Integración de Arbotix, Raspberry Pi y motores Dynamixel Ax-12+ para un robot humanoide que busca y patea pelotas

En este artículo se presenta a DeBuPa (Detección Búsqueda Pateo) un humanoide de tamaño pequeño (38 cm de alto) construido con las piezas del kit Bioloid. Del kit se ha excluido la tarjeta CM-510 para sustituirla por la tarjeta controladora Arbotix, que será la que controle los 16 motores Dynamixel Ax-12+ (para mover al robot) y 2 servomotores analógicos (para mover la cámara). Además se ha agregado un mini computador Raspberry Pi, con su cámara, para que el robot pueda detectar y seguir la pelota de forma autónoma. Todos estos componentes deben ser coordinados para que se logre cumplir la tarea de detectar, seguir y patear la pelota. Por ello se hace necesaria la comunicación entre la Arbotix y la Raspberry Pi. La herramienta empleada para ello es el framework ROS (Robot Operating System). En la Raspberry Pi se usa el lenguaje C++ y se ejecuta un solo programa encargado de captar la imagen de la cámara, filtrar y procesar para encontrar la pelota, tomar la decisión de la acción a ejecutar y hacer la petición a la Arbotix para que dé la orden a los motores de ejecutar el movimiento. Para captar la imagen de la cámara se ha utilizado la librería RasPiCam CV. Para filtrar y procesar la imagen se ha usado las librerías de OpenCV. La Arbotix, además de controlar los motores, se encarga de monitorizar que el robot se encuentre balanceado, para ello usa el sensor Gyro de Robotis. Si detecta un desbalance de un cierto tamaño puede saber si se ha caído y levantarse.

A (in)capacidade estatal de defesa dos direitos humanos : o incidente de deslocamento de competência nº 3 e a violência policial no estado de Goiás

Dissertação (mestrado)—Universidade de Brasília, Centro de Estudos Avançados Multidisciplinares, Programa de Pós-Graduação em Direitos Humanos e Cidadania, 2015.

As redes sociais online na hotelaria

Dissertação de Mestrado, Direção e Gestão Hoteleira, Escola Superior de Gestão, Hotelaria e Turismo, Universidade do Algarve, 2016

An Islanding Detection Method based on Impedance Estimation and Grid Identification for Grid-Tie Distributed Power Generation Systems

Power system policies are broadly on track to escalate the use of renewable energy resources in electric power generation. Integration of dispersed generation to the utility network not only intensifies the benefits of renewable generation but also introduces further advantages such as power quality enhancement and freedom of power generation for the consumers. However, issues arise from the integration of distributed generators to the existing utility grid are as significant as its benefits. The issues are aggravated as the number of grid-connected distributed generators increases. Therefore, power quality demands become stricter to ensure a safe and proper advancement towards the emerging smart grid. In this regard, system protection is the area that is highly affected as the grid-connected distributed generation share in electricity generation increases. Islanding detection, amongst all protection issues, is the most important concern for a power system with high penetration of distributed sources. Islanding occurs when a portion of the distribution network which includes one or more distributed generation units and local loads is disconnected from the remaining portion of the grid. Upon formation of a power island, it remains energized due to the presence of one or more distributed sources. This thesis introduces a new islanding detection technique based on an enhanced multi-layer scheme that shows superior performance over the existing techniques. It provides improved solutions for safety and protection of power systems and distributed sources that are capable of operating in grid-connected mode. The proposed active method offers negligible non-detection zone. It is applicable to micro-grids with a number of distributed generation sources without sacrificing the dynamic response of the system. In addition, the information obtained from the proposed scheme allows for smooth transition to stand-alone operation if required. The proposed technique paves the path towards a comprehensive protection solution for future power networks. The proposed method is converter-resident and all power conversion systems that are operating based on power electronics converters can benefit from this method. The theoretical analysis is presented, and extensive simulation results confirm the validity of the analytical work.

