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The battery State of Charge (SoC) is critical information to overcome agricultural robots' limitations related to battery and energy management. Although several SoC estimation methods have been proposed in the literature, the performance of these methods has not been validated for different battery chemistries in agricultural mobile robot applications. Compared to previous work, this paper evaluates the limits of the SoC estimation using the RC model and the Thevenin model for a Lithium Iron Phosphate (LFP) battery and a Sealed Lead Acid (SLA) battery. This evaluation used a custom agricultural robot in a controlled indoor environment. Consequently, this work assessed the limitations of two ECM-based SoC estimation methods using battery packs, low-cost sensors and discharge cycles typically used in agricultural robot applications. Finally, the results indicate that the RC model is not suitable for SoC estimation for LFP battery; however, it achieved a mean absolute error (MAE) of 2.2% for the SLA battery. On the other hand, the Thevenin model performed properly for both chemistries, achieving MAE lower than 1%. [ABSTRACT FROM AUTHOR]

Background: Maternal serum concentrations of folate, homocysteine, and vitamin B12 have been associated with pre-eclampsia. Nevertheless, reported studies involve limited number of cases to reliably assess the nature of these associations. Our aim was to examine the relation of these three biomarkers with pre-eclampsia risk in a large Colombian population. Materials and methods: Design: A case-control study. Setting: Cases of pre-eclampsia and healthy pregnant controls were recruited at the time of delivery from eight different Colombian cities between 2000 and 2012. Population or Sample: 2978 cases and 4096 controls were studied. Maternal serum concentrations of folate, homocysteine, and vitamin B12 were determined in 1148 (43.6%) cases and 1300 (31.7%) controls. Also, self-reported folic acid supplementation was recorded for 2563 (84%) cases and 3155 (84%) controls. Analysis: Adjusted odds ratios (OR) for pre-eclampsia were estimated for one standard deviation (1SD) increase in log-transformed biomarkers. Furthermore, we conducted analyses to compare women that reported taking folic acid supplementation for different periods during pregnancy. Main Outcomes Measures: Odds ratio for pre-eclampsia. Results: After adjusting for potential confounders in logistic regression models, the OR for pre-eclampsia was 0.80 (95% CI: 0.72, 0.90) for 1SD increase in log-folate, 1.16 (95%CI: 1.05, 1.27) for 1SD increase in log-homocysteine, and 1.10 (95%CI: 0.99, 1.22) for 1SD increase in log-vitamin B12. No interactions among the biomarkers were identified. Women who self-reported consumption of folic acid (1 mg/day) throughout their pregnancy had an adjusted OR for pre-eclampsia of 0.86 (95%CI: 0.67, 1.09) compared to women that reported no consumption of folic acid at any point during pregnancy. Conclusions: Maternal serum concentrations of folate were associated as a protective factor for pre-eclampsia while concentrations of homocysteine were associated as a risk factor. No association between maternal vitamin B12 concentrations and preeclampsia was found. [ABSTRACT FROM AUTHOR]