UAV hardware component summary. The same setup was used in ERL and MBZIRC competitions.
\\n\\n
IntechOpen was founded by scientists, for scientists, in order to make book publishing accessible around the globe. Over the last two decades, this has driven Open Access (OA) book publishing whilst levelling the playing field for global academics. Through our innovative publishing model and the support of the research community, we have now published over 5,700 Open Access books and are visited online by over three million academics every month. These researchers are increasingly working in broad technology-based subjects, driving multidisciplinary academic endeavours into human health, environment, and technology.
\\n\\nBy listening to our community, and in order to serve these rapidly growing areas which lie at the core of IntechOpen's expertise, we are launching a portfolio of Open Science journals:
\\n\\nAll three journals will publish under an Open Access model and embrace Open Science policies to help support the changing needs of academics in these fast-moving research areas. There will be direct links to preprint servers and data repositories, allowing full reproducibility and rapid dissemination of published papers to help accelerate the pace of research. Each journal has renowned Editors in Chief who will work alongside a global Editorial Board, delivering robust single-blind peer review. Supported by our internal editorial teams, this will ensure our authors will receive a quick, user-friendly, and personalised publishing experience.
\\n\\n"By launching our journals portfolio we are introducing new, dedicated homes for interdisciplinary technology-focused researchers to publish their work, whilst embracing Open Science and creating a unique global home for academics to disseminate their work. We are taking a leap toward Open Science continuing and expanding our fundamental commitment to openly sharing scientific research across the world, making it available for the benefit of all." Dr. Sara Uhac, IntechOpen CEO
\\n\\n"Our aim is to promote and create better science for a better world by increasing access to information and the latest scientific developments to all scientists, innovators, entrepreneurs and students and give them the opportunity to learn, observe and contribute to knowledge creation. Open Science promotes a swifter path from research to innovation to produce new products and services." Alex Lazinica, IntechOpen founder
\\n\\nIn conclusion, Natalia Reinic Babic, Head of Journal Publishing and Open Science at IntechOpen adds:
\\n\\n“On behalf of the journal team I’d like to thank all our Editors in Chief, Editorial Boards, internal supporting teams, and our scientific community for their continuous support in making this portfolio a reality - we couldn’t have done it without you! With your support in place, we are confident these journals will become as impactful and successful as our book publishing program and bring us closer to a more open (science) future.”
\\n\\nWe invite you to visit the journals homepage and learn more about the journal’s Editorial Boards, scope and vision as all three journals are now open for submissions.
\\n\\nFeel free to share this news on social media and help us mark this memorable moment!
\\n\\n\\n"}]',published:!0,mainMedia:{caption:"",originalUrl:"/media/original/237"}},components:[{type:"htmlEditorComponent",content:'
After years of being acknowledged as the world's leading publisher of Open Access books, today, we are proud to announce we’ve successfully launched a portfolio of Open Science journals covering rapidly expanding areas of interdisciplinary research.
\n\n\n\nIntechOpen was founded by scientists, for scientists, in order to make book publishing accessible around the globe. Over the last two decades, this has driven Open Access (OA) book publishing whilst levelling the playing field for global academics. Through our innovative publishing model and the support of the research community, we have now published over 5,700 Open Access books and are visited online by over three million academics every month. These researchers are increasingly working in broad technology-based subjects, driving multidisciplinary academic endeavours into human health, environment, and technology.
\n\nBy listening to our community, and in order to serve these rapidly growing areas which lie at the core of IntechOpen's expertise, we are launching a portfolio of Open Science journals:
\n\nAll three journals will publish under an Open Access model and embrace Open Science policies to help support the changing needs of academics in these fast-moving research areas. There will be direct links to preprint servers and data repositories, allowing full reproducibility and rapid dissemination of published papers to help accelerate the pace of research. Each journal has renowned Editors in Chief who will work alongside a global Editorial Board, delivering robust single-blind peer review. Supported by our internal editorial teams, this will ensure our authors will receive a quick, user-friendly, and personalised publishing experience.
\n\n"By launching our journals portfolio we are introducing new, dedicated homes for interdisciplinary technology-focused researchers to publish their work, whilst embracing Open Science and creating a unique global home for academics to disseminate their work. We are taking a leap toward Open Science continuing and expanding our fundamental commitment to openly sharing scientific research across the world, making it available for the benefit of all." Dr. Sara Uhac, IntechOpen CEO
\n\n"Our aim is to promote and create better science for a better world by increasing access to information and the latest scientific developments to all scientists, innovators, entrepreneurs and students and give them the opportunity to learn, observe and contribute to knowledge creation. Open Science promotes a swifter path from research to innovation to produce new products and services." Alex Lazinica, IntechOpen founder
\n\nIn conclusion, Natalia Reinic Babic, Head of Journal Publishing and Open Science at IntechOpen adds:
\n\n“On behalf of the journal team I’d like to thank all our Editors in Chief, Editorial Boards, internal supporting teams, and our scientific community for their continuous support in making this portfolio a reality - we couldn’t have done it without you! With your support in place, we are confident these journals will become as impactful and successful as our book publishing program and bring us closer to a more open (science) future.”
\n\nWe invite you to visit the journals homepage and learn more about the journal’s Editorial Boards, scope and vision as all three journals are now open for submissions.
\n\nFeel free to share this news on social media and help us mark this memorable moment!
\n\n\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:"8460",leadTitle:null,fullTitle:"Reproductive Biology and Technology in Animals",title:"Reproductive Biology and Technology in Animals",subtitle:null,reviewType:"peer-reviewed",abstract:"Reproductive success is a very important objective to ensure the evolution of animal species. In this sense, interesting research has been carried out to clarify various aspects of reproduction in different animal species. In this way, recent advances in the knowledge of reproductive biology and biotechnology developed for both males and females have been key to improving efficiency in different aspects. Thus, advances in the knowledge of sperm handling, oocyte characteristics, different genomic aspects related to somatic cell nuclear transfer, and the reproductive microarchitecture system in sheep, cows, pigs, and other invertebrates such as gastropods and fish are presented in this book. Additionally, we also present the most relevant topics of each area, making a detailed review of the knowledge reported to date.",isbn:"978-1-78984-180-0",printIsbn:"978-1-78984-179-4",pdfIsbn:"978-1-78984-206-7",doi:"10.5772/intechopen.78834",price:119,priceEur:129,priceUsd:155,slug:"reproductive-biology-and-technology-in-animals",numberOfPages:144,isOpenForSubmission:!1,isInWos:null,isInBkci:!1,hash:"32ef5fe73998dd723d308225d756fa1e",bookSignature:"Juan Carlos Gardón Poggi and Katy Satué Ambrojo",publishedDate:"April 15th 2020",coverURL:"https://cdn.intechopen.com/books/images_new/8460.jpg",numberOfDownloads:5501,numberOfWosCitations:0,numberOfCrossrefCitations:4,numberOfCrossrefCitationsByBook:0,numberOfDimensionsCitations:5,numberOfDimensionsCitationsByBook:0,hasAltmetrics:0,numberOfTotalCitations:9,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"January 10th 2019",dateEndSecondStepPublish:"January 31st 2019",dateEndThirdStepPublish:"April 1st 2019",dateEndFourthStepPublish:"June 20th 2019",dateEndFifthStepPublish:"August 19th 2019",currentStepOfPublishingProcess:5,indexedIn:"1,2,3,4,5,6",editedByType:"Edited by",kuFlag:!1,featuredMarkup:null,editors:[{id:"251314",title:"Dr.",name:"Juan Carlos",middleName:null,surname:"Gardón",slug:"juan-carlos-gardon",fullName:"Juan Carlos Gardón",profilePictureURL:"https://mts.intechopen.com/storage/users/251314/images/system/251314.jpeg",biography:"Juan Carlos Gardón Poggi received University degree from the Faculty of Agrarian Science in Argentina, in 1983. Also he received Masters Degree and PhD from Córdoba University, Spain. He is currently a Professor at the Catholic University of Valencia San Vicente Mártir, at the Department of Medicine and Animal Surgery. He teaches diverse courses in the field of Animal Reproduction and he is the Director of the Veterinary Farm. He also participates in academic postgraduate activities at the Veterinary Faculty of Murcia University, Spain. His research areas include animal physiology, physiology and biotechnology of reproduction either in males or females, the study of gametes under in vitro conditions and the use of ultrasound as a complement to physiological studies and development of applied biotechnologies. Routinely, he supervises students preparing their doctoral, master thesis or final degree projects.",institutionString:"Catholic University of Valencia San Vicente Mártir, Spain",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"2",totalChapterViews:"0",totalEditedBooks:"1",institution:null}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,coeditorOne:{id:"125292",title:"Dr.",name:"Katy",middleName:null,surname:"Satué Ambrojo",slug:"katy-satue-ambrojo",fullName:"Katy Satué Ambrojo",profilePictureURL:"https://mts.intechopen.com/storage/users/125292/images/system/125292.jpeg",biography:"Katy Satué Ambrojo received her Veterinary Medicine degree, Master degree in Equine Technology and doctorate in Veterinary Medicine from the Faculty of Veterinary, CEU-Cardenal Herrera University in Valencia, Spain. She is a Full Professor at the Department of Medicine and Animal Surgery at the same University. She developed her research activity in the field of Endocrinology, Hematology, Biochemistry and Immunology of horses. She is a scientific reviewer of several international journals : American Journal of Obstetrics and Gynecology, Comparative Clinical Pathology, Veterinary Clinical Pathology, Journal of Equine Veterinary Science, Reproduction in Domestic Animals, Research Veterinary Science, Brazilian Journal of Medical and Biological Research, Livestock Production Science and Theriogenology. Since 2014, she has been the Head of the Clinical Analysis Laboratory of the Hospital Clínico Veterinario from the Faculty of Veterinary, CEU-Cardenal Herrera University.",institutionString:"CEU-Cardenal Herrera University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"9",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"CEU Cardinal Herrera University",institutionURL:null,country:{name:"Spain"}}},coeditorTwo:null,coeditorThree:null,coeditorFour:null,coeditorFive:null,topics:[{id:"1379",title:"Theriogenology",slug:"animal-science-theriogenology"}],chapters:[{id:"68101",title:"Micro-architecture of the Female Reproductive System",doi:"10.5772/intechopen.88023",slug:"micro-architecture-of-the-female-reproductive-system",totalDownloads:693,totalCrossrefCites:1,totalDimensionsCites:1,hasAltmetrics:0,abstract:"The female reproductive system consists of the ovary, oviduct, uterus, and vagina. This chapter will discuss how these organs look like under the microscope and what types of ultrastructural tissues are present in it, how the shape and physiology of the tissues/cells change with the physiological activities including reproductive cycles, what type of alterations occurs in the ovary during ovulation and how its follicle and epithelium differ, and how the ovulation takes place. The chapter will also elaborate how the lining epithelium and the tract mucosa facilitate the fertilized ovum and conceptus. Also, the chapter is highlighting the architectural changes within the mucosa of the uterus during and after pregnancy and type of ovary and spermatozoa that is most suitable for fertilization.",signatures:"Arbab Sikandar and Muhammad Ali",downloadPdfUrl:"/chapter/pdf-download/68101",previewPdfUrl:"/chapter/pdf-preview/68101",authors:[{id:"210551",title:"Dr.",name:"Arbab",surname:"Sikandar",slug:"arbab-sikandar",fullName:"Arbab Sikandar"},{id:"291279",title:"Dr.",name:"Muhammad",surname:"Ali",slug:"muhammad-ali",fullName:"Muhammad Ali"}],corrections:null},{id:"68402",title:"Oocyte Meiotic Resumption under High Surveillance",doi:"10.5772/intechopen.88291",slug:"oocyte-meiotic-resumption-under-high-surveillance",totalDownloads:640,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"Germinal vesicle breakdown (GVBD) is the hallmark of oocyte meiotic resumption. It occurs under minimal stimulation during in vitro maturation (IVM). Several factors have been described to be involved in the inhibition of oocyte meiotic resumption such as purine derivatives. This study was assessing whether adenosinergic and guanosinergic systems are functional and participating in the inhibition of oocyte maturation. The objectives of the present study were to evaluate the effect of two purines, adenosine (ADO) and guanosine (GUO), on in vitro oocyte meiotic resumption, cumulus cell expansion, and gap junction communication. Both ADO and GUO significantly inhibited GVBD oocytes. The inhibitory effect lasted 24 hours and was reversible for meiotic resumption and cumulus cell expansion. Both ADO and GUO increased gap junction communication in cumulus cells. Equine chorionic gonadotropin (eCG) and the adenylyl cyclase stimulator, forskolin (FK), were both supportive of ADO and GUO inhibitory effect. The