Small teleoperated vehicles: study of potential use cases and empirical prototyping

This thesis researches the current state of small teleoperated devices, the need for them and developing one. Small teleoperated devices give the possibility to perform tasks that are impossible or dangerous for humans. This work concentrates on small devices and cheap components and discloses one way of developing a teleoperated vehicle, but not necessarily the optimal way. Development and the current state of teleoperation were studied by a literature review, in which the data was searched from literature as well as from the Internet. The need for teleoperated devices was mapped through a survey, where 11 professionals from variating fields were interviewed how they could utilize a teleoperated devices and with what kind of features. Also, a prototype was built as a proof of concept of small teleoperated devices. The prototype is controlled by a single-board microcomputer that also streams video to the controlling device. The video can be viewed on a display or with a head mounted display.

Les impacts de la dispersion historique sur la variabilité génétique à différentes échelles spatiales : connaître l'histoire pour mieux comprendre le présent.

La variabilité génétique actuelle est influencée par une combinaison complexe de variables historiques et contemporaines. Dès lors, une interprétation juste de l’impact des processus actuels nécessite une compréhension profonde des processus historiques ayant influencé la variabilité génétique. En se basant sur la prémisse que des populations proches devraient partager une histoire commune récente, nombreuses études, effectuées à petite échelle spatiale, ne prennent pas en considération l’effet potentiel des processus historiques. Cette thèse avait pour but de vérifier la validité de cette prémisse en estimant l’effet de la dispersion historique à grande et à petite échelle spatiale. Le premier volet de cette thèse avait pour but d’évaluer l’impact de la dispersion historique sur la répartition des organismes à grande échelle spatiale. Pour ce faire, les moules d’eau douce du genre flotteurs (Pyganodon spp.) ont servies de modèle biologique. Les moules d'eau douce se dispersent principalement au stade larvaire en tant que parasites des poissons. Une série de modèles nuls ont été développés pour évaluer la co-occurrence entre des parasites et leurs hôtes potenitels. Les associations distinctes du flotteur de Terre-Neuve (P. fragilis) avec des espèces de poissons euryhalins permettent d’expliquer sa répartition. Ces associations distinctes ont également pu favoriser la différenciation entre le flotteur de Terre-Neuve et son taxon soeur : le flotteur de l’Est (P. cataracta). Cette étude a démontré les effets des associations biologiques historiques sur les répartitions à grande échelle spatiale. Le second volet de cette thèse avait pour but d’évaluer l’impact de la dispersion historique sur la variabilité génétique, à petite échelle spatiale. Cette fois, différentes populations de crapet de roche (Ambloplites rupestris) et de crapet soleil (Lepomis gibbosus), dans des drainages adjacents ont servies de modèle biologique. Les différences frappantes observées entre les deux espèces suggèrent des patrons de colonisation opposés. La faible diversité génétique observée en amont des drainages et la forte différenciation observée entre les drainages pour les populations de crapet de roche suggèrent que cette espèce aurait colonisé les drainages à partir d'une source en aval. Au contraire, la faible différenciation et la forte diversité génétique observées en amont des drainages pour les populations de crapet soleil suggèrent une colonisation depuis l’amont, induisant du même coup un faux signal de flux génique entre les drainages. La présente étude a démontré que la dispersion historique peut entraver la capacité d'estimer la connectivité actuelle, à petite échelle spatiale, invalidant ainsi la prémisse testée dans cette thèse. Les impacts des processus historiques sur la variabilité génétique ne sont pas faciles à démontrer. Le troisième volet de cette thèse avait pour but de développer une méthode permettant de les détecter. La méthode proposée est très souple et favorise la comparaison entre la variabilité génétique et plusieurs hypothèses de dispersion. La méthode pourrait donc être utilisée pour comparer des hypothèses de dispersion basées sur le paysage historique et sur le paysage actuel et ainsi permettre l’évaluation des impacts historiques et contemporains sur la variabilité génétique. Les performances de la méthode sont présentées pour plusieurs scénarios de simulations, d’une complexité croissante. Malgré un impact de la différentiation globale, du nombre d’individus ou du nombre de loci échantillonné, la méthode apparaît hautement efficace. Afin d’illustrer le potentiel de la méthode, deux jeux de données empiriques très contrastés, publiés précédemment, ont été ré analysés. Cette thèse a démontré les impacts de la dispersion historique sur la variabilité génétique à différentes échelles spatiales. Les effets historiques potentiels doivent être pris en considération avant d’évaluer les impacts des processus écologiques sur la variabilité génétique. Bref, il faut intégrer l’évolution à l’écologie.

