WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Effect of magnesium sulphate and L-tryptophan and genotype on the feed intake, behaviour and meat quality of pigs

Sixty-nine entire male pigs with different halothane genotype (homozygous halothane positive – nn-, n=36; and homozygous halothane negative – NN-, n=33) were fed with a supplementation of magnesium sulphate (Mg) and/or L-tryptophan (Trp) in the diet for 5 days before slaughter. Animals were housed individually and were submitted to stressful ante mortem conditions (mixed in the lorry according to treatments and transported 1h on rough roads). Individual feed intake was recorded during the 5-day treatment. At the abattoir, pig behaviour was assessed in the raceway to the stunning system and during the stunning period by exposure to CO2. Muscle pH, colour, water holding capacity, texture and cathepsin activities were determined to assess meat quality. The number of pigs with an individual feed intake lower than 2kg/day was significantly different among diets (P<0.05; Control: 8.7%; Mg&Trp: 43.5%; Trp: 17.4%) and they were considered to have inadequate supplement intake. During the ante mortem period, 15.2% of pigs included in the experiment died, and this percentage decreased to 8.7% in those pigs with a feed intake > 2kg/day, all of them from the stress-sensitive pigs (nn). In general, no differences were observed in the behaviour of pigs along the corridor leading to the stunning system and inside the CO2 stunning system. During the stunning procedure, Trp diet showed shorter periods of muscular excitation than control and Mg&Trp diets. The combination of a stressful ante mortem treatment and Mg&Trp supplementation led to carcasses with high incidence of severe skin lesions. Different meat quality results were found when considering all pigs or considering only those with adequate supplement intake. In this later case, Trp increased pH45 (6.15) vs Control diet (5.96) in the Longissimus thoracis (LT) muscle (P<0.05) and pH at 24h (Trp: 5.59 vs C: 5.47) led to a higher incidence of dark, firm and dry (DFD) traits in SM muscle (P<0.05). Genotype affected negatively all the meat quality traits. Seventy-five percent of LT and 60.0% of the SM muscles from nn pigs were classified as pale, soft and exudative (PSE), while none of the NN pigs showed these traits (P<0.0001). No significant differences were found between genotypes on the incidence of DFD meat. Due to the negative effects observed in the Mg&Trp group in feed intake and carcass quality, the utilization of a mixture of magnesium sulphate and tryptophan is not recommended

El Holoceno medio palustre de la llanura litoral del río Ter (Baix Empordá, Girona)

The paludal deposits presented here belong to a geomorphological unit identified between Palafrugell Corridor and the littoral plains of Ter River (Baix Ter), associated to a carbonate-rich spring system. The sections show a distintic clay level, mixed with black silts, very rich in snail remains. The malacological assemblage contained stillwaters species (Bithynia leachii, Galba truncatula, Pisidium milium, Radix peregra) along with damp species (Monacha cartusiana, Oxyloma elegans, Succinea putris, Succinella oblonga, Vallonia pulchella, Vertigo sp.). Some open-dry species are also present (Cernuella virgata, Eobania vermiculata, Pomatias elegans, Rumina decollata) revailing a mosaic-like landscape. Radiocarbon dates place this level ca. 7.000BPwithin the Holocene sequence of the Baix Ter basin. Colluvial deposits on top of these paludal levels have a typical open-dry malacological assemblage (Cernuella virgata, Cochlicella acuta, Eobania vermiculata, Pomatias elegans, Rumina decollata, Trochoidea elegans) the same assemblage that inhabits the Empordà littoral plains nowadays

Filogenia y genética poblacional del género Androcymbium (Colchiceae)

En este trabajo se ha estudiado el género Androcymbium (Colchicaceae) a dos niveles: macro- y micro- evolutivo. A nivel microevolutivo se ha obtenido que para las especies de Sudáfrica oriental la componente interpoblacional es muy importante para explicar la distribución de la variabilidad genética, igual que en Sudáfrica occidental. Para las especies de Namibia, la componente mas importante es la intrapoblacional, igual que en el norte de África. A nivel macroevolutivo se ha obtenido que el origen del género se sitúa en Sudáfrica occidental, datándose en 11,22 ma. Este género ha resultado ser parafilético, dada la aparición conjunta en un mismo clado de especies de Androcymbium y Colchicum, y las especies del norte de África derivan de un taxa de Namibia que llegó a la cuenca Mediterránea a principios del Plioceno gracias a la formación de un corredor árido entre las zonas áridas del suroeste y este de África.