Decentralised formation control and stability analysis for cooperative multi-vehicle manoeuvre

Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multi-vehicle formation control problem. It employs the “extension-decomposition-aggregation” scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.

Representaciones del cuerpo, discursos e identidad del pueblo afroecuatoriano.

En el territorio ancestral del Valle del Chota – La Concepción y Salinas, enclavado en el límite político administrativo de las provincias de Imbabura y Carchi, al norte del ecuador, habita una población de origen africano que fue introducida por la orden de Loyola a finales del siglo XVI en condición de esclavizado, destinados al cultivo de caña de azúcar, a quienes se les negó su condición humana. Para justifica la explotación económica en el ejercicio de la colonialidad del poder, los esclavizadores europeos, blancos, católicos y “Civilizados” se sustentaron en la falsa creencia etnocéntrica que la moral, los valores, la tecnología, la historia y la cultura de ellos, eran superiores a las de las personas esclavizadas. Desde entonces la sociedad ecuatoriana ha desconocido nuestros aportes económicos, sociales, culturales, religiosos y militares al país y, hasta hace poco, en la práctica, nuestros derechos de ciudadanía. Esto se conoce como racismo estructural.

A influência dos factores humanos, ambientais e do pastoreio na ocorrência de geneta (Genetta genetta) no Sítio Monfurado

O presente estudo determina e analisa a importância relativa de diversos descritores ambientais, de pastoreio e de influência humana directa na distribuição da geneta (Genetta genetta L., 1758). O estudo decorreu em Monfurado, Sítio de Importância Comunitária, no Sul de Portugal. A área de estudo é predominantemente agrícola, maioritariamente ocupada por montado. A análise do padrão de distribuição deste carnívoro através de partição da variância e de ITMC (lnformation Theoretic Model Comparison) teve como objectivo orientar as prioridades na gestão das actividades humanas, compatíveis com a presença da espécie. Os resultados mostram que a distribuição da geneta é maioritariamente influenciada pelos descritores ambientais, apresentando uma relação positiva com densidade de montado com matos, conteúdo de matéria orgânica do solo e índice de Shannon de diversidade vertical da vegetação. A sua presença parece também ser promovida por níveis intermédios de pastoreio e fora das zonas de caça do regime cinegético especial. ABSTRACT; This study determines and analyses the relative importance of several environmental, livestock and human descriptors in the distribution of the common genet (Genetta genetta L., 1758). The study was conducted in Monfurado, a Site of Communitary lmportance, in South Portugal. The study area is Mediterranean farmland and is dominated by evergreen oak tree stands, named "montado". Modeling the distribution of this carnivore species was evaluated on the basis of ITMC (lnformation Theoretic Model Comparison) and variation partitioning techniques aiming to define human management activities compatible with the species conservation. The results show that the species distribution is mainly influenced by the environmental descriptors, and is positively related with montado and shrubs density, soil organic matter and Shannon's index of vertical vegetation diversity. Genet presence is favoured by intermediate levels of grazing and outside of game estates areas.

Ecogeography of roe deer: relation with other ungulates in sympatry

Understanding the spatial distribution of organisms is a central topic in ecology. The European roe deer (Capreolus capreolus) population is in Portugal and Norway at the southwestern and northern edge of its distribution, respectively. Understanding the factors that act on these populations enlightens both local aspects concerning their conservation and wider scale aspects of the species bioclimatic envelope, which is crucial for being better able to predict the impacts of environmental change. The main aim of this thesis was to evaluate roe deer distribution in Portugal and Norway, two countries with contrasting landscapes, seasonality and with different anthropogenic pressure. The interspecific relationship with sympatric ungulates was also analysed. By using pellet group counts, we investigated habitat use of roe deer, identifying the major environmental descriptors, to understand the importance of forest structure, vegetation characteristics, landscape structure and human disturbance on their distribution. The analyses were based on presence – absence data and were carried out at two spatial scales. The results showed that habitat use of roe deer was different across countries. In Portugal, at the local scale, roe deer distribution was positively associated with high density of shrubs, especially heather and brambles, while the presence of red deer had a negative effect on their distribution. At a broad scale, roe deer was negatively associated with spatial heterogeneity, namely mean shape index and made less use of areas close to agricultural fields. In Norway, at the local scale, roe deer made more use of areas with high cover of deciduous trees and patches containing juniper and Vaccinium sp.. At a broad scale, roe deer use patches near edges between fields and forest. In both countries, roe deer make use of areas further away from roads. While in Norway roe deer in both summer and winter are always close to houses, in Portugal they are either far (summer) or indifferent (winter). Anthropogenic disturbance is better tolerated in Norway, where the importance of the critical season seems to be higher. Human disturbance may contribute to roe deer habitat loss in Portugal, while roe deer are able to persist close to humans in managed landscapes in Norway. In fact, some of the differences observed could be more due to the indirect impacts of human exploitation (e.g. presence of free-ranging dogs and hunting regulation) rather than the actual human presence or land-use per se. I conclude that the methodology and tools developed here are readily expandable to address similar questions in different contexts. Wildlife management would benefit greatly from a more holistic/integrative approach and that should include human aspects, as human disturbance is expected to continue increasing.

