Abstract
Robotics navigation and perception for forest management are challenging due to the existence of many obstacles to detect and avoid and the sharp illumination changes. Advanced perception systems are needed because they can enable the development of robotic and machinery solutions to accomplish a smarter, more precise, and sustainable forestry. This article presents a state-of-the-art review about unimodal and multimodal perception in forests, detailing the current developed work about perception using a single type of sensors (unimodal) and by combining data from different kinds of sensors (multimodal). This work also makes a comparison between existing perception datasets in the literature and presents a new multimodal dataset, composed by images and laser scanning data, as a contribution for this research field. Lastly, a critical analysis of the works collected is conducted by identifying strengths and research trends in this domain.

Abstract
This study analyzed the potential of proximal optical sensing as an effective approach for early disease detection. A compact, modular sensing system, combining direct UV–Vis spectroscopy with optical fibers, supported by a principal component analysis (PCA), was applied to evaluate the modifications promoted by the bacteria Xanthomonas euvesicatoria in tomato leaves (cv. cherry). Plant infection was achieved by spraying a bacterial suspension (108 CFU mL-1) until run-off occurred, and a similar approach was followed for the control group, where only water was applied. A total of 270 spectral measurements were performed on leaves, on five different time instances, including pre- and post-inoculation measurements. PCA was then applied to the acquired data from both healthy and inoculated leaves, which allowed their distinction and differentiation, three days after inoculation, when unhealthy plants were still asymptomatic.

Abstract
The COVID-19 virus outbreak led to the need of developing smart disinfection systems, not only to protect the people that usually frequent public spaces but also to protect those who have to subject themselves to the contaminated areas. In this paper it is developed a human detector smart sensor for autonomous disinfection mobile robot that use Ultra Violet C type light for the disinfection task and stops the disinfection system when a human is detected around the robot in all directions. UVC light is dangerous for humans and thus the need for a human detection system that will protect them by disabling the disinfection process, as soon as a person is detected. This system uses a Raspberry Pi Camera with a Single Shot Detector (SSD) Mobilenet neural network to identify and detect persons. It also has a FLIR 3.5 Thermal camera that measures temperatures that are used to detect humans when within a certain range of temperatures. The normal human skin temperature is the reference value for the range definition. The results show that the fusion of both sensors data improves the system performance, compared to when the sensors are used individually. One of the tests performed proves that the system is able to distinguish a person in a picture from a real person by fusing the thermal camera and the visible light camera data. The detection results validate the proposed system.

Abstract
Thrombocytosis is a disorder with an excessive number of platelets in the blood, where total platelet counts (TPC) are crucial for diagnosis. This condition predisposes to blood vessels clotting and diseases such as stroke or heart attack. TPC is generally performed at the laboratory by flow cytometry with laser scattering or impedance detection. Due to the limited capacity of automated hematology in performing TPC quantification, a manual microscopy count is a very common quality assurance measure undertaken by clinical pathologists. Monitoring coagulation risk is key in many health conditions, and point-of-care platforms would simplify this procedure by taking platelet counts to the bedside. Spectroscopy has high potential for reagent-less point-of-care miniaturized technologies. However, platelets are difficult to detect in blood by standard spectroscopy analysis, due to their small size, low number when compared to red blood cells, and low spectral contrast to hemoglobin. In this exploratory research, we show that it is possible to perform TPC by advanced spectroscopy analysis, using a new processing methodology based on self-learning artificial intelligence. The results show that TPC can be measured by visible–near-infrared spectroscopy above the standard error limit of 61.19 × 109 cells/L (R2 = 0.7016), tested within the data range of 53 × 109 to 860 × 109 cells/L of dog blood. These results open the possibility for using spectroscopy as a diagnostic technology for the detection of high levels of platelets directly in whole blood, towards the rapid diagnosis of thrombocytosis and stroke prevention.

Abstract
Total white blood cells (WBC) count is an important indication for infection diagnosis, in both human and veterinary medicine. State-of-the-art WBC counts are performed by flow cytometry combined with light scattering or impedance measurements, in the clinical analysis laboratory. These technologies are complex and difficult to be miniaturized into a portable point-of-care (POC) system. Spectroscopy is one of the most powerful technologies for POC miniaturization due to its capacity to analyze low sample quantities, little to no sample preparation, and ‘real-time’ results. WBC is in the proportion of 1:1000 to red blood cells (RBC), and the latter dominate visible-near infrared (Vis-NIR) information due to their large quantities and hemoglobin absorbance. WBC are difficult to be detected by traditional spectral analysis because their information is contained within the interference of hemoglobin bands. Herein, we perform a feasibility study for the direct detection of WBC counts in canine blood by Vis-NIR spectroscopy for veterinary applications, benchmarking current chemometrics techniques with self-learning artificial intelligence—a new advanced method for high-accuracy quantification from spectral information. Results show that total WBC counts can be detected by Vis-NIR spectroscopy to an average detection limit of 7.8 ×109 cells/L, with an R2 of 0.9880 between impedance flow cytometry analysis and spectral quantification. This result opens new possibilities for reagent-less POC technology in infection diagnosis. As WBC counts in dogs range from 5 to 45 ×109 cells/L, the detection limit obtained in this research allows concluding that the combined use of spectroscopy with this SL-AI new algorithm is a step towards the existence of portable and miniaturized Spectral POC hemogram analysis.

Abstract
Developing ground robots for agriculture is a demanding task. Robots should be capable of performing tasks like spraying, harvesting, or monitoring. However, the absence of structure in the agricultural scenes challenges the implementation of localization and mapping algorithms. Thus, the research and development of localization techniques are essential to boost agricultural robotics. To address this issue, we propose an algorithm called VineSLAM suitable for localization and mapping in agriculture. This approach uses both point- and semiplane-features extracted from 3D LiDAR data to map the environment and localize the robot using a novel Particle Filter that considers both feature modalities. The numeric stability of the algorithm was tested using simulated data. The proposed methodology proved to be suitable to localize a robot using only three orthogonal semiplanes. Moreover, the entire VineSLAM pipeline was compared against a state-of-the-art approach considering three real-world experiments in a woody-crop vineyard. Results show that our approach can localize the robot with precision even in long and symmetric vineyard corridors outperforming the state-of-the-art algorithm in this context.