results are suggesting both adenosinergic and guanosinergic systems efficient in inhibiting oocyte meiotic resumption. The use of these two systems as part of a pre-IVM culture period would be a novel strategy to explore in order to improve oocyte developmental competence.",signatures:"François J. Richard",downloadPdfUrl:"/chapter/pdf-download/68402",previewPdfUrl:"/chapter/pdf-preview/68402",authors:[{id:"293923",title:"Prof.",name:"Francois",surname:"Richard",slug:"francois-richard",fullName:"Francois Richard"}],corrections:null},{id:"71188",title:"Effect of Pre and Post Weaning Diet Quality on Puberty Age and Tail Measures in Kurdish Female Lambs",doi:"10.5772/intechopen.88647",slug:"effect-of-pre-and-post-weaning-diet-quality-on-puberty-age-and-tail-measures-in-kurdish-female-lambs",totalDownloads:753,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"To determine the value of pre and post weaning nutrition on puberty age, some hormonal concentrations and tail measures in ewe lambs, a total of 40 clinically health Kurdish female lambs (30±8.6 d and weighing 10.2±3.4 kg) were randomly allocated to one of two experimental diets in pre-weaning period: high quality diet (HQD, 2.50 Mcal ME/kg dry matter (DM) and 148 g CP/kg DM) or low quality diet (LQD, 2.02 Mcal ME/kg DM and 87 g CP/kg DM). At weaning, one half of lambs from each group was randomly separated and assigned to HQD or LQD. So there were four treatment groups in post-weaning period: H-H (HQD pre- and post-weaning); H-L (HQD pre-weaning and LQD post-weaning); L-H (LQD pre-weaning and HQD post-weaning) and L-L (LQD pre and post-weaning, control group). Within the post-weaning, serum progesterone concentrations was greater for ewe lambs fed at H-H group than for other groups (P<0.05). Serum insulin concentration was affected by the diet quality at both periods (P<0.05). Leptin concentration was affected by treatment and ewe lambs of L-H group had higher leptin concentrations (P<0.05). Diet plan in the pre-pubertal period was affected tail measures in 120 and 210 days of ages (P<0.05).",signatures:"Sedigheh Menatian, Hamidreza Mirzaei Alamouti, Farshid Fatahnia and Reza Masoumi",downloadPdfUrl:"/chapter/pdf-download/71188",previewPdfUrl:"/chapter/pdf-preview/71188",authors:[{id:"297615",title:"Dr.",name:"Sedigheh",surname:"Menatian",slug:"sedigheh-menatian",fullName:"Sedigheh Menatian"}],corrections:null},{id:"70867",title:"Bioclimatic Influence on the Pregnancy Rate in Embryo-Recipient Cows in the Amazonian Biome",doi:"10.5772/intechopen.87998",slug:"bioclimatic-influence-on-the-pregnancy-rate-in-embryo-recipient-cows-in-the-amazonian-biome",totalDownloads:622,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"The objective of the research was to evaluate the effect of the climate, through the parameters of rectal temperature (RT), temperature and humidity index (THI), and plasma cortisol concentration, on the physiological responses of embryo-recipient cows in the Amazonian biome. For the conduction of the experiment in which 11 rural properties participated, 235 crossbred cows were used as embryo recipients. The embryos were obtained by means of the in vitro production technique (PIV). The recipients were divided into batches and submitted based on the simplification of the P36 protocol for fixed-time embryo transfer (FTET). To the day of embryo transfer, blood samples were collected by venipuncture of the coccygeal vein in tubes with anticoagulant. Plasma cortisol dosages were done by solid-phase radioimmunoassay (RIA) technique using commercial kits. The rectal temperature of each of the recipients submitted to the protocol was verified using a digital clinical thermometer, and the ambient temperature and the relative humidity of the air were evaluated in this moment, both with the aid of own digital equipment. Statistical analysis of the parameters evaluated was Pearson’s correlation and Student’s t-test at a significance level of 5%. In the analysis of variance, it was observed that there was a significant difference in plasma cortisol and THI among the groups, where lower mean values were found in the GP group. The Amazonian climate is an inducer of thermal stress, which can cause abnormalities in the estral cycle and changes in the synthesis of sex hormones and embryonic development and, consequently, negatively affect the pregnancy rate in embryo-recipient cows, even in races more adapted to the tropics, as demonstrated by the RT, THI, and plasma cortisol parameters.",signatures:"Jefferson Viana Alves Diniz, Laine Oliveira da Silva, Marina Marie Bento Nogueira, Rosano Ramos de Freitas, Marcos Nereu Luckner, Rafael Augusto Satrapa, José Antonio Dell’Aqua Junior and Eunice Oba",downloadPdfUrl:"/chapter/pdf-download/70867",previewPdfUrl:"/chapter/pdf-preview/70867",authors:[{id:"292338",title:"D.Sc.",name:"Jefferson",surname:"Diniz",slug:"jefferson-diniz",fullName:"Jefferson Diniz"},{id:"302276",title:"Dr.",name:"Rodolpho",surname:"Satrapa",slug:"rodolpho-satrapa",fullName:"Rodolpho Satrapa"},{id:"302277",title:"MSc.",name:"Rosano",surname:"De Freitas",slug:"rosano-de-freitas",fullName:"Rosano De Freitas"},{id:"302278",title:"MSc.",name:"Marcos",surname:"Luckner",slug:"marcos-luckner",fullName:"Marcos Luckner"},{id:"302280",title:"Dr.",name:"Rafael",surname:"Satrapa",slug:"rafael-satrapa",fullName:"Rafael Satrapa"},{id:"302283",title:"Prof.",name:"Euni",surname:"Oba",slug:"euni-oba",fullName:"Euni Oba"},{id:"302284",title:"MSc.",name:"Laine Oliveira",surname:"Da Silva",slug:"laine-oliveira-da-silva",fullName:"Laine Oliveira Da Silva"},{id:"302285",title:"MSc.",name:"Marina Bento",surname:"Nogueira",slug:"marina-bento-nogueira",fullName:"Marina Bento Nogueira"}],corrections:null},{id:"68240",title:"Recent Advance in Genome Editing-Based Gene Modification in Pigs",doi:"10.5772/intechopen.88022",slug:"recent-advance-in-genome-editing-based-gene-modification-in-pigs",totalDownloads:1130,totalCrossrefCites:1,totalDimensionsCites:1,hasAltmetrics:0,abstract:"Recently, a series of genome editing technologies including ZFNs, TALENs, and CRISPR/Cas9 systems have enabled gene modification in the endogenous target genes of various organisms including pigs, which are important for agricultural and biomedical research. Owing to its simple application for gene knockout and ease of use, the CRISPR/Cas9 is now in common use worldwide. The most important aspect of this process is the selection of the method used to deliver genome editing components to embryos. In earlier stages, zygote microinjection of these components [single guide RNA (sgRNA) + DNA/mRNA for Cas9] into the cytoplasm and/or nuclei of a zygote has been frequently employed. However, this method is always associated with the generation of mosaic embryos in which genome-edited and unedited cells are mixed together. To avoid this mosaic issue, in vitro electroporation of zygotes in the presence of sgRNA mixed with Cas9 protein, referred to as a ribonucleoprotein (RNP), is now in frequent use. This review provides a historical background of the production of genome-edited pigs and also presents current research concerning how genome editing is induced in somatic cell nuclear transfer-derived embryos that have been reconstituted with normal nuclei.",signatures:"Masahiro Sato, Kazuchika Miyoshi, Hiroaki Kawaguchi, Emi Inada, Issei Saitoh and Akihide Tanimoto",downloadPdfUrl:"/chapter/pdf-download/68240",previewPdfUrl:"/chapter/pdf-preview/68240",authors:[{id:"78725",title:"Dr.",name:"Kazuchika",surname:"Miyoshi",slug:"kazuchika-miyoshi",fullName:"Kazuchika Miyoshi"},{id:"177442",title:"Dr.",name:"Emi",surname:"Inada",slug:"emi-inada",fullName:"Emi Inada"},{id:"177443",title:"Dr.",name:"Issei",surname:"Saitoh",slug:"issei-saitoh",fullName:"Issei Saitoh"},{id:"245795",title:"Prof.",name:"Masahiro",surname:"Sato",slug:"masahiro-sato",fullName:"Masahiro Sato"},{id:"292466",title:"Dr.",name:"Hiroaki",surname:"Kawaguchi",slug:"hiroaki-kawaguchi",fullName:"Hiroaki Kawaguchi"},{id:"292467",title:"Prof.",name:"Akihide",surname:"Tanimoto",slug:"akihide-tanimoto",fullName:"Akihide Tanimoto"}],corrections:null},{id:"68489",title:"A Review of the Macroscopic, Microscopic, and Ultramicroscopic Characteristics of Some Key Oocyte Developmental Processes in Fish Species",doi:"10.5772/intechopen.87967",slug:"a-review-of-the-macroscopic-microscopic-and-ultramicroscopic-characteristics-of-some-key-oocyte-deve",totalDownloads:852,totalCrossrefCites:2,totalDimensionsCites:3,hasAltmetrics:0,abstract:"Studies involving the reproductive biology of fish have several possibilities of approach, such as the understanding of gonadal development, oocyte development, and the reproductive cycle of the species. In addition, analyses of gonadal morphology can be made at macro-, micro-, and ultramicroscopic levels. This knowledge helps to define factors that determine the different stages of gonadal development, as well as the “triggers” that initiate the reproductive process. In females, the growth and maturation of the ovarian follicles depend on a carefully elaborated communication between the follicular cells and the oocyte and a precisely organized contractile system. Changes in these systems appear to be related to apoptotic cells. This extensive remodeling of gonadal tissue, due to cell proliferation and differentiation, promotes also changes in the extracellular matrix. With this in mind, we provide herein a complementary and in-depth information on cell-cell and cell-matrix interactions related to the process of oocyte development in fish species. This information, together with the existing structural and ultrastructural descriptions of ovaries of different species, will enable a better understanding of the reproductive processes for the group of fish.",signatures:"Mônica Cassel",downloadPdfUrl:"/chapter/pdf-download/68489",previewPdfUrl:"/chapter/pdf-preview/68489",authors:[{id:"291226",title:"Dr.",name:"Monica",surname:"Cassel",slug:"monica-cassel",fullName:"Monica Cassel"}],corrections:null},{id:"68086",title:"Reproductive Cycle of Hexaplex princeps (Broderip, 1833)",doi:"10.5772/intechopen.88074",slug:"reproductive-cycle-of-em-hexaplex-princeps-em-broderip-1833-",totalDownloads:814,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,abstract:"During two annual periods, the reproductive cycle of the gastropod Hexaplex princeps from Puerto Ángel, Oaxaca, Mexico was studied through gonadal histology. Sex proportion for the collected individuals was not statistically different from parity although most of the time, the number of males was slightly larger than that of females, which only outnumbered males during the spawning season. The maturity stages established for females were: (1) initial oogenesis, (2) previtellogenic maturity, (3) vitellogenic maturity, (4) maturity, (5) spawning, and (6) resting; and for males: (1) initial spermatogenesis, (2) maturity, (3) spawning, (4) onset of the rest, and (5) resting. Monthly variations of maturation stages showed that H. princeps has an annual reproductive cycle with a long period of gonadal activity. The spawning season comprised from November (females) and December (males) to March, with activity peaks in January. From March to October (females) and from May to June (males), reproduction resting occurred. Spawning was related to high chlorophyll concentrations due to the upwelling processes resulting from the winds and to the cooler sea surface temperatures occurring from November to March. This study provides baseline information that may serve to establish measures for sustainable exploitation strategies and for future aquaculture implementation of this species.",signatures:"Verónica Mitsui Saito-Quezada, Esther Uría-Galicia, José Luis Gómez-Márquez, Ana Bertha Villaseñor-Martínez, Ma. De Lourdes Jiménez-Badillo and Isaías Hazarmabeth Salgado-Ugarte",downloadPdfUrl:"/chapter/pdf-download/68086",previewPdfUrl:"/chapter/pdf-preview/68086",authors:[{id:"291343",title:"Dr.",name:"Verónica Mitsui",surname:"Saito-Quezada",slug:"veronica-mitsui-saito-quezada",fullName:"Verónica Mitsui Saito-Quezada"},{id:"291344",title:"Dr.",name:"Isaías",surname:"Salgado-Ugarte",slug:"isaias-salgado-ugarte",fullName:"Isaías Salgado-Ugarte"},{id:"299456",title:"Prof.",name:"Esther",surname:"Uría-Galicia",slug:"esther-uria-galicia",fullName:"Esther Uría-Galicia"},{id:"299457",title:"Dr.",name:"José Luis",surname:"Gómez-Márquez",slug:"jose-luis-gomez-marquez",fullName:"José Luis Gómez-Márquez"},{id:"299458",title:"Dr.",name:"Ana Bertha",surname:"Villaseñor-Martínez",slug:"ana-bertha-villasenor-martinez",fullName:"Ana Bertha Villaseñor-Martínez"},{id:"299460",title:"Dr.",name:"Ma. De Lourdes",surname:"Jiménez-Badillo",slug:"ma.-de-lourdes-jimenez-badillo",fullName:"Ma. 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Search and rescue (SAR) problems for collaborative multi-robot systems (MRS) have been an interesting research topic for several decades [1, 2, 3]. The attractiveness of the domain stems from the variety of problems it incorporates, including mapping and situational awareness, monitoring and surveillance, establishing communication networks, or cooperative decision making. All these aspects make SAR a very difficult problem to solve. Despite the considerable difficulties, conducting SAR operations with autonomous MRS offers many advantages. A capable robotic search and rescue team can replace humans as first responders in disaster areas, map and inspect the site, and make it safe for the approach of human rescue teams.
To facilitate and accelerate progress in the field of search and rescue, many robotics competitions have been held over the years. In recent years, many of them have begun to incorporate multi-domain challenges involving robots from different domains, including aerial, ground, and underwater robots. At the forefront of this concept is the euRathlon [4], the world’s first multi-domain (air, land and sea) multi-robot SAR competition. In a recreated disaster scenario inspired by the 2011 Fukushima nuclear power plant accident, the euRathlon 2015 Grand Challenge required teams of robots to work together to map the area, find missing workers and contain a leak. As a continuation of this initiative, a series of the European Robotics League Emergency Robots [5] (ERL-ER) was organized as part of the European Robotics League. Some changes were made to increase the level and difficulty of the challenges, including more complex manipulation tasks and even more collaboration between robots from different domains. Three ERL-ER competitions were held: Piombino 2017, Seville 2019 and La Spezia 2019.