"Not one word of it made any sense" : Hyperbolic Synecdoche in the British National Corpus

A distinct metonymic pattern was discovered in the course of conducting a corpus-based study of figurative uses of WORD. The pattern involved examples such as Not one word of it made any sense and I agree with every word. It was labelled ‘hyperbolic synecdoche’, defined as a case in which a lexeme which typically refers to part of an entity (a) is used to stand for the whole entity and (b) is described with reference to the end point on a scale. Specifically, the speaker/writer selects the perspective of a lower-level unit (such as word for ‘utterance’), which is quantified as NOTHING or ALL, thus forming a subset of ‘extreme case formulations’. Hyperbolic synecdoche was found to exhibit a restricted range of lexicogrammatical patterns involving word, with the negated NOTHING patterns being considerably more common than the ALL patterns. The phenomenon was shown to be common in metonymic uses in general, constituting one-fifth of all cases of metonymy in word. The examples of hyperbolic synecdoche were found not to be covered by the oftquoted ‘abbreviation’ rationale for metonymy; instead, they represent a more roundabout way of expression. It is shown that other cases of hyperbolic synecdoche exist outside of word and the domain of communication (such as ‘time’ and ‘money’).

Assessment of the Availability of Forest Biomass for Bioenergy Production in Southwest Portugal.

In 2014, Portugal was the seventh largest pellets producer in the World. Since the shortage of raw material is one of the major obstacles that the Portuguese sellets market faces, the need for a good assessment of biomass availability for energy purposes at both country and regional levels is reinforced. This work uses a Geographical Information System environment and remote sensing data to assess the availability and sustainability of forest biomass residues in a management unit with around 940 ha of maritime pine forest. The period considered goes from 2004 to 2015. The study area is located in Southwestern Portugal, close to a pellets factory; therefore the potential Contribution of the residual biomass generated in the management unit to the production of pellets is evaluated. An allometric function is used for the estimation of maritime pine above ground biomass. With this estimate, and considering several forest operations, the residual biomass available was assessed, according to stand composition and structure. This study shows that, when maritime pine forests are managed to produce wood, the amount of residues available for energy production is small (an average of 0.37 t ha -1  year -1 were generated in the study area between 2004 and 2015). As a contribution to the sustainability of the Portuguese pellets industries, new management models for maritime pine forests may be developed. The effect of the pinewood nematode on the availability of residual biomass can be clearly seen in this study. In the management unit considered, cuts were made to prevent dissemination of the disease. This contributes to a higher availability of forest residues in a specific period of time, but, in the medium term, they lead to a decrease in the amount of residues that can be used for energy purposes.

Above ground biomass estimation in Mediterranean multiple use systems with high spatial resolution satellite images

Forest biomass has been having an increasing importance in the world economy and in the evaluation of the forests development and monitoring. It was identified as a global strategic reserve, due to its applications in bioenergy, bioproduct development and issues related to reducing greenhouse gas emissions. The estimation of above ground biomass is frequently done with allometric functions per species with plot inventory data. An adequate sampling design and intensity for an error threshold is required. The estimation per unit area is done using an extrapolation method. This procedure is labour demanding and costly. The mail goal of this study is the development of allometric functions for the estimation of above ground biomass with ground cover as independent variable, for forest areas of holm aok (Quercus rotundifolia), cork oak (Quercus suber) and umbrella pine (Pinus pinea) in multiple use systems. Ground cover per species was derived from crown horizontal projection obtained by processing high resolution satellite images, orthorectified, geometrically and atmospheric corrected, with multi-resolution segmentation method and object oriented classification. Forest inventory data were used to estimate plot above ground biomass with published allometric functions at tree level. The developed functions were fitted for monospecies stands and for multispecies stands of Quercus rotundifolia and Quercus suber, and Quercus suber and Pinus pinea. The stand composition was considered adding dummy variables to distinguish monospecies from multispecies stands. The models showed a good performance. Noteworthy is that the dummy variables, reflecting the differences between species, originated improvements in the models. Significant differences were found for above ground biomass estimation with the functions with and without the dummy variables. An error threshold of 10% corresponds to stand areas of about 40 ha. This method enables the overall area evaluation, not requiring extrapolation procedures, for the three species, which occur frequently in multispecies stands.

Local Understandings of Soil Fertility, Rainfall and Conservation Agriculture in Laikipia, Kenya: A Qualitative Analysis.

