Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian processes and its aptitude to model the dynamic system of an underactuated AUV without losing the relationships between tied outputs is used. The simulation of a first-principles model of a Remus 100 AUV is employed to capture data for the training and validation of the multi-output Gaussian processes. The metric and required procedure to carry out multi-output Gaussian processes for AUV with 6 degrees of freedom (DoF) is also shown in this paper. Multi-output Gaussian processes are compared with the popular technique of recurrent neural network show that Multi-output Gaussian processes manage to surpass RNN for non-parametric dynamic system identification in underwater vehicles with highly coupled DoF with the added benefit of providing a measurement of confidence.

Cereal grains and nuts are represented as the economic backbone of many developed and developing countries. Kernels of cereal grains and nuts are prone to mold infection under high relative humidity and suitable temperature conditions in the field as well as storage conditions. Health risks caused by molds and their molecular metabolite mycotoxins are, therefore, important topics to investigate. Strict regulations have been developed by international trade regulatory bodies for the detection of mold growth and mycotoxin contamination across the food chain starting from the harvest to storage and consumption. Molds and aflatoxins are not evenly distributed over the bulk of grains, thus appropriate sampling for detection and quantification is crucial. Existing reference methods for mold and mycotoxin detection are destructive in nature as well as involve skilled labor and hazardous chemicals. Also, these methods cannot be used for inline sorting of the infected kernels. Thus, analytical methods have been extensively researched to develop the one that is more practical to be used in commercial detection and sorting processes. Among various analytical techniques, optical imaging and spectroscopic techniques are attracting growers' attention for their potential of nondestructive and rapid inline identification and quantification of molds and mycotoxins in various food products. This review summarizes the recent application of rapid and nondestructive optical imaging and spectroscopic techniques, including digital color imaging, X-ray imaging, near-infrared spectroscopy, fluorescent, multispectral, and hyperspectral imaging. Advance chemometric techniques to identify very low-level mold growth and mycotoxin contamination are also discussed. Benefits, limitations, and challenges of deploying these techniques in practice are also presented in this paper.

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