In parallel, there is another branch of multi-domain competitions that gathers many teams worldwide, the Mohamed Bin Zayed International Robotics Challenge [6] (MBZIRC). MBZIRC focuses not only on SAR missions, but also on promoting the state of the art in robotics in general. The missions are very challenging from both control and algorithmic perspective. They often involve complex manipulation tasks, the need for rapid response and tracking of fast-moving objects, and SAR segments such as fire detection and extinguishing. This competition took place in 2017 and 2020 in Abu Dhabi.
In this chapter, we focus on our efforts in developing an autonomous aerial-ground search and rescue team during the last few years. Our system was formed in two robotics competitions, ERL-ER 2019 Local Tournament in Seville and MBZIRC 2020. In the first competition, we succeeded in setting up the autonomous system for search and rescue missions, including mapping the area and detecting objects of interest. The MBZIRC challenge involved a more complex scenario with three different missions, and we adapted and improved the developed system based on the results of the ERL competition. In this chapter, we detail the hardware and software design and the methodology used to solve the problems in the challenges. At the end of the chapter, we offer important conclusions and practical advice from the years of development of our robotic team to further advance the practical application of autonomous MRS to these types of problems.
The chapter is organized as follows. The next section surveys the state of the art in SAR problems for multi-robot collaborative systems. Section 3 describes the mechanical design of the robotic aerial and ground platforms. Section 4 details the software design for both platforms, including the modules used and the organization of the overall software architecture. Section 5 provides insight into the development of autonomous exploration and mapping of unknown areas using an Unmanned Aerial Vehicle (UAV) or Unmanned Ground Vehicle (UGV) with a LiDAR. In Section 6 we give an insight into the object detection methods we have developed for the ERL and MBZIRC competitions. In Section 7 we analyze the performance of the described system and its components during the competition runs, followed by conclusions and lessons learned as the last section.
Robotics research in the field of SAR has, to a large degree, been driven by competitions and challenges, first of which were introduced in late 90s [7], followed by later establishment of euRathlon [4], DARPA challenge [8], ERL Emergency [5] and MBZIRC [6].
Through the fundamental research in the field of robotics that is required to meet the demanding scenarios, the competitions and challenges are also driving the development of standardized benchmarks for SAR robots, with the US National Institute of Standards and Technology (NIST) leading the way [9]. NIST recognizes the urban search and rescue scenarios as a great tool to measure how intelligent autonomous robots are by looking at several components of an autonomous search and rescue robot or robot team.
The first component of a SAR system is the ability to traverse difficult terrain, which is usually solved by using a heterogeneous robotics team consisting of several robots with different capabilities. For the land-based SAR, there are various formations that are used, such as physically interacting UGV-UGV teams [10] where one robot can carry the other one, physically interacting UAV-UGV teams [11] where the UAV can carry the UGV over obstacles and the UGV can carry the UAV to save energy, or teams where only information is shared [12]. In our work for ERL and MBZIRC, we focus on the information sharing team consisting of a UGV and at least one UAV.
To traverse the terrain and find objects or people, the SAR robotic team needs to be able to perceive the surroundings. While some applications may require acoustic and thermal sensing, our robotic team is equipped with 2D and 3D LiDARs for mapping and navigation and cameras (both RGB and RGBD) for detecting and locating people or objects. For some detection tasks, we used deep neural networks [13], while some objects could be recognized solely by color, similar to [14]. 2D and 3D maps of the environment were built using Google Cartographer [15], which was adapted to use information from the GPS and to also serve as a pose sensor for UAV control [16]. The navigation stack for the UGV is based on the TEB planner [17], while the UAVs rely on the TOPP-RA approach [18].
Generating waypoints for navigation planners is an essential aspect of robot team autonomy. In our work, several methods were implemented: (a) waypoint generation using a 2D lawnmover pattern in relatively small areas of known size; (b) Levvy flight 2D waypoint generation for large areas of known size [19]; (c) autonomous 2D [20] and 3D exploration [21] for areas of unknown size. In this work, we briefly discuss our autonomous exploration approach for ERL and MBZIRC competitions, which was later extended to the planner described in [21], based on the exploration tool called 3D-FBET, work of Zhu et al. [22].
The final component of the autonomous SAR system is collaboration between multiple agents, including humans, which is constantly a topic of great interest in SAR challenges and projects [23, 24, 25]. While we have developed a framework for collaboration and coordination in heterogeneous robot teams [11, 26], due to nature of challenges in ERL and MBZIRC, the developed approaches were not deployed in the field.
In this section, we describe the hardware setup of the robotic platforms used for the search and rescue missions in the ERL and MBZIRC competitions. We outline the mechanical structure of the robots and the components installed on board the vehicles to enable the execution of the specified tasks.
For the hardware design of the UAV, we followed the requirements of the challenge specifications. The main purpose of the aerial platform is to autonomously map and explore the disaster area and search for objects of interest. Therefore, we developed a custom hardware configuration to support this purpose, including the use of appropriate sensors for localization and vision-based algorithms. The mechanical design of the UAV was the same for the ERL and MBZIRC search and rescue missions.
The frame of the aerial platform (Figure 1) consists of four arms, a body, and two legs with skis, all made of carbon. The vehicle is equipped with Flame 60A 12S ESCs which are driving T-motor P60 KV170 12S motors with 22-inch carbon propellers. The autopilot used is a Pixhawk 2.0, and the maximum takeoff weight of the vehicle is 12 kg with a 2 kg payload. The UAV is equipped with an Intel NUC i7/16GB computer running Ubuntu 18.04 LTS and ROS Melodic, which processes input from ZED Mini stereo camera, Smartek Vision camera and Velodyne VLP-16 Puck Lite 3D LiDAR. Image processing for the UAV is performed using convolutional neural networks running on Intel Neural Compute Stick 2. All components of the aerial platform are powered by two LiPo 12S 14000mAh batteries, which give the vehicle a flight time of up to 30 minutes. The summary of components on board of UAV is given in Table 1.
Front view of the aerial platform with all sensors and electronic devices on board.
Component | Specifications | Purpose |
---|---|---|
On-board computer | Intel NUC i7-8650U Quad Core 1.9GHz | Main computing unit |
Autopilot | Pixhawk 2.0 | Flight control, sensors (IMU, barometers) |
Computing unit | Intel Neural Compute Stick 2 | Neural network processing |
GPS sensor | Ublox M8P GNSS reciever | Localization, navigation |
LiDAR | Velodyne VLP-16 Puck Lite | Localization, mapping |
Stereo camera | ZED Mini | Perception, object detection |
UAV hardware component summary. The same setup was used in ERL and MBZIRC competitions.
Ardupilot’s Copter firmware is a full-featured, open-source multicopter UAV controller. Copter is capable of handling the full range of flight requirements, from fast FPV racing to smooth aerial photography to fully autonomous complex missions that can be programmed via a range of compatible software ground stations. The entire package is designed to be safe, feature rich and open to custom applications. Copter firmware is loaded onto the Cube Black autopilot, which includes a 32-bit ARM Cortex M4 core processor with a fail-safe 32-bit coprocessor, 256 KB of RAM and 2 MB of flash memory. Integrated into the Cube are a triple redundant intertial measurement unit (IMU) containing accelerometer, gyroscope and magnetometer as well as two barometers, which are isolated and damped.
The carrier board provides an interface for various Pixhawk-compatible peripherals, as well as power for all components of the drone. On the top of the UAV is an external Global Positioning System (GPS) sensor, whose receiver is based on the high-precision Ublox M8P GNSS module. When paired with the external GPS and antenna via a telemetry module, the vehicle’s GPS (Pixhawk) can achieve centimeter-level accuracy. The copter firmware uses an Extended Kalman Filter (EKF) algorithm to estimate the vehicle’s position, velocity, and angular orientation based on gyroscope, accelerometer, compass, GPS, airspeed, and barometric pressure measurements.
The Velodyne VLP-16 Puck Lite features a rotating array of sixteen infrared laser emitter-detector pairs that rotate at 300 to 1200 RPM. Each of the 903 nm lasers is fired 18080 times per second, and distances are measured based on the time of flight for each pulse. The captured distance measurements can be used to create high-quality point clouds. Each LiDAR sweep covers a vertical angle of 30 degrees with a resolution of 2 degrees and any horizontal angle with a resolution of 0.1 degrees to 0.4 degrees, depending on the RPM setting.
The ZED Mini is a stereo camera that provides high-resolution images and accurate ambient depth measurements. It is designed for the most demanding applications, such as autonomous vehicle control, mobile mapping, aerial mapping, security, and surveillance. It is actually a device with two cameras 65 mm (2.56 inches) apart, designed to mimic the human eye.
The on-board computer used in the UAV is an 8th generation Intel NUC with a powerful Intel i7-8650U Quad Core 1.9GHz processor. The computer has an integrated Intel Iris Plus Graphics 640, a 16GB Kingston SODIMM RAM module and a 250GB Kingston A2000 M.2 SSD as storage unit. The required power supply range is 12-19 V. The operating system installed on the on-board computer is Linux Ubuntu 18.04 LTS with the middleware ROS Melodic. Since the on-board computer needs to be embedded in the body of the drone and to save some weight, the outer case is removed and the computer is mounted on the bottom of the UAV.
In ground search and rescue missions, the choice of the ground mobile platform is mostly dictated by the mission and terrain requirements. In our robotic team, a Husky A200 was chosen as a platform suitable for motion in rough terrain. The competition tasks directly dictated the choice of additional hardware components. The complexity of the MBZIRC tasks was significantly higher compared to the ERL competition, and the hardware design was therefore more elaborate, as explained in this section.
The main task of the UGV in the ERL competition was to autonomously locate objects of interest. Our search and rescue platform is shown in Figure 2, with the autonomous navigation sensor setup: a Sick NAV350 LiDAR, an IMU, a GPS receiver, and a real-time kinematic positioning (RTK) unit for higher precision. For reliable detection of obstacles during movement, LiDAR was mounted on top of the vehicle body, near the front end of the vehicle, so that there is no shadowing from other UGV parts. GPS and RTK units were elevated with respect to the vehicle body to avoid potential signal blockage and interference. The task detection requirements allowed the use of the Intel RealSense D-435, a commercially available RGB-D camera, instead of more precise and expensive alternatives. Thanks to recent technological advances, the camera is small enough to be mounted in the front part of the vehicle without interfering with other sensing components, such as LiDAR beams.
Hardware setup of the UGV and its sensors and actuators used in ERL competition.
Another task of the UGV was to provide first aid kits. For this purpose, a simple 1-DOF manipulator was constructed, sufficient for safe transport and easy unloading of the package. As the ERL task required delivery of two kits, two such manipulators were mounted at the front of the vehicle, outside of the camera field of view. The manipulator links were designed and 3D printed from PLA plastic (shown in red in Figure 2) and driven by Dynamixel servo motors.
The UGV design described was quite simple, quick to implement, and task-specific, resulting in successful mission execution. However, in the long run, it became apparent that a more complex solution would be much more beneficial for mission versatility.
In the MBZIRC competition, we chose to design a mobile manipulator platform, and to rely on the dexterity of the arm for execution of more complex tasks, such as repetitive pick and place in the wall construction scenario. Still, each new task requires some adaptation of the manipulator tool. We equipped the vehicle with a lightweight 6-DOF manipulator, a Schunk Powerball LWA-4P. The arm has integrated joint drives, eliminating the need for additional external control units or power converters. The setup of our platform is shown in Figure 3.
Hardware setup of the UGV and its sensors, actuators, and electronic components used in MBZIRC competition.
One of MBZIRC’s challenges was a wall construction task in which the mobile manipulator had to pick up bricks from their stacks and transport them to the wall pattern, where they had to be arranged in a specified order. Again, a custom gripper was developed to magnetically grasp the ferromagnetic plates on the bricks, as shown in Figure 4. The gripper is lightweight, energy efficient and strong enough to lift up to 2 kg. The design is based on ten small electromagnets, and at least six magnets in contact are required to achieve sufficient force to lift the brick. Due to the rigidity of the mobile manipulator, any irregularity or misalignment on the contact surface could reduce the number of magnets in contact. This was solved with passive compliance, with four shock-absorbing rubber balls providing compensation for misalignment greater than
Design of the passively compliant magnetic gripper for UGV brick manipulation tasks in MBZIRC challenge.
In this scenario, the RGB-D camera was used for detection, navigation, and manipulation. It was therefore mounted as an eye-in-hand on the gripper. For navigation, a 3D LiDAR (Robosense RS-LiDAR-16) was used instead of the 2D solution in ERL. As it turned out, mapping with 2D scans in realistic environments can miss some obstacles, such as those on the ground, below the beam. Other hardware modifications included an additional battery pack and cargo baskets for transporting multiple bricks. The summary of the components on board the UGV, during the ERL and MBZIRC competitions, is shown in Table 2.
Component | Specifications | Purpose |
---|---|---|
On-board | Intel NUC i7-8650U | Main computing unit |
Computer | Quad Core 1.9GHz | |
Autopilot | Pixhawk 2.0 | Sensors |
(IMU, RC control) | ||
Manipulator | ERL - two 1-DoF manipulators | Object manipulation |
MBZIRC - SchunkPowerball LWA-4P | ||
GPS sensor | Ublox M8P GNSS reciever | Localization, navigation |
LiDAR | ERL - Sick NAV350 LiDAR | Localization, mapping |
MBZIRC - Robosense RS-LiDAR-16 | ||
RGB-D camera | Intel RealSense D-435 | Perception, object detection |
UGV hardware component summary. The setups used in ERL and MBZIRC competitions.
