Regeneration of five commercially-valuable tree species after experimental logging in an Amazonian forest

This study investigated the regeneration variation of five commercially valuable tree species in relation to different intensities of felling in fourteen 4-ha plots in an area under experimental forest management. This experiment was carried out in a typical Amazonian tropical forest sample on "terra-firme," in Manaus (AM). Plots were logged 7 and 8 years (1987 and 1988), or 3 years (1993) before the study. All trees with height greater than 2 m, and diameter at breast height (DBH) smaller than 10 cm were measured. Only Aniba hostmanniana, Ocotea aciphylla, Licaria pachycarpa, Eschweilera coriacea and Goupia glabra were sufficiently common for individual analyses. These species have high timber values in the local market. Eight years after logging, the species responded differently to logging intensities. The numbers of individuals of Goupia glabra and Aniba hostmanniana were positively related to the intensity of logging, while Ocotea aciphylla, Licaria pachycarpa, and Eschweilera coriacea showed no statistically significant response. In the most recently (1993) logged areas, Goupia glabra and Aniba hostmanniana had higher numbers of individuals than the control plots.

Control of a one-legged robot with energy savings

This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared.