In this paper, we present an automatic motion planner for agricultural robots that allows us to set up a robot to follow rows without having to explicitly enter waypoints. In most cases, when robots are used to cover large agricultural areas, they will need waypoints as inputs, either as premeasured coordinates in an outdoor environment, or as positions in a map in an indoor environment. This can be a tedious process as several hundreds or even thousands of waypoints will be needed for large farms. In particular, we find that in unstructured environments such as the ones found on farms, the need for waypoints increases. In this paper, we present an approach that enables robots to safely traverse not only between straight rows but also through curved rows without the need for any predetermined waypoints. Most types of infrastructure found in agriculture, such as polytunnels, are built on uneven terrain, thus containing a mix of straight and curved plant rows, for which traditional methods of row following will fail. Different from traditional approaches of row following that only consider straight‐line‐of‐sight rows, our approach identifies the rows on each side with the goal of staying in the middle of the rows, even if the rows are not straight. Waypoints are only needed on the very extreme of the rows, and these will be automatically generated by the system. With our approach, the robot can just be placed in the corner of the field and will then determine the trajectory without further input from the user. We thus obtain an approach that can reduce the installation time from potentially hours to just a matter of minutes. The final autonomous system is low cost and efficient for various tasks that requires moving between plant rows inside a polytunnel. Several experiments were performed and the robot demonstrates 1.4% position drift over 21 m of navigation path.
During infection, the pathogen’s entry into the host organism, breaching the host immune defense, spread and multiplication are frequently mediated by multiple interactions between the host and pathogen proteins. Systematic studying of host–pathogen interactions (HPIs) is a challenging task for both experimental and computational approaches and is critically dependent on the previously obtained knowledge about these interactions found in the biomedical literature. While several HPI databases exist that manually filter HPI protein–protein interactions from the generic databases and curated experimental interactomic studies, no comprehensive database on HPIs obtained from the biomedical literature is currently available. Here, we introduce a high-throughput literature-mining platform for extracting HPI data that includes the most comprehensive to date collection of HPIs obtained from the PubMed abstracts. Our HPI data portal, PHILM2Web (Pathogen–Host Interactions by Literature Mining on the Web), integrates an automatically generated database of interactions extracted by PHILM, our high-precision HPI literature-mining algorithm. Currently, the database contains 23 581 generic HPIs between 157 host and 403 pathogen organisms from 11 609 abstracts. The interactions were obtained from processing 608 972 PubMed abstracts, each containing mentions of at least one host and one pathogen organisms. In response to the coronavirus disease 2019 (COVID-19) pandemic, we also utilized PHILM to process 25 796 PubMed abstracts obtained by the same query as the COVID-19 Open Research Dataset. This COVID-19 processing batch resulted in 257 HPIs between 19 host and 31 pathogen organisms from 167 abstracts. The access to the entire HPI dataset is available via a searchable PHILM2Web interface; scientists can also download the entire database in bulk for offline processing.
Database URL: http://philm2web.live
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