On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV.

Distributed models in P-Systems architectures to reduce computation time

Membrane systems are computational equivalent to Turing machines. However, their distributed and massively parallel nature obtains polynomial solutions opposite to traditional non-polynomial ones. At this point, it is very important to develop dedicated hardware and software implementations exploiting those two membrane systems features. Dealing with distributed implementations of P systems, the bottleneck communication problem has arisen. When the number of membranes grows up, the network gets congested. The purpose of distributed architectures is to reach a compromise between the massively parallel character of the system and the needed evolution step time to transit from one configuration of the system to the next one, solving the bottleneck communication problem. The goal of this paper is twofold. Firstly, to survey in a systematic and uniform way the main results regarding the way membranes can be placed on processors in order to get a software/hardware simulation of P-Systems in a distributed environment. Secondly, we improve some results about the membrane dissolution problem, prove that it is connected, and discuss the possibility of simulating this property in the distributed model. All this yields an improvement in the system parallelism implementation since it gets an increment of the parallelism of the external communication among processors. Proposed ideas improve previous architectures to tackle the communication bottleneck problem, such as reduction of the total time of an evolution step, increase of the number of membranes that could run on a processor and reduction of the number of processors.

Clasificación visual estructural de la madera de pino radiata procedente de Cataluña

Se han clasificado visualmente, según la norma española UNE 56544; 150 piezas de madera aserrada de pino radiata procedentes de Cataluña (España) con una sección de 80x150 mm y una longitud de 2.500 mm. Esta norma establece dos calidades visuales (ME-1 y ME-2) para piezas con grueso menor o igual que 70 mm y una única calidad visual (MEG) para gruesos mayores de 70 mm. Con el fin de conocer el efecto frontera entre la pequeña y la gran escuadría se clasificaron las piezas según ambas categorías. Se determinó la tensión de rotura en flexión, el módulo de elasticidad en flexión y la densidad de cada pieza mediante el ensayo de acuerdo con la norma UNE-EN 408 siguiendo los ajustes definidos en la norma UNE-EN 384. Un 53 % de las piezas se clasificaron como MEG con una resistencia característica a flexión de 28 N/mm2 y un valor medio del módulo de elasticidad de 9.900 N/mm2. Por otra, un 42 % de las piezas se clasificaron como ME-2 y sólo un 3 % como ME-1; en este caso las propiedades mecánicas de la calidad ME-2 no se alejan mucho de las de la calidad MEG. El elevado porcentaje de piezas rechazadas (47 % frente a la MEG) se debe principalmente al defecto de alabeo responsable de un 39 % de rechazo. Si no se considera el alabeo en la clasificación el porcentaje de rechazo desciende al 17 % y las propiedades mecánicas de la calidad MEG presentan un valor característico de resistencia a flexión de 21 N/mm2 y un módulo de elasticidad de 9.100 N/mm2. A sample of 150 pieces of radiata pine sawn timber with 180x120 mm in cross-section and 2.500 mm in length sourcing from Catalonia (Spain) were visually graded according to Spanish standard UNE 56544. This standard establish two visual grades (ME-1 and ME-2) for timber pieces with thickness equal or less than 70 mm, and one grade (MEG) for thickness bigger than 70 mm. In order to know the border effect between small and larger cross-section the pieces were graded in both categories. The modulus of rupture, modulus of elasticity and density were obtained by test according to EN 408 standard and the adjustments of EN 384. A 53 % of pieces were classified as MEG with a characteristic bending strength of 28 N/mm2 and a mean value of MOE of 9.900 N/mm2. On the other hand, a 42 % of pieces were classified as ME-2 and only a 3 % as ME-1; in this case the mechanical properties of ME-2 are not far from MEG properties. The high percentage of rejected pieces (47 % vs MEG) is mainly due to the twist defect with a 39 % of rejected pieces. If twist is not considered in the grading process the reject percentage decreases to 17 % and the mechanical properties of MEG grade present a characteristic value of bending strength of 21 N/mm2 and a MOE of 9.100 N/mm2.

Isozyme systems as markers of genetic deterioration in stored seeds of Brassicaceae species

The main objective of this study was to determine if isozyme systems can be used as markers of genetic deterioration in Brassicaceae seed accessions under different storage conditions. Seed samples of Brassica oleracea, Cardaria draba, Erysimum cheiri, Iberis sempervirens and Rapistrum rugosum were stored for periods of 9 to 30 years at -10°C and 3-4% seed moisture content (long-term or LT conditions) and at 5°C and uncontrolled relative humidity (RH) (short-term or ST conditions). Starch Gel Electrophoresis (SGE) was used to analyse six enzyme systems oriented to determine the genetic deterioration of the accessions studied. The results obtained show that long-term storage conditions (LT) were extremely effective in maintaining the viability of seeds of the five Brassicaceae species studied. The final germination percentages reached by seeds from LT samples ranged from 75 to 100%, while the germination percentages of ST samples (except for B. oleracea) were very low (from 0 to 10%). Similar conclusions were obtained studying the integrity of electrophoretic bands for several isozymes. Two enzyme systems were of special interest: malate dehydrogenase and alcohol dehydrogenase.

Using Knowledge Modelling Tools for Agent-Based Systems: The Experience of KSM

The aim of this chapter is to discuss the applicability of recently proposed knowledge modelling tools to the development of agent-based systems. The discussion is derived from the real world experience of a particular software tool called KSM (Knowledge Structure Manager). The chapter provides details about this tool and then proceeds to show in which forms the software may be used to support the development of agent-based systems. Two multiagent systems, one in the field of telecommunications management and the other one in the field of flood control, are described. Conclusions about these studies are presented, summarizing the main contributions that knowledge modelling tools can bring to the development of agent-based systems.