Having defined the mechanical structure of the robotic platforms, in this section we address the design of the software modules implemented for each robot. Here we define the software that enables basic operations of the vehicles, such as control, localization, navigation, and trajectory planning, while challenge-specific tasks and more complex algorithms are described in the next section.
UAV platforms used for search and rescue missions are equipped with Ardupilot firmware. The firmware communicates with Micro Aerial Vehicle (MAV) messages using the MAVLink protocol. The Robot Operating System (ROS) is used to communicate with the on-board computer and the drone. The components used in the ROS environment are as follows:
HOLD GROUND: the UAV is on the ground and ready to arm and takeoff.
HOLD AIR: the UAV is in the air and ready to receive external commands.
JOY AIR: the UAV is in the air and is controlled by RC.
In Figure 5 we have illustrated the interaction of the above components within the UAV software architecture on a NUC computer. This figure refers to the case where the UAV state machine is in the HOLD AIR state. The pipeline begins with inputs from the LiDAR and IMU that are fed into the Cartographer SLAM algorithm, which creates the map of the environment and locates the vehicle in the map frame. Next, using the Constant Velocity Model, the estimated odometry of the vehicle is calculated and fed to the UAV position controller. Based on the reference generated with the trajectory planner, the controller generates control outputs of the desired vehicle orientation and thrust and sends them to the MavRos. These messages are then forwarded to the lower level UAV controllers implemented in the firmware. If georeferencing is needed, GPS measurements can also be forwarded to the Cartographer.
Layout and the interaction of the UAV software components running on the on-board NUC computer.
The main software modules used for UGV control in the competition search and rescue missions are those for localisation, motion and manipulation:
The Google Cartographer package was used to create a map of the unknown environment and localize the mobile base within it. During the ERL-ER competition, a two-dimensional version of the Cartographer’s SLAM algorithm was used, utilizing 2D laser scan data from the Sick NAV350 LiDAR. This approach results in only detecting obstacles that are aligned with the LiDAR, and thus led to problems with lower obstacles, more specifically the lower part of the obstacles as shown in Figure 14. The approach we took to overcome this issue was solved using a large safety margin around all the detected obstacles. Later, during our work for the MBZIRC competition, we adopted a different approach using Cartographer’s 3D SLAM algorithm, and a 3D LiDAR.
Ground vehicle motion planning was done with the Move Base package. Since this package uses a 2D cost map, the 2D Cartographer map could be used for safe motion planning with obstacle avoidance. However, with the Cartographer’s 3D SLAM, we filtered the 3D submaps based on their height, to obtain a 2D cost map. Points below the lower threshold are filtered out to avoid classifying the ground as an obstacle. Similarly, points that are above the maximum height of the robot are removed as they do not represent a real obstacle for platform navigation. However, ground points that are far away from the robot may be perceived as false-positive obstacles if the ground is not completely flat. This issue was resolved by creating newer submaps, generated using the 30 most recent laser scans.
The navigation during ERL was based on manually defined waypoints, selected in the map by the user. Move Base package would then autonomously perform the path planning with obstacle avoidance. This semi-autonomous planning system was improved for the MBZIRC competition, by implementing a higher-level planning algorithm that generates desired waypoints autonomously.
Thanks to the Husky A200 ability to rotate in place, the most commonly used navigation planner the DWAP, which heavily relies on this capability. However, such motion causes significant vibrations, and the with the addition of the robotic arm for the MBZIRC competition, this problem is further exacerbated due to the increase in the overall mass and heightening of the center of mass position. Therefore, in the MBZIRC competition we switched to the Timed-Elastic Band (TEB) planner [17] for car-like robots, which uses online trajectory optimization to create a plan constrained by the minimum turning radius.
Exploration and mapping of unknown environments is a fundamental task in robotics. It can be used in many different applications such as inspection, surveillance, 3D reconstruction, and search and rescue. Searching for an object of interest in an unknown environment can be formulated as an iterative process consisting of a map update, selection of a next goal, and navigation to that target. The process is complete when the object of interest is found.
Analogously, the search strategy in the exploration of an unknown environment is similar, but with different objectives. In exploration, the main goal is to create a map of the environment, while in search, the focus is on finding the object of interest. Although search is a central task in many search and rescue scenarios, we use an exploration strategy adapted for the search application.
Typical exploration methods are based on frontiers [27] and are used in both 2D and 3D space. In contrast to 2D exploration and mapping strategies, mapping large environments in 3D requires a considerable amount of memory and computational effort.
To create a map of the environment and locate a robot in it, we use a submap-based graph SLAM method Google Cartographer [15]. The map consists of submaps created from a sequence of sensor scans through scan matching, fusion with IMU and odometry. The map is then used for exploration and robot navigation.
In the ERL competition, some of the objectives were to locate missing workers, entrances to the building, and damage to structures while creating a map of the environment. The proposed layout for the ERL competition is an area of approximately 200 m by 30 m with obstacles. Since the ERL arena may contain GNSS -degraded areas, we used a SLAM algorithm for map generation and robot localisation. We adopt Cartographer SLAM to generate a 3D map onboard the robot in real time. Objects of interest are detected during semi-autonomous navigation, where an operator manually selects desired waypoints for the robot to reach autonomously. Both 2D and 3D maps of the environment are generated, and the positions of objects of interest are marked on the map.
In the MBZIRC challenge, we consider autonomous exploration and search of a UAV in an unstructured outdoor environment. In this challenge, we used only one UAV because it can fly over the area quickly and has the advantage of bird’s eye view. The goal is to explore and map the environment while searching for the object of interest (a fire). Initially, the area is unknown, while it is assumed that the boundaries of the area are known. Since the area for exploration and mapping is limited, the exploration is finished when the entire area is covered or when the objects of interest are found.
In order to explore an area, create a map and find the objects of interest, the search strategy is formulated. The search strategy algorithm generates waypoints for trajectory planning considering the boundaries of the environment. In addition, the strategy aims to explore the environment as quickly as possible while trying not to miss the objects of interest.
Waypoints can be generated in a variety of forms. For our scenario, we use the lawnmower pattern with the predefined horizontal and vertical size of an area and with the spacing value indicating how far apart the segments of the trajectory are. The lawnmower pattern is easy to implement and is suitable for exploration and search for the desired object.
The search strategy represents an input to the trajectory planning module, which generates the trajectory from the given waypoints. Objects of interest are detected during robot navigation. An overview of the proposed system is shown in Figure 6. The map provided by Cartographer is reliable and enables successful exploration while searching for fire.
Overall schematic diagram of autonomous exploration and search. The cartographer SLAM creates a map, that is used for the trajectory planning module. The generated trajectory navigates the robot towards the waypoint.
In autonomous exploration, a suitable trajectory planner should be used to navigate the robot to the desired point. After the search algorithm computes the points in the specified arena, they are forwarded as waypoints to a trajectory planner. The robot starts following the planned trajectory and navigates to the next point. At the same time, the algorithm for detecting objects of interest runs in the background. For the safe navigation of the robot, we use the trajectory following solution described in [11].
Another major feature of the SAR systems is the ability to detect various objects of interest. In the ERL, the robots had to detect four different objects – a blocked entrance (blue rectangle), an unblocked entrance (green rectangle), damage to the building (red rectangles), and a missing worker (a dummy wearing a helmet and a safety vest). Some of the aforementioned objects are shown in the ERL arena in Figure 7. In the MBZIRC competition, one of the challenges was to locate and extinguish fires. Although there were variants of fires to be extinguished with water, we focused on the ground fires over which the robots had to throw blankets, as shown in Figure 8.
Objects of interest to be detected in ERL competition. Images display the missing worker mannequin, obstructed entrance (blue rectangle), and damages to the structures (red rectangles).
Ground fires to be found and covered with blankets during MBZIRC competition (Image source:
We used different strategies to detect objects of interest in these two competitions. For the ERL competition, we chose to use visual recognition using a neural network, for which a custom training dataset had to be created, even though the exact object was not known a-priori. To mitigate these issues and simplify the approach, we decided to use a color segmentation algorithm for object detection in the MBZIRC challenge. The simplicity of the objects to be found in this semi-structured challenge and the straightforwardness of the method and its application were the main reasons for this decision. Both methods and their properties are described in the rest of this section.
The ERL search and rescue mission required recognition of several simple markers, and a human figure wearing a helmet and a vest, representing a missing worker. Even though the markers were rectangular and easily distinguished by color, we opted for the deep learning-based approach to detection because of the complexity of human figure recognition. For this reason, we relied on the transfer learning approach, taking advantage of the pre-trained deep convolutional network based on the YOLO architecture. Since we only needed to recognize 4 object classes, but needed this in real-time on constrained computational resources, we opted for the tiny-yolo version of the network (Figure 9).
Detection of the red rectangles using YOLOv3 real time object detection.
For our detection task, we created a small custom training dataset. A large number of images with simple rectangular objects can easily be created in different environments, with the limiting factor in the cost of manual labeling procedure. For the case of a mannequin representing the missing worker, the difficulty was in not knowing exactly what this object would look like. The final dataset consisted of around 150 images, out of which around 50 contained the human figure various poses and cluttered environments, and around 100 contained the rectangular markers.
Finally, we trained the network using DarkNet implementation, with the following parameters:
The detection tasks in the MBZIRC competition were simpler compared to ERL, allowing for solution based on color segmentation. Hence, the fire detection in the third challenge of the MBZIRC competition was performed using color-based image filtering (Figure 15). The image received from the camera is filtered using pre-tuned Hue-Saturation-Value (HSV) thresholds. Contour detection is then performed on the filtered image, and contours with areas below a lower threshold are disregarded. If multiple contours remain, the one with the largest area is selected as the detected fire. The center of the contour is used as its position for the visual servoing procedure.
Although this chapter focuses on SAR applications of MRS, one of the challenges during the MBZIRC competition was to achieve a more precise object manipulation in the wall building scenario that could be easily applied to the search and rescue domain. Our proposed solution involved precise 3D object detection that can be applied to other objects that need to be handled during emergency operations.
In the competition, the robots had to autonomously manipulate brick-shaped objects to build a wall. A ferromagnetic patch was attached to the top of the bricks for grasping. At the beginning of the challenge, the bricks were arranged as structured stacks, separated by color.
Initially, stacks of different colors are detected using a method similar to that used for fire detection, with different HSV thresholds used for red, green, blue and orange brick stacks. To distinguish individual bricks, ferromagnetic patches are detected within the convex hull of a detected brick stack. Contours resembling a rectangle are selected as candidate objects. To select a single brick for manipulation, a scoring scheme is used to calculate the desirability of each candidate. The desirability is calculated based on the area and image position of the candidate contour:
where
Our approach to determining the real-world pose of the detected magnetic patch, was to use an inverse of the Perspective-N-Point problem [28]. Assuming that the ferromagnetic patch is parallel to the ground, the positions of the endpoints of the detected rectangle in the image can be transformed into real positions using:
Real-world camera position - from localization and manipulator kinematics.
Height of the ferromagnetic patch - from the organized pointcloud obtained from the RealSense camera.
Known width of the ferromagnetic patch.
Camera calibration parameters.
In this section, we present the results obtained during the challenge runs in the two robotics competitions. We analyze the performance of our robotic team in the autonomous mapping and exploration and object detection tasks.
Looking from the lens of the robotic competitions, we first present the results of the proposed UAV-UGV team in the competition arena. Here we provide challenge descriptions, and the scores obtained during the trials in the ERL-ER and MBZIRC.
The target scenario of ERL-ER is emergency response in an industrial environment affected by an earthquake. The UAV-UGV team serves as a first responder in this disaster-stricken area to secure the perimeter and enable the arrival of human rescue teams. The robots must search for two missing workers, find them as quickly as possible, and provide both with an emergency kit. The robots must also check the condition of the building after the earthquake. To do this, they output a detailed map of the surroundings to assess the safety of the area.
The competition took place in an outdoor arena of approximately
At the tournament in Seville, five teams competed in a four-day competition. As specified in the rules of the competition, each team’s final score was determined as the median value of all four attempts. Table 3 shows the full results of all teams and their attempts, as well as the final score. At the expense of a lower score, we aimed for full autonomy during all trials. Therefore, the UAV, which was in an earlier stage of development, did not perform as well. However, the UGV did great, and we were able to use it to test the SLAM algorithm, as well as object detection. This tournament proved to be an excellent development and testing ground for the upcoming MBZIRC competition.
Wed, Feb 20 | Thu, Feb 21 | Fri, Feb 22 | Sat, Feb 23 | ||||||
---|---|---|---|---|---|---|---|---|---|
TEAM | A | PB | A | PB | A | PB | A | PB | median |
Raptors | 0 | 0 | 16 | 0 | 20 | 0 | 27 | 3 | 18 |
ENSTA Bretagne | 0 | 0 | 9 | 1 | 17 | 1 | 25 | 2 | 13 |
KAUST | 0 | 0 | 8 | 1 | 11 | 1 | 18 | 0 | 9.5 |
ENSTA Paris | 0 | 0 | 9 | 2 | 0 | 1 | 19 | 1 | 4.5 |
Team results by day and the total score (median) for the ERL-RL Seville 2019 competition [29]. Column A represents team scores, PB penalized behaviors, while attempts marked with
Other teams took the manual approach, such as teleoperation. For example, the user interface of Raptors was built in LabVIEW and the communication layer is based on the ROS software [30]. The system they developed supports the operator during teleoperation and during partial autonomy of the robots.
The MBZIRC competition involved three different challenges – tracking and capturing a target, building a wall, and disaster response in a fire scenario. Here we focus only on the latter, as it falls within the scope of SAR missions.
