Biological coagulation of skim latex using Acinetobacter sp. isolated from natural rubber latex centrifugation effluent

An Acinetobacter sp, isolated from latex centrifugation effluent, effectively coagulated skim rubber from skim latex. After coagulation for 48 h without the addition of any nutrients, at an optimum dilution of 1:10(v/v) and with an inoculum concentration of 6.4 mg dry cell /ml, the yield of the skim rubber was 8 % (w/v) and the COD of the residual solution was only 0.4 g/l. chemical coagulation at the same dilution resulted in 7 % (w/v) yield of dry rubber content and 2.2 g COD /l.

Smallholder pig production systems along a periurban-rural gradient in the Western provinces of the Democratic Republic of the Congo

In the Democratic Republic of the Congo (DRC), pigs are raised almost exclusively by smallholders either in periurban areas of major cities such as Kinshasa or in rural villages. Unfortunately, little information is available regarding pig production in the Western part of the DRC, wherefore a survey was carried out to characterize and compare 319 pig production systems in their management and feeding strategies, along a periurban - rural gradient inWestern provinces of the DRC. Pig breeding was the main source of income (43%) and half of respondents were active in mixed pig and crop production, mainly vegetable garden. Depending on the location, smallholders owned on average 18 pigs, including four sows. Piglet mortality rate varied from 9.5 to 21.8% while average weaned age ranged between 2.2 and 2.8 months. The major causes of mortality reported by the farmers were African swine fever 98 %, swine erysipelas (60 %), erysipelas trypanosomiasis (31 %), swine worm infection (17 %), and diarrhoea (12 %). The majority of the pigs were reared in pens without free roaming and fed essentially with locally available by-products and forage plants whose nature varied according with the location of the farm. The pig production systems depended on the local environment; particularly in terms of workforces, herd structure and characteristics, production parameters, pig building materials, selling price and in feed resources. It can be concluded that an improvement of Congolese pig production systems should consider (1) a reduction of inbreeding, (2) an improvement in biosafety to reduce the incidence of African swine fever and the spread of other diseases, and (3) an improvement in feeding practices.

Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

This paper proposes a field application of a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. The learning system is characterized by using a direct policy search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed up the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEU AUV

Gradient-based reinforcement learning techniques for underwater robotics behavior learning

Darrerament, l'interès pel desenvolupament d'aplicacions amb robots submarins autònoms (AUV) ha crescut de forma considerable. Els AUVs són atractius gràcies al seu tamany i el fet que no necessiten un operador humà per pilotar-los. Tot i això, és impossible comparar, en termes d'eficiència i flexibilitat, l'habilitat d'un pilot humà amb les escasses capacitats operatives que ofereixen els AUVs actuals. L'utilització de AUVs per cobrir grans àrees implica resoldre problemes complexos, especialment si es desitja que el nostre robot reaccioni en temps real a canvis sobtats en les condicions de treball. Per aquestes raons, el desenvolupament de sistemes de control autònom amb l'objectiu de millorar aquestes capacitats ha esdevingut una prioritat. Aquesta tesi tracta sobre el problema de la presa de decisions utilizant AUVs. El treball presentat es centra en l'estudi, disseny i aplicació de comportaments per a AUVs utilitzant tècniques d'aprenentatge per reforç (RL). La contribució principal d'aquesta tesi consisteix en l'aplicació de diverses tècniques de RL per tal de millorar l'autonomia dels robots submarins, amb l'objectiu final de demostrar la viabilitat d'aquests algoritmes per aprendre tasques submarines autònomes en temps real. En RL, el robot intenta maximitzar un reforç escalar obtingut com a conseqüència de la seva interacció amb l'entorn. L'objectiu és trobar una política òptima que relaciona tots els estats possibles amb les accions a executar per a cada estat que maximitzen la suma de reforços totals. Així, aquesta tesi investiga principalment dues tipologies d'algoritmes basats en RL: mètodes basats en funcions de valor (VF) i mètodes basats en el gradient (PG). Els resultats experimentals finals mostren el robot submarí Ictineu en una tasca autònoma real de seguiment de cables submarins. Per portar-la a terme, s'ha dissenyat un algoritme anomenat mètode d'Actor i Crític (AC), fruit de la fusió de mètodes VF amb tècniques de PG.

Sensitivity and specificity of tympanometric gradient and middle ear resonance in young children and infants

This paper discusses the use of tympanometric gradient, middle ear resonance and static admittance as diagnostic tools for testing the hearing of children and infants.

Declines of Aerial Insectivores in North America Follow a Geographic Gradient

North American birds that feed on aerial insects are experiencing widespread population declines. An analysis of the North American Breeding Bird Survey trend estimates for 1966 to 2006 suggests that declines in this guild are significantly stronger than in passerines in general. The pattern of decline also shows a striking geographical gradient, with aerial insectivore declines becoming more prevalent towards the northeast of North America. Declines are also more acute in species that migrate long distances compared to those that migrate short distances. The declines become manifest, almost without exception, in the mid 1980s. The taxonomic breadth of these downward trends suggests that declines in aerial insectivore populations are linked to changes in populations of flying insects, and these changes might be indicative of underlying ecosystem changes.