Vehicular traffic surveillance and road lane detection using radar interferometry

Speed enforcement on public roadways is an important issue in order to guarantee road security and to reduce the number and seriousness of traffic accidents. Traditionally, this task has been partially solved using radar and/or laser technologies and, more recently, using video-camera based systems. All these systems have significant shortcomings that have yet to be overcome. The main drawback of classical Doppler radar technology is that the velocity measurement fails when several vehicles are in the radars beam. Modern radar systems are able to measure speed and range between vehicle and radar. However, this is not enough to discriminate the lane where the vehicle is driving on. The limitation of several vehicles in the beam is overcome using laser technology. However, laser systems have another important limitation: They cannot measure the speed of several vehicles simultaneously. Novel video-camera systems, based on license plate identification, solve the previous drawbacks, but they have the problem that they can only measure average speed but never top-speed. This paper studies the feasibility of using an interferometric linear frequency modulated continuous wave radar to improve top-speed enforcement on roadways. Two different systems based on down-the-road and across-the-road radar configurations are presented. The main advantage of the proposed solutions is they can simultaneously measure speed, range, and lane of several vehicles, allowing the univocal identification of the offenders. A detailed analysis about the operation and accuracy of these solutions is reported. In addition, the feasibility of the proposed techniques has been demonstrated with simulations and real experiments using a Ka-band interferometric radar developed by our research group.

Do PGI integrated farms perform better? The case of the beef farms in Spain

European rural development policy is gaining in importance through one of its key instruments, the Protected Geographical Indications (PGI) system, which is designed to improve quality standards. Previous research has shown that PGI-certified beef farms tend to be more extensively managed operations that are better adapted to mountainous areas. This paper describes a comparative study of two production systems, one with PGI certification and one without, focusing on a number of economic variables. The results show a positive association between PGI production and profitability. In efficiency terms, non-certified farms show better pure technical efficiency scores, while PGI-certified holdings score higher on scale efficiency.

Estudio de la digestión anaerobia en dos fases para el tratamiento de las aguas residuales de despulpe del beneficiado húmedo del café

Debido al aumento de los estándares de calidad exigidos internacionalmente, así como por una mayor presión sobre la industria mediante legislaciones ambientales más rigurosas, el sector cafetalero está obligado a buscar, a través de la investigación, un sistema adecuado de tratamiento para las aguas residuales generadas en el beneficiado húmedo del café. En este trabajo se evaluó el funcionamiento de la digestión anaerobia para el tratamiento de las aguas residuales de despulpe. Para ello, se utilizaron dos sistemas anaerobios, uno en una etapa (UASB), y otro con separación de fases (2PUASB). Se investigó el efecto en la digestión anaerobia de tres cargas orgánicas volumétricas (OLR) y de las dos configuraciones de reactor usadas. Los valores de OLR de operación en el sistema UASB variaron en un intervalo de 3.6-4.1 kgCOD m-3 d-1, con una tasa de recirculación del efluente de 1.0. El sistema 2PUASB fue alimentado con OLR similares a las que se emplearon en el sistema en una etapa. El reactor de acidificación fue cargado a 11.0 kgCOD m-3 d-1, mientras que en el reactor metanogénico varió en el intervalo de 2.6-4.67 kgCOD m-3 d-1. El uso de reactores UASB en una etapa y en dos fases, bajo las mismas condiciones de operación ya descritas, propiciaron el logro de una eficiencia de degradación de COD total superior al 75% y al 85% para la COD soluble, respectivamente. Sin embargo, el sistema en dos fases mostró mejores resultados en el tratamiento de este tipo de agua residual, no solo en cuanto a eficiencia de eliminación de la carga orgánica contaminante así como una menor concentración de ácidos grasos volátiles (VFA) en el efluente. Obtenidas las mejores condiciones de trabajo, fue evaluada la separación de fases bajo el efecto de la recirculación. Los grupos de fermentaciones producidos fueron similares a los obtenidos en el experimento sin recirculación, indicando que está última no afectó la composición relativa de los VFA del reactor anaerobio, por lo que no cambió el patrón de degradación del residuo. Una tasa de recirculación de 1.0 del efluente del reactor metanogénico al reactor acidogénico mejoró significativamente el proceso, ya que se incrementó la conversión de los VFA (31%), la eliminación de la fracción total y soluble del residuo tratado (6.5%) y la reducción del consumo de alcalinizante (39%); manteniendo similares producciones de metano. El uso de la digestión anaerobia en dos fases demostró una mejora en la estabilidad del proceso y un incremento de la eficiencia de operación y de la producción de metano, respectivamente.Tesis Doctoral Yans Guardia Puebla Abstract ix ABSTRACT Due to the increase of quality standards internationally demanded, as well as for a greater pressure on the industry by means of more rigorous environmental legislations, the coffee sector is forced to search, through the research, an appropriated treatment system for coffee wet wastewaters generated. In this work the performance of the anaerobic digestion for the coffee wet wastewater treatment was evaluated. For it, two anaerobic systems, one in single-stage (UASB), and another with two-phase (2PUASB) were used. The effect in the anaerobic digestion of three organic loading rates (OLR) and of two reactor configurations used was investigated. OLR operation values in UASB system varied in an interval of 3.6-4.1 kgCOD m-3 d-1, with a recycle rate of the effluent of 1.0. 2PUASB system was fed with OLR similar to those that were used in the reactor in a stage. The acidification reactor was loaded to 11.0 kgCOD m-3 d-1, whereas in the methanogenic reactor varied in the interval of 2.6-4.67 kgCOD m-3 d-1. The use of single-stage and two-phase UASB reactors, under the same operation conditions already before described, a total COD removal efficiency of 75% and 85% for the soluble COD removal efficiency, respectively, was achieved. However, two-phase system showed better results in the treatment of this wastewater type, not only as for removal efficiency of loading organic polluting as well as a smaller volatile fatty acid (VFA) concentration in the effluent. Obtained the best work conditions, the two-phase system under the effect of the recycle was evaluated. Fermentations groups produced were similar to those obtained in the experiment without recycle, indicating that it last one do not affect the relative composition of VFA of the anaerobic reactor, for that reason the degradation pattern of the residue does not change. A recycle rate of 1.0 of the effluent of the methanogenic reactor to the acidogenic reactor improved the process significantly, since it was increased the VFA conversion (31%), the removal of total and soluble fraction of the residue treated (6.5%) and the decrease of the alkalinity consumption (39%); maintaining similar methane productions. The use of the two-phase anaerobic digestion demonstrated to an improvement in the stability of the process and an increase of the operation efficiency and methane production, respectively.