Challenge 3 of MBZIRC comprised a team of UAVs and a UGV working together to autonomously extinguish a series of simulated fires in an urban high-rise firefighting scenario. The arena, measuring
Our strategy for the challenge was to primarily focus on the ground fires, because they required minimal changes to the robot design. Therefore, we attempted to detect and extinguish the outdoor fires using a fire blanket deployed by the UAV. During the two trials, we managed to partially cover one of the two existing ground fires. This attempt was enough to place us in seventh place out of 20 participating teams. Although seemingly simple, the task proved very challenging for many teams, as shown by the results presented in Table 4.
TEAM | Score | Time left | Rank |
---|---|---|---|
University of Seville, Tecnico Lisboa (IST Lisbon), CATEC | 12.2625 | 0 | 1 |
Technical University of Denmark | 10 | 0 | 2 |
University of New South Wales Sydney | 10 | 0 | 2 |
Czech Technical University in Prague, University of Pennsylvania, NYU | 7 | 0 | 4 |
Korea Advanced Institute of Science and Technology (KAIST) | 7 | 0 | 4 |
University of Tokyo | 5 | 120 | 6 |
Polytechnic University of Madrid, University Pablo Olavide, Poznan University of Technology | 5 | 0 | 7 |
Virginia Tech | 4.5 | 0 | 9 |
The results of the best 9 out of 20 participating teams in the MBZIRC 2020 competition. These results were obtained in fully autonomous mode and therefore rank above manual approaches. The full results are available at [31].
An approach similar to ours was used by a team consisting Polytechnical University of Madrid, University Pablo Olavide and Poznan University of Technology [32]. In their localization, they also used a map-based approach and used 3D LiDAR scans in LOAM: Lidar Odometry and Mapping algorithm. A different approach was taken by the team from Czech Technical University in Prague, University of Pennsylvania and NYU [33] who used Global Navigation Satellite System (GNSS) for outdoor localization and a 2D LiDAR and stereo camera for indoor localization. For fire detection, both teams decided to use infrared cameras to detect heat sources. In the case of wall fires, this was a logical solution. Since we were not targeting these fires, our image-based detection worked just as well for the red floor fires. These results demonstrate the difficulty of SAR applications in real-world conditions in outdoor arenas and the potential for great progress in this area of research.
In the field of autonomous mapping and exploration, we can observe an evolution of approaches. In the ERL competition, we explored the area manually (using an RC controller) or semi-autonomously (generating waypoints in the graphical interface and reaching them autonomously). For the MBZIRC challenge, we extended the method to autonomous exploration, where the robots could search the area and expand the map based on the autonomous exploration algorithm described in Section 5.
The maps created during the ERL competition with UGV are shown in Figure 10, and 2D and 3D UAV maps are shown in Figure 11. In both the 2D and 3D maps, we see high-resolution detailed maps of the competition arena. Here, we demonstrate the ability of the proposed system to generate accurate maps during the mission runtime. However, in MBZIRC, we have gone a step further and combined the map generation with the autonomous waypoint selection method. The result of the obtained map can be seen in Figure 12.
2D map built by UGV during an ERL competition run.
2D (left) and 3D (right) map of the outdoor and indoor area of ERL arena generated by the UAV.
Side view (left) and top view (right) of the 3D map of the outdoor MBZIRC area created with the UAV.
The complete trajectory performed by an UAV is shown in Figure 13. The trajectory is obtained during the first experiment where we used manual navigation. The drift after loop closure was less than 0.3 m. We can conclude that Cartographer SLAM is useful when we navigate in the map and when we have a closed loop with trajectory planning and navigation. A more detailed analysis of Cartographer performance can be found in [16].
A trajectory performed by an UAV in the MBZIRC challenge.
It can be observed that the accuracy of the final maps is not perfect compared to the mobile mapping technologies. This is due to the use of Cartographer SLAM, as it requires a feature-rich environment, a well-sampled IMU and loop closure to generate as accurate map as possible. In [16], it is shown that Cartographer accumulates more drift than other state-of-the-art strategies, but Cartographer can detect loop closure independently and the drift can be corrected. In other words, Cartographer accumulates a significant amount of drift (up to 2 meters), but upon returning near the start position, this drift is corrected (up to 0.2 meters) by closing the loop through the global SLAM.
In addition, closing the loop allows the correction of the cumulative drift, which provides higher pose and map accuracy during the flights. Due to the specific tasks performed in the challenges, closing the loop is not guaranteed to provide an accurate map. Future work will include significant efforts to improve map accuracy so that the map can be used not only in autonomous search and exploration tasks, but also in tasks that require a more accurate map, such as autonomous wall building, obstacle avoidance, and building inspection.
Next, we analyze the performance of the two object detection methods described in Section 6. In Figure 14 we show several examples of detection of objects of interest by UGV using the algorithm described in 6 for ERL competition. These images were taken by a UGV on-board camera during several mission runs. The positions of the first three detected objects match those on the UGV map in Figure 10. We were able to detect the majority of the searched objects during the mission run. This mainly refers to the rectangular objects indicating blocked and unblocked entrances as well as damage to the building. However, due to the specifics of the missing worker mannequin, our neural network training set did not include the exact figure in any of the images. Therefore, we had difficulty performing this detection. This could be mitigated by training the network with a dataset containing a more accurate representation of the object being searched for, or by using a different approach. For example, color-based image segmentation might be appropriate since the safety vest has a very distinct orange color.
Image frames showing detections of objects of interest during ERL competition runs of the UGV.
The output of the color-based fire detection algorithm in the MBZIRC competition is shown in Figure 15. The left side shows the original image, while the right side shows the image masked based on the predefined HSV threshold values. The green outline represents the object contour, while the yellow circle in the center represents the center of the object in the image. This approach provides a fast and efficient method for detecting simple objects of interest, which is certainly the case with a bright red fire. However, some care must be taken when setting the HSV thresholds, as the image colors are dependent on the illumination properties, which can change depending on outdoor lighting conditions.
Fire detection for the third MBZIRC challenge.
This chapter presented the development of an autonomous aerial-ground search and rescue robotic team at the University of Zagreb, driven mainly by two large competitions: European Robotics League and Mohamed Bin Zayed International Robotics Challenge.
The hardware aspect of the robot team is developed considering specific requirements of the challenges, with the challenge-specific design decisions being more pronounced in our UGV design, ranging from simple 1DOF ejector arms to 6DOF mobile manipulator. On the other hand, our aerial platform did not require major hardware changes, as challenges did not require the UAV to interact with the environment on a similar scale to UGVs, but the trend is clearly changing and it can be expected that future challenges will require more and more interaction with the environment from the UAVs.
The biggest lesson to be learned from competition driven development, as evidenced by the software stack described in this chapter, is to design a modular system, both on the level of a single robot (interchangeable sensors and actuators that can easily be plugged into the existing control structure) but also on the level of a team. The modularity of our SAR robotic team is shown in using different sensors and algorithms for UGV mapping and navigation, and easily extending exploration strategies for the UAV.
Given the current state of our system, and the competitions being expected to become more and more challenging, the navigation through the unknown difficult environment is of utmost priority, which will require semantic segmentation of built 3D maps to differentiate traversable terrain from obstacles, both for the UGV and UAV. With the use of UAVs in SAR going from large open spaces to more confined urban areas, it is necessary to further develop the mapping and localization algorithms to provide a stable localization feedback for control and trajectory execution of UAVs in obstacle-rich environments.
This work has been supported by European Commission Horizon 2020 Programme through project under G. A. number 810321, named Twinning coordination action for spreading excellence in Aerial Robotics - AeRoTwin and by the Mohammed Bin Zayed International Robotics Challenge. The work of doctoral students Barbara Arbanas (DOK-2018-01), Ana Batinović (DOK-2018-09), Marko Car (DOK-2015-10), and Marsela Polić (DOK-2018-09) has been supported in part by the “Young researchers’ career development project–training of doctoral students” of the Croatian Science Foundation. DOK-2018-01 is financed by the European Union from the European Social Fund.
ERL | European Robotics League |
MBZIRC | Mohamed Bin Zayed International Robotics Challenge |
UAV | Unmanned Aerial Vehicle |
UGV | Unmanned Ground Vehicle |
SAR | Search and Rescue |
MRS | Multi-Robot Systems |
RTK | Real-Time Kinematic positioning |
TOPP-RA | Time-Optimal Path Parametrization by Reachability Analysis |
SLAM | Simultaneous Localization and Mapping |
IntechOpen publishes different types of publications
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\n\nMonographs is a self-contained work on a particular subject, or an aspect of it, written by one or more authors. Monographs usually have between 130 and 500 pages.
\n\nTYPES OF MONOGRAPHS:
\n\nSingle or multiple author manuscript
\n\nCompacts provide a mid-length publishing format that bridges the gap between journal articles, book chapters, and monographs, and cover content across all scientific disciplines.
\n\nCompacts are the preferred publishing option for brief research reports on new topics, in-depth case studies, dissertations, or essays exploring new ideas, issues, or broader topics on the research subject. Compacts usually have between 50 and 130 pages.
\n\nCollection of papers presented at conferences, workshops, symposiums, or scientific courses, published in book format
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MRI is commonly used once treating brain, prostate cancers, ankle and foot. The Magnetic Resonance Imaging (MRI) images are usually liable to suffer from noises such as Gaussian noise, salt and pepper noise and speckle noise. So getting of brain image with accuracy is very extremely task. An accurate brain image is very necessary for further diagnosis process. During this chapter, a median filter algorithm will be modified. Gaussian noise and Salt and pepper noise will be added to MRI image. A proposed Median filter (MF), Adaptive Median filter (AMF) and Adaptive Wiener filter (AWF) will be implemented. The filters will be used to remove the additive noises present in the MRI images. The noise density will be added gradually to MRI image to compare performance of the filters evaluation. The performance of these filters will be compared exploitation the applied mathematics parameter Peak Signal-to-Noise Ratio (PSNR).",book:{id:"6144",slug:"high-resolution-neuroimaging-basic-physical-principles-and-clinical-applications",title:"High-Resolution Neuroimaging",fullTitle:"High-Resolution Neuroimaging - Basic Physical Principles and Clinical Applications"},signatures:"Hanafy M. Ali",authors:[{id:"213318",title:"Dr.",name:"Hanafy",middleName:"M.",surname:"Ali",slug:"hanafy-ali",fullName:"Hanafy Ali"}]},{id:"41589",doi:"10.5772/50323",title:"The Role of the Amygdala in Anxiety Disorders",slug:"the-role-of-the-amygdala-in-anxiety-disorders",totalDownloads:9671,totalCrossrefCites:4,totalDimensionsCites:28,abstract:null,book:{id:"2599",slug:"the-amygdala-a-discrete-multitasking-manager",title:"The Amygdala",fullTitle:"The Amygdala - A Discrete Multitasking Manager"},signatures:"Gina L. Forster, Andrew M. Novick, Jamie L. Scholl and Michael J. 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Particularly in the case of motor imagery BCIs, users may need several training sessions before they learn how to generate desired brain activity and reach an acceptable performance. A typical training protocol for such BCIs includes execution of a motor imagery task by the user, followed by presentation of an extending bar or a moving object on a computer screen. In this chapter, we discuss the importance of a visual feedback that resembles human actions, the effect of human factors such as confidence and motivation, and the role of embodiment in the learning process of a motor imagery task. Our results from a series of experiments in which users BCI-operated a humanlike android robot confirm that realistic visual feedback can induce a sense of embodiment, which promotes a significant learning of the motor imagery task in a short amount of time. We review the impact of humanlike visual feedback in optimized modulation of brain activity by the BCI users.",book:{id:"6610",slug:"evolving-bci-therapy-engaging-brain-state-dynamics",title:"Evolving BCI Therapy",fullTitle:"Evolving BCI Therapy - Engaging Brain State Dynamics"},signatures:"Maryam Alimardani, Shuichi Nishio and Hiroshi Ishiguro",authors:[{id:"11981",title:"Prof.",name:"Hiroshi",middleName:null,surname:"Ishiguro",slug:"hiroshi-ishiguro",fullName:"Hiroshi Ishiguro"},{id:"231131",title:"Dr.",name:"Maryam",middleName:null,surname:"Alimardani",slug:"maryam-alimardani",fullName:"Maryam Alimardani"},{id:"231134",title:"Dr.",name:"Shuichi",middleName:null,surname:"Nishio",slug:"shuichi-nishio",fullName:"Shuichi Nishio"}]}],mostDownloadedChaptersLast30Days:[{id:"29764",title:"Underlying Causes of Paresthesia",slug:"underlying-causes-of-paresthesia",totalDownloads:192666,totalCrossrefCites:3,totalDimensionsCites:7,abstract:null,book:{id:"1069",slug:"paresthesia",title:"Paresthesia",fullTitle:"Paresthesia"},signatures:"Mahdi Sharif-Alhoseini, Vafa Rahimi-Movaghar and Alexander R. 