusive visual-based system.
IMU data can be used to provide instantaneous estimates at over 100 Hz.
The installation of this hardware is cheaper, smaller, lighter and lower in power consumption with respect to the three-dimensional laser scanner or even stereo configurations.
However, this type of approach has two main problems: the first one is related to the IMU camera timestamp synchronization that can cause large errors and drift in the state estimate of the UAV. The second one is that the system has to be able to continuously estimate and compensate the drift and the distortions of the IMU data. These problems are mainly related to the VIO algorithm chosen for this project, ROVIO [10]. ROVIO is a visual-inertial state estimator based on EFK which proposed several novelties. In addition to FAST corner features, whose 3D positions are parameterized with robot-centric bearing vectors and distances, multi-level patches are extracted from image stream around these features. These patch features are tracked and warped based on IMU predicted motion, and the photometric errors are used in the update step as innovation terms. The choice to use ROVIO is made based on the average CPU load of the visual-inertial algorithms proposed by [6]; in fact, the CPU usage—considering the limited CPU resources of the computer companion and the amount of all the operations to be performed during the UAV mission—was considered the main aspect on which to base the overall system design.
ROVIO, unlike other odometry systems (e.g. mono VINS) that attempt to compensate the time’s errors, requires that all timestamps be accurate in order to work properly. Considering this aspect, several manual experiments have been done in order to investigate the incidence of the time synchronization and timestamp acquisition on ROVIO. From our experiments we can see that the temporal accuracy depends on both application and the state estimator, but more generally we can say that the range of time acquisition must be between 2 and 5 milliseconds. Besides this threshold, it is no longer possible to follow rapid movements that cause the divergence and drift of the overall system. On the other side, below two milliseconds, we do not perceive huge improvements from the operational point of view.
Most of the camera sensors acquire their timestamp when the image is sent to the computer companion. However, there are many potential sources of delay that can affect the accuracy of the timestamp related to an image like the exposure time of the camera, the internal data processing, internal filter (from IMU point of view), data transfer and also the OS scheduler of the camera. For most camera sensors on the market, these delays are generally including between 5 and 30 milliseconds. While some delays related to the exposure or some other parameters of the camera are constant or can be expected, unknown delays prevent, to the computer companion point of view, from providing accurate timing information to any visual-inertial estimator.
For this reason, we decide to use a custom-made sensor directly linked to a microcontroller that receives data from the IMU and use a trigger line to check when the camera captures images. When an image is taken, as consequence, the microcontroller transmits information about the timestamp and IMU to the computer companion that links it to the image coming from the visual sensor. Figure 3 shows the schematic of the circuit between microcontroller, IMU, camera and computer companion, while Figure 4 the two visual and inertial sensors.
Figure 3.
How computer companion, microcontroller and sensors are linked.
Figure 4.
Camera and IMU sensors.
2.4 Scheduling system
The overall system, Figure 5, is designed as follow: through a web application linked to a web server, the user can select and set the parameters of the mission. These parameters are loaded through the scheduling system in which some patterns related to the overall status check of the UAV system (e.g. battery status, sensors status, LED status) are implemented.
Figure 5.
Logic behind the system.
At the lower level, there are the ROS nodes responsible for navigation, VIO and flight controller manager that execute the commands translated by the scheduling system.
The scheduling system is based on SMACH (http://wiki.ros.org/smach) that is a task-level architecture based on ROS for rapidly creating complex robot behaviour. In this application the possible behaviors are two and depend from the type of mission that the user selected through the web GUI:
Mission 1: Complete exploration of the tunnel
Mission 2: Partial exploration of the tunnel (fixed distance chosen from the user)
For both missions it is possible to specify if the UAV must return to the home position or land at the end of the tunnel once the exploration is completed. Moreover, there are some specifications that the user can select by GUI. These parameters are related to the geometry of the tunnel and some working condition and are obviously related to the type of mission selected (Table 1).
Parameter
Type of mission
Tunnel diameter (m)
1/2
Distance to travel (m)
2
Position altitude (m)
1/2
Data record: camera and Lidar (on/off)
1/2
Cruise speed (m/s)
1/2
K positioning (K)
1/2
Come back (on/off)
1/2
Maximum distance (m)
1/2
Minimum distance (m)
1/2
Table 1.
Setting parameters for each type of mission.
The K parameter indicates the position that the UAV must maintain, while the tunnel inspection is defined as the ratio between the distance of the UAV with the right and left walls of the tunnel (Figure 6).
Figure 6.
K parameter logic.
In the hypothesis in which K has been defined equal to 1, the drone will carry out the mission remaining in a central position with respect to the left and right walls. In the same way, with K = 2, the distance held to the left wall by the UAV will be doubled compared to the right distance.
The same ratio is maintained even during return to home navigation, when the reference system of the drone will be rotated 180° on the xy plane.
This positioning system was thus implemented to allow a 3D reconstruction of the tunnel inspected by using a single camera.