Optimizing rabbit production under heat stress: cage density and cage size during fattening, and breeding system and water quality on rabbit does

The aim of this work was to evaluate different management strategies to optimize rabbit production under chronic heat stress. To achieve it, three trials were conducted. In the first trial, to find the optimal cage density in tropical very dry forest condition, were measured growth performance, mortality rate, injured animals and carcass performance over an initial population of 300 cross-breed rabbits of New Zealand, California, Butterfly, Dutch and Satin, weaned at 30 days (535 ± 8 g, standard error). Treatments evaluated were: 6, 12, 18 and 24 rabbits/m2 (3, 6, 9 and 12 rabbits/cage, respectively, each cage of 0.5 m2). The maximal temperature-humidity index indicated a severe heat stress from weaning to 2.2 kg body weight (experimental time). At the end of experimental period 10, 20, 30 and 30 rabbits from the treatments of 6, 12, 18 and 24 rabbits/m2, respectively, were slaughtered and carcass performance recorded. Average daily gain and feed intake decreased by 0.31 ± 0.070 and 1.20 ± 0.25 g, respectively, per each unit that the density increased at the beginning of the experiment (P = 0.001). It increased the length of the fattening period by 0.91 ± 0.16 d (P = 0.001) per each unit of increment of density. However, rabbit production (kg/m2) increased linear and quadratically with the density (P < 0.008). Animals housed at the highest density compared to the lower one tended to show a higher incidence of ringworm (68.9 vs 39.4%; P = 0.075), injured animals (16.8 vs 3.03%; P = 0.12) and mortality (20.5 vs 9.63%; P = 0.043). The proportion of scapular fat (P = 0.042) increased linearly with increasing levels of density. Increasing density reduced linearly dorsal length (P = 0.001), and reduced linear and quadratically drip loss percentage (P = 0.097 and 0.018, respectively). In the second trial, 46 nulliparous rabbit does (23 clipped and 23 unclipped) with a BW of 3.67 ± 0.05 kg (s.e.) were used to evaluate heat stress and circadian rhythms comparing unclipped and clipped rabbit does, and to study if a more extensive breeding system increase litters performance at weaning without impairing rabbit doe performance,. Rectal temperature, feed and water 4 intake were recorded for 24 h. Rabbit does were mated 7 d after circadian measurements, and randomly assigned to two breeding systems. Control (C): mated at 14 d after parturition + litter weaned at 35 d of age. Extensive (E): mate at 21 after parturition + litter weaned at 42 d of age. The first three cycles were evaluated concerning to rabbit doe and litter performance. Two hundred twenty eight weaned rabbits, were divided into two cage sizes: 0.5 and 0.25 m2 with same density (16 rabbit/m2) and growing performance was recorded. Farm and rectal temperatures were minimal and feed and water intake maximal during the night (P < 0.001). Unclipped rabbit does showed higher rectal temperature (P = 0.045) and lower feed intake respect to clipped does (P = 0.019) which suggest a lower heat stress in the latter. Kits weaned per litter was reduced by 33% (P=0.038) in C group. This reduction was more important in the 2nd and 3rd cycles compared to the first (P ≤ 0.054). Rabbit doe feed efficiency tended to decrease in E respect C group (P = 0.093), whereas it was impaired from the first to the third cycle by 48% (P = 0.014). Growing rabbits from the E group were heavier at weaning (by 38%. P < 0.001), showed a higher feed intake (+7.4%) and lower feed efficiency (-8.4%) throughout the fattening period (P ≤ 0.056) respect to C group. Cage size had minor influence in growing performance. In the third trial, forty five non pregnant and non lactating rabbit does (21 nulliparous and 24 multiparous) were assigned randomly to farm water and to potable water to study if a water quality improvement can affect positively rabbit doe response to heat stress during pregnancy and lactation. A transponder was implanted in each animal to record subcutaneous temperature at 07:30 and 14:30 h. Experimental period extended from pregnancy (with no lactation) to the next lactation (until day 28). Body temperature and milk production were recorded daily, and body condition, feed and water intake weekly. Water quality did not affect any trait (P ≥ 0.15). Pregnant rabbit does were classified as does that weaned (W: 47%), not weaned (NW: 44%) or those pregnant that did not deliver (NB: 9%). Body temperature and feed intake decreased during pregnancy (P ≤ 0.031), but water intake remained constant. In this period body temperature decreased with metabolic weight (P ≤ 0.009). In W and NW does, 5 from mating to birth energy and protein balance impaired (P≤0.011). Body temperature of W does tended to be the lowest (P ≤ 0.090). Pregnancy length and total number of kits born tended to be longer and higher in NW than in W does (P = 0.10 and 0.053, respectively). Kit mortality at birth and from birth to 14 d of lactation was high, being worse for NW than for W does (97 vs. 40%; P<0.001). Body temperature during lactation was maximal at day 12, and milk production increased it (P ≤ 0.025). . In conclusion, in our heat stress conditions densities higher than 18 rabbits/m2 (34 kg/m2) at the end of fattening, are not recommended despite cage size, gestation and lactation productivity impaired not only when lactation is extended and along successive reproductive cycles but also due to a reduced embryo/kit survival and finally water quality improvement did not attenuate negative effect of heat stress. RESUMEN El propósito de éste trabajo fue evaluar diferentes estrategias de manejo para optimizar la producción de conejos bajo estrés térmico. Para lo cual se desarrollaron tres experimentos. En el primer experimento, para encontrar el número óptimo de gazapos por m2 de jaula durante el cebo en condiciones de bosque muy seco tropical, se estudiaron los rendimientos durante el cebo, mortalidad, animales