**7. Conclusions**

Improvement in nutritional properties such as cooking, baking, and processing qualities such as dry matter content, vitamins, starch, sugar content, flavors, colors, and glycoalkaloids is one of the most important aspects of potato production. Genetic manipulation of these quality traits has significantly increased our understanding of the genes and their network involved in controlling these traits. However, transgenic potatoes still lack consumer and producer acceptance and are not widely used compared to other crops. Transgenics created doubts on the transformation processes and

hence food safety evaluation tests are necessary to detect the any unintended effects in transgenic lines. Release of the Potato Genome Sequencing Consortium, genetic mapping, and genome-wide association-based studies, and the recent progress in CRISPR/Cas9-based tools have paved the way for development of potato cultivars with improved nutritional properties. Using intragenic or cisgenic and CRISPR-based approaches as well as proper assessment under field trials may alleviate the concerns by consumers, producers, and processors. Also, the unintended effects can be overcome by CRISPR/Cas9-based tools to produce transgene-free potatoes.


**4.2.5 Cytokines**

There are several direct and indirect pathways that link cytokines with nociception or hyperalgesia (Coutaux et al., 2005; Sommer & Kress, 2004; Uceyler et al., 2009). Four studies investigated cytokines in chronic trapezius myalgia, but significant differences were only found for active trigger points (Shah et al., 2008; Shah et al., 2005). These studies, however, used very few subjects, an obvious limitation. Larger studies have not found elevated levels of cytokines (Larsson et al., 2008; Rosendal et al., 2005). On the other hand, these studies might have had some technical problems due to the catheters used, also a limitation. However, the chronic WAD study found increased IL-6 (Gerdle et al., 2008c).


2.2.1. Hardware

For the micro controller unit (MCU), the STM32F103 model developed by STMicroelectronics, USA was used. The response time of MCU was set up at 100 ms and the operation voltage was 3.7 V. The MCU pre-scaler was set up at 3 and the period was 400 based on 72 MHz main clock frequency. Based on this, the sensing period was calculated and it was set at 16 us by using I2C communication.

For the capacitance measurement function, the MPR121QR2 sensor (Freescale Inc., Austin, TX, USA) was used; it converts capacitance to digital values. This sensor was used in our previous study [35] testing the feasibility of our capacitive insole sensor and showed a high correlation (R2 > 0.90, *p* < 0.05) with F-scan (Tekscan Inc., Boston, MA, USA). The MPR121QR2 sensor has a resolution of 0.01 pF and the measurement range covers 10 pF to 2000 pF. The data were sampled at 100 Hz [36]. Normalization was performed for all 10 channels of the insole sensor before signal processing. The standard deviation values between the data collected from the 10 channels were lower than 0.03 pF.

The HM-13 chip was used for Bluetooth communication and the baud rate was set to 115,200, the non-parity bit was 0, stop bit was 1.

The printed circuit board (PCB) was developed containing all sensors as presented in Figure 4a,b shows the MCU, MPR121QR2, and Bluetooth communication part of the developed PCB schematics.


*4.4. Semantic Enrichment*

The IoTCrawler framework is capable of adding new meta-information to known data and data sources. For this purpose, the Semantic Enrichment (SE) is being used. Currently, the component contains two parts, but can be extended further: the QoI Analyser and the Pattern Extractor, where the first one is responsible to add information about QoI to a data stream and the second one to extract patterns and therefore learn additional information from a stream.


**Acknowledgement**

518 MATLAB – A Fundamental Tool for Scientific Computing and Engineering Applications – Volume 1

together with this craters detection algorithm

noble future work for new researchers.

Baizura Bohari and Noorlina Zainuddin *National Defense University of Malaysia, Malaysia*

Nur Diyana Kamarudin, Kamaruddin Abd. Ghani, Siti Noormiza Makhtar,

**Author details**

patch. This output will then be used in ellipse reconstruction algorithm in order to get the

There are some limitations that have to be stated here for further extension and modification. For the craters detection algorithm, it is dependent on the sun angles and these assumptions will lead to an error of detecting a true pair (light and dark pairing patch). In addition, there are uncertainties as discussed before from the software (MATLAB) and the hardware itself in a real application (altimeter to measure the altitude). The Hough method seems to give more precise results but have a constraint in the shape of a crater itself. For an instance, the reconstruction needs to analyze a crater as an ellipse model instead of a circle. In Hough ellipse transformation, the authors have to analyze the ellipse in 5 dimensions instead of 3 dimensions in a circle. These limitations make the Hough Transform method to be unreliable and make its computational method a burden to use

For future works, this useful research can be extended to a crater pattern matching as described in the Literature Review section above. Craters Pattern matching is proposed by previous researchers to attain the position and velocity estimation of a spacecraft and a Lander during Entry, Descent and Landing (EDL) purposes and also for autonomous precision landing purposes. By making a pattern matching, one can get the differentiation between the position determined by the pattern matching and those from the reconstruction algorithm. The errors in the crater's position between these two methods can be evaluated to determine which is better in a real application. In reality, the lunar's surface is not flat and the camera parameters will not usually estimate perfectly. The image does require scaling, but the true amount is impossible to be identified without also knowing the camera's specifications (focal length and field of view). In most cases, the picture is not usually taken straight at the centre of the image and perspective distortion will have an effect as discussed before. As none of these are true in real applications, the need of the reconstruction algorithm to find the position of the crater is high. The crater's position determination and evaluation of this reconstruction algorithm were discussed in detail in the previous section. Then, the authors can determine the velocity of the spacecraft based on the position and the orientation of the crater. The idea is, if the authors can find the position and orientation in a single frame, then the velocities are the difference from one frame to the other one. Therefore, this research has a great valuable for future works. In addition, this research is a very worthy research indeed and has valuable benefits to any spacecraft missions in order to avoid the hazardous craters (feature proposed) and for a moon Lander to have a precise landing on a Lunar. Besides, the authors can compare the position determined using equation *q* and the position determined using the craters pattern matching and this will be a

orientation, *p* and further position, *q* of the disc (crater) from the camera's projection.

We would like to express our gratitude to our supervisors Dr Phil Palmer and Dr David Wokes from the University of Surrey, United Kingdom for their guidance and support. This academic article is also dedicated to our new supervisor, Associate Professor Major (R) Ir. Kamaruddin Abd. Ghani, co-supervisors, our beloved families and university. This chapter is fully supported by the Department of Electrical and Electronic Engineering, Universiti Pertahanan Nasional Malaysia, Malaysia.