Ecology and conservation of felids in the Brazilian pantanal

Habitat conversion and environmental degradation have reached alarming levels in the Pantanal, endangering all its biodiversity. This scenario is complicated by the fact that the biome relies on only a few protected areas, which combined do not exceed 10% of the territory. Felids, as predators, play a vital role in the maintenance of this ecosystem, but require large areas, have low population densities and, typically, are very sensitive to environmental disturbances. Amolar Mountain Ridge is considered an area of extreme importance and high priority for conservation within the biome. There are four species of felids in this region: the jaguar (Panthera onca), the puma (Puma concolor), the ocelot (Leopardus pardalis), and jaguarundi (Puma yagouaroundi). However, little is known about the ecology of these species in this region or the magnitude of interaction between the communities living around the protected areas and the animals. The goal of this study was to increase our knowledge about these felids and understand how people interact with them in order to contribute to their conservation in the network of parks within Amolar. Camera trapping surveys were carried out in two areas of the network, covering approximately 83,000 hectares, in order to identify the species of mammals occurring in the region, those that may be potential prey for the felids, and to obtain basic ecological data about both felids and prey. In addition, we conducted surveys in three riverside schools in order to assess the knowledge, perceptions and attitudes of schoolchildren regarding the four focal felids, and surveys among the adult population to assess their perceptions and attitudes towards the jaguar. We recorded a total of 33 species of mammals from both study areas. The large cats were cathemeral, reflecting the temporal activity of larger prey, whereas the ocelot was nocturnal, mirroring the activity of smaller prey. Jaguar occupancy was influenced by prey abundance, while puma occupancy was influenced by patch density in drier dense forest. Jaguars and pumas may be competitors over temporal and spatial scales, while no resource overlap was found for ocelots. Overall, both adults and children tended to have negative perceptions about the cats, which were related to the fear of being attacked. To increase awareness about the species and to maximize the effectiveness of protective measures in the network of reserves, it is recommended to develop and implement an Environmental Educational Program in the medium- to long-term in order to minimize the fear of these felids and to counsel locals on the role of felids in the maintenance of the Pantanal’s biodiversity.

Métodos de censo de perdiz-vermelha (Alectoris rufa L.) em zonas de alta e baixa densidades

Dissertação de mest., Gestão e Conservação da Natureza, Faculdade de Ciências do Mar e do Ambiente, Univ. do Algarve, 2006

Old conflicts, new rivals? Airline competition in the European market

Christoph Franz of Lufthansa recently identified Ryanair, easyJet, Air Berlin and Emirates as the company’s main competitors – gone are the days when it could benchmark itself against BA or Air France-KLM! This paper probes behind the headlines to assess the extent to which different airlines are in competition, using evidence from the UK and mainland European markets. The issue of route versus network competition is addressed. Many regulators have put an emphasis on the former whereas the latter, although less obvious, can be more relevant. For example, BA and American will cease to compete between London and Dallas Fort Worth if their alliance obtains anti-trust immunity but 80% of the passengers on this route are connecting at one or both ends and hence arguably belong to different markets (e.g. London-San Francisco, Zurich-Dallas, Edinburgh-New Orleans) which may be highly contested. The remaining 20% of local traffic is actually insufficient to support a single point to point service in its own right. Estimates are made of the seat capacity major airlines are offering to the local market as distinct from feeding other routes. On a sector such as Manchester–Amsterdam, 60% of KLM’s passengers are transferring at Schiphol as against only 1% of bmibaby’s. Thus although KLM operates 5 flights and 630 seats per day against bmibaby’s 2 flights and 298 seats, in the point to point market bmibaby offers more seats than KLM. The growth of the Low Cost Carriers (LCCs) means that competition increasingly needs to be viewed on city pair markets (e.g. London-Rome) rather than airport pair markets (e.g. Heathrow-Fiumicino). As the stronger LCCs drive out weaker rivals and mainline carriers retrench to their major hubs, some markets now have fewer direct options than existed prior to the low cost boom. Timings and frequencies are considered, in particular the extent to which services are a true alternative especially for business travellers. LCCs typically offer lower frequencies and more unsociable timings (e.g. late evening arrivals at remote airports) as they are more focused on providing the cheapest service rather than the most convenient schedule. Interesting findings on ‘monopoly’ services are presented (including alliances) - certain airlines have many more of these than others. Lufthansa has a significant number of sectors to itself whereas at the other extreme British Airways has direct competition on almost every route in its network. Ryanair and flybe have a higher proportion of monopoly routes than easyJet or Air Berlin. In the domestic US market it has become apparent since deregulation that better financial returns can come from dominating a large number of smaller markets rather than being heavily exposed in the major markets - which are hotly fought over. Regional niches that appear too thin for Ryanair to serve (with its all 189 seat 737-800 fleet) are identified. Fare comparisons in contrasting markets provide some insights to marketing and pricing strategies. Data sources used include OAG (schedules and capacity), AEA (traditional European airlines traffic by region), the UK CAA (airport, airline and route traffic plus survey information of passenger types) and ICAO (international route traffic and capacity by carrier). It is concluded that airlines often have different competitors depending on the context but in surprisingly many cases there are actually few or no direct substitutes. The competitive process set in train by deregulation of European air services in the 1990s is leading back to one of natural monopolies and oblique alternatives. It is the names of the main participants that have changed however!

