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This chapter describes an efficient protocol for large-scale micropropagation of date palm. Somatic embryo-derived plants are regenerated from highly proliferating suspension cultures. Friable embryogenic callus is initiated from juvenile leaves using slightly modified Murashige and Skoog (MS) medium supplemented with 0.1 mg/L 2,4-dichlorophenoxyacetic acid (2,4-D). Suspension cultures consisting of proembryonic masses are established from highly competent callus for somatic embryogenesis using half-strength MS medium enriched with 0.1 mg/L 2,4-D and 300 mg/L activated charcoal. The productivity of cultures increased 20-fold when embryogenic cell suspensions were used instead of standard protocols on solidified media. The overall production of somatic embryos mostly exceeds 10,000 units per liter per month. Partial desiccation of mature somatic embryos, corresponding to a decrease in water content from 90 down to 75%, significantly improved germination rates.

Original scientific paperAutonomous wheelchairs operating in dynamic environments need to sense its surrounding environment and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, simple and real-time autonomous navigation module that drives a wheelchair toward a desired target, along with its capability to avoid obstacles in a 3D dynamic environment. To command the mobile robot to the target, we use a Fuzzy Logic Controller (FLC). For obstacle avoidance, we use the Kinect Xbox 360 to provide an actual map of the environment. The generated map is fed to the reactive obstacle avoidance control Deformable Virtual Zone (DVZ). Simulations and real world experiments results are reported to show the feasibility and the performance of the proposed control system.Key words: Wheelchair, Autonomous navigation, FLC, Obstacle avoidance, 3D environment, DVZ, 3D sensors Autonomna navigacija za invalidska kolica s detekcijom prepreka u stvarnom vremenu korištenjem 3D senzora. Autonomna invalidska kolica koja se kreću u dinamičkim okruženjima moraju biti sposobna detektirati prepreke u svojoj okolini, te prilagoditi upravljački signal u stvarnom vremenu kako bi se izbjegli sudari i zaštitio korisnik. U ovom radu predlaže se jednostavan, robustan modul za autonomnu navigaciju u stvarnom vremenu koji vodi invalidska kolica prema željenom odredištu, te omogućuje izbjegavanje prepreka u 3D okruženju. Za upravljanje koristi se regulator baziran na neizravnoj logici (FLC). Za izbjegavanje prepreka koristi se Kinect Xbox 360 senzor koji gradi kartu okoline. Generirana karta se predaje reaktivnoj kontroli za izbjegavanje prepreka Deformiranoj Virutalnoj Zoni (DVZ). Prikazani su rezultati simulacija i eksperimenata u stvarnom svijetu kako bi se pokazala izvedivost i kvaliteta izvoenja predloženog sustava upravljanja.

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