Pesticide productivity and transgenic cotton technology: The South African smallholder case

This paper empirically investigates how the productivity of pesticide differs in Bt versus non-Bt technology for South African cotton smallholders, and what the implications for pesticide use levels are in the two technologies. This is accomplished by applying a damage control framework to farm-level data from Makhathini flats, KwaZulu-Natal. Contrary to findings elsewhere, notably China, that farmers over-use pesticides and that transgenic technology benefits farmers by enabling large reductions in pesticide use, the econometric evidence here indicates that non-Bt smallholders in South Africa under-use pesticide. Thus, the main potential contribution of the new technology is to enable them to realise lost productivity resulting from under-use. By providing a natural substitute for pesticide, the Bt technology enables the smallholders to circumvent credit and labour constraints associated with pesticide application. Thus, the same technology that greatly reduces pesticide applications but only mildly affects yields, when used by large-scale farmers in China and elsewhere, benefits South-African smallholder farmers primarily via a yield-enhancing effect.

Solving optimal control problems with state constraints using nonlinear programming and simulation tools

This paper illustrates how nonlinear programming and simulation tools, which are available in packages such as MATLAB and SIMULINK, can easily be used to solve optimal control problems with state- and/or input-dependent inequality constraints. The method presented is illustrated with a model of a single-link manipulator. The method is suitable to be taught to advanced undergraduate and Master's level students in control engineering.

Input constraints handling in an MPC/feedback linearization scheme

The combination of model predictive control based on linear models (MPC) with feedback linearization (FL) has attracted interest for a number of years, giving rise to MPC+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation introduced by feedback linearization. This paper introduces a technique for handling input constraints within a real time MPC/FL scheme, where the plant model employed is a class of dynamic neural networks. The technique is based on a simple affine transformation of the feasible area. A simulated case study is presented to illustrate the use and benefits of the technique.

A new RBF neural network with boundary value constraints

We present a novel topology of the radial basis function (RBF) neural network, referred to as the boundary value constraints (BVC)-RBF, which is able to automatically satisfy a set of BVC. Unlike most existing neural networks whereby the model is identified via learning from observational data only, the proposed BVC-RBF offers a generic framework by taking into account both the deterministic prior knowledge and the stochastic data in an intelligent manner. Like a conventional RBF, the proposed BVC-RBF has a linear-in-the-parameter structure, such that it is advantageous that many of the existing algorithms for linear-in-the-parameters models are directly applicable. The BVC satisfaction properties of the proposed BVC-RBF are discussed. Finally, numerical examples based on the combined D-optimality-based orthogonal least squares algorithm are utilized to illustrate the performance of the proposed BVC-RBF for completeness.

Force distribution in manipulation by a robot hand with equality and inequality constraints

The problem of the appropriate distribution of forces among the fingers of a four-fingered robot hand is addressed. The finger-object interactions are modelled as point frictional contacts, hence the system is indeterminate and an optimal solution is required for controlling forces acting on an object. A fast and efficient method for computing the grasping and manipulation forces is presented, where computation has been based on using the true model of the nonlinear frictional cone of contact. Results are compared with previously employed methods of linearizing the cone constraints and minimizing the internal forces.

Credit flow [poetry]

A poem within the Alhambra Poetry Calendar 2011, a desk calendar and poetry anthology in one.

The distribution of solar wind speeds during solar minimum: calibration for numerical solar wind modeling constraints on the source of the slow solar wind

It took the solar polar passage of Ulysses in the early 1990s to establish the global structure of the solar wind speed during solar minimum. However, it remains unclear if the solar wind is composed of two distinct populations of solar wind from different sources (e.g., closed loops which open up to produce the slow solar wind) or if the fast and slow solar wind rely on the superradial expansion of the magnetic field to account for the observed solar wind speed variation. We investigate the solar wind in the inner corona using the Wang-Sheeley-Arge (WSA) coronal model incorporating a new empirical magnetic topology–velocity relationship calibrated for use at 0.1 AU. In this study the empirical solar wind speed relationship was determined by using Helios perihelion observations, along with results from Riley et al. (2003) and Schwadron et al. (2005) as constraints. The new relationship was tested by using it to drive the ENLIL 3-D MHD solar wind model and obtain solar wind parameters at Earth (1.0 AU) and Ulysses (1.4 AU). The improvements in speed, its variability, and the occurrence of high-speed enhancements provide confidence that the new velocity relationship better determines the solar wind speed in the outer corona (0.1 AU). An analysis of this improved velocity field within the WSA model suggests the existence of two distinct mechanisms of the solar wind generation, one for fast and one for slow solar wind, implying that a combination of present theories may be necessary to explain solar wind observations.

Virtual reality as a visualisation tool: benefits and constraints

The benefits and applications of virtual reality (VR) in the construction industry have been investigated for almost a decade. However, the practical implementation of VR in the construction industry has yet to reach maturity owing to technical constraints. The need for effective information management presents challenges: both transfer of building data to, and organisation of building information within, the virtual environment require consideration. This paper reviews the applications and benefits of VR in the built environment field and reports on a collaboration between Loughborough University and South Bank University to overcome constraints on the use of the overall VR model for whole lifecycle visualisation. The work at each research centre is concerned with an aspect of information management within VR applications for the built environment, and both data transfer and internal data organisation have been investigated. In this paper, similarities and differences between computer-aided design (CAD) and VR packages are first discussed. Three different approaches to the creation of VR models during the design stage are identified and described, with a view to providing sharing understanding across the interdiscipliary groups involved. The suitable organisation of building information within the virtual environment is then further investigated. This work focused on the visualisation of the degradation of a building, through its lifespan, with the view to provide a visual aid for developing an effective and economic project maintenance programme. Finally consideration is given to the potential of emerging standards to facilitate an integrated use of VR. The convergence towards similar data structures in VR and other construction packages may enable visualisation to be better utilised in the overall lifecycle model.