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Precise anatomical description along with a correct characterization of the component structures is essential for understanding its functions.",book:{id:"6331",slug:"hypothalamus-in-health-and-diseases",title:"Hypothalamus in Health and Diseases",fullTitle:"Hypothalamus in Health and Diseases"},signatures:"Miana Gabriela Pop, Carmen Crivii and Iulian Opincariu",authors:null},{id:"57103",title:"GABA and Glutamate: Their Transmitter Role in the CNS and Pancreatic Islets",slug:"gaba-and-glutamate-their-transmitter-role-in-the-cns-and-pancreatic-islets",totalDownloads:3478,totalCrossrefCites:3,totalDimensionsCites:9,abstract:"Glutamate and gamma-aminobutyric acid (GABA) are the major neurotransmitters in the mammalian brain. Inhibitory GABA and excitatory glutamate work together to control many processes, including the brain’s overall level of excitation. The contributions of GABA and glutamate in extra-neuronal signaling are by far less widely recognized. In this chapter, we first discuss the role of both neurotransmitters during development, emphasizing the importance of the shift from excitatory to inhibitory GABAergic neurotransmission. The second part summarizes the biosynthesis and role of GABA and glutamate in neurotransmission in the mature brain, and major neurological disorders associated with glutamate and GABA receptors and GABA release mechanisms. The final part focuses on extra-neuronal glutamatergic and GABAergic signaling in pancreatic islets of Langerhans, and possible associations with type 1 diabetes mellitus.",book:{id:"6237",slug:"gaba-and-glutamate-new-developments-in-neurotransmission-research",title:"GABA And Glutamate",fullTitle:"GABA And Glutamate - New Developments In Neurotransmission Research"},signatures:"Christiane S. Hampe, Hiroshi Mitoma and Mario Manto",authors:[{id:"210220",title:"Prof.",name:"Christiane",middleName:null,surname:"Hampe",slug:"christiane-hampe",fullName:"Christiane Hampe"},{id:"210485",title:"Prof.",name:"Mario",middleName:null,surname:"Manto",slug:"mario-manto",fullName:"Mario Manto"},{id:"210486",title:"Prof.",name:"Hiroshi",middleName:null,surname:"Mitoma",slug:"hiroshi-mitoma",fullName:"Hiroshi Mitoma"}]},{id:"35802",title:"Cross-Cultural/Linguistic Differences in the Prevalence of Developmental Dyslexia and the Hypothesis of Granularity and Transparency",slug:"cross-cultural-linguistic-differences-in-the-prevalence-of-developmental-dyslexia-and-the-hypothesis",totalDownloads:3601,totalCrossrefCites:2,totalDimensionsCites:7,abstract:null,book:{id:"673",slug:"dyslexia-a-comprehensive-and-international-approach",title:"Dyslexia",fullTitle:"Dyslexia - A Comprehensive and International Approach"},signatures:"Taeko N. Wydell",authors:[{id:"87489",title:"Prof.",name:"Taeko",middleName:"N.",surname:"Wydell",slug:"taeko-wydell",fullName:"Taeko Wydell"}]},{id:"58597",title:"Testosterone and Erectile Function: A Review of Evidence from Basic Research",slug:"testosterone-and-erectile-function-a-review-of-evidence-from-basic-research",totalDownloads:1331,totalCrossrefCites:2,totalDimensionsCites:2,abstract:"Androgens are essential for male physical activity and normal erectile function. Hence, age-related testosterone deficiency, known as late-onset hypogonadism (LOH), is considered a risk factor for erectile dysfunction (ED). This chapter summarizes relevant basic research reports examining the effects of testosterone on erectile function. Testosterone affects several organs and is especially active on the erectile tissue. The mechanism of testosterone deficiency effects on erectile function and the results of testosterone replacement therapy (TRT) have been well studied. Testosterone affects nitric oxide (NO) production and phosphodiesterase type 5 (PDE-5) expression in the corpus cavernosum through molecular pathways, preserves smooth muscle contractility by regulating both contraction and relaxation, and maintains the structure of the corpus cavernosum. Interestingly, testosterone deficiency has relationship to neurological diseases, which leads to ED. Testosterone replacement therapy is widely used to treat patients with testosterone deficiency; however, this treatment might also induce some problems. Basic research suggests that PDE-5 inhibitors, L-citrulline, and/or resveratrol therapy might be effective therapeutic options for testosterone deficiency-induced ED. Future research should confirm these findings through more specific experiments using molecular tools and may shed more light on endocrine-related ED and its possible treatments.",book:{id:"5994",slug:"sex-hormones-in-neurodegenerative-processes-and-diseases",title:"Sex Hormones in Neurodegenerative Processes and Diseases",fullTitle:"Sex Hormones in Neurodegenerative Processes and Diseases"},signatures:"Tomoya Kataoka and Kazunori Kimura",authors:[{id:"219042",title:"Ph.D.",name:"Tomoya",middleName:null,surname:"Kataoka",slug:"tomoya-kataoka",fullName:"Tomoya Kataoka"},{id:"229066",title:"Prof.",name:"Kazunori",middleName:null,surname:"Kimura",slug:"kazunori-kimura",fullName:"Kazunori Kimura"}]}],onlineFirstChaptersFilter:{topicId:"18",limit:6,offset:0},onlineFirstChaptersCollection:[{id:"81646",title:"Cortical Plasticity under Ketamine: From Synapse to Map",slug:"cortical-plasticity-under-ketamine-from-synapse-to-map",totalDownloads:14,totalDimensionsCites:0,doi:"10.5772/intechopen.104787",abstract:"Sensory systems need to process signals in a highly dynamic way to efficiently respond to variations in the animal’s environment. For instance, several studies showed that the visual system is subject to neuroplasticity since the neurons’ firing changes according to stimulus properties. This dynamic information processing might be supported by a network reorganization. Since antidepressants influence neurotransmission, they can be used to explore synaptic plasticity sustaining cortical map reorganization. To this goal, we investigated in the primary visual cortex (V1 of mouse and cat), the impact of ketamine on neuroplasticity through changes in neuronal orientation selectivity and the functional connectivity between V1 cells, using cross correlation analyses. We found that ketamine affects cortical orientation selectivity and alters the functional connectivity within an assembly. These data clearly highlight the role of the antidepressant drugs in inducing or modeling short-term plasticity in V1 which suggests that cortical processing is optimized and adapted to the properties of the stimulus.",book:{id:"11374",title:"Sensory Nervous System - Computational Neuroimaging Investigations of Topographical Organization in Human Sensory Cortex",coverURL:"https://cdn.intechopen.com/books/images_new/11374.jpg"},signatures:"Ouelhazi Afef, Rudy Lussiez and Molotchnikoff Stephane"},{id:"81582",title:"The Role of Cognitive Reserve in Executive Functioning and Its Relationship to Cognitive Decline and Dementia",slug:"the-role-of-cognitive-reserve-in-executive-functioning-and-its-relationship-to-cognitive-decline-and",totalDownloads:23,totalDimensionsCites:0,doi:"10.5772/intechopen.104646",abstract:"In this chapter, we explore how cognitive reserve is implicated in coping with the negative consequences of brain pathology and age-related cognitive decline. Individual differences in cognitive performance are based on different brain mechanisms (neural reserve and neural compensation), and reflect, among others, the effect of education, occupational attainment, leisure activities, and social involvement. These cognitive reserve proxies have been extensively associated with efficient executive functioning. We discuss and focus particularly on the compensation mechanisms related to the frontal lobe and its protective role, in maintaining cognitive performance in old age or even mitigating the clinical expression of dementia.",book:{id:"11742",title:"Neurophysiology",coverURL:"https://cdn.intechopen.com/books/images_new/11742.jpg"},signatures:"Gabriela Álvares-Pereira, Carolina Maruta and Maria Vânia Silva-Nunes"},{id:"81488",title:"Aggression and Sexual Behavior: Overlapping or Distinct Roles of 5-HT1A and 5-HT1B Receptors",slug:"aggression-and-sexual-behavior-overlapping-or-distinct-roles-of-5-ht1a-and-5-ht1b-receptors",totalDownloads:19,totalDimensionsCites:0,doi:"10.5772/intechopen.104872",abstract:"Distinct brain mechanisms for male aggressive and sexual behavior are present in mammalian species, including man. However, recent evidence suggests a strong connection and even overlap in the central nervous system (CNS) circuitry involved in aggressive and sexual behavior. The serotonergic system in the CNS is strongly involved in male aggressive and sexual behavior. In particular, 5-HT1A and 5-HT1B receptors seem to play a critical role in the modulation of these behaviors. The present chapter focuses on the effects of 5-HT1A- and 5-HT1B-receptor ligands in male rodent aggression and sexual behavior. Results indicate that 5-HT1B-heteroreceptors play a critical role in the modulation of male offensive behavior, although a definite role of 5-HT1A-auto- or heteroreceptors cannot be ruled out. 5-HT1A receptors are clearly involved in male sexual behavior, although it has to be yet unraveled whether 5-HT1A-auto- or heteroreceptors are important. Although several key nodes in the complex circuitry of aggression and sexual behavior are known, in particular in the medial hypothalamus, a clear link or connection to these critical structures and the serotonergic key receptors is yet to be determined. This information is urgently needed to detect and develop new selective anti-aggressive (serenic) and pro-sexual drugs for human applications.",book:{id:"10195",title:"Serotonin and the CNS - New Developments in Pharmacology and Therapeutics",coverURL:"https://cdn.intechopen.com/books/images_new/10195.jpg"},signatures:"Berend Olivier and Jocelien D.A. Olivier"},{id:"81093",title:"Prehospital and Emergency Room Airway Management in Traumatic Brain Injury",slug:"prehospital-and-emergency-room-airway-management-in-traumatic-brain-injury",totalDownloads:49,totalDimensionsCites:0,doi:"10.5772/intechopen.104173",abstract:"Airway management in trauma is critical and may impact patient outcomes. Particularly in traumatic brain injury (TBI), depressed level of consciousness may be associated with compromised protective airway reflexes or apnea, which can increase the risk of aspiration or result in hypoxemia and worsen the secondary brain damage. Therefore, patients with TBI and Glasgow Coma Scale (GCS) ≤ 8 have been traditionally managed by prehospital or emergency room (ER) endotracheal intubation. However, recent evidence challenged this practice and even suggested that routine intubation may be harmful. This chapter will address the indications and optimal method of securing the airway, prehospital and in the ER, in patients with traumatic brain injury.",book:{id:"11367",title:"Traumatic Brain Injury",coverURL:"https://cdn.intechopen.com/books/images_new/11367.jpg"},signatures:"Dominik A. Jakob, Jean-Cyrille Pitteloud and Demetrios Demetriades"},{id:"81011",title:"Amino Acids as Neurotransmitters. The Balance between Excitation and Inhibition as a Background for Future Clinical Applications",slug:"amino-acids-as-neurotransmitters-the-balance-between-excitation-and-inhibition-as-a-background-for-f",totalDownloads:19,totalDimensionsCites:0,doi:"10.5772/intechopen.103760",abstract:"For more than 30 years, amino acids have been well-known (and essential) participants in neurotransmission. They act as both neuromediators and metabolites in nervous tissue. Glycine and glutamic acid (glutamate) are prominent examples. These amino acids are agonists of inhibitory and excitatory membrane receptors, respectively. Moreover, they play essential roles in metabolic pathways and energy transformation in neurons and astrocytes. Despite their obvious effects on the brain, their potential role in therapeutic methods remains uncertain in clinical practice. In the current chapter, a comparison of the crosstalk between these two systems, which are responsible for excitation and inhibition in neurons, is presented. The interactions are discussed at the metabolic, receptor, and transport levels. Reaction-diffusion and a convectional flow into the interstitial fluid create a balanced distribution of glycine and glutamate. Indeed, the neurons’ final physiological state is a result of a balance between the excitatory and inhibitory influences. However, changes to the glycine and/or glutamate pools under pathological conditions can alter the state of nervous tissue. Thus, new therapies for various diseases may be developed on the basis of amino acid medication.",book:{id:"10890",title:"Recent Advances in Neurochemistry",coverURL:"https://cdn.intechopen.com/books/images_new/10890.jpg"},signatures:"Yaroslav R. Nartsissov"},{id:"80821",title:"Neuroimmunology and Neurological Manifestations of COVID-19",slug:"neuroimmunology-and-neurological-manifestations-of-covid-19",totalDownloads:41,totalDimensionsCites:0,doi:"10.5772/intechopen.103026",abstract:"Infection with SARS-CoV-2 is causing coronavirus disease in 2019 (COVID-19). Besides respiratory symptoms due to an attack on the broncho-alveolar system, COVID-19, among others, can be accompanied by neurological symptoms because of the affection of the nervous system. These can be caused by intrusion by SARS-CoV-2 of the central nervous system (CNS) and peripheral nervous system (PNS) and direct infection of local cells. In addition, neurological deterioration mediated by molecular mimicry to virus antigens or bystander activation in the context of immunological anti-virus defense can lead to tissue damage in the CNS and PNS. In addition, cytokine storm caused by SARS-CoV-2 infection in COVID-19 can lead to nervous system related symptoms. Endotheliitis of CNS vessels can lead to vessel occlusion and stroke. COVID-19 can also result in cerebral hemorrhage and sinus thrombosis possibly related to changes in clotting behavior. Vaccination is most important to prevent COVID-19 in the nervous system. There are symptomatic or/and curative therapeutic approaches to combat COVID-19 related nervous system damage that are partly still under study.",book:{id:"10890",title:"Recent Advances in Neurochemistry",coverURL:"https://cdn.intechopen.com/books/images_new/10890.jpg"},signatures:"Robert Weissert"}],onlineFirstChaptersTotal:17},preDownload:{success:null,errors:{}},subscriptionForm:{success:null,errors:{}},aboutIntechopen:{},privacyPolicy:{},peerReviewing:{},howOpenAccessPublishingWithIntechopenWorks:{},sponsorshipBooks:{sponsorshipBooks:[],offset:0,limit:8,total:null},allSeries:{pteSeriesList:[{id:"14",title:"Artificial