Efeito de subdoses de 2,4-D na produtividade do algodão e suscetibilidade da cultura em função de seu estádio de desenvolvimento

O objetivo deste trabalho foi avaliar o efeito de subdoses de 2,4-D no desenvolvimento e produtividade da cultura do algodoeiro. Dois experimentos foram conduzidos utilizando-se da variedade IAPAR-95 e o sistema de avaliação por meio de testemunhas duplas. No primeiro experimento, as aplicações foram realizadas no estádio F1 (início do florescimento), aplicando-se dosagens de 0,84; 1,68; 3,36; 6,72; 13,44 e 26,88 g de equivalente ácido (e.a.) por hectare, equivalentes a derivas de 0,125; 0,25; 0,5; 1,0; 2,0 e 4,0% da dose de 670 g e.a. ha-1. No segundo experimento, os tratamentos foram constituídos pela combinação em esquema fatorial de duas doses (6,72 e 13,44 g e.a. ha-1) e três épocas de aplicação (C1, C3/C4 e C6), visando a avaliar a variação da sensibilidade do algodão ao 2,4-D em função de seu estádio de desenvolvimento. Os resultados evidenciaram que doses maiores que 3,36 g e.a. ha-1 (0,50%) aplicadas na fase de florescimento afetaram de forma significativa a produtividade, que a queda dos botões florais foi o sintoma mais importante para a redução da produtividade. No segundo experimento, observou-se que a sensibilidade do algodão caiu drasticamente em função do estádio de desenvolvimento. O único tratamento que provocou queda significativa de produtividade foi a dose de 13,44 g e.a. ha-1 (2,0%) aplicada no estádio C1. Dessa forma, a partir do momento em que as maçãs começam a se formar, a sensibilidade da cultura cai substancialmente.

Efeito de subdoses de 2,4-D na produtividade de fumo e suscetibilidade da cultura em função de seu estádio de desenvolvimento

O presente trabalho teve como objetivo determinar os efeitos de subdoses do herbicida 2,4-D na cultura do fumo. Os experimentos foram conduzidos a campo durante o ano de 2003, no município de Santa Isabel do Ivaí - PR, utilizando-se de fumo tipo Virgínia. No primeiro experimento, foram aplicadas, no estádio de pré-florescimento, doses de 0,84; 1,68; 3,36; 6,72; 13,44 e 26,88 g e.a. ha-1 de 2,4-D, equivalentes à deriva de 0,125; 0,25; 0,5; 1,0; 2,0 e 4,0% de produtos comerciais aplicados a 1,0 L ha-1 (670 g e.a. ha-1). Para o segundo experimento, os tratamentos foram constituídos pela combinação em esquema fatorial de duas doses (6,72 e 13,44 g e.a. ha-1, equivalentes a 1,0 e 2,0% de deriva) e três épocas de aplicação após o transplante para o campo. Nenhum sintoma visual marcante de fitotoxicidade foi observado dentro da faixa de doses avaliada. Visualmente, alguns dos possíveis efeitos atribuídos à fitotoxicidade ocasionada pela deriva de 2,4-D na cultura do fumo podem estar associados à utilização de antibrotantes. Nenhuma das doses aplicadas no primeiro experimento afetou a produtividade da cultura, nem o aspecto e qualidade das folhas, tendo o fumo tolerado até 4,0% de deriva avaliada. Resultados obtidos no segundo experimento confirmaram esses dados, constatando-se que níveis de deriva de até 2,0% (13,44 g e.a. ha-1), aplicados em três fases após o transplante das mudas para o campo, não causaram qualquer efeito negativo sobre a produtividade da cultura.