3. Flight system
Navigation and obstacle avoidance are one of the fundamental problems in mobile robotics, which are being already studied and analyzed by the researchers in the past 40 years. The goal of navigation is to find an optimal path from a starting to the goal point with obstacle avoidance competence. In order to guarantee an autonomous navigation, the robot must be able to safeguard a certain reliability in terms of position (IMU, GPS or other sensors) and ensure a map sufficiently precise to generate a path without collisions and faithful to the real one.
When the robot is in a complete unknown area and does not have information about the surrounding area, the global motion planning fails and does not produce any solution [11]. For this kind of situations, the local motion planning is more suitable.
The objective of the obstacle avoidance is to move a robot towards an area that is free of collisions thanks to the information handled by the sensors during the motion execution, which are steadily updated [12].
In this chapter the autonomous flight system will be defined. In particular, all the aspects concerning the navigation and the related intrinsic logic will be explained.
3.1 Navigation algorithm
Given the application context, a blind tunnel of semi-circular or circular cross-section with a diameter ranging from 2 to 5 metres, it was necessary to develop a specific navigation algorithm that would allow the UAV to explore the surrounding environment avoiding obstacles that could arise during the investigation of the tunnel. The environment taken into consideration for the definition of the algorithm was structured in a tunnel with an entrance and an exit, where there were no bifurcations of the channel.
Within a dark and unknown environment, the use of a Lidar is crucial to carry out navigation in an appropriate manner and for the implementation of the obstacle avoidance algorithm.
Light detection and ranging (Lidar) is a remote sensing technique that allows to determine the distance of an object or a surface using a laser pulse. The distance of the object is determined by measuring the time elapsed between the pulse emission and the reception of the retro-diffused signal. In the same way, to define the height from the ground, the height sensor is necessary. It allows stabilization of the UAV and its navigation to a predefined altitude with the possibility, thanks to the autopilot, of enabling terrain following or the technology that in an automatic way maintains a constant relative distance with respect to the ground.
The main task of the Lidar sensor is to monitor three distances during the navigations. The three distances are one front to the drone navigation and the two laterals, considering a 20° of inclination with respect to the perpendicular drone (Figure 7).
Figure 7.
Monitoring of the three distances.
This solution allows to monitor the frontal space to make sure that the path is free from obstacle, while the two lateral distances serve to guarantee the correct positioning within the UAV tunnel. Being that a single acquisition in any direction may not return completely valid information (optical sensor readings may be subject to disturbance and error depending on the type of surface, color and material on which the signal bounces), it is thought to acquire more data for each direction in a range of 10° in order to achieve a satisfactory level of consistency of the data.
The acquisition of the front distances is necessary to avoid hitting an obstacle present inside the tunnel and more importantly, once the tunnel is investigated in its entire length, recognize the end and be able to start the landing operation. The threshold set for the frontal control has been limited to 5 metres (maximum distance). This implies that until no obstacle is identified in this radius, the UAV will proceed to a predefined cruising speed (1 m/s); on the contrary, if an obstacle is detected, the speed will begin to decrease directly proportional to the distance between the UAV and the above obstacle.
At the minimum threshold value, 2 m from the obstruction, the drone resets its speed by stopping and remaining in hovering condition.
Recognizing the impossibility of advancing the UAV has two possible strategies to pursue: the first strategy involves the initialization of the landing operation, whereas the second includes first a 180° of rotation and then proceeding to the home positioning. Which of the two operations carried out is decided by the operator during the planning of the mission?
Another crucial point of the project was the planning of the rotations that had to be carried out when the anti-collision system recognized the end of the tunnel.
This phase was managed with the aid of the rotation matrices, with the aim of maintaining, during the rotation phase of 180°, the position saved immediately before the start of the rotation. This system had to be studied due to the problem brought by the vibrations and the imperfect balance of the payload installed on the UAV which meant that, in the hovering phase, considering only the rotation along the z axis, the system results are unstable and difficult to control.
With the use of this mechanism during the rotation phase, in addition to the angular speed, there is a continuous contribution of the linear speed along the x and y axis whose goal is to bring and keep the drone in the initial position (x0, y0) of rotation.
Considering this aspect, the 180° rotation is managed in two steps:
Phase 1: The drone makes a 90° counterclockwise rotation and makes a shift on the roll axis to bring the ratio between the two walls to the predefined K value.
Phase 2: The drone makes a further rotation of 90°, positioning itself with the head towards the direction of round trip.
This positioning system defined using a constant K as a function of the ratio between the distance from the two right and left walls and the other parameters mentioned above, Table 1, has thus been implemented to meet the future need of performing a 3D reconstruction of the tunnel inspected (Figure 8).
Figure 8.
Tunnel exploration.
3.2 Test in simulative environment
In this section, various tests will be presented to validate the operation of the entire system and the obtained results, which are evaluated in different unknown indoor environments such as tunnels, to describe the advantages and limitations of this project.
In order to validate the navigation algorithm presented in this document, before performing real field tests, it was preferred to apply a more precautionary approach by testing the logic of the software in the simulation field.
This kind of approach is preferred for UAV since the failure of navigation frequently involves serious damage to the hardware and therefore, in cascade, a strong impact on the cost of the project.
To assess the quality of the software developed, the first tests were performed in a simulative environment using a UAV model (Figure 9). The simulative environment was defined using Gazebo, while Rviz was used to display the results (both tools are provided by ROS).
Figure 9.
UAV test in simulative environment.
The first, Gazebo, is a 3D simulator for rigid bodies and robots, which offers the possibility to simulate precisely and efficiently robots in complex indoor and outdoor environments, with the ability to faithfully reproduce the real situation. The advantage of this tool is the presence of an easy programmable interface, but even more the fact of being an open source software with a strong active community of developers in the world.
Rviz is a suitable tool to view the 3D status of the robot and the performance of the algorithms, to debug faulty behaviors and to record sensor data.
The main purpose was to evaluate the functioning ability of the navigation algorithm. To do this, various simulations were carried out with different parameters, to test the obstacle avoidance algorithm in every aspect.
3.3 Test in real scenario
Once the algorithm and its procedure were validated in all virtual scenarios, the behaviour of the system was tested in a real environment.
The first test carried out using the drone in real scenario was operated in a facility with technical characteristics described in Table 2 and Figure 10.
Stretch
Height
Width
Length
a
2.15
2.40
11
b
2.10
2.35
30
c
1.90
2.40
5
Table 2.
Characteristics of the tunnel.
Figure 10.
View of the tunnel.
During the test a precise routine has been followed:
UAV positioning at the beginning of the tunnel.
System power-on and lipo-battery connection on UAV.
Check communication link between UAV and ground station.
Execution of ROS launch file.
Set up mission parameters.
Start mission.
The types of tests that have been performed are divided into two categories:
Type A: tests conducted in a lighting environment
Type B: tests with on board LED lighting, in a dark environment
Table 3 shows the results obtained for type B condition and the relative absolute error calculated as the difference in Euclidean distance traveled by the UAV between the point of take-off and point of landing. The distances over which the tests were performed are respectively 10, 20 and 30 m, iterated 10 times in order to compare the error related to the odometry data. Table 4 displays the average minimum and maximum error for each different test.
Test (m)
1°
2°
3°
4°
5°
6°
7°
8°
9°
10°
10 m
0.701
0.867
0.383
1.197
0.280
0.981
0.840
1.111
1.269
0.311
20 m
1.369
1.150
0.511
0.731
0.403
0.732
1.208
0.820
1.242
0.335
30 m
1.35
0.610
0.113
0.689
0.223
0.134
1.383
1.572
1.175
0.301
Table 3.
Absolute error in metres for each different test lengths.
10 m
20 m
30 m
Minimum
0.280
0.335
0.113
Maximum
1.269
1.369
1.572
Average
0.794
0.850
0.755
Table 4.
Minimum, maximum and average error.
The minimum error obtained for the various ranges of distance tested is consistent with the results obtained in other recent works of the literature [13, 14]. At the same time, if we analyse the average error obtained by performing multiple consecutive tests for each range of distance, it can be seen that an improvement in the visual-inertial system is possible, although the system already guarantees great robustness in operation. An improvement could be obtained by using a different hardware, more performing IMU, and at the same time deepening the aspect related to the calibration of the camera in order to further succeed in decreasing the odometric error during navigation.
After conducting a series of test in facility, we definitively validate the result of the project and the system design in a different real tunnel (Figure 11). In this situation it was confirmed that the precision and reliability of the algorithms were enough to allow the system to navigate in total autonomy for at least a stretch of 100 metres.
Figure 11.
Tunnel inspection performed by the UAV during the test of system validation.
4. Discussion and conclusion
The inspection of tunnels and infrastructure for water and hydroelectric resources and, more generally, for any underground work, is essential for the efficient maintenance of the infrastructure itself and provides significant benefits for the rational use of resources. This type of activity collects important information about the current state of consistency of the structure. By highlighting potential or actual failure conditions such as cracks, deformations or other types of problems, it is possible to plan any safety maintenance operations in a timely way. These inspections are now carried out mainly by human operators, with considerable risks to their safety and health at work: claustrophobic, dark and dirty environment.
The idea of this project is to apply innovative techniques, to overcome these problems with the future purpose to ensure greater safety, avoid the inconvenience and risks arising from these activities for the human operator and meet the market needs. As a consequence, a scheduling system has been presented and allows to set different strategies to approach the inspection of the tunnel before starting the mission. Autonomous driving techniques in the six degrees of freedom are developed to ensure the obstacle avoidance in confined space using a simple Lidar sensor. By applying visual-inertial odometry and its fusion with the aid of a Kalman filter, it has been possible the realization of a UAV system able to perform an autonomous inspection of indoor environment like tunnels or conduits.
Although the results shown in this work in terms of robustness and consistency are encouraging, in the future there will be a need to develop advanced techniques considering different scenarios and environments. One possible improvement could be brought developing navigation algorithm based on other types of sensor and using alternative approach. In conclusion, it is central to continue to investigate visual-inertial algorithm since its contribution has proven essential for the robustness, reliability and efficiency of the overall system.
Acknowledgments
The authors want to thank D. Miccone and P. De Petris from WP Web and the Politecnico di Torino Inter-departmental Centre for Service Robotics PIC4SeR, (https://pic4ser.polito.it) for the support and knowledge shared.
