Abstract
The Phenobot platform is comprised by an autonomous robot, instrumentation, artificial intelligence, and digital twin diagnosis at the molecular level, marking the transition from pure data-driven to knowledge-driven agriculture 4.0, towards a physiology-based approach to precision viticulture. Such is achieved by measuring the plant metabolome 'in vivo' and 'in situ', using spectroscopy and artificial intelligence for quantifying metabolites, e.g.: i. grapes: chlorophylls a and b, pheophytins a and b, anthocyanins, carotenoids, malic and tartaric acids, glucose and fructose; ii. foliage: chlorophylls a and b, pheophytins a and b, anthocyanins, carotenoids, nitrogen, phosphorous, potassium, sugars, and leaf water potential; and iii. soil nutrients (NPK). The geo-referenced metabolic information of each plant (organs and tissues) is the basis of multi-scaled analysis: i. geo-referenced metabolic maps of vineyards at the macroscopic field level, and ii. genome-scale 'in-silico' digital twin model for inferential physiology (phenotype state) and omics diagnosis at the molecular and cellular levels (transcription, enzyme efficiency, and metabolic fluxes). Genome-scale 'in-silico' Vitis vinifera numerical network relationships and fluxes comprise the scientific knowledge about the plant's physiological response to external stimuli, being the comparable mechanisms between laboratory and field experimentation - providing a causal and interpretable relationship to a complex system subjected to external spurious interactions (e.g., soil, climate, and ecosystem) scrambling pure data-driven approaches. This new approach identifies the molecular and cellular targets for managing plant physiology under different stress conditions, enabling new sustainable agricultural practices and bridging agriculture with plant biotechnology, towards faster innovations (e.g. biostimulants, anti-microbial compounds/mechanisms, nutrition, and water management). Phenobot is a project under the Portuguese emblematic initiative in Agriculture 4.0, part of the Recovery and Resilience Plan (Ref. PRR: 190 Ref. 09/C05-i03/2021 - PRR-C05-i03-I-000134). © The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (https://creativecommons.org/licenses/by/4.0/).

Abstract

Abstract
Agricultural robots are exposed to adverse conditions reducing the components' lifetime. To reduce the number of inspection, repair and maintenance activities, we propose using audio-based systems to diagnose and detect anomalies in these robots. Audio-based systems are non-destructive/intrusive solutions. Besides, it provides a significant amount of data to diagnose problems and for a wiser scheduler for preventive activities. So, in this work, we installed two microphones in an agricultural robot with a mowing tool. Real audio data was collected with the robotic mowing tool operating in several conditions and stages. Besides, a Sound-based Anomalies Detector (SAD) is proposed and tested with this dataset. The SAD considers a short-time Fourier transform (STFT) computation stage connected to a Support Vector Machine (SVM) classifier. The results with the collected dataset showed an F1 score between 95% and 100% in detecting anomalies in a mowing robot operation.

Abstract
Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator safely. To address this challenge, a novel methodology is proposed that employs monocular vision and ultra-wideband (UWB) transceivers to determine the relative position of a human target with respect to the robot. UWB transceivers are capable of tracking humans with UWB transceivers but exhibit a significant angular error. To reduce this error, monocular cameras with Deep Learning object detection are used to detect humans. The reduction in angular error is achieved through sensor fusion, combining the outputs of both sensors using a histogram-based filter. This filter projects and intersects the measurements from both sources onto a 2D grid. By combining UWB and monocular vision, a remarkable 66.67% reduction in angular error compared to UWB localization alone is achieved. This approach demonstrates an average processing time of 0.0183s and an average localization error of 0.14 meters when tracking a person walking at an average speed of 0.21 m/s. This novel algorithm holds promise for enabling efficient and safe human-robot collaboration, providing a valuable contribution to the field of robotics.

Abstract
Spectral point-of-care technology is reagentless with minimal sampling (<10 mu L) and can be performed in real-time. White blood cells are non-dominant in blood and in spectral information, suffering significant interferences from dominant constituents such as red blood cells, hemoglobin and billirubin. White blood cells of a bigger size can account for 0.5% to 22.5% of blood spectra information. Knowledge expansion was performed using data augmentation through the hybridization of 94 real-world blood samples into 300 synthetic data samples. Synthetic data samples are representative of real-world data, expanding the detailed spectral information through sample hybridization, allowing us to unscramble the spectral white blood cell information from spectra, with correlations of 0.7975 to 0.8397 and a mean absolute error of 32.25% to 34.13%; furthermore, we achieved a diagnostic efficiency between 83% and 100% inside the reference interval (5.5 to 19.5 x 10(9) cell/L), and 85.11% for cases with extreme high white blood cell counts. At the covariance mode level, white blood cells are quantified using orthogonal information on red blood cells, maximizing sensitivity and specificity towards white blood cells, and avoiding the use of non-specific natural correlations present in the dataset; thus, the specifity of white blood cells spectral information is increased. The presented research is a step towards high-specificity, reagentless, miniaturized spectral point-of-care hematology technology for Veterinary Medicine.

Abstract
Introduction: Precision monitoring maturity in climacteric fruits like tomato is crucial for minimising losses within the food supply chain and enhancing pre- and post-harvest production and utilisation. Objectives: This paper introduces an approach to analyse the precision maturation of tomato using hyperspectral tomography-like. Methods: A novel bi-directional spectral reconstruction method is presented, leveraging visible to near-infrared (Vis-NIR) information gathered from tomato spectra and their internal tissues (skin, pulp, and seeds). The study, encompassing 118 tomatoes at various maturation stages, employs a multi-block hierarchical principal component analysis combined with partial least squares for bi-directional reconstruction. The approach involves predicting internal tissue spectra by decomposing the overall tomato spectral information, creating a superset with eight latent variables for each tissue. The reverse process also utilises eight latent variables for reconstructing skin, pulp, and seed spectral data. Results: The reconstruction of the tomato spectra presents a mean absolute percentage error of 30.44 % and 5.37 %, 5.25 % and 6.42 % and Pearson's correlation coefficient of 0.85, 0.98, 0.99 and 0.99 for the skin, pulp and seed, respectively. Quality parameters, including soluble solid content (%), chlorophyll (a.u.), lycopene (a.u.), and puncture force (N), were assessed and modelled with PLS with the original and reconstructed datasets, presenting a range of R2 higher than 0.84 in the reconstructed dataset. An empirical demonstration of the tomato maturation in the internal tissues revealed the dynamic of the chlorophyll and lycopene in the different tissues during the maturation process. Conclusion: The proposed approach for inner tomato tissue spectral inference is highly reliable, provides early indications and is easy to operate. This study highlights the potential of Vis-NIR devices in precision fruit maturation assessment, surpassing conventional labour-intensive techniques in cost-effectiveness and efficiency. The implications of this advancement extend to various agronomic and food chain applications, promising substantial improvements in monitoring and enhancing fruit quality. [GRAPHICS] .