Efeito de subdoses de 2,4-D na produtividade de uva itália e suscetibilidade da cultura em função de seu estádio de desenvolvimento

Durante os anos agrícolas de 2002-2003 e 2003-2004 foram conduzidos trabalhos no município de Maringá - PR, com o objetivo de avaliar o dano potencial de subdoses de 2,4-D sobre plantas de uva, imitando depósitos decorrentes de deriva. No primeiro experimento, a aplicação foi realizada cerca de 30 dias após a poda de inverno, num pomar de uva Itália. As doses utilizadas foram de 6,72; 13,44; 26,88; 53,76 e 107,52 g de equivalente ácido (e.a.) por hectare de 2,4-D, equivalentes a depósitos de 1,0%; 2,0%; 4,0%; 8,0% e 16,0%, assumindo-se uma aplicação de 1 L ha-1 (670 g e.a. ha-1). Nessa data, as plantas encontravam-se na fase de emissão de cachos e florescimento (estádio 15). O surgimento de sintomas visuais de fitointoxicação foi imediato e proporcional às doses aplicadas. A produtividade da cultura foi afetada por todas as doses aplicadas nesse estádio de crescimento. No entanto, mesmo com as injúrias severas registradas na dose mais alta, as plantas afetadas se recuperaram após duas podas para as condições de manejo regionais (duas safras por ano). No segundo experimento, foram aplicadas doses equivalentes a derivas de 1,0 e 2,0% (6,72 e 13,44 g e.a. ha-1) em três estádios do ciclo de desenvolvimento. A aplicação de doses < 13,44 g e.a. ha-1 (2,0% de deriva simulada) a partir do estádio de "meia-baga", não causou repercussões negativas em termos de injúrias visuais e produtividade.

Usable Privacy Preservation in Mobile Electronic Personality

Personalised ubiquitous services have rapidly proliferated due technological advancements in sensing, ubiquitous and mobile computing. Evolving societal trends, business and the economic potential of Personal Information (PI) have overlapped the service niches. At the same time, the societal thirst for more personalised services has increased and are met by soliciting deeper and more privacy invasive PI from customers. Consequentially, reinforcing traditional privacy challenges and unearthed new risks that render classical safeguards ine ective. The absence of solutions to criticise personalised ubiquitous services from privacy perspectives, aggravates the situation. This thesis presents a solution permitting users' PI, stored in their mobile terminals to be disclosed to services in privacy preserving manner for personalisation needs. The approach termed, Mobile Electronic Personality Version 2 (ME2.0), is compared to alternative mechanisms. Within ME2.0, PI handling vulnerabilities of ubiquitous services are identi ed and sensitised on their practices and privacy implications. Vulnerability where PI may leak through covert solicits, excessive acquisitions and legitimate data re-purposing to erode users privacy are also considered. In this thesis, the design, components, internal structures, architectures, scenarios and evaluations of ME2.0 are detailed. The design addresses implications and challenges leveraged by mobile terminals. ME2.0 components and internal structures discusses the functions related to how PI pieces are stored and handled by terminals and services. The architecture focusses on di erent components and their exchanges with services. Scenarios where ME2.0 is used are presented from di erent environment views, before evaluating for performance, privacy and usability.

Control of a one-legged robot with energy savings

This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared.

A simple HPLC-fluorescence method for the measurement of R,S-sotalol in the plasma of patients with life-threatening cardiac arrhythmias

R,S-sotalol, a ß-blocker drug with class III antiarrhythmic properties, is prescribed to patients with ventricular, atrial and supraventricular arrhythmias. A simple and sensitive method based on HPLC-fluorescence is described for the quantification of R,S-sotalol racemate in 500 µl of plasma. R,S-sotalol and its internal standard (atenolol) were eluted after 5.9 and 8.5 min, respectively, from a 4-micron C18 reverse-phase column using a mobile phase consisting of 80 mM KH2PO4, pH 4.6, and acetonitrile (95:5, v/v) at a flow rate of 0.5 ml/min with detection at lex = 235 nm and lem = 310 nm, respectively. This method, validated on the basis of R,S-sotalol measurements in spiked blank plasma, presented 20 ng/ml sensitivity, 20-10,000 ng/ml linearity, and 2.9 and 4.8% intra- and interassay precision, respectively. Plasma sotalol concentrations were determined by applying this method to investigate five high-risk patients with atrial fibrillation admitted to the Emergency Service of the Medical School Hospital, who received sotalol, 160 mg po, as loading dose. Blood samples were collected from a peripheral vein at zero, 0.5, 1.0, 1.5, 2.0, 3.0, 4.0, 6.0, 8.0, 12.0 and 24.0 h after drug administration. A two-compartment open model was applied. Data obtained, expressed as mean, were: CMAX = 1230 ng/ml, TMAX = 1.8 h, AUCT = 10645 ng h-1 ml-1, Kab = 1.23 h-1, a = 0.95 h-1, ß = 0.09 h-1, t(1/2)ß = 7.8 h, ClT/F = 3.94 ml min-1 kg-1, and Vd/F = 2.53 l/kg. A good systemic availability and a fast absorption were obtained. Drug distribution was reduced to the same extent in terms of total body clearance when patients and healthy volunteers were compared, and consequently elimination half-life remained unchanged. Thus, the method described in the present study is useful for therapeutic drug monitoring purposes, pharmacokinetic investigation and pharmacokinetic-pharmacodynamic sotalol studies in patients with tachyarrhythmias.