\n',keywords:"unmanned aerial vehicle (UAV), GPS denied, indoor navigation, Lidar, inertial measurement unit (IMU), visual-inertial odometry (VIO), 3D reconstruction",chapterPDFUrl:"https://cdn.intechopen.com/pdfs/70361.pdf",chapterXML:"https://mts.intechopen.com/source/xml/70361.xml",downloadPdfUrl:"/chapter/pdf-download/70361",previewPdfUrl:"/chapter/pdf-preview/70361",totalDownloads:783,totalViews:0,totalCrossrefCites:0,dateSubmitted:"June 20th 2019",dateReviewed:"October 29th 2019",datePrePublished:"February 19th 2020",datePublished:"September 9th 2020",dateFinished:"December 5th 2019",readingETA:"0",abstract:"In UAV navigation, one of the challenges in which considerable efforts are being focused is to be able to move indoors. Completing this challenge would imply being able to respond to a series of industrial market needs such as the inspection of internal environments for safety purpose or the inventory of stored material. Usually GPS is used for navigation, but in a closed or underground environment, its signal is almost never available. As a consequence, to achieve the goal and ensure that the UAV is able to accurately estimate its position and orientation without the usage of GPS, an alternative navigation system based on visual-inertial algorithms and the SLAM will be proposed using data fusion techniques. In addition to the navigation system, we propose an obstacle avoidance method based on a Lidar sensor that allows navigation even in the absence of light.",reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/70361",risUrl:"/chapter/ris/70361",signatures:"Lorenzo Galtarossa, Luca Francesco Navilli and Marcello Chiaberge",book:{id:"9178",type:"book",title:"Industrial Robotics",subtitle:"New Paradigms",fullTitle:"Industrial Robotics - New Paradigms",slug:"industrial-robotics-new-paradigms",publishedDate:"September 9th 2020",bookSignature:"Antoni Grau and Zhuping Wang",coverURL:"https://cdn.intechopen.com/books/images_new/9178.jpg",licenceType:"CC BY 3.0",editedByType:"Edited by",isbn:"978-1-83880-734-4",printIsbn:"978-1-83880-733-7",pdfIsbn:"978-1-83880-735-1",isAvailableForWebshopOrdering:!0,editors:[{id:"13038",title:"Prof.",name:"Antoni",middleName:null,surname:"Grau",slug:"antoni-grau",fullName:"Antoni Grau"}],productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"}},authors:null,sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_2",title:"2. System architecture",level:"1"},{id:"sec_2_2",title:"2.1 Robot operating system",level:"2"},{id:"sec_3_2",title:"2.2 UAV’s payload",level:"2"},{id:"sec_4_2",title:"2.3 Visual-inertial sensor",level:"2"},{id:"sec_5_2",title:"2.4 Scheduling system",level:"2"},{id:"sec_7",title:"3. Flight system",level:"1"},{id:"sec_7_2",title:"3.1 Navigation algorithm",level:"2"},{id:"sec_8_2",title:"3.2 Test in simulative environment",level:"2"},{id:"sec_9_2",title:"3.3 Test in real scenario",level:"2"},{id:"sec_11",title:"4. Discussion and conclusion",level:"1"},{id:"sec_12",title:"Acknowledgments",level:"1"}],chapterReferences:[{id:"B1",body:'Hardy J et al. Unmanned aerial vehicle relative navigation in GPS denied environments. In: 2016 IEEE/eION Position, Location and Navigation Symposium (PLANS). Savannah, GA; 2016. pp. 344-352. DOI: 10.1109/PLANS.2016.7479719'},{id:"B2",body:'Balamurugan G, Valarmathi J, Naidu VPS. Survey on UAV navigation in GPS denied environments. In: 2016 International Conference on Signal Processing, Communication, Power and Embedded System (SCOPES). Paralakhemundi; 2016. pp. 198-204. DOI: 10.1109/SCOPES.2016.7955787'},{id:"B3",body:'Bachrach A, Prentice S, He R, Roy N. Range-robust autonomous navigation in GPS-denied environments. Journal of Field Robotics. 2011;28(5):644-666. DOI: 10.1002/rob.20400'},{id:"B4",body:'Ramezani M, Acharya D, Gu F, Khoshelham K. Indoor positioning by visual-inertial odometry. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2017;IV-2/W4:371-376. DOI: 10.5194/isprs-annals-IV-2-W4-371-2017'},{id:"B5",body:'Jones ES, Soatto S. Visual-inertial navigation, mapping and localization: A scalable real-time causal approach. The International Journal of Robotics Research. 2011;30(4):407-430. DOI: 10.1177/0278364910388963'},{id:"B6",body:'Sun K et al. Robust stereo visual inertial odometry for fast autonomous flight. IEEE Robotics and Automation Letters. 2018;3(2):965-972. DOI: 10.1109/LRA.2018.2793349'},{id:"B7",body:'Huang G. Visual-inertial navigation: A concise review. In: IEEE International Conference on Robotics and Automation (ICRA). 2019'},{id:"B8",body:'YoonSeok P, HanCheol C, RyuWoon J, TaeHoon L. ROS Robot Programming. Seoul, Republic of Korea: ROBOTIS Co., Ltd; 2017'},{id:"B9",body:'Quigley M, Gerkey B, Smart WD. Programming Robots with ROS: A Practical Introduction to the Robot Operating System. Sebastopol, CA, USA: O’Reilly Media; 2015'},{id:"B10",body:'Bloesch M, Omari S, Jaeger A. ROVIO. 2015. Available from: https://github.com/ethz-asl/rovio'},{id:"B11",body:'Siciliano B, Khatib O, editors. Springer Handbook of Robotics. Berlin Heidelberg: Springer-Verlag; 2016'},{id:"B12",body:'Djekoune O, Achour K, Toumi R. A sensor based navigation algorithm for a mobile robot using the DVFF approach. International Journal of Advanced Robotic Systems. 2009;6(2)'},{id:"B13",body:'Zhang Z, Scaramuzza D. A tutorial on quantitative trajectory evaluation for visual-inertial odometry. 2018:7244-7251. 10.1109/IROS.2018.8593941'},{id:"B14",body:'Cappellaro R. Comparison of Stereo Visual Inertial Odometry Algorithms for Unmanned Ground Vehicles [Master Thesis]. Politecnico di Torino & PIC4SeR; 2019'}],footnotes:[],contributors:[{corresp:null,contributorFullName:"Lorenzo Galtarossa",address:null,affiliation:'