The response of a uniform horizontal temperature gradient to heating

The response of a uniform horizontal temperature gradient to prescribed fixed heating is calculated in the context of an extended version of surface quasigeostrophic dynamics. It is found that for zero mean surface flow and weak cross-gradient structure the prescribed heating induces a mean temperature anomaly proportional to the spatial Hilbert transform of the heating. The interior potential vorticity generated by the heating enhances this surface response. The time-varying part is independent of the heating and satisfies the usual linearized surface quasigeostrophic dynamics. It is shown that the surface temperature tendency is a spatial Hilbert transform of the temperature anomaly itself. It then follows that the temperature anomaly is periodically modulated with a frequency proportional to the vertical wind shear. A strong local bound on wave energy is also found. Reanalysis diagnostics are presented that indicate consistency with key findings from this theory.

Projected gradient approach to the numerical solution of the SCoTLASS

The SCoTLASS problem-principal component analysis modified so that the components satisfy the Least Absolute Shrinkage and Selection Operator (LASSO) constraint-is reformulated as a dynamical system on the unit sphere. The LASSO inequality constraint is tackled by exterior penalty function. A globally convergent algorithm is developed based on the projected gradient approach. The algorithm is illustrated numerically and discussed on a well-known data set. (c) 2004 Elsevier B.V. All rights reserved.

Influence of freezable/non-freezable water and sucrose on the viability of Theobroma cacao somatic embryos following desiccation and freezing

Encapsulated cocoa (Theobroma cacao L.) somatic embryos subjected to 0.08-1.25 M sucrose treatments were analyzed for embryo soluble sugar content, non-freezable water content, moisture level after desiccation and viability after desiccation and freezing. Results indicated that the higher the sucrose concentration in the treatment medium, the greater was the extent of sucrose accumulation in the embryos. Sucrose treatment greatly assisted embryo post-desiccation recovery since only 40% of the control embryos survived desiccation, whereas a survival rate of 60-95% was recorded for embryos exposed to 0.5-1.25 M sucrose. The non-freezable water content of the embryos was estimated at between 0.26 and 0.61 g H2O g(-1)dw depending on the sucrose treatment, and no obvious relationship could be found between the endogenous sucrose level and the amount of non-freezable water in the embryos. Cocoa somatic embryos could withstand the loss of a fraction of their non-freezable water without losing viability following desiccation. Nevertheless, the complete removal of potentially freezable water was not sufficient for most embryos to survive freezing.

On the yield stress of frozen sucrose solutions

Measurement or prediction of the mechanical and fracture properties of foods is very important in the design, operation and optimization of processes, as well as for the control of quality of food products. This paper describes the measurement of yield stress of frozen sucrose solutions under indentation tests using a spherical indenter. Effects of composition, temperature and strain rate on yield stress of frozen sucrose solutions have also been investigated.

Stress relaxation behaviour of frozen sucrose solutions

The stress relaxation behaviour of two frozen sucrose solutions (7% and 19%) during indentation in the temperature range of -20C to -40C were investigated. The stress relaxation is similar to that of pure polycrystalline ice, which is controlled by steady-state creep. The steady state creep rate exponent, m, of 7% and 19% sucrose solutions lies between 2.3 and 3.6. The steady state creep rate constant, B, of 19% sucrose solution is greater than that of 7% sucrose solution. It is suggested that the steady-state creep rate exponent m depends on contributions from the proportions of favourably oriented grains, unfavourably oriented grains and grain boundaries to creep and that these components depend on the value of internal stress which is related to the hardness of samples at the different testing temperatures. The steady-state creep rate constant B depends on the mobility of dislocations in sucrose solutions which, in turn, depends on the temperature and the concentration of sucrose.

Cannabinoid influences on palatability: microstructural analysis of sucrose drinking after Delta(9)-tetrahydrocannabinol, anandamide, 2-arachidonoyl glycerol and SR141716

Rationale: Central cannabinoid systems have been implicated in appetite control through the respective hyperphagic and anorectic actions of CB1 agonists and antagonists. The motivational changes underlying these actions remain to be determined, but may involve alterations to food palatability. Objectives: The mode of action of cannabinoids on ingestion was investigated by examining the effects of exogenous and endogenous agonists, and a selective CB1 receptor antagonist, on licking microstructure in rats ingesting a palatable sucrose solution. Methods: Microstructural analyses of licking for a 10% sucrose solution was performed over a range of agonist and antagonist doses administered to non-deprived, male Lister hooded rats. Results: Delta(9)-tetrahydrocannabinol (0.5, 1 and 3 mg/kg) and anandamide (1 mg/kg and 3 mg/kg) significantly increased total number of licks. This was primarily due to an increase in bout duration rather than bout number. There was a nonsignificant increase in total licks following administration of 2-arachidonoyl glycerol (0.2, 1.0 and 2.0 mg/kg), whereas administration of the CB1 antagonist SR141716 (1 mg/kg and 3 mg/kg) significantly decreased total licks. All drugs, with the exception of anandamide, significantly decreased the intra-bout lick rate. An exponential function fitted to the cumulative lick rate curves for each drug revealed that all compounds altered the asymptote of this function without having any marked effects on the exponent. Conclusions: These data are consistent with endocannabinoid involvement in the mediation of food palatability.