Antropologia e conservação da natureza. O caso de uma possível reintrodução de espécies outrora emblemáticas no Parque Natural da Serra da Estrela (Portugal)

Dissertação apresentada para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Antropologia - Área de especialização de Natureza e Conservação

Virtuosismo para instrumentário de sopro em Lisboa (1821-1870)

Dissertação apresentada para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Ciências Musicais

Estudo zooarqueológico de restos faunísticos de época islâmica (séculos XII/XIII) de um silo do castelo de Aljezur

Nesta dissertação, é feito o estudo de um conjunto osteológico faunístico de um silo de armazenagem do castelo de Aljezur, datados dos séculos XII/XIII, de acordo com os princípios metodológicos da disciplina da Zooarqueologia. O conjunto foi recolhido em campanhas arqueológicas que tiveram lugar em 1993, tendo-se mantido inédita. Neste estudo em particular, conclui-se que o castelo de Aljezur, sob a ocupação islâmica nos séculos XII/XIII terá sido ocupado por uma comunidade cuja estratégia de subsistência assentava na atividade cinegética de espécies como o coelho-comum, o javali, o veado-vermelho e o lince-ibérico, e à pecuária de ovino-caprinos, equídeos e galo doméstico, com auxílio do cão doméstico na caça e na guarda de rebanhos. No caso dos animais de maior porte, as espécies caçadas e de criação, com a exceção do lince, eram esquartejadas e a sua carne consumida, de acordo com técnicas gastronómicas específicas. Neste caso, os restos foram rejeitados como entulho de colmatação no que fora provavelmente um silo de armazenagem de cereais escavado no solo. O gato doméstico provavelmente integra também este conjunto, justificando-se a sua presença como animal de estimação. Já a presença de lince se justifica pelo interesse da pele. É de salientar ainda que os equídeos, o cágado-mediterrânico e o sapo integravam também os costumes alimentares desta comunidade. Por fim, menciona-se ainda a presença de murídeos, justificando-se a sua presença como animais comensais, típicos dos contextos urbanos.

Haida Totem Poles: Reflections of a Society

The Haida were a First Nations group located on the Northwest Coast of Canada. They were exceptional wood carvers that produced various types of works, the most monumental of which were their totem poles. This dissertation analyses 26 of these open architectural structures, each of which belonged to one of the following five types: frontal, mortuary, memorial, house post, or corner post. Of the representations found on poles, 28 different figures were identified. However, individual poles were found to contain between one and fourteen different figures with frontal poles generally featuring the most. The predominant figures on the inventoried poles proved to be birds, humans, and bears. An iconographic structure of a tripartite character was detected that reflects the religious ideology of the Haida population with birds being featured at the top of the poles, humans in the middle, and bears at the lowest point. It also suggests the possible transition from a hunter-gatherer economy to a food producing economy.***********************************************************************************Os Haida foram um grupo das Primeiras Nações que habitaram a costa Noroeste do Canadá. Eram excepcionais escultores de madeira, tendo produzido variados tipos de artefactos, dos quais os totem poles eram os mais monumentais. Na presente dissertação são analisadas 26 dessas estruturas arquitectónicas de exterior, sendo que cada uma delas pertenceria a um dos seguintes cinco tipos: frontal, funerário, memorial, travemestra, ou postes de esquina. Das representações encontradas nos postes, foram individualizadas 28 figuras. No entanto, em postes isolados foi possível identificar entre uma e catorze figuras distintas, sendo os postes frontais os que apresentavam, geralmente, o maior número. A análise destes postes permitiu detectar uma estrutura iconográfica tripartida que reflectia a ideologia religiosa das populações Haida, representando-se as aves no topo, os humanos a meio, e os ursos na base dos postes. Por outro lado, foi possível sugerir, para estas populações, a transição de uma economia baseada na caça-recolecção para uma economia de produção alimentar.

