Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

Selected Articles from Beef Cattle Science Handbook Volume 19

The articles within the handbook are: "Livestock Psychology and Handling-Facility Design", "Design of Corrals, Squeeze Chutes, and Dip Vats", "Handling Feedlot Cattle", and "Reducing Transportation Stresses".

Letter from Port Robinson to Mr. Bell

Letter from Port Robinson to Mr. Bell acknowledging the receipt for the affidavits which were sent. The writer says that he is not the owner of the land as Mr. Bell supposes. The writer is anxious for this matter to be brought before the committee and says that this matter has been 2 years in Mr. Steer’s hands in neglect. [The letter is unsigned, but the writer is probably Samuel D. Woodruff], April 10, 1849.

Letter to Mr. Thomas Bell from S.D. Woodruff

Letter to Mr. Thomas Bell from S.D. Woodruff concerning the claim of Mr. James Clement. Mr. Woodruff trusts that Mr. Bell has the application made for the patent. He encloses $10 to cover the fees. He states that he has authorized Mr. Thomas Steers to prosecute the claim, July 16, 1849.

Evaluación Psicológica de la Toma de Decisiones Éticas de Riesgo en Entorno Organizacional: Revisión Teórica

Este trabajo de investigación explora el proceso de toma de decisiones fundamentado desde la perspectiva psicológica. El campo de interés está centrado en la toma de decisiones éticas a nivel organizacional y las consecuencias que las zonas grises o las conductas de riesgo repercuten en las dinámicas económicas y sociales. Con base en el análisis de los escándalos financieros más importantes de Europa, Estados Unidos y Colombia, y la literatura ofrecida por las ciencias sociales, la ética y las ciencias económicas se reconstruye una recopilación teórica de los aportes que los modelos psicológicos aplicados pueden dar al campo de la consultoría y el funcionamiento organizacional como también al estudio y análisis de los comportamientos anti éticos en empresas.

Leadership and performance in multicultural business environments a qualitative study in German-Colombian teams

Multicultural leadership is a topic a great interest in nowadays globalized work environment. Colombia emerges as an attractive marketplace with appealing business opportunities, especially for German enterprises. After presenting Colombia’s current political, social and economic situation, the thesis elaborates the complex subject of cultural differences while focusing on the peculiarities of German and Colombian national cultures. The resulting implications for a team’s collaboration and leader effectiveness are theoretically supported with reference to the landmark studies of Hofstede and GLOBE. By utilizing semi-structured interview techniques, a qualitative research enriches the previous findings and gives an all-encompassing insight in German-Colombian teamwork. The investigation identifies distinctive behavioral patterns and relations, which imply challenges and factors of success for multicultural team leaders. Finally, a categorical analysis examines the influence of cultural traits on team performance and evaluates the effectiveness of the applied leadership style.

Toxina botulínica en manejo de síntomas del tracto urinario bajo en pacientes con hiperplasia prostática benigna - revisión sistemática de la literatura

Revisión sistemática de la literatura tomando ensayos clínicos aleatorizados sobre el uso de la inyección intraprostática de la toxina botulínica en los pacientes con hiperplasia prostática benigna evaluando una escala validada de síntomas del tracto urinario bajo como desenlace primario

Análisis de las consecuencias del TLC con Estados Unidos frente al subsector ganadero colombiano

Colombia es un país que gracias a sus características topográficas y ubicación privilegiada se destaca por su amplia variedad de ganado en las diferentes regiones del país, esto le ha permitido tener diversas ventajas frente a otros países. Sin embargo, desde el año 2012 entro en vigencia el Tratado de Libre Comercio con Estados Unidos, en donde se demostró que debido a los subsidios y al bajo costo en la producción ganadera, este país ofrece precios inferiores a los de Colombia, con los cuales es más difícil disputar. Por esto es importante que Colombia logré implementar estrategias para competir con precios como los de Estados Unidos y a su vez debe buscar la admisibilidad sanitaria para lograr exportar nuestros productos a esta Potencia. Además, Colombia debe identificar las oportunidades, fortalezas y amenazas que se tienen con el Tratado de Libre comercio, para establecer diferentes proyectos y programas los cuales permitan potencializar el subsector ganadero colombiano.