Poverty, Inequality and Natural Resources Degradation

The present study is an attempt to understand the link between natural resource degradation and poverty among people dependent on these resources. This is done by examining the impact of depletion of marine resources on the livelihood and socio-economic condition of the small-scale marine fishery community in South Kerala. In Kerala, nearly ten lakh fisherfolk depend on the marine fishery resources for their livelihood. The overall level of education of the small-scale fishing community is lower than that of the State’s rural population. Almost all the households surveyed, is one way or other, depend on fishery resources for livelihood. Low levels percapita income and high levels of inequality imply the existence of a large proportion of poor people in the community who are vulnerable to external shocks. The study reveals that poverty was comparatively higher among households with no fishing assets, with only one earner, with more than two children, and depending entirely on pensions/remittances. The study has not provided any evidence to show that poverty in the community is the result of depletion of marine resources.

Overseas trained teachers: part of a problem or part of a solution?

Overseas trained teachers (OTTs) have grown in numbers during the past decade, particularly in London and the South East of England. In this recruitment explosion many OTTs have experienced difficulties. In professional literature as well as press coverage OTTs often become part of a deficit discourse. A small-scale pilot investigation of OTT experience has begun to suggest why OTTs have been successful as well as the principal challenges they have faced. An important factor in their success was felt to be the quality of support in school from others on the staff. Major challenges included the complexity of the primary curriculum. The argument that globalisation leads to brain-drain may be exaggerated. Suggestions for further research are made, which might indicate the positive benefits OTTs can bring to a school.

The socioeconomics of food crop production and climate change vulnerability: a global scale quantitative analysis of how grain crops are sensitive to drought

Many studies warn that climate change may undermine global food security. Much work on this topic focuses on modelling crop-weather interactions but these models do not generally account for the ways in which socio-economic factors influence how harvests are affected by weather. To address this gap, this paper uses a quantitative harvest vulnerability index based on annual soil moisture and grain production data as the dependent variables in a Linear Mixed Effects model with national scale socio-economic data as independent variables for the period 1990-2005. Results show that rice, wheat and maize production in middle income countries were especially vulnerable to droughts. By contrast, harvests in countries with higher investments in agriculture (e.g higher amounts of fertilizer use) were less vulnerable to drought. In terms of differences between the world's major grain crops, factors that made rice and wheat crops vulnerable to drought were quite consistent, whilst those of maize crops varied considerably depending on the type of region. This is likely due to the fact that maize is produced under very different conditions worldwide. One recommendation for reducing drought vulnerability risks is coordinated development and adaptation policies, including institutional support that enables farmers to take proactive action.

On the distortion of turbulence by a progressive surface wave

A rapid-distortion model is developed to investigate the interaction of weak turbulence with a monochromatic irrotational surface water wave. The model is applicable when the orbital velocity of the wave is larger than the turbulence intensity, and when the slope of the wave is sufficiently high that the straining of the turbulence by the wave dominates over the straining of the turbulence by itself. The turbulence suffers two distortions. Firstly, vorticity in the turbulence is modulated by the wave orbital motions, which leads to the streamwise Reynolds stress attaining maxima at the wave crests and minima at the wave troughs; the Reynolds stress normal to the free surface develops minima at the wave crests and maxima at the troughs. Secondly, over several wave cycles the Stokes drift associated with the wave tilts vertical vorticity into the horizontal direction, subsequently stretching it into elongated streamwise vortices, which come to dominate the flow. These results are shown to be strikingly different from turbulence distorted by a mean shear flow, when `streaky structures' of high and low streamwise velocity fluctuations develop. It is shown that, in the case of distortion by a mean shear flow, the tendency for the mean shear to produce streamwise vortices by distortion of the turbulent vorticity is largely cancelled by a distortion of the mean vorticity by the turbulent fluctuations. This latter process is absent in distortion by Stokes drift, since there is then no mean vorticity. The components of the Reynolds stress and the integral length scales computed from turbulence distorted by Stokes drift show the same behaviour as in the simulations of Langmuir turbulence reported by McWilliams, Sullivan & Moeng (1997). Hence we suggest that turbulent vorticity in the upper ocean, such as produced by breaking waves, may help to provide the initial seeds for Langmuir circulations, thereby complementing the shear-flow instability mechanism developed by Craik & Leibovich (1976). The tilting of the vertical vorticity into the horizontal by the Stokes drift tends also to produce a shear stress that does work against the mean straining associated with the wave orbital motions. The turbulent kinetic energy then increases at the expense of energy in the wave. Hence the wave decays. An expression for the wave attenuation rate is obtained by scaling the equation for the wave energy, and is found to be broadly consistent with available laboratory data.