lesionados y rendimiento de la canal sobre una población inicial de 300 conejos mestizos de Nueva Zelanda, California, Mariposa, Holandés y Satin, destetados a los 30 días de edad (535 ± 8g, error estándar). Los tratamientos evaluados fueron: 6, 12, 18 y 24 conejos/m2 (3, 6, 9 y 12 conejos/jaula, respectivamente, en jaulas de 0.5 m2). Durante el período experimental (destete a 2.2 kg de peso vivo), se observaron valores de THI correspondientes con un estrés térmico severo (THI max. De 31 a 35). Al final del período experimental, 10, 20, 30, y 30 conejos de los tratamientos con densidades de 6, 12, 18 y 24 conejos/m2, respectivamente, fueron sacrificados y su canal fue valorada. El promedio de la ganancia diaria y el consumo de alimento disminuyeron en 0.31 ± 0.070 y 1.20 ± 0.25 g, respectivamente, por cada unidad de incremento en la densidad al inicio del experimento (P=0.001). Esto alargó el período de engorde en 0.91 ± 0.16 d (P=0.001) por cada unidad de incremento de la densidad. Sin embargo, la producción de conejos (kg/m2) aumentó lineal y cuadráticamente con la densidad (P<0.008). Los animales alojados en las mayores densidades en comparación con el resto tendieron a mostrar una mayore incidencia de tiña (68.9 vs 39.4%; P=0.075), de cantidad de animales heridos (16.8 vs 3.03%; P=0.12), así como de mortalidad (20.5 vs 9.63%; P=0.043). El aumento en la densidad aumentó linealmente la proporción de grasa escapular (P=0.042) y redujo linealmente la longitud dorsal (P=0.001), y lineal y cuadráticamente el porcentaje de pérdida por goteo (P=0.018). En el segundo experimento, 46 conejas nulliparas (23 rasuradas y 23 no rasuradas) con un peso vivo de 3.67 ± 0.05 kg (e.e.) fueron usadas para evaluar el estrés 8 térmico y los ritmos circadianos comparando conejas rasuradas o no, y estudiar si un sistema de crianza más extensivo mejora el desempeño de la camada al destete sin perjudicar la productividad de la coneja. Durante 24 h se midió la temperatura rectal, consumo de alimento y de agua. Las conejas fueron montadas 7 días después, y distribuidas en dos sistemas de crianza. El control (C): monta a 14 días posparto y destete a 35 d de edad. El extensivo (E): monta a 21 días posparto y destete a 42 d de edad. Se controló la productividad de la coneja y la camada durante los tres primeros ciclos. Doscientos veintiocho gazapos fueron distribuidos en dos tamaños de jaulas (0.5 y 0.25 m2) con la misma densidad (16 conejos/m2) y se controlaron sus rendimientos productivos. Durante la noche se observaron los valores mínimos para la temperatura ambiental y rectal, y los máximos para consumo de alimento y agua (P< 0.001). Las conejas no rasuradas mostraron mayor temperatura rectal (P=0.045) y menores valores de consumo de alimento con respecto a las conejas rasuradas (P=0.019), lo que sugiere un menor estrés térmico en las últimas. El número de gazapos destetados por camada se redujo en 33% (P=0.038) en el grupo C. Este comportamiento se acentuó en el 2do y 3er ciclo en comparación con el primero (P≤0.054). La eficiencia alimenticia de las conejas tendió a disminuir en el grupo E con respecto al grupo C (P=0.093), dicha tendencia se acentúa del primer al tercer ciclo en un 48% (P=0.014). Los gazapos en fase de crecimiento provenientes del grupo E fueron más pesados al momento del destete (en 38% P<0.001), mostrando un mayor consumo de alimento (+7.4%) y menor eficiencia alimenticia (-8.4%) a lo largo del engorde (P≤0.056) con respecto al grupo C. El tamaño de la jaula tuvo una mínima influencia en el comportamiento durante el crecimiento de éstos gazapos. En el tercer experimento, cuarenta y cinco conejas no gestantes ni lactantes (21 nulíparas y 24 multíparas) se les asignó al azar agua dos tipos de agua: común de la granja y agua potable, con el fin de estudiar si una mejora en la calidad del agua puede afectar positivamente la respuesta de la coneja al estrés térmico durante la gestación y la lactancia. Se les implantó un transponder para registrar la temperatura subcutánea a las 7:30 y a las 14:30 h. El período experimental se extendió desde la gestación (sin 9 lactancia) hasta la lactanción consecutiva (hasta los 28 días). La temperatura corporal y la producción de leche se controlaron diariamente, y la condición corporal, consumo de agua y alimento, semanalmente. La calidad del agua no afectó a ninguna variable (P≥0.15). Las conejas preñadas fueron clasificadas como conejas que destetaron (W: 47%), que no destetaron (NW:44%) o aquellas que no parieron (NB: 9%). La temperatura corporal y consumo de alimento disminuyeron durante la gestación (P≤0.031), mientras que el consumo de agua se mantuvo constante. La temperatura corporal descendió con el peso metabólico durante la gestación (P≤0.009). El balance de energía y proteína disminuyó desde la monta al parto para las conejas W y NW (P≤0.011). Durante la gestación la temperatura corporal tendió a ser menor en las conejas W (P≤0.090). La longitud de la gestación y el número total de gazapos nacidos tendieron a ser mayores en conejas NW que en conejas W (P=0.10 y 0.053, respectivamente). La mortalidad de los gazapos al parto y del parto a los 14 días de lactancia fue alta, siendo peor para las conejas NW que para las W (97 vs 40%; P<0.001). Durante la lactancia la temperatura corporal alcanzó su valor máximo para el día 12, y la producción de leche indujo un incremento en la misma (P≤0.025). En conclusión, en nuestras condiciones de estrés térmico y sin importar el tamaño de la jaula, no se recomiendan densidades mayores a 18 conejos/m2 (34 kg/m2) al final del engorde. La productividad de la gestación y la lactancia disminuyen cuando la lactancia es mayor y se suceden varios ciclos reproductivos seguidos. Esto se debe al efecto negativo del estrés térmico sobre la vitalidad y supervivencia del embrión/gazapo. La mejora de la calidad del agua atenuó el efecto negativo del estrés térmico. Las conejas más productoras parece que son aquéllas que consiguen manejar mejor el estrés térmico.