Department of Electronics and Telecommunications (DET), Politecnico di Torino, Turin, Italy
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Department of Electronics and Telecommunications (DET), Politecnico di Torino, Turin, Italy
Department of Electronics and Telecommunications (DET), Politecnico di Torino, Turin, Italy
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Dr. Şentürk currently works as an professor of Biochemistry in the Department of Basic Pharmacy Sciences, Faculty of Pharmacy, Ağri Ibrahim Cecen University, Turkey. \nDr. Şentürk published over 120 scientific papers, reviews, and book chapters and presented several conferences to scientists. \nHis research interests span enzyme inhibitor or activator, protein expression, purification and characterization, drug design and synthesis, toxicology, and pharmacology. \nHis research work has focused on neurodegenerative diseases and cancer treatment. 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He then worked as an Assistant Professor at the Faculty of Science of the same University until 1984. In 1985, Prof. Iadarola became Associate Professor at the Department of Biology and Biotechnologies of the University of Pavia and retired in October 2017. Since then, he has been working as an Adjunct Professor in the same Department at the University of Pavia. His research activity during the first years was primarily focused on the purification and structural characterization of enzymes from animal and plant sources. During this period, Prof. Iadarola familiarized himself with the conventional techniques used in column chromatography, spectrophotometry, manual Edman degradation, and electrophoresis). Since 1995, he has been working on: i) the determination in biological fluids (serum, urine, bronchoalveolar lavage, sputum) of proteolytic activities involved in the degradation processes of connective tissue matrix, and ii) on the identification of biological markers of lung diseases. In this context, he has developed and validated new methodologies (e.g., Capillary Electrophoresis coupled to Laser-Induced Fluorescence, CE-LIF) whose application enabled him to determine both the amounts of biochemical markers (Desmosines) in urine/serum of patients affected by Chronic Obstructive Pulmonary Disease (COPD) and the activity of proteolytic enzymes (Human Neutrophil Elastase, Cathepsin G, Pseudomonas aeruginosa elastase) in sputa of these patients. More recently, Prof. Iadarola was involved in developing techniques such as two-dimensional electrophoresis coupled to liquid chromatography/mass spectrometry (2DE-LC/MS) for the proteomic analysis of biological fluids aimed at the identification of potential biomarkers of different lung diseases. He is the author of about 150 publications (According to Scopus: H-Index: 23; Total citations: 1568- According to WOS: H-Index: 20; Total Citations: 1296) of peer-reviewed international journals. He is a Consultant Reviewer for several journals, including the Journal of Chromatography A, Journal of Chromatography B, Plos ONE, Proteomes, International Journal of Molecular Science, Biotech, Electrophoresis, and others. He is also Associate Editor of Biotech.",institutionString:null,position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"2",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"University of Pavia",institutionURL:null,country:{name:"Italy"}}},editorTwo:{id:"201414",title:"Dr.",name:"Simona",middleName:null,surname:"Viglio",slug:"simona-viglio",fullName:"Simona Viglio",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRKDHQA4/Profile_Picture_1630402531487",biography:"Simona Viglio is an Associate Professor of Biochemistry at the Department of Molecular Medicine at the University of Pavia. She has been working since 1995 on the determination of proteolytic enzymes involved in the degradation process of connective tissue matrix and on the identification of biological markers of lung diseases. She gained considerable experience in developing and validating new methodologies whose applications allowed her to determine both the amount of biomarkers (Desmosine and Isodesmosine) in the urine of patients affected by COPD, and the activity of proteolytic enzymes (HNE, Cathepsin G, Pseudomonas aeruginosa elastase) in the sputa of these patients. Simona Viglio was also involved in research dealing with the supplementation of amino acids in patients with brain injury and chronic heart failure. She is presently engaged in the development of 2-DE and LC-MS techniques for the study of proteomics in biological fluids. The aim of this research is the identification of potential biomarkers of lung diseases. She is an author of about 90 publications (According to Scopus: H-Index: 23; According to WOS: H-Index: 20) on peer-reviewed journals, a member of the “Società Italiana di Biochimica e Biologia Molecolare,“ and a Consultant Reviewer for International Journal of Molecular Science, Journal of Chromatography A, COPD, Plos ONE and Nutritional Neuroscience.",institutionString:null,position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"2",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"University of Pavia",institutionURL:null,country:{name:"Italy"}}},editorThree:null,series:{id:"11",title:"Biochemistry"}}},seriesLanding:{item:{id:"11",title:"Biochemistry",doi:"10.5772/intechopen.72877",issn:"2632-0983",scope:"Biochemistry, the study of chemical transformations occurring within living organisms, impacts all areas of life sciences, from molecular crystallography and genetics to ecology, medicine, and population biology. Biochemistry examines macromolecules - proteins, nucleic acids, carbohydrates, and lipids – and their building blocks, structures, functions, and interactions. Much of biochemistry is devoted to enzymes, proteins that catalyze chemical reactions, enzyme structures, mechanisms of action and their roles within cells. Biochemistry also studies small signaling molecules, coenzymes, inhibitors, vitamins, and hormones, which play roles in life processes. Biochemical experimentation, besides coopting classical chemistry methods, e.g., chromatography, adopted new techniques, e.g., X-ray diffraction, electron microscopy, NMR, radioisotopes, and developed sophisticated microbial genetic tools, e.g., auxotroph mutants and their revertants, fermentation, etc. More recently, biochemistry embraced the ‘big data’ omics systems. Initial biochemical studies have been exclusively analytic: dissecting, purifying, and examining individual components of a biological system; in the apt words of Efraim Racker (1913 –1991), “Don’t waste clean thinking on dirty enzymes.” Today, however, biochemistry is becoming more agglomerative and comprehensive, setting out to integrate and describe entirely particular biological systems. The ‘big data’ metabolomics can define the complement of small molecules, e.g., in a soil or biofilm sample; proteomics can distinguish all the comprising proteins, e.g., serum; metagenomics can identify all the genes in a complex environment, e.g., the bovine rumen. This Biochemistry Series will address the current research on biomolecules and the emerging trends with great promise.",coverUrl:"https://cdn.intechopen.com/series/covers/11.jpg",latestPublicationDate:"June 29th, 2022",hasOnlineFirst:!0,numberOfOpenTopics:4,numberOfPublishedChapters:318,numberOfPublishedBooks:32,editor:{id:"31610",title:"Dr.",name:"Miroslav",middleName:null,surname:"Blumenberg",fullName:"Miroslav Blumenberg",profilePictureURL:"https://mts.intechopen.com/storage/users/31610/images/system/31610.jpg",biography:"Miroslav Blumenberg, Ph.D., was born in Subotica and received his BSc in Belgrade, Yugoslavia. He completed his Ph.D. at MIT in Organic Chemistry; he followed up his Ph.D. with two postdoctoral study periods at Stanford University. Since 1983, he has been a faculty member of the RO Perelman Department of Dermatology, NYU School of Medicine, where he is codirector of a training grant in cutaneous biology. Dr. Blumenberg’s research is focused on the epidermis, expression of keratin genes, transcription profiling, keratinocyte differentiation, inflammatory diseases and cancers, and most recently the effects of the microbiome on the skin. He has published more than 100 peer-reviewed research articles and graduated numerous Ph.D. and postdoctoral students.",institutionString:null,institution:{name:"New York University Langone Medical Center",institutionURL:null,country:{name:"United States of America"}}},subseries:[{id:"14",title:"Cell and Molecular Biology",keywords:"Omics (Transcriptomics; Proteomics; Metabolomics), Molecular Biology, Cell Biology, Signal Transduction and Regulation, Cell Growth and Differentiation, Apoptosis, Necroptosis, Ferroptosis, Autophagy, Cell Cycle, Macromolecules and Complexes, Gene Expression",scope:"The Cell and Molecular Biology topic within the IntechOpen Biochemistry Series aims to rapidly publish contributions on all aspects of cell and molecular biology, including aspects related to biochemical and genetic research (not only in humans but all living beings). We encourage the submission of manuscripts that provide novel and mechanistic insights that report significant advances in the fields. Topics include, but are not limited to: Advanced techniques of cellular and molecular biology (Molecular methodologies, imaging techniques, and bioinformatics); Biological activities at the molecular level; Biological processes of cell functions, cell division, senescence, maintenance, and cell death; Biomolecules interactions; Cancer; Cell biology; Chemical biology; Computational biology; Cytochemistry; Developmental biology; Disease mechanisms and therapeutics; DNA, and RNA metabolism; Gene functions, genetics, and genomics; Genetics; Immunology; Medical microbiology; Molecular biology; Molecular genetics; Molecular processes of cell and organelle