Intake, live-weight gain and carcass characteristics of beef cattle given diets based on forage maize silage harvested at different stages of maturity

Advancing maturity of forage maize is associated with increases in the proportion of dry matter (DM) and starch, and decreases in the proportions of structural carbohydrates in the ensiled crop. This experiment investigated the effects of three maize silages of 291 (low), 339 (medium) and 393 (high) g DM per kg fresh weight on the performance of 48 Simmental. Holstein-Friesian cattle. Equal numbers of steers (mean start weight = 503 (s.d. 31.3) kg) and heifers (mean start weight = 378 (s.d. 11.2) kg) were offered individually isonitrogenous diets composed of the three silages plus a protein supplement with minerals once daily until slaughter at the target live weight of 575 and 475 kg for steers and heifers, respectively. Intake was reduced on the low diet (P < 0.01) compared with the other two treatments. Dietary starch intake increased by a total of 1 kg/day between low and medium diets but by only 0.2 kg/day between medium and high diets. Unlike starch intake, total neutral-detergent fibre intake showed no significant difference (P > 0.05) between diets. There were no differences in live-weight gain between treatments but differences (P < 0.05) in food conversion efficiency indicated relative gains of 115, 100 and 102 g gain per kg DM intake for diets low, medium and high, respectively. There were no differences between diets in carcass weights, fat score and overall conformation.

Effect of breed, gender, housing system and dietary crude protein content on performance of finishing beef cattle fed maize-silage-based diets

Maize silage-based diets with three dietary crude protein (CP) supplements were offered to 96 finishing cattle of contrasting breed (Holstein Friesian (HF) v. Simmental x HF (SHF)) and gender (bull v. steer) housed in two types of feeding system (group fed v. individually fed). The three protein supplements differed either in CP or protein degradability (degradable (LUDP) v. rumen undegradable (HUDP)) and provided CP concentrations of 142 (Con), 175 (LUDP) and 179 (HUDP) g/kg dry matter (DM) respectively, with ratios of degradable to undegradable of 3.0, 1.4 and 0.9:1 for diets Con, LOP and HUDP respectively. DM intakes were marginally higher (P = 0. 102) for LOP when compared with Con and HOP Rates of daily live-weight gain (DLWG) were higher (P = 0.005) in LUDP and HOP when compared with Con. HF had higher DM intakes than SHF although this did not result in any improvement in HF DLWG. Bulls had significantly better DM intakes, DLWG and feed conversion efficiency than steers. Conformation scores were better in SHF than HF (P < 0.001) and fat scores lower in bulls than steers (p < 0.001). There was a number of first order interactions established between dietary treatment, breed, gender and housing system with respect to rates of gain and carcass fat scores.

Do EU direct payments to beef producers belong in the 'blue box'?

In the Uruguay Round Agreement on Agriculture, so-called 'blue box' support measures were exempted from reduction commitments, provided they were delivered under 'production-limiting' programs. Although classified as 'blue box', the EU system of direct payments (DP) to beef farmers imposes 'claim-limiting' restrictions rather than 'production-limiting' restrictions, allowing farmers to keep additional animals over and above the number upon which they are eligible to claim DP. The present paper provides empirical evidence that EU direct payments capitalise into the market prices of male calves and young steers in Ireland. It is also likely that DP capitalises into the prices of beef cows and heifers. Given this capitalisation process, some farmers can obtain 'capitalised' DP on animals produced over and above the 'claim-limiting' restrictions, by selling these animals through auction markets. Thus, 'capitalised' DP probably encourages production over and above the limiting measures.

The survival, growth and carcase characteristics of crossbred beef cattle in Tanzania

Sires of seven Bos taurus beef breeds were mated with Bos indicus Boran cows at two sites, one near sea level and the other at about 1000 m altitude, and over three years. Purebred Boran calves provided controls for comparisons between sire breeds for growth to 4 years of age, mortality and carcase characteristics in a range environment where all the animals were kept under a similar management regime. Numerous sire breed x site, sire breed x year of birth and site x year of birth interactions were established. Mortality was high, but there was no significant sire breed effect, although purebred Borans had a higher survival than crossbred calves. There was no significant difference between genotypes in birth weight. Generally, Bos taurus cross steers achieved greater live weight gains and heavier carcase weights at 4 years of age than did purebred Borans. Limousin-cross steers had significantly (p<0.05) less fat in the tenth rib sample joint than any of the other genotypes. A productivity index that combined calf survival and carcase weight indicated that the Chianina crosses were more productive than any other genotype at either site. Purebred Borans were more productive than all the Bos taurus crossbreds with the exception of the Chianina crosses at site 1, but were only superior to the Limousin crosses at site 2, which was at the higher altitude. When lean meat yield was introduced into the productivity index, the Boran purebreds were the least productive at site 2.