Measuring the influence of Cooperative Learning and Project Based Learning on problem solvin skill.

The aim of this study is to evaluate the effects obtained after applying two active learning methodologies (cooperative learning and project based learning) to the achievement of the competence problem solving. This study was carried out at the Technical University of Madrid, where these methodologies were applied to two Operating Systems courses. The first hypothesis tested was whether the implementation of active learning methodologies favours the achievement of ?problem solving?. The second hypothesis was focused on testing if students with higher rates in problem solving competence obtain better results in their academic performance. The results indicated that active learning methodologies do not produce any significant change in the generic competence ?problem solving? during the period analysed. Concerning this, we consider that students should work with these methodologies for a longer period, besides having a specific training. Nevertheless, a close correlation between problem solving self appraisal and academic performance has been detected.

Simulating improved combinations tillage-rotation under dryland conditions.

The adequate combination of reduced tillage and crop rotation could increase the viability of dry land agriculture in Mediterrenean zones. Crop simulation models can support to examine various tillage-rotation combinations and explore management scenarios. The decision support system for agrotechnology transfer (DSSAT) (Hoogenboom et al., 2010) provides a suite of crop models suitable for this task. The objective of this work was to simulate the effects of two tillage systems, conventional tillage (ConvT) and no tillage (NoT), and three crop rotations, continuous cereal (CC), fallow-cereal (FallowC) and legume-cereal (LegumeC), under dry conditions, on the cereal yield, soil organic carbon (SOC) and nitrogen (SON) in a 15-year experiment, comparing these simulations with field observations.

Methodology for developing a Speech into Sign Language Translation System in a New Semantic Domain

This paper proposes a methodology for developing a speech into sign language translation system considering a user-centered strategy. This method-ology consists of four main steps: analysis of technical and user requirements, data collection, technology adaptation to the new domain, and finally, evalua-tion of the system. The two most demanding tasks are the sign generation and the translation rules generation. Many other aspects can be updated automatical-ly from a parallel corpus that includes sentences (in Spanish and LSE: Lengua de Signos Española) related to the application domain. In this paper, we explain how to apply this methodology in order to develop two translation systems in two specific domains: bus transport information and hotel reception.

Análisis de la técnica de recarga artificial en la Cubeta de Sant Andreu de la Barca (Barcelona)

El presente proyecto pretende mostrar las posibilidades de la recarga artificial como elemento de gestión de los recursos de agua subterránea del acuífero aluvial del río Llobregat, en su sector de la Cubeta de Sant Andreu de la Barca (Barcelona), el cual es fuente de abastecimiento urbano, agrícola e industrial del entorno de Sant Andreu de la Barca. Igualmente, se revisa la efectividad de la aplicación de dicha técnica que se practica actualmente. Hace años, las condiciones naturales del río hacían posible la recarga natural de la Cubeta, pero la implantación de industrias en la zona y la regulación mediante la presa de La Baells desde el año 1976, han originado cambios en el comportamiento natural del acuífero, que se han manifestado básicamente en una disminución de la recarga natural como consecuencia de la impermeabilización de los suelos originada por la urbanización de los mismos. Se ha producido también un fenómeno de colmatación del lecho del río, al dificultarse la removilización de los materiales finos depositados en el fondo del cauce, produciendo también una disminución de la recarga al acuífero a través del lecho. Por último, la mayor demanda de suministro por parte del sector industrial ha influido negativamente en el almacenamiento del acuífero. Desde hace décadas, se lleva efectuando una recarga artificial en el lecho del río para tratar de paliar en lo posible estos efectos perjudiciales. La misma se efectúa mediante dos sistemas distintos: escarificando el lecho del río para aumentar su capacidad de infiltración, y mediante la utilización de balsas de recarga, a través de las cuales se infiltra el agua en el acuífero. El objetivo de este proyecto es analizar el efecto actual que la recarga mediante balsas está teniendo sobre el acuífero. Para ello, se utilizarán, entre otras técnicas, la elaboración de un modelo matemático con el que poder simular el efecto de la recarga. VIII ABSTRACT This project aims to show the possibilities of artificial recharge as groundwater resources management element in the alluvial aquifer of the Llobregat River, in the sector of the Basin of Sant Andreu de la Barca (Barcelona), which is a source of urban, agricultural and industrial supply of the Sant Andreu de la Barca area. Too, the effectiveness of the current implementation of this technique is reviewed. Years ago, natural river conditions made possible the natural recharge of the aquifer, but the establishment of industries in the area and the river regulation by the la Baells dam since 1976, have led to changes in the natural behavior of the aquifer, which basically are a decrease in natural recharge, because the soil has become impervious, due to land urbanization. There has been also a phenomenon of clogging of the river bed, caused by the difficult in the remobilization of fine materials deposited on the river bed, which has produced a decrease in the groundwater recharge through the river. Finally, the increase in water demand by the industrial sector, has diminished aquifer storage. For decades, artificial recharge in the river bed has been practiced to alleviate negative effects. It is done by two different systems: scratching the river bed to increase its infiltration capacity, and using recharge ponds, through which water infiltrates into the aquifer. The objective of this project is to analyze the current effect that recharge by ponds is having in the aquifer. Among other techniques, mathematical modeling has been used for simulating the effect of artificial recharge in the aquifer.