dynamics; Neuroscience; Protein biosynthesis, degradation, and functions; Regulation of molecular interactions in a cell; Signalling networks and system biology; Structural biology; Virology and microbiology.",annualVolume:11410,isOpenForSubmission:!0,coverUrl:"https://cdn.intechopen.com/series_topics/covers/14.jpg",editor:{id:"165627",title:"Dr.",name:"Rosa María",middleName:null,surname:"Martínez-Espinosa",fullName:"Rosa María Martínez-Espinosa",profilePictureURL:"https://mts.intechopen.com/storage/users/165627/images/system/165627.jpeg",institutionString:null,institution:{name:"University of Alicante",institutionURL:null,country:{name:"Spain"}}},editorTwo:null,editorThree:null,editorialBoard:[{id:"79367",title:"Dr.",name:"Ana Isabel",middleName:null,surname:"Flores",fullName:"Ana Isabel Flores",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRpIOQA0/Profile_Picture_1632418099564",institutionString:null,institution:{name:"Hospital Universitario 12 De Octubre",institutionURL:null,country:{name:"Spain"}}},{id:"328234",title:"Ph.D.",name:"Christian",middleName:null,surname:"Palavecino",fullName:"Christian Palavecino",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0033Y000030DhEhQAK/Profile_Picture_1628835318625",institutionString:null,institution:{name:"Central University of Chile",institutionURL:null,country:{name:"Chile"}}},{id:"186585",title:"Dr.",name:"Francisco Javier",middleName:null,surname:"Martin-Romero",fullName:"Francisco Javier Martin-Romero",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bSB3HQAW/Profile_Picture_1631258137641",institutionString:null,institution:{name:"University of Extremadura",institutionURL:null,country:{name:"Spain"}}}]},{id:"15",title:"Chemical Biology",keywords:"Phenolic Compounds, Essential Oils, Modification of Biomolecules, Glycobiology, Combinatorial Chemistry, Therapeutic peptides, Enzyme Inhibitors",scope:"Chemical biology spans the fields of chemistry and biology involving the application of biological and chemical molecules and techniques. In recent years, the application of chemistry to biological molecules has gained significant interest in medicinal and pharmacological studies. This topic will be devoted to understanding the interplay between biomolecules and chemical compounds, their structure and function, and their potential applications in related fields. Being a part of the biochemistry discipline, the ideas and concepts that have emerged from Chemical Biology have affected other related areas. This topic will closely deal with all emerging trends in this discipline.",annualVolume:11411,isOpenForSubmission:!0,coverUrl:"https://cdn.intechopen.com/series_topics/covers/15.jpg",editor:{id:"441442",title:"Dr.",name:"Şükrü",middleName:null,surname:"Beydemir",fullName:"Şükrü Beydemir",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0033Y00003GsUoIQAV/Profile_Picture_1634557147521",institutionString:null,institution:{name:"Anadolu University",institutionURL:null,country:{name:"Turkey"}}},editorTwo:{id:"13652",title:"Prof.",name:"Deniz",middleName:null,surname:"Ekinci",fullName:"Deniz Ekinci",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002aYLT1QAO/Profile_Picture_1634557223079",institutionString:null,institution:{name:"Ondokuz Mayıs University",institutionURL:null,country:{name:"Turkey"}}},editorThree:null,editorialBoard:[{id:"219081",title:"Dr.",name:"Abdulsamed",middleName:null,surname:"Kükürt",fullName:"Abdulsamed Kükürt",profilePictureURL:"https://mts.intechopen.com/storage/users/219081/images/system/219081.png",institutionString:null,institution:{name:"Kafkas University",institutionURL:null,country:{name:"Turkey"}}},{id:"241413",title:"Dr.",name:"Azhar",middleName:null,surname:"Rasul",fullName:"Azhar Rasul",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRT1oQAG/Profile_Picture_1635251978933",institutionString:null,institution:{name:"Government College University, Faisalabad",institutionURL:null,country:{name:"Pakistan"}}},{id:"178316",title:"Ph.D.",name:"Sergey",middleName:null,surname:"Sedykh",fullName:"Sergey Sedykh",profilePictureURL:"https://mts.intechopen.com/storage/users/178316/images/system/178316.jfif",institutionString:null,institution:{name:"Novosibirsk State University",institutionURL:null,country:{name:"Russia"}}}]},{id:"17",title:"Metabolism",keywords:"Biomolecules Metabolism, Energy Metabolism, Metabolic Pathways, Key Metabolic Enzymes, Metabolic Adaptation",scope:"Metabolism is frequently defined in biochemistry textbooks as the overall process that allows living systems to acquire and use the free energy they need for their vital functions or the chemical processes that occur within a living organism to maintain life. Behind these definitions are hidden all the aspects of normal and pathological functioning of all processes that the topic ‘Metabolism’ will cover within the Biochemistry Series. Thus all studies on metabolism will be considered for publication.",annualVolume:11413,isOpenForSubmission:!0,coverUrl:"https://cdn.intechopen.com/series_topics/covers/17.jpg",editor:{id:"138626",title:"Dr.",name:"Yannis",middleName:null,surname:"Karamanos",fullName:"Yannis