Intelligence",numberOfPublishedBooks:9,numberOfPublishedChapters:87,numberOfOpenTopics:6,numberOfUpcomingTopics:0,issn:"2633-1403",doi:"10.5772/intechopen.79920",isOpenForSubmission:!0},{id:"7",title:"Biomedical Engineering",numberOfPublishedBooks:12,numberOfPublishedChapters:99,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2631-5343",doi:"10.5772/intechopen.71985",isOpenForSubmission:!0}],lsSeriesList:[{id:"11",title:"Biochemistry",numberOfPublishedBooks:27,numberOfPublishedChapters:288,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2632-0983",doi:"10.5772/intechopen.72877",isOpenForSubmission:!0},{id:"25",title:"Environmental Sciences",numberOfPublishedBooks:1,numberOfPublishedChapters:9,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2754-6713",doi:"10.5772/intechopen.100362",isOpenForSubmission:!0},{id:"10",title:"Physiology",numberOfPublishedBooks:11,numberOfPublishedChapters:139,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2631-8261",doi:"10.5772/intechopen.72796",isOpenForSubmission:!0}],hsSeriesList:[{id:"3",title:"Dentistry",numberOfPublishedBooks:8,numberOfPublishedChapters:129,numberOfOpenTopics:0,numberOfUpcomingTopics:2,issn:"2631-6218",doi:"10.5772/intechopen.71199",isOpenForSubmission:!1},{id:"6",title:"Infectious Diseases",numberOfPublishedBooks:13,numberOfPublishedChapters:107,numberOfOpenTopics:3,numberOfUpcomingTopics:1,issn:"2631-6188",doi:"10.5772/intechopen.71852",isOpenForSubmission:!0},{id:"13",title:"Veterinary Medicine and Science",numberOfPublishedBooks:11,numberOfPublishedChapters:104,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2632-0517",doi:"10.5772/intechopen.73681",isOpenForSubmission:!0}],sshSeriesList:[{id:"22",title:"Business, Management and Economics",numberOfPublishedBooks:1,numberOfPublishedChapters:12,numberOfOpenTopics:2,numberOfUpcomingTopics:1,issn:"2753-894X",doi:"10.5772/intechopen.100359",isOpenForSubmission:!0},{id:"23",title:"Education and Human Development",numberOfPublishedBooks:0,numberOfPublishedChapters:0,numberOfOpenTopics:2,numberOfUpcomingTopics:0,issn:null,doi:"10.5772/intechopen.100360",isOpenForSubmission:!1},{id:"24",title:"Sustainable Development",numberOfPublishedBooks:0,numberOfPublishedChapters:11,numberOfOpenTopics:4,numberOfUpcomingTopics:1,issn:null,doi:"10.5772/intechopen.100361",isOpenForSubmission:!0}],testimonialsList:[{id:"6",text:"It is great to work with the IntechOpen to produce a worthwhile collection of research that also becomes a great educational resource and guide for future research endeavors.",author:{id:"259298",name:"Edward",surname:"Narayan",institutionString:null,profilePictureURL:"https://mts.intechopen.com/storage/users/259298/images/system/259298.jpeg",slug:"edward-narayan",institution:{id:"3",name:"University of Queensland",country:{id:null,name:"Australia"}}}},{id:"13",text:"The collaboration with and support of the technical staff of IntechOpen is fantastic. The whole process of submitting an article and editing of the submitted article goes extremely smooth and fast, the number of reads and downloads of chapters is high, and the contributions are also frequently cited.",author:{id:"55578",name:"Antonio",surname:"Jurado-Navas",institutionString:null,profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRisIQAS/Profile_Picture_1626166543950",slug:"antonio-jurado-navas",institution:{id:"720",name:"University of Malaga",country:{id:null,name:"Spain"}}}}]},series:{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:"May 24th, 2022",hasOnlineFirst:!0,numberOfPublishedBooks:27,editor:{id:"31610",title:"Dr.",name:"Miroslav",middleName:null,surname:"Blumenberg",slug:"miroslav-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"}}},editorTwo:null,editorThree:null},subseries:{paginationCount:9,paginationItems:[{id:"14",title:"Cell and Molecular Biology",coverUrl:"https://cdn.intechopen.com/series_topics/covers/14.jpg",editor:{id:"165627",title:"Dr.",name:"Rosa María",middleName:null,surname:"Martínez-Espinosa",slug:"rosa-maria-martinez-espinosa",fullName:"Rosa María Martínez-Espinosa",profilePictureURL:"https://mts.intechopen.com/storage/users/165627/images/system/165627.jpeg",biography:"Dr. Rosa María Martínez-Espinosa has been a Spanish Full Professor since 2020 (Biochemistry and Molecular Biology) and is currently Vice-President of International Relations and Cooperation development and leader of the research group 'Applied Biochemistry” (University of Alicante, Spain). Other positions she has held at the university include Vice-Dean of Master Programs, Vice-Dean of the Degree in Biology and Vice-Dean for Mobility and Enterprise and Engagement at the Faculty of Science (University of Alicante). She received her Bachelor in Biology in 1998 (University of Alicante) and her PhD in 2003 (Biochemistry, University of Alicante). She undertook post-doctoral research at the University of East Anglia (Norwich, U.K. 2004-2005; 2007-2008).\nHer multidisciplinary research focuses on investigating archaea and their potential applications in biotechnology. She has an H-index of 21. She has authored one patent and has published more than 70 indexed papers and around 60 book chapters.\nShe has contributed to more than 150 national and international meetings during the last 15 years. Her research interests include archaea metabolism, enzymes purification and characterization, gene regulation, carotenoids and bioplastics production, antioxidant\ncompounds, waste water treatments, and brines bioremediation.\nRosa María’s other roles include editorial board member for several journals related\nto biochemistry, reviewer for more than 60 journals (biochemistry, molecular biology, biotechnology, chemistry and microbiology) and president of several organizing committees in international meetings related to the N-cycle or respiratory processes.",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",slug:"ana-isabel-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",slug:"christian-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",slug:"francisco-javier-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",coverUrl:"https://cdn.intechopen.com/series_topics/covers/15.jpg",editor:{id:"441442",title:"Dr.",name:"Şükrü",middleName:null,surname:"Beydemir",slug:"sukru-beydemir",fullName:"Şükrü Beydemir",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0033Y00003GsUoIQAV/Profile_Picture_1634557147521",biography:"Dr. Şükrü Beydemir obtained a BSc in Chemistry in 1995 from Yüzüncü Yıl University, MSc in Biochemistry in 1998, and PhD in Biochemistry in 2002 from Atatürk University, Turkey. He performed post-doctoral studies at Max-Planck Institute, Germany, and University of Florence, Italy in addition to making several scientific visits abroad. He currently works as a Full Professor of Biochemistry in the Faculty of Pharmacy, Anadolu University, Turkey. Dr. Beydemir has published over a hundred scientific papers spanning protein biochemistry, enzymology and medicinal chemistry, reviews, book chapters and presented several conferences to scientists worldwide. He has received numerous publication awards from various international scientific councils. He serves in the Editorial Board of several international journals. Dr. Beydemir is also Rector of Bilecik Şeyh Edebali University, Turkey.",institutionString:null,institution:{name:"Anadolu University",institutionURL:null,country:{name:"Turkey"}}},editorTwo:{id:"13652",title:"Prof.",name:"Deniz",middleName:null,surname:"Ekinci",slug:"deniz-ekinci",fullName:"Deniz Ekinci",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002aYLT1QAO/Profile_Picture_1634557223079",biography:"Dr. Deniz Ekinci obtained a BSc in Chemistry in 2004, MSc in Biochemistry in 2006, and PhD in Biochemistry in 2009 from Atatürk University, Turkey. He studied at Stetson University, USA, in 2007-2008 and at the Max Planck Institute of Molecular Cell Biology and Genetics, Germany, in 2009-2010. Dr. Ekinci currently works as a Full Professor of Biochemistry in the Faculty of Agriculture and is the Head of the Enzyme and Microbial Biotechnology Division, Ondokuz Mayıs University, Turkey. He is a member of the Turkish Biochemical Society, American Chemical Society, and German Genetics society. Dr. Ekinci published around ninety scientific papers, reviews and book chapters, and presented several conferences to scientists. He has received numerous publication awards from several scientific councils. Dr. Ekinci serves as the Editor in Chief of four international books and is involved in the Editorial Board of several international journals.",institutionString:null,institution:{name:"Ondokuz Mayıs University",institutionURL:null,country:{name:"Turkey"}}},editorThree:null,editorialBoard:[{id:"241413",title:"Dr.",name:"Azhar",middleName:null,surname:"Rasul",slug:"azhar-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",slug:"sergey-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",coverUrl:"https://cdn.intechopen.com/series_topics/covers/17.jpg",editor:{id:"138626",title:"Dr.",name:"Yannis",middleName:null,surname:"Karamanos",slug:"yannis-karamanos",fullName:"Yannis Karamanos",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002g6Jv2QAE/Profile_Picture_1629356660984",biography:"Yannis Karamanos, born in Greece in 1953, completed his pre-graduate studies at the Université Pierre et Marie Curie, Paris, then his Masters and Doctoral degree at the Université de Lille (1983). 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He owns the patent for herbal preparation and producing, and for the supercritical fluid-treated needle. Dr. Hu has published three books, 12 book chapters, and more than 30 papers in reputed journals, besides serving as an editorial board member of repute.",institutionString:"Kaohsiung Chang Gung Memorial Hospital",institution:{name:"Kaohsiung Chang Gung Memorial Hospital",country:{name:"Taiwan"}}},{id:"298472",title:"Prof.",name:"Andrey V.",middleName:null,surname:"Grechko",slug:"andrey-v.-grechko",fullName:"Andrey V. Grechko",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/298472/images/system/298472.png",biography:"Andrey Vyacheslavovich Grechko, Ph.D., Professor, is a Corresponding Member of the Russian Academy of Sciences. He graduated from the Semashko Moscow Medical Institute (Semashko National Research Institute of Public Health) with a degree in Medicine (1998), the Clinical Department of Dermatovenerology (2000), and received a second higher education in Psychology (2009). Professor A.V. Grechko held the position of Сhief Physician of the Central Clinical Hospital in Moscow. He worked as a professor at the faculty and was engaged in scientific research at the Medical University. Starting in 2013, he has been the initiator of the creation of the Federal Scientific and Clinical Center for Intensive Care and Rehabilitology, Moscow, Russian Federation, where he also serves as Director since 2015. He has many years of experience in research and teaching in various fields of medicine, is an author/co-author of more than 200 scientific publications, 13 patents, 15 medical books/chapters, including Chapter in Book «Metabolomics», IntechOpen, 2020 «Metabolomic Discovery of Microbiota Dysfunction as the Cause of Pathology».",institutionString:"Federal Research and Clinical Center of Intensive Care Medicine and Rehabilitology",institution:null},{id:"199461",title:"Prof.",name:"Natalia V.",middleName:null,surname:"Beloborodova",slug:"natalia-v.-beloborodova",fullName:"Natalia V. Beloborodova",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/199461/images/system/199461.jpg",biography:'Natalia Vladimirovna Beloborodova was educated at the Pirogov Russian National Research Medical University, with a degree in pediatrics in 1980, a Ph.D. in 1987, and a specialization in Clinical Microbiology from First Moscow State Medical University in 2004. She has been a Professor since 1996. Currently, she is the Head of the Laboratory of Metabolism, a division of the Federal Research and Clinical Center of Intensive Care Medicine and Rehabilitology, Moscow, Russian Federation. N.V. Beloborodova has many years of clinical experience in the field of intensive care and surgery. She studies infectious complications and sepsis. She initiated a series of interdisciplinary clinical and experimental studies based on the concept of integrating human metabolism and its microbiota. Her scientific achievements are widely known: she is the recipient of the Marie E. Coates Award \\"Best lecturer-scientist\\" Gustafsson Fund, Karolinska Institutes, Stockholm, Sweden, and the International Sepsis Forum Award, Pasteur Institute, Paris, France (2014), etc. Professor N.V. Beloborodova wrote 210 papers, five books, 10 chapters and has edited four books.',institutionString:"Federal Research and Clinical Center of Intensive Care Medicine and Rehabilitology",institution:null},{id:"354260",title:"Ph.D.",name:"Tércio Elyan",middleName:"Azevedo",surname:"Azevedo Martins",slug:"tercio-elyan-azevedo-martins",fullName:"Tércio Elyan Azevedo Martins",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/354260/images/16241_n.jpg",biography:"Graduated in Pharmacy from the Federal University of Ceará with the modality in Industrial Pharmacy, Specialist in Production and Control of Medicines from the University of São Paulo (USP), Master in Pharmaceuticals and Medicines from the University of São Paulo (USP) and Doctor of Science in the program of Pharmaceuticals and Medicines by the University of São Paulo. Professor at Universidade Paulista (UNIP) in the areas of chemistry, cosmetology and trichology. Assistant Coordinator of the Higher Course in Aesthetic and Cosmetic Technology at Universidade Paulista Campus Chácara Santo Antônio. Experience in the Pharmacy area, with emphasis on Pharmacotechnics, Pharmaceutical Technology, Research and Development of Cosmetics, acting mainly on topics such as cosmetology, antioxidant activity, aesthetics, photoprotection, cyclodextrin and thermal analysis.",institutionString:null,institution:{name:"University of Sao Paulo",country:{name:"Brazil"}}},{id:"334285",title:"Ph.D. Student",name:"Sameer",middleName:"Kumar",surname:"Jagirdar",slug:"sameer-jagirdar",fullName:"Sameer Jagirdar",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/334285/images/14691_n.jpg",biography:"I\\'m a graduate student at the center for biosystems science and engineering at the Indian Institute of Science, Bangalore, India. I am interested in studying host-pathogen interactions at the biomaterial interface.",institutionString:null,institution:{name:"Indian Institute of Science Bangalore",country:{name:"India"}}},{id:"329795",title:"Dr.",name:"Mohd Aftab",middleName:"Aftab",surname:"Siddiqui",slug:"mohd-aftab-siddiqui",fullName:"Mohd Aftab Siddiqui",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/329795/images/15648_n.jpg",biography:"Dr. Mohd Aftab Siddiqui is currently working as Assistant Professor in the Faculty of Pharmacy, Integral University, Lucknow