Valoración de Indicadores de calidad para el diseño e implementación de tecnologías de manejo en Luvisoles de la zona norte de la provincia de Las Tunas, Cuba

La calidad del suelo es una herramienta de evaluación que puede facilitar la adaptación de prácticas de manejo que promuevan sistemas agropecuarios sostenibles. La investigación de este trabajo se inició con un diagnóstico participativo en 12 comunidades rurales de la provincia de Las Tunas en el año 2009 en el cual los productores identificaron los puntos críticos de calidad de los suelos de la región y sirvieron de punta de partida para seleccionar las variables físicas, químicas y biológicas a determinar en cinco sistemas de uso agropecuario (arboleda, pasto natural, pasto cultivado y dos sistemas silvopastoriles) en la zona La Veguita, municipio Las Tunas. El sistema arboleda se utilizó como referencia de las propiedades naturales del suelo. El pasto natural se distingue por el desarrollo de especies de baja productividad, sin embargo el pasto cultivado está representado por Pennisetum purpureum vc CUBA CT-115, y constituye una contribución a la tecnología de bancos de biomasa, para utilizarse en el pastoreo durante la seca. Los sistemas silvopastoriles están representados por Leucaena leucocephala Lam. en franjas y Panicum maximun vc. Likoni, los que se diferencian en su diseño, manejo y propiedades mineralógicas. El objetivo fundamental fue valorar indicadores de calidad de los suelos Luvisoles háplicos sobre granitoides, para diseñar e implementar tecnologías de manejo que permitan incrementar la capacidad agroproductiva de los suelos. Mediante el análisis de componentes principales se obtuvo un conjunto mínimo de indicadores físicos, químicos y biológicos que proporcionaron información útil referente a los procesos edáficos y se integraron para determinar un índice de calidad. En el sistema de uso, caracterizado por el pasto cultivado (Pennisetum purpureum) se estableció, en parcelas experimentales, un ensayo de corta duración, en el que se comparó el laboreo tradicional y el laboreo sin inversión del prisma, con y sin aplicación de compost. En ambos sistemas de labranza se evaluó el desarrollo del cultivo e indicadores de calidad del suelo. Los resultados mostraron que del conjunto de indicadores edáficos estudiados se seleccionaron 6 en los que la capacidad de intercambio catiónico, materia orgánica, potasio intercambiable, contenido de arena, densidad aparente y biomasa de lombrices explicaron la mayor variabilidad y sirvieron de base para evaluar la calidad de estos suelos. Se establecieron valores umbrales de referencia de indicadores de calidad, que permitirán evaluar y monitorear los sistemas de uso y manejo de la región. El sistema Silvopastoril 2 resultó el de mayor índice de calidad de los suelos tomando como referencia la arboleda por su condición natural. El manejo silvopastoril influyó predominantemente en mejores resultados productivos pero las características edáficas principalmente físicas, deben definir su diseño y manejo. El sistema de pastos cultivados con Pennisetum purpureum vc CUBA CT 115, alcanzó la mayor acumulación de carbono orgánico, sin embargo, el manejo limitó su calidad física y el funcionamiento productivo del sistema. De manera general los sistemas de uso no garantizan un índice de la calidad del suelo, puesto que se ve afectado por las propiedades edáficas y las prácticas de manejo. En el ámbito biológico, las lombrices constituyeron los organismos más numerosos con predominio en los sistemas silvopastoriles y arboleda. Los valores superiores de densidad y biomasa de oligoquetos y mayor diversidad de otros individuos de la macrofauna, indican que la presencia de árboles en los pastizales de gramínea potencia y diversifican las comunidades de macroinvertebrados del suelo. El sistema de labranza sin inversión del prisma propicia una mejor calidad física del suelo, manteniendo el carbono e incrementando los rendimientos del Penisetum purpureum cv CUBA CT 115. La labranza tradicional, a base de aradura y grada, afecta a los contenidos de materia orgánica en el corto plazo y mantiene capas compactas en el horizonte subyacente, además influye desfavorablemente al flujo del aire, agua y al desarrollo radical de los pastos. La aplicación de compost favoreció mejores resultados productivos en ambas tecnologías de manejo. Los resultados alcanzados recomiendan la implantación de tecnologías de manejo conservacionistas y la aplicación de materiales orgánicos que restituyan los elementos nutricionales requeridos por los pastos, por lo que no se justifica la continuidad del uso de prácticas tradicionales de laboreo con inversión del prisma que se realizan actualmente. ABSTRACT The soil quality is an assessment tool, which could facilitate the adaptation of management practices that promote sustainable agricultural systems. The present investigation was carried out with a participatory diagnostic in twelve rural communities from Las Tunas province in 2009, in which producers identified the critical soil quality points of region and served as a starting point to select the physical, chemical and biological variables, in order to determine on five agricultural used systems (grove, natural grass, cultivated grass and two silvopastoral systems) in La Veguita zone from municipality Las Tunas. The system grove was used as reference of natural soil properties. The natural grass is distinguished by the development of low-productivity species, however the cultivated grass is represented by Pennisetum purpureum vc CUBA CT-115, and is a contribution to the biomass banks technology, in order to use in grazing during the dry season. The silvopastoral systems are represented by Leucaena leucocephala Lam. in stripes and Panicum maximum cv. Likoni, which differ in their design, handling and mineralogical properties. The main aim of this study was to assess the quality indicators for haplic Luvisols on granitoids for designing and implementing management technologies in order to increase the agroproductive capacity of soils. A minimal set of physical, chemical and biological indicators by Principal Component Analysis was obtained, which provided some useful information regarding soil processes and their integration for determining an index of quality. In the use system, characterized for the cultivated grass (Pennisetum purpureum) a short term assay in experimental plots was established, where the traditional and prism without inversion tillage were compared with and without compost application. In both tillage systems were evaluated the crop development and soil quality indicators. The results showed that the studied soil indicators set, six were selected, specifically the ones with exchangeable cationic capacity, organic matter, interchangeable potassium, sand content, bulk density and earthworm biomass, which explained the higher variability and served as the basis for evaluating the soil quality. The Reference threshold values of quality indicators for evaluating and monitoring the use and management systems from the region were established. The silvopastoral system 2 had the highest quality soil index, taking of reference the grove system for its natural condition. The silvopastoral management influenced on better productive results, but the soil characteristics, particularly the physical properties to be defined its design and management. However, the cultivated grass system with Pennisetum purpureum vc CUBA CT 115, reached the greatest accumulation of organic carbon. However, the management limited its physical quality and productive performance of the system. In addition, the use systems do not guarantee an index of soil quality, since it is affected by soil properties and management practices. From the biological aspect, the earthworms are the most numerous organisms on the silvopastoral systems and grove. The higher values of oligochaetes biomass and density and the greater diversity of other organisms from macrofauna indicate that the tree presence on the pasture grasses allows enhancing and diversifying soil macro invertebrate communities. The non-inversion prism tillage system provides a better physical quality of soil, maintaining the carbon content and increasing the yields of Penisetum purpureum vc CUBA CT 115. The traditional tillage, using the plowing and harrowing affects the organic matter content in a short term and keeps on compact layers of underlying horizon, and adversely affects the air and water flow, and pasture radical development. The compost application favored the best production results in both management technologies. The results obtained recommend the implementation of conservation management technologies and the application of organic materials that restore the nutritional elements required by the pasture, so it does not justify the continued use of traditional tillage practices with prism investment that are currently being made.