Elaboración de formulados de Bacillus thuringiensis var. kurstaki y determinación de la actividad tóxica contra larvas de Diatraea saccharalis (Fabricius) (Lepidoptera: Pyralidae) en laboratorio y campo

Tesis ( Doctorado en Ciencias con Especialidad en Biotecnología) UANL

Biology and characterisation of polyalanine as an emerging pathological marker

Dix-huit maladies humaines graves ont jusqu'ici été associées avec des expansions de trinucléotides répétés (TNR) codant soit pour des polyalanines (codées par des codons GCN répétés) soit pour des polyglutamines (codées par des codons CAG répétés) dans des protéines spécifiques. Parmi eux, la dystrophie musculaire oculopharyngée (DMOP), l’Ataxie spinocérébelleuse de type 3 (SCA3) et la maladie de Huntington (MH) sont des troubles à transmission autosomale dominante et à apparition tardive, caractérisés par la présence d'inclusions intranucléaires (IIN). Nous avons déjà identifié la mutation responsable de la DMOP comme étant une petite expansion (2 à 7 répétitions supplémentaires) du codon GCG répété du gène PABPN1. En outre, nous-mêmes ainsi que d’autres chercheurs avons identifié la présence d’événements de décalage du cadre de lecture ribosomique de -1 au niveau des codons répétés CAG des gènes ATXN3 (SCA3) et HTT (MH), entraînant ainsi la traduction de codons répétés hybrides CAG/GCA et la production d'un peptide contenant des polyalanines. Or, les données observées dans la DMOP suggèrent que la toxicité induite par les polyalanines est très sensible à leur quantité et leur longueur. Pour valider notre hypothèse de décalage du cadre de lecture dans le gène ATXN3 dans des modèles animaux, nous avons essayé de reproduire nos constatations chez la drosophile et dans des neurones de mammifères. Nos résultats montrent que l'expression transgénique de codons répétés CAG élargis dans l’ADNc de ATXN3 conduit aux événements de décalage du cadre de lecture -1, et que ces événements sont néfastes. À l'inverse, l'expression transgénique de codons répétés CAA (codant pour les polyglutamines) élargis dans l’ADNc de ATXN3 ne conduit pas aux événements de décalage du cadre de lecture -1, et n’est pas toxique. Par ailleurs, l’ARNm des codons répétés CAG élargis dans ATXN3 ne contribue pas à la toxicité observée dans nos modèles. Ces observations indiquent que l’expansion de polyglutamines dans nos modèles drosophile et de neurones de mammifères pour SCA3 ne suffit pas au développement d'un phénotype. Par conséquent, nous proposons que le décalage du cadre de lecture ribosomique -1 contribue à la toxicité associée aux répétitions CAG dans le gène ATXN3. Pour étudier le décalage du cadre de lecture -1 dans les maladies à expansion de trinucléotides CAG en général, nous avons voulu créer un anticorps capable de détecter le produit présentant ce décalage. Nous rapportons ici la caractérisation d’un anticorps polyclonal qui reconnaît sélectivement les expansions pathologiques de polyalanines dans la protéine PABPN1 impliquée dans la DMOP. En outre, notre anticorps détecte également la présence de protéines contenant des alanines dans les inclusions intranucléaires (IIN) des échantillons de patients SCA3 et MD.

Rutas biológicas virtuales por Puerto Real.

Se presenta memoria final de proyecto educativo que trata de acercar al alumnado del centro, y por extensión de toda la localidad y la comarca, a una realidad en la que ya vienen trabajando en los diez últimos cursos: la educación medioambiental. Se pretende aprovechar la experiencia y el gran trabajo realizado cursos pasados para editarlos en soportes relacionados con las nuevas tecnologías. Se realiza en el CEIP El Trocadero de Puerto Real, Cádiz y se trata de diseñar una serie de itinerarios ecológicos por las zonas verdes y espacios naturales de la zona de Puerto Real. Los objetivos son: respeto por la naturaleza y del entorno más cercano gracias a su conocimiento; aprendizaje de técnicas de observación directa del entorno inmediato; utilización de las TICs para alumnado y profesorado. El proceso consta de varias fases: visita de itinerarios para la elección de los posibles recursos; elaboración de soportes tanto fotográficos como video; realización de reuniones periódicas para trabajar boceto de presentación; visionado de los diferentes soportes que permanecían en el centro; dar cuerpo a la primera ruta. Los resultados han sido: elaboración y digitalización de todas las fichas de plantas propuestas; se han elaborado, limpiado, seleccionado y digitalizado las distintas láminas y dibujos de animales y plantas de la zona; se confeccionan los distintos planos y rutas a desarrollar para luego digitalizarlos; se recopilaron, clasificaron y ordenaron las distintas imágenes obtenidas en salidas y en material específico del centro; todos los temas tratados se han informatizado.