for the last 6 years. He has completed his Doctor in Philosophy (Pharmacology) in 2020 from Integral University, Lucknow. He completed his Bachelor in Pharmacy in 2013 and Master in Pharmacy (Pharmacology) in 2015 from Integral University, Lucknow. He is the gold medalist in Bachelor and Master degree. He qualified GPAT -2013, GPAT -2014, and GPAT 2015. His area of research is Pharmacological screening of herbal drugs/ natural products in liver and cardiac diseases. He has guided many M. Pharm. research projects. He has many national and international publications.",institutionString:"Integral University",institution:null},{id:"255360",title:"Dr.",name:"Usama",middleName:null,surname:"Ahmad",slug:"usama-ahmad",fullName:"Usama Ahmad",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/255360/images/system/255360.png",biography:"Dr. Usama Ahmad holds a specialization in Pharmaceutics from Amity University, Lucknow, India. He received his Ph.D. degree from Integral University. Currently, he’s working as an Assistant Professor of Pharmaceutics in the Faculty of Pharmacy, Integral University. From 2013 to 2014 he worked on a research project funded by SERB-DST, Government of India. He has a rich publication record with more than 32 original articles published in reputed journals, 3 edited books, 5 book chapters, and a number of scientific articles published in ‘Ingredients South Asia Magazine’ and ‘QualPharma Magazine’. He is a member of the American Association for Cancer Research, International Association for the Study of Lung Cancer, and the British Society for Nanomedicine. Dr. Ahmad’s research focus is on the development of nanoformulations to facilitate the delivery of drugs that aim to provide practical solutions to current healthcare problems.",institutionString:"Integral University",institution:{name:"Integral University",country:{name:"India"}}},{id:"30568",title:"Prof.",name:"Madhu",middleName:null,surname:"Khullar",slug:"madhu-khullar",fullName:"Madhu Khullar",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/30568/images/system/30568.jpg",biography:"Dr. Madhu Khullar is a Professor of Experimental Medicine and Biotechnology at the Post Graduate Institute of Medical Education and Research, Chandigarh, India. She completed her Post Doctorate in hypertension research at the Henry Ford Hospital, Detroit, USA in 1985. She is an editor and reviewer of several international journals, and a fellow and member of several cardiovascular research societies. Dr. Khullar has a keen research interest in genetics of hypertension, and is currently studying pharmacogenetics of hypertension.",institutionString:"Post Graduate Institute of Medical Education and Research",institution:{name:"Post Graduate Institute of Medical Education and Research",country:{name:"India"}}},{id:"223233",title:"Prof.",name:"Xianquan",middleName:null,surname:"Zhan",slug:"xianquan-zhan",fullName:"Xianquan Zhan",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/223233/images/system/223233.png",biography:"Xianquan Zhan received his MD and Ph.D. in Preventive Medicine at West China University of Medical Sciences. He received his post-doctoral training in oncology and cancer proteomics at the Central South University, China, and the University of Tennessee Health Science Center (UTHSC), USA. He worked at UTHSC and the Cleveland Clinic in 2001–2012 and achieved the rank of associate professor at UTHSC. Currently, he is a full professor at Central South University and Shandong First Medical University, and an advisor to MS/PhD students and postdoctoral fellows. He is also a fellow of the Royal Society of Medicine and European Association for Predictive Preventive Personalized Medicine (EPMA), a national representative of EPMA, and a member of the American Society of Clinical Oncology (ASCO) and the American Association for the Advancement of Sciences (AAAS). He is also the editor in chief of International Journal of Chronic Diseases & Therapy, an associate editor of EPMA Journal, Frontiers in Endocrinology, and BMC Medical Genomics, and a guest editor of Mass Spectrometry Reviews, Frontiers in Endocrinology, EPMA Journal, and Oxidative Medicine and Cellular Longevity. He has published more than 148 articles, 28 book chapters, 6 books, and 2 US patents in the field of clinical proteomics and biomarkers.",institutionString:"Shandong First Medical University",institution:{name:"Affiliated Hospital of Shandong Academy of Medical Sciences",country:{name:"China"}}},{id:"297507",title:"Dr.",name:"Charles",middleName:"Elias",surname:"Assmann",slug:"charles-assmann",fullName:"Charles Assmann",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/297507/images/system/297507.jpg",biography:"Charles Elias Assmann is a biologist from Federal University of Santa Maria (UFSM, Brazil), who spent some time abroad at the Ludwig-Maximilians-Universität München (LMU, Germany). He has Masters Degree in Biochemistry (UFSM), and is currently a PhD student at Biochemistry at the Department of Biochemistry and Molecular Biology of the UFSM. His areas of expertise include: Biochemistry, Molecular Biology, Enzymology, Genetics and Toxicology. He is currently working on the following subjects: Aluminium toxicity, Neuroinflammation, Oxidative stress and Purinergic system. Since 2011 he has presented more than 80 abstracts in scientific proceedings of national and international meetings. Since 2014, he has published more than 20 peer reviewed papers (including 4 reviews, 3 in Portuguese) and 2 book chapters. He has also been a reviewer of international journals and ad hoc reviewer of scientific committees from Brazilian Universities.",institutionString:"Universidade Federal de Santa Maria",institution:{name:"Universidade Federal de Santa Maria",country:{name:"Brazil"}}},{id:"217850",title:"Dr.",name:"Margarete Dulce",middleName:null,surname:"Bagatini",slug:"margarete-dulce-bagatini",fullName:"Margarete Dulce Bagatini",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/217850/images/system/217850.jpeg",biography:"Dr. Margarete Dulce Bagatini is an associate professor at the Federal University of Fronteira Sul/Brazil. She has a degree in Pharmacy and a PhD in Biological Sciences: Toxicological Biochemistry. She is a member of the UFFS Research Advisory Committee\nand a member of the Biovitta Research Institute. She is currently:\nthe leader of the research group: Biological and Clinical Studies\nin Human Pathologies, professor of postgraduate program in\nBiochemistry at UFSC and postgraduate program in Science and Food Technology at\nUFFS. She has experience in the area of pharmacy and clinical analysis, acting mainly\non the following topics: oxidative stress, the purinergic system and human pathologies, being a reviewer of several international journals and books.",institutionString:"Universidade Federal da Fronteira Sul",institution:{name:"Universidade Federal da Fronteira Sul",country:{name:"Brazil"}}},{id:"226275",title:"Ph.D.",name:"Metin",middleName:null,surname:"Budak",slug:"metin-budak",fullName:"Metin Budak",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/226275/images/system/226275.jfif",biography:"Metin Budak, MSc, PhD is an Assistant Professor at Trakya University, Faculty of Medicine. He has been Head of the Molecular Research Lab at Prof. Mirko Tos Ear and Hearing Research Center since 2018. His specializations are biophysics, epigenetics, genetics, and methylation mechanisms. He has published around 25 peer-reviewed papers, 2 book chapters, and 28 abstracts. He is a member of the Clinical Research Ethics Committee and Quantification and Consideration Committee of Medicine Faculty. His research area is the role of methylation during gene transcription, chromatin packages DNA within the cell and DNA repair, replication, recombination, and gene transcription. His research focuses on how the cell overcomes chromatin structure and methylation to allow access to the underlying DNA and enable normal cellular function.",institutionString:"Trakya University",institution:{name:"Trakya University",country:{name:"Turkey"}}},{id:"243049",title:"Dr.",name:"Anca",middleName:null,surname:"Pantea Stoian",slug:"anca-pantea-stoian",fullName:"Anca Pantea Stoian",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/243049/images/system/243049.jpg",biography:"Anca Pantea Stoian is a specialist in diabetes, nutrition, and metabolic diseases as well as health food hygiene. She also has competency in general ultrasonography.\n\nShe is an associate professor in the Diabetes, Nutrition and Metabolic Diseases Department, Carol Davila University of Medicine and Pharmacy, Bucharest, Romania. She has been chief of the Hygiene Department, Faculty of Dentistry, at the same university since 2019. Her interests include micro and macrovascular complications in diabetes and new therapies. Her research activities focus on nutritional intervention in chronic pathology, as well as cardio-renal-metabolic risk assessment, and diabetes in cancer. She is currently engaged in developing new therapies and technological tools for screening, prevention, and patient education in diabetes. \n\nShe is a member of the European Association for the Study of Diabetes, Cardiometabolic Academy, CEDA, Romanian Society of Diabetes, Nutrition and Metabolic Diseases, Romanian Diabetes Federation, and Association for Renal Metabolic and Nutrition studies. She has authored or co-authored 160 papers in national and international peer-reviewed journals.",institutionString:null,institution:{name:"Carol Davila University of Medicine and Pharmacy",country:{name:"Romania"}}},{id:"279792",title:"Dr.",name:"João",middleName:null,surname:"Cotas",slug:"joao-cotas",fullName:"João Cotas",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/279792/images/system/279792.jpg",biography:"Graduate and master in Biology from the University of Coimbra.\n\nI am a research fellow at the Macroalgae Laboratory Unit, in the MARE-UC – Marine and Environmental Sciences Centre of the University of Coimbra. My principal function is the collection, extraction and purification of macroalgae compounds, chemical and bioactive characterization of the compounds and algae extracts and development of new methodologies in marine biotechnology area. \nI am associated in two projects: one consists on discovery of natural compounds for oncobiology. The other project is the about the natural compounds/products for agricultural area.\n\nPublications:\nCotas, J.; Figueirinha, A.; Pereira, L.; Batista, T. 2018. An analysis of the effects of salinity on Fucus ceranoides (Ochrophyta, Phaeophyceae), in the Mondego River (Portugal). Journal of Oceanology and Limnology. in press. DOI: 10.1007/s00343-019-8111-3",institutionString:"Faculty of Sciences and Technology of University of Coimbra",institution:null},{id:"279788",title:"Dr.",name:"Leonel",middleName:null,surname:"Pereira",slug:"leonel-pereira",fullName:"Leonel Pereira",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/279788/images/system/279788.jpg",biography:"Leonel Pereira has an undergraduate degree in Biology, a Ph.D. in Biology (specialty in Cell Biology), and a Habilitation degree in Biosciences (specialization in Biotechnology) from the Faculty of Science and Technology, University of Coimbra, Portugal, where he is currently a professor. In addition to teaching at this university, he is an integrated researcher at the Marine and Environmental Sciences Center (MARE), Portugal. His interests include marine biodiversity (algae), marine biotechnology (algae bioactive compounds), and marine ecology (environmental assessment). Since 2008, he has been the author and editor of the electronic publication MACOI – Portuguese Seaweeds Website (www.seaweeds.uc.pt). He is also a member of the editorial boards of several scientific journals. Dr. Pereira has edited or authored more than 20 books, 100 journal articles, and 45 book chapters. He has given more than 100 lectures and oral communications at various national and international scientific events. He is the coordinator of several national and international research projects. In 1998, he received the Francisco de Holanda Award (Honorable Mention) and, more recently, the Mar Rei D. Carlos award (18th edition). He is also a winner of the 2016 CHOICE Award for an outstanding academic title for his book Edible Seaweeds of the World. In 2020, Dr. Pereira received an Honorable Mention for the Impact of International Publications from the Web of Science",institutionString:"University of Coimbra",institution:{name:"University of Coimbra",country:{name:"Portugal"}}},{id:"61946",title:"Dr.",name:"Carol",middleName:null,surname:"Bernstein",slug:"carol-bernstein",fullName:"Carol Bernstein",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/61946/images/system/61946.jpg",biography:"Carol Bernstein received her PhD in Genetics from the University of California (Davis). She was a faculty member at the University of Arizona College of Medicine for 43 years, retiring in 2011. Her research interests focus on DNA damage and its underlying role in sex, aging and in the early steps of initiation and progression to cancer. In her research, she had used organisms including bacteriophage T4, Neurospora crassa, Schizosaccharomyces pombe and mice, as well as human cells and tissues. She authored or co-authored more than 140 scientific publications, including articles in major peer reviewed journals, book chapters, invited reviews and one book.",institutionString:"University of Arizona",institution:{name:"University of Arizona",country:{name:"United States of America"}}},{id:"182258",title:"Dr.",name:"Ademar",middleName:"Pereira",surname:"Serra",slug:"ademar-serra",fullName:"Ademar Serra",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/182258/images/system/182258.jpeg",biography:"Dr. Serra studied Agronomy on Universidade Federal de Mato Grosso do Sul (UFMS) (2005). He received master degree in Agronomy, Crop Science (Soil fertility and plant nutrition) (2007) by Universidade Federal da Grande Dourados (UFGD), and PhD in agronomy (Soil fertility and plant nutrition) (2011) from Universidade Federal da Grande Dourados / Escola Superior de Agricultura Luiz de Queiroz (UFGD/ESALQ-USP). Dr. Serra is currently working at Brazilian Agricultural Research Corporation (EMBRAPA). His research focus is on mineral nutrition of plants, crop science and soil science. Dr. Serra\\'s current projects are soil organic matter, soil phosphorus fractions, compositional nutrient diagnosis (CND) and isometric log ratio (ilr) transformation in compositional data analysis.",institutionString:"Brazilian Agricultural Research Corporation",institution:{name:"Brazilian Agricultural Research Corporation",country:{name:"Brazil"}}}]}},subseries:{item:{id:"41",type:"subseries",title:"Water Science",keywords:"Water, Water resources, Freshwater, Hydrological processes, Utilization, Protection",scope:"