Análisis genómico y funcional de los sistemas de Quorum Sensing en Rhizobium leguminosarum

Rhizobium leguminosarum (Rl) es una alfa-proteobacteria capaz de establecer una simbiosis diazotrófica con distintas leguminosas. A pesar de la importancia de esta simbiosis en el balance global del ciclo del nitrógeno, muy pocos genomas de rhizobios han sido secuenciados, que aporten nuevos conocimientos relacionados con las características genéticas que contribuyen a importantes procesos simbióticos. Únicamente tres secuencias completas de Rl han sido publicadas: Rl bv. viciae 3841 y dos genomas de Rl bv. trifolii (WSM1325 y WSM2304), ambos simbiontes de trébol. La secuencia genómica de Rlv UPM791 se ha determinado por medio de secuenciación 454. Este genoma tiene un tamaño aproximado de 7.8 Mb, organizado en un cromosoma y 5 replicones extracromosómicos, que incluyen un plásmido simbiótico de 405 kb. Este nuevo genoma se ha analizado en relación a las funciones simbióticas y adaptativas en comparación con los genomas completos de Rlv 3841 y Rl bv. trifolii WSM1325 y WSM2304. Mientras que los plásmidos pUPM791a y b se encuentran conservados, el plásmido simbiótico pUPM791c exhibe un grado de conservación muy bajo comparado con aquellos descritos en las otras cepas de Rl. Uno de los factores implicados en el establecimiento de la simbiosis es el sistema de comunicación intercelular conocido como Quorum Sensing (QS). El análisis del genoma de Rlv UPM791 ha permitido la identificación de dos sistemas tipo LuxRI mediados por señales de tipo N-acyl-homoserina lactonas (AHLs). El análisis mediante HPLC-MS ha permitido asociar las señales C6-HSL, C7-HSL y C8-HSL al sistema rhiRI, codificado en el plásmido simbiótico; mientras que el sistema cinRI, localizado en el cromosoma, produce 3OH-C14:1-HSL. Se ha identificado una tercera sintasa (TraI) codificada en el plásmido simbiótico, pero su regulador correspondiente se encuentra truncado debido a un salto de fase. Adicionalmente, se han encontrado tres reguladores de tipo LuxR-orphan que no presentan una sintasa LuxI asociada. El efecto potencial de las señales tipo AHL se ha estudiado mediante una estrategia de quorum quenching, la cual interfiere con los sistemas de QS de la bacteria. Esta estrategia está basada en la introducción del gen aiiA de Bacillus subtilis, que expresa constitutivamente una enzima lactonasa degradadora de AHLs. Para llevar a cabo el análisis en condiciones simbióticas, se ha desarrollado un sistema de doble marcaje que permite la identificación basado en los marcadores gusA y celB, que codifican para una enzima β–glucuronidasa y una β–galactosidasa termoestable, respectivamente. Los resultados obtenidos indican que Rlv UPM791 predomina sobre la cepa Rlv 3841 para la formación de nódulos en plantas de guisante. La baja estabilidad del plásmido que codifica para aiiA, no ha permitido obtener una conclusión definitiva sobre el efecto de la lactonasa AiiA en competitividad. Con el fin de analizar el significado y la regulación de la producción de moléculas señal tipo AHL, se han generado mutantes defectivos en cada uno de los dos sistemas de QS. Se ha llevado a cabo un análisis detallado sobre la producción de AHLs, formación de biofilm y simbiosis con plantas de guisante, veza y lenteja. El efecto de las deleciones de los genes rhiI y rhiR en Rlv UPM791 es más drástico en ausencia del plásmido pUPM791d. Mutaciones en cinI o cinRIS muestran tanto ausencia de señales, como producción exclusivamente de las de bajo peso molecular, respectivamente, producidas por el sistema rhiRI. Estas mutaciones mostraron un efecto importante en simbiosis. El sistema rhiRI se necesita para un comportamiento simbiótico normal. Además, mutantes cinRIS generaron nódulos blancos e ineficientes, mientras que el mutante cinI fue incapaz de producir nódulos en ninguna de las leguminosas utilizadas. Dicha mutación resultó en la inestabilización del plasmido simbiótico por un mecanismo dependiente de cinI que no ha sido aclarado. En general, los resultados obtenidos indican la existencia de un modelo de regulación dependiente de QS significativamente distinto a los que se han descrito previamente en otras cepas de R. leguminosarum, en las cuales no se había observado ningún fenotipo relevante en simbiosis. La regulación de la producción de AHLs Rlv UPM791 es un proceso complejo que implica genes situados en los plásmidos UPM791c y UPM791d, además de la señal 3-OH-C14:1-HSL. Finalmente, se ha identificado un transportador de tipo RND, homologo a mexAB-oprM de P. aeruginosa e implicado en la extrusión de AHLs de cadena larga. La mutación he dicho transportador no tuvo efectos apreciables sobre la simbiosis. ABSTRACT Rhizobium leguminosarum (Rl) is a soil alpha-proteobacterium that establishes a diazotrophic symbiosis with different legumes. Despite the importance of this symbiosis to the global nitrogen cycling balance, very few rhizobial genomes have been sequenced so far which provide new insights into the genetic features contributing to symbiotically relevant processes. Only three complete sequences of Rl strains have been published: Rl bv. viciae 3841, harboring six plasmids (7.75 Mb) and two Rl bv. trifolii (WSM1325 and WSM2304), both clover symbionts, harboring 5 and 4 plasmids, respectively (7.41 and 6.87 Mb). The genomic sequence of Rlv UPM791 was undertaken by means of 454 