The Territorial Dimension: The Component of Business Strategy that Prevents the Generation of Social Conflicts

Taking advantage of economic opportunities has led to numerous conflicts between society and business in various geographies of the world. Companies have developed social responsibility programs to prevent and manage these types of problems. However, some authors comment that these programs lack a strategic vision. Starting with the Working with People model, created for the field of rural development planning, this paper proposes a methodology to prevent the generation of social conflicts from business strategy: the territorial dimension. The proposal emphasizes that local development support prevents the generation of social conflicts. Finally, an experience in Peru, a country that has been characterized in recent years by high economic growth and also by the presence of social conflicts that have stopped entrepreneurship is analyzed.

Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation

This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments, the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize human lives in a large variety of settings including home, industrial and outdoor environments.

Mobile Manipulation is the use or study of such mobile robots as they interact with physical objects in their environment. As compared to fixed base manipulators, mobile manipulators can take advantage of the base mechanism’s added degrees of freedom in the task planning and execution process. But their use also poses new problems in the analysis and control of base system stability, and the planning of coordinated base and arm motions. For mobile manipulators to be successfully and efficiently used, a thorough understanding of their kinematics, stability, and capabilities is required. Moreover, because mobile manipulators typically possess a large number of actuators, new and efficient methods to coordinate their large numbers of degrees of freedom are needed to make them practically deployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and new algorithms to efficiently plan their motions.

I first develop detailed and novel descriptions of the kinematics governing the operation of multi- limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneously used for manipulation. The fundamental stance constraint that arises from simple assumptions about friction and the ground contact and feasible motions is derived. Thereafter, a local relationship between joint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon these relationships, one can define and analyze local kinematic qualities including limberness, wrench resistance and local dexterity. While previous researchers have noted the similarity between multi- fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these two problems.

The kinematic expressions form the basis for a local motion planning problem that that determines the joint motions to achieve several simultaneous objectives while maintaining stance stability in the presence of gravity. This problem is translated into a convex quadratic program entitled the balanced priority solution, whose existence and uniqueness properties are developed. This problem is related in spirit to the classical redundancy resoxlution and task-priority approaches. With some simple modifications, this local planning and optimization problem can be extended to handle a large variety of goals and constraints that arise in mobile-manipulation. This local planning problem applies readily to other mobile bases including wheeled and articulated bases. This thesis describes the use of the local planning techniques to generate global plans, as well as for use within a feedback loop. The work in this thesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots at NASA/JPL, and a large number of examples involving the two robots, both real and simulated, are provided.

Finally, this thesis provides an analysis of simultaneous force and motion control for multi- limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem for multiple point contacts is described. The local velocity planning problem is extended to include generation of forces, as well as to maintain stability using force-feedback. This thesis also provides a concise, novel definition of static stability, and proves some conditions under which it is satisfied.

Expansion of sunflower crop production in Brazil: a survey of future trends.

Sunflower cropped area in Brazil has been showing potential possibilities to be increased in a short period of time for biofuel production. Planning the activities is one of the requirements for the success of future cropped area expansion. This requires a previous survey that identifies future trends in the transformation and rearrangement of the sunflower agro-industry sector and also identifies technological needs that may affect this process. With the objectives of identify future trends and technological needs, a value production chain was built and a questionary was applied to agents of all the sectors participating at the V National Brazilian Symposium of Sunflower and at the XVII Sunflower National Research Meeting Network. The results pointed out a strong tendency for area expansion in the next two to five years (75%); being as a secondary follow-up crop (83%) specially after soybean and top be used for biofuel (77%). The main research needs were linked with disease control, crop zoning and varietal improvement for disease resistance and high oleic oil content. Also considering the vision of and concerns regarding the future expansion and transformation of the sunflower productive complex, it is believed that the expansion is a consolidated trend, requiring a strategic sector planning associated with an economic and technological police for its success within the Brazilian agribusiness.

Feasibility assessment of sugarcane expansion in southwest Goiás, Brazil based on the GIS technology.

The current study approaches the sugarcane culture expansion in Southwestern Goiás, especially in Mineiros, Quirinópolis and Rio Verde counties, which represent different times and responses to this process. The current logistics structure and future prospects for sugarcane and its derivatives transportation are studied at national level with emphasis to the aforementioned micro-region. Maps showing land use and land cover in three different years were generated from Landsat TM-5 satellite images and they were used to analyze the dynamics of changes in land use and in land cover. The region is marked by strong and rapid growth in the agricultural sector and its sugar-energy industry has been expanding in recent years, although with different aspects among its counties. Since it is a promising region in this sector, due to the favorable soil and weather conditions to the crop, the region requires more investment and planning in logistics to ensure production flow and to make it stronger within domestic and foreign markets.