Karamanos",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002g6Jv2QAE/Profile_Picture_1629356660984",institutionString:null,institution:{name:"Artois University",institutionURL:null,country:{name:"France"}}},editorTwo:null,editorThree:null,editorialBoard:[{id:"243049",title:"Dr.",name:"Anca",middleName:null,surname:"Pantea Stoian",fullName:"Anca Pantea Stoian",profilePictureURL:"https://mts.intechopen.com/storage/users/243049/images/system/243049.jpg",institutionString:null,institution:{name:"Carol Davila University of Medicine and Pharmacy",institutionURL:null,country:{name:"Romania"}}},{id:"203824",title:"Dr.",name:"Attilio",middleName:null,surname:"Rigotti",fullName:"Attilio Rigotti",profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",institutionString:null,institution:{name:"Pontifical Catholic University of Chile",institutionURL:null,country:{name:"Chile"}}},{id:"300470",title:"Dr.",name:"Yanfei (Jacob)",middleName:null,surname:"Qi",fullName:"Yanfei (Jacob) Qi",profilePictureURL:"https://mts.intechopen.com/storage/users/300470/images/system/300470.jpg",institutionString:null,institution:{name:"Centenary Institute of Cancer Medicine and Cell Biology",institutionURL:null,country:{name:"Australia"}}}]},{id:"18",title:"Proteomics",keywords:"Mono- and Two-Dimensional Gel Electrophoresis (1-and 2-DE), Liquid Chromatography (LC), Mass Spectrometry/Tandem Mass Spectrometry (MS; MS/MS), Proteins",scope:"With the recognition that the human genome cannot provide answers to the etiology of a disorder, changes in the proteins expressed by a genome became a focus in research. Thus proteomics, an area of research that detects all protein forms expressed in an organism, including splice isoforms and post-translational modifications, is more suitable than genomics for a comprehensive understanding of the biochemical processes that govern life. The most common proteomics applications are currently in the clinical field for the identification, in a variety of biological matrices, of biomarkers for diagnosis and therapeutic intervention of disorders. From the comparison of proteomic profiles of control and disease or different physiological states, which may emerge, changes in protein expression can provide new insights into the roles played by some proteins in human pathologies. Understanding how proteins function and interact with each other is another goal of proteomics that makes this approach even more intriguing. Specialized technology and expertise are required to assess the proteome of any biological sample. Currently, proteomics relies mainly on mass spectrometry (MS) combined with electrophoretic (1 or 2-DE-MS) and/or chromatographic techniques (LC-MS/MS). MS is an excellent tool that has gained popularity in proteomics because of its ability to gather a complex body of information such as cataloging protein expression, identifying protein modification sites, and defining protein interactions. The Proteomics topic aims to attract contributions on all aspects of MS-based proteomics that, by pushing the boundaries of MS capabilities, may address biological problems that have not been resolved yet.",annualVolume:11414,isOpenForSubmission:!0,coverUrl:"https://cdn.intechopen.com/series_topics/covers/18.jpg",editor:{id:"200689",title:"Prof.",name:"Paolo",middleName:null,surname:"Iadarola",fullName:"Paolo Iadarola",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bSCl8QAG/Profile_Picture_1623568118342",institutionString:null,institution:{name:"University of Pavia",institutionURL:null,country:{name:"Italy"}}},editorTwo:{id:"201414",title:"Dr.",name:"Simona",middleName:null,surname:"Viglio",fullName:"Simona Viglio",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRKDHQA4/Profile_Picture_1630402531487",institutionString:null,institution:{name:"University of Pavia",institutionURL:null,country:{name:"Italy"}}},editorThree:null,editorialBoard:[{id:"72288",title:"Dr.",name:"Arli Aditya",middleName:null,surname:"Parikesit",fullName:"Arli Aditya Parikesit",profilePictureURL:"https://mts.intechopen.com/storage/users/72288/images/system/72288.jpg",institutionString:null,institution:{name:"Indonesia International Institute for Life Sciences",institutionURL:null,country:{name:"Indonesia"}}},{id:"40928",title:"Dr.",name:"Cesar",middleName:null,surname:"Lopez-Camarillo",fullName:"Cesar Lopez-Camarillo",profilePictureURL:"https://mts.intechopen.com/storage/users/40928/images/3884_n.png",institutionString:null,institution:{name:"Universidad Autónoma de la Ciudad de México",institutionURL:null,country:{name:"Mexico"}}},{id:"81926",title:"Dr.",name:"Shymaa",middleName:null,surname:"Enany",fullName:"Shymaa Enany",profilePictureURL:"https://mts.intechopen.com/storage/users/81926/images/system/81926.png",institutionString:"Suez Canal University",institution:{name:"Suez Canal University",institutionURL:null,country:{name:"Egypt"}}}]}]}},libraryRecommendation:{success:null,errors:{},institutions:[]},route:{name:"chapter.detail",path:"/chapters/18057",hash:"",query:{},params:{id:"18057"},fullPath:"/chapters/18057",meta:{},from:{name:null,path:"/",hash:"",query:{},params:{},fullPath:"/",meta:{}}}},function(){var e;(e=document.currentScript||document.scripts[document.scripts.length-1]).parentNode.removeChild(e)}()