sequencing. Illumina and Sanger reads were used to improve the assembly, leading to 17 final contigs. This genome has an estimated size of 7.8 Mb organized in one chromosome and five extrachromosomal replicons, including a 405 kb symbiotic plasmid. Four of these plasmids are already closed, whereas there are still gaps in the smallest one (pUPM791d) due to the presence of insertion elements and repeated sequences, which difficult the assembly. The annotation has been carried out thanks to the Manatee pipeline. This new genome has been analyzed as regarding symbiotic and adaptive functions in comparison to the Rlv 3841 complete genome, and to those from Rl bv. trifolii strains WSM1325 and WSM2304. While plasmids pUPM791a and b are conserved, the symbiotic plasmid pUPM791c exhibited the lowest degree of conservation as compared to those from the other Rl strains. One of the factors involved in the symbiotic process is the intercellular communication system known as Quorum Sensing (QS). This mechanism allows bacteria to carry out diverse biological processes in a coordinate way through the production and detection of extracellular signals that regulate the transcription of different target genes. Analysis of the Rlv UPM791 genome allowed the identification of two LuxRI-like systems mediated by N-acyl-homoserine lactones (AHLs). HPLC-MS analysis allowed the adscription of C6-HSL, C7-HSL and C8-HSL signals to the rhiRI system, encoded in the symbiotic plasmid, whereas the cinRI system, located in the chromosome, produces 3OH-C14:1-HSL, previously described as “bacteriocin small”. A third synthase (TraI) is encoded also in the symbiotic plasmid, but its cognate regulator TraR is not functional due to a fameshift mutation. Three additional LuxR orphans were also found which no associated LuxI-type synthase. The potential effect of AHLs has been studied by means of a quorum quenching approach to interfere with the QS systems of the bacteria. This approach is based upon the introduction into the strains Rl UPM791 and Rl 3841 of the Bacillus subtilis gene aiiA expressing constitutively an AHL-degrading lactonase enzyme which led to virtual absence of AHL even when AiiA-expressing cells were a fraction of the total population. No significant effect of AiiA-mediated AHL removal on competitiveness for growth in solid surface was observed. For analysis under symbiotic conditions we have set up a two-label system to identify nodules produced by two different strains in pea roots, based on the markers gusA and celB, encoding a β–glucuronidase and a thermostable β–galactosidase enzymes, respectively. The results obtained show that Rlv UPM791 outcompetes Rlv 3841 for nodule formation in pea plants, and that the presence of the AiiA plasmid does not significantly affect the relative competitiveness of the two Rlv strains. However, the low stability of the pME6863 plasmid, encoding aiiA, did not lead to a clear conclusion about the AiiA lactonase effect on competitiveness. In order to further analyze the significance and regulation of the production of AHL signal molecules, mutants deficient in each of the two QS systems were constructed. A detailed analysis of the effect of these mutations on AHL production, biofilm formation and symbiosis with pea, vetch and lentil plants has been carried out. The effect of deletions on Rlv UPM791 rhiI and rhiR genes is more pronounced in the absence of plasmid pUPM791d, as no signal is detected in UPM791.1, lacking this plasmid. Mutations in cinI or cinRIS show either no signals, or only the small ones produced by the rhiRI system, suggesting that cinR might be regulating the rhiRI system. These mutations had a strong effect on symbiosis. Analysis of rhi mutants revealed that rhiRI system is required for normal symbiotic performance, as a drastic reduction of symbiotic fitness is observed when rhiI is deleted, and rhiR is essential for nitrogen fixation in the absence of plasmid pUPM791d. Furthermore, cinRIS mutants resulted in white and inefficient nodules, whereas cinI mutant was unable to form nodules on any legume tested. The latter mutation is associated to the instabilization of the symbiotic plasmid through a mechanism still uncovered. Overall, the results obtained indicate the existence of a model of QS-dependent regulation significantly different to that previously described in other R. leguminosarum strains, where no relevant symbiotic phenotype had been observed. The regulation of AHL production in Rlv UPM791 is a complex process involving the symbiotic plasmid (pUPM791c) and the smallest plasmid (pUPM791d), with a key role for the 3-OH-C14:1-HSL signal. Finally, we made a search for potential AHL transporters in Rlv UPM791 genome. These signals diffuse freely across membranes, but in the case of the long-chain AHLs an active efflux system might be required, as it has been described for C12-HSL in the case of Pseudomonas aeruginosa. We have identified a putative AHL transporter of the RND family homologous to P. aeruginosa mexAB-oprM. A mutant strain deficient in this transporter has been generated, and TLC analysis shows absence of 3OH-C14:1-HSL in its supernatant. This deficiency was complemented by the reintroduction of an intact copy of the genes via plasmid transfer. The mutation in mexAB genes had no significant effects on the symbiotic performance of R. leguminosarum bv. viciae.