Conservation Agriculture (CA) is mostly referred to in the literature as having three principles at the core of its identity: minimum soil disturbance, permanent organic soil cover and crop diversity. This farming package has been described as suitable to improve yields and livelihoods of smallholders in semi-arid regions of Kenya, which since the colonial period have been heavily subjected to tillage. Our study is based on a qualitative approach that followed local meanings and understandings of soil fertility, rainfall and CA in Ethi and Umande located in the semi-arid region of Laikipia, Kenya. Farm visits, 53 semistructured interviews, informal talks were carried out from April to June 2015. Ethi and Umande locations were part of a resettlement programme after the independence of Kenya that joined together people coming from different farming contexts. Since the 1970–80s, state and NGOs have been promoting several approaches to control erosion and boost soil fertility. In this context, CA has also been promoted preferentially since 2007. Interviewees were well acquainted with soil erosion and the methods to control it. Today, rainfall amount and distribution are identified as major constraints to crop performance. Soil fertility is understood as being under control since farmers use several methods to boost it (inorganic fertilisers, manure, terraces, agroforestry, vegetation barriers). CA is recognised to deliver better yields but it is not able to perform well under severe drought and does not provide yields as high as ‘promised’ in promotion campaigns. Moreover, CA is mainly understood as “cultivating with chemicals”, “kulima na dawa”, in kiswahili. A dominant view is that CA is about minimum tillage and use of pre-emergence herbicides. It is relevant to reflect about what kind of CA is being promoted and if elements like soil cover and crop rotation are given due attention. CA based on these two ideas, minimum tillage and use of herbicides, is hard to stand as a programme to be promoted and up-scaled. Therefore CA appears not to be recognised as a convincing approach to improve the livelihoods in Laikipia.

La participación en las comunidades rurales: abriendo espacios para la participación desde la escuela

The article id based on the participation in the country school, It goes over the national and international legislation, is important to stand out the fact that this article establish questions that the personal teaching will affront if he wants to open a space to participate in country school. Besides it includes and develops the share capital concept and relate it whit the educational theme.

Impact of regeneration method on stand structure prior to first thinning

Summary

Matriconditioning integrated with gibberellic acid to hasten seed germination and improve stand establishment of pepper and tomato

Emergence and stand establishment of tomato (Lycopersicon lycopersicum (L.) (Karsten ex Farw) and pepper (Capsicum annus L.) seeds are often slow and erratic, particularly under stress conditions. Field emergence trials sometimes have not responded to priming in pepper. This study examined the combined effects of matriconditioning and gibberellin application on the germination and stand establishment of pepper and tomato seeds. Pepper and tomato seeds were conditioned with a solid carrier, Micro Cel E, in the presence of gibberellic acid (GA) for 1, 2 , 3 and 4 days at 15 and 25ºC. The results showed that, in all cases, even under stress conditions, the combination of matriconditioning with GA was effective in improving germination and emergence of pepper and tomato. The germination time was, in average, reduced by 2 to 3 days by primed seeds. Thus, matriconditioning, during which germination is suspended, provides an unique means to rapidly and efficiently digest the endosperm by GA-induced enzymes and reduce the mechanical restraints of endosperm thus providing energy to start and sustain embryo growth.

MODIS-based vegetation index has sufficient sensitivity to indicate stand-level intra-seasonal climatic stress in oak and beech forests

Context: Variation in photosynthetic activity of trees induced by climatic stress can be effectively evaluated using remote sensing data. Although adverse effects of climate on temperate forests have been subjected to increased scrutiny, the suitability of remote sensing imagery for identification of drought stress in such forests has not been explored fully. Aim: To evaluate the sensitivity of MODIS-based vegetation index to heat and drought stress in temperate forests, and explore the differences in stress response of oaks and beech. Methods: We identified 8 oak and 13 beech pure and mature stands, each covering between 4 and 13 MODIS pixels. For each pixel, we extracted a time series of MODIS NDVI from 2000 to 2010. We identified all sequences of continuous unseasonal NDVI decline to be used as the response variable indicative of environmental stress. Neural Networks-based regression modelling was then applied to identify the climatic variables that best explain observed NDVI declines. Results: Tested variables explained 84–97% of the variation in NDVI, whilst air temperature-related climate extremes were found to be the most influential. Beech showed a linear response to the most influential climatic predictors, while oak responded in a unimodal pattern suggesting a better coping mechanism. Conclusions: MODIS NDVI has proved sufficiently sensitive as a stand-level indicator of climatic stress acting upon temperate broadleaf forests, leading to its potential use in predicting drought stress from meteorological observations and improving parameterisation of forest stress indices.

Using locally available components and local knowledge to build sustainable stand-alone power systems

The aim of this paper is to point out benefits as well as disadvantages associated with the use of locally available, not necessarily standardized, components in stand-alone electrical power systems at rural locations. Advantages and challenges arising when the direct involvement in design, construction and maintenance of the power system is reserved to people based in the area of implementation are discussed. The presented research is centered around one particular PV-diesel hybrid system in Tanzania; a case study in which technical and social aspects related to the particular power system are studied.