The effects of diet, breed and age of animal at slaughter on the aroma compounds of grilled beef

The aroma volatiles of grilled beef, from animals fed either grass silage or cereal concentrates, were compared. Aberdeen Angus and Holstein-Friesian cross-breed steers, slaughtered at 14 or 24 months, were studied. Compounds formed from linoleic acid, in particular 2-pentylfuran, 1-octen-3-ol, (Z)-2-octen-1-ol, and hexanal were at higher levels in the meat from the animals fed concentrates. Phytenes and compounds formed from α-linolenic acid, in particular 1-penten-3-ol and (Z)-2-penten-1-ol, were at higher levels in the meat of animals fed silage. Differences due to breed were small and not consistent with slaughter age. Dimethyl disulfide, dimethyl disulfide and phenol were at higher levels in the meat of animals slaughtered at 24 months and may contribute to grilled beef aroma.

Effects of dietary polyunsaturated fatty acid supplementation on fatty acid composition in muscle and subcutaneous adipose tissue of lambs

Lambs (n = 48) were used in a 2 × 2 factorial arrangement of treatments to evaluate effects of inclusion of oil containing PUFA in high-concentrate diets (with or without) and duration of oil supplementation (pre- vs. postweaning) on CLA concentration of muscle and adipose tissue. Lambs were fed preweaning creep diets (with or without oil) corresponding to the dietary lactation treatment diet (with or without oil) of the dam. Dams blocked by lambing date and rearing type were randomly assigned to 1 of 2 lactation dietary treatments with or without oil supplementation. Creep diets contained approximately 70% concentrate and 30% roughage and were provided to lambs for ad libitum intake. At weaning (58.7 ± 2.5 d of age), lambs (n = 48) were randomly assigned within preweaning treatment groups to 1 of 2 postweaning dietary treatments (with or without oil) and 16 pens in a randomized block design, blocked by sex and BW. Postweaning diets were formulated to contain approximately 80% concentrate and 20% roughage and were fed once daily for ad libitum intake. Soybean and linseed oil (2:1, respectively) replaced ground corn and provided 3% additional fat in pre- and postweaning diets. Lambs were slaughtered at 60.3 ± 4.2 kg of BW. A subcutaneous fat (SQ) sample was obtained within 1 h postmortem and a LM sample at the 12th rib was obtained 24 h postmortem, and both were analyzed for fatty acid profile. Feedlot performance and carcass measurements were not affected (P ≥ 0.26) by oil supplementation. Total CLA content of LM and SQ was not affected (P ≥ 0.08) by oil supplementation pre- or postweaning, but trans-10, cis-12 CLA was greater (P = 0.02) in SQ from lambs supplemented with oil postweaning. Total PUFA content in LM was greater (P = 0.02) in lambs supplemented with oil pre- or postweaning as a result of increased concentrations of 18:2cis-9, cis-12 and longer chain PUFA. Conversely, pre- and postweaning oil supplementation resulted in less (P = 0.04) MUFA content in LM. Only postweaning oil supplementation increased (P = 0.001) SQ PUFA content. Feeding oils containing PUFA to lambs pre- and postweaning did not increase CLA content of muscle, whereas postweaning oil supplementation minimally increased CLA concentration of SQ fat. Inclusion of soybean and linseed oil in pre- and postweaning diets increased total PUFA content of SQ fat and muscle tissue without adversely affecting growth performance or carcass characteristics.

Effect of monensin on mineral balance in growing ruminants reared under different environmental temperatures

To test the effect of monensin on the mineral balance of growing cattle under different environmental temperatures, 24 male steers were assigned in a 2 x 2 factorial arrangement, contrasting 0 and 85 mg monensin/animal per day at 24.3 and 33.2 degrees C (environmental temperatures). Monensin effect was directly modulated by the environmental temperature: it increased apparent retentions of P (P=0.066), Na (P=0.005) and K (P=0.003), at the higher temperature and decreased these apparent retentions at the lower temperature, as compared with non-supplemented animals. Monensin increased fecal Ca (P=0.037), and urinary P (P=0.002), Na (P=0.003), K (P=0.014), Mg (P=0.051) and Zn (P=0.091), with higher concentrations of these minerals in animals held at 24.3 degrees C and lower concentrations in those at 33.2 degrees C, as compared with non-supplemented animals. Monensin decreased serum Mg (P=0.001) and increased serum Zn (P=0.071) in animals at 33.2 degrees C and increased serum Mg and decreased serum Zn at 24.3 degrees C. Irrespective of temperature, monensin increased both apparent absorption (P=0.058) and apparent retention (P=0.093) of P, and also urine Cu (P=0.085). Environmental temperature modulated monensin effects on mineral balance. Monensin increased apparent retention of several minerals in animals under heat stress. (C) 2007 Elsevier B.V. All rights reserved.