{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T18:27:04Z","timestamp":1772303224116,"version":"3.50.1"},"reference-count":27,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2021,9,16]],"date-time":"2021-09-16T00:00:00Z","timestamp":1631750400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003758","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa e ao Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico do Maranh\u00e3o","doi-asserted-by":"publisher","award":["BD-04463\/19"],"award-info":[{"award-number":["BD-04463\/19"]}],"id":[{"id":"10.13039\/501100003758","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, a bioinspired method in the magnetic field memory of the bees, applied in a rover of precision pollination, is presented. The method calculates sharpness features by entropy and variance of the Laplacian of images segmented by color in the HSV system in real-time. A complementary positioning method based on area feature extraction between active markers was developed, analyzing color characteristics, noise, and vibrations of the probe in time and frequency, through the lateral image of the probe. From the observed results, it can be seen that the unsupervised method does not require previous calibration of target dimensions, histogram, and distances involved in positioning. The algorithm showed less sensitivity in the extraction of sharpness characteristics regarding the number of edges and greater sensitivity to the gradient, allowing unforeseen operation scenarios, even in small sharpness variations, and robust response to variance local, temporal, and geophysical of the magnetic declination, not needing luminosity after scanning, with the two freedom of degrees of the rotation.<\/jats:p>","DOI":"10.3390\/s21186198","type":"journal-article","created":{"date-parts":[[2021,9,15]],"date-time":"2021-09-15T21:47:11Z","timestamp":1631742431000},"page":"6198","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Autofocus Entropy Repositioning Method Bioinspired in the Magnetic Field Memory of the Bees Applied to Pollination"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7629-1890","authenticated-orcid":false,"given":"Daniel de Matos Luna dos","family":"Santos","sequence":"first","affiliation":[{"name":"Graduating Program in Electrical Engineering, Federal University of Maranh\u00e3o, Sao Luis 65085-580, Brazil"}]},{"given":"Ewaldo Eder Carvalho","family":"Santana","sequence":"additional","affiliation":[{"name":"Gradutation Program in Computation Engineering and Systems, State University of Maranh\u00e3o, Sao Luis 65081-000, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6088-6446","authenticated-orcid":false,"given":"Paulo Fernandes da Silva","family":"Junior","sequence":"additional","affiliation":[{"name":"Gradutation Program in Computation Engineering and Systems, State University of Maranh\u00e3o, Sao Luis 65081-000, Brazil"}]},{"given":"Jonathan Araujo","family":"Queiroz","sequence":"additional","affiliation":[{"name":"Graduating Program in Electrical Engineering, Federal University of Maranh\u00e3o, Sao Luis 65085-580, Brazil"}]},{"given":"Jo\u00e3o Viana da Fonseca","family":"Neto","sequence":"additional","affiliation":[{"name":"Graduating Program in Electrical Engineering, Federal University of Maranh\u00e3o, Sao Luis 65085-580, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1654-0955","authenticated-orcid":false,"given":"Allan Kardec","family":"Barros","sequence":"additional","affiliation":[{"name":"Graduating Program in Electrical Engineering, Federal University of Maranh\u00e3o, Sao Luis 65085-580, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0614-1379","authenticated-orcid":false,"given":"Carlos","family":"Augusto de Moraes Cruz","sequence":"additional","affiliation":[{"name":"Graduation Program in Electrical Engineering, Federal University of Amazonas, Manaus 69080-900, Brazil"}]},{"given":"Viviane S.","family":"de Aquino","sequence":"additional","affiliation":[{"name":"Graduation Program in Electrical Engineering, Federal University of Amazonas, Manaus 69080-900, Brazil"}]},{"given":"Lu\u00eds S. 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