Essays in labor and public economics

Dans ma thèse, je me sers de modèles de recherche solides pour répondre à des questions importantes de politique publique. Mon premier chapitre évalue l’impact causal de l’allégeance partisane (républicain ou démocrate) des gouverneurs américains sur le marché du travail. Dans ce chapitre, je combine les élections des gouverneurs avec les données du March CPS pour les années fiscales 1977 à 2008. En utilisant un modèle de régression par discontinuité, je trouve que les gouverneurs démocrates sont associés à de plus faibles revenus individuels moyens. Je mets en évidence que cela est entrainée par un changement dans la composition de la main-d’oeuvre à la suite d’une augmentation de l’emploi des travailleurs à revenus faibles et moyens. Je trouve que les gouverneurs démocrates provoquent une augmentation de l’emploi des noirs et de leurs heures travaillées. Ces résultats conduisent à une réduction de l’écart salarial entre les travailleurs noir et blanc. Mon deuxième chapitre étudie l’impact causal des fusillades qui se produisent dans les écoles secondaires américaines sur les performances des éléves et les résultats des écoles tels que les effectifs et le nombre d’enseignants recruté, a l’aide d’une stratégie de différence-en-différence. Le chapitre est coécrit avec Dongwoo Kim. Nous constatons que les fusillades dans les écoles réduisent significativement l’effectif des élèves de 9e année, la proportion d’élèves ayant un niveau adéquat en anglais et en mathématiques. Nous examinons aussi l’effet hétérogene des tueries dans les écoles secondaires entre les crimes et les suicides. Nous trouvons que les fusillades de natures criminelles provoquent la diminution du nombre d’inscriptions et de la proportion d’élèves adéquats en anglais et mathématiques. En utilisant des données sur les élèves en Californie, nous confirmons qu’une partie de l’effet sur la performance des élèves provient des étudiants inscrits et ce n’est pas uniquement un effet de composition. Mon troisième chapitre étudie l’impact des cellulaires sur la performance scolaire des élèves. Le chapitre est coécrit avec Richard Murphy. Dans ce chapitre, nous combinons une base de données unique contenant les politiques de téléphonie mobile des écoles obtenues à partir d’une enquète auprès des écoles dans quatre villes en Angleterre avec des données administratives sur la performance scolaire des éleves. Nous étudions ainsi l’impact de l’introduction d’une interdiction de téléphonie mobile sur le rendement des éleves. Nos résultats indiquent qu’il y a une augmentation du rendement des éleves après l’instauration de l’interdiction des cellulaires à l’école, ce qui suggère que les téléphones mobiles sont sources de distraction pour l’apprentissage et l’introduction d’une interdiction à l’école limite ce problème.

Adolescents, neurosciences et prise de décisions médicales: devrions-nous revoir certaines dispositions du Code civil du Québec?

Article

A Colony Architecture for an Artificial Creature

This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent "behaviors'' distributed over a loosely coupled network of 24 processors. Together this ensemble helps the robot locate cans with its laser rangefinder, collect them with its on-board manipulator, and bring them home using a compass and an array of proximity sensors. We discuss the advantages of using such a multi-agent control system and show how to decompose the required tasks into component activities. We also examine the benefits and limitations of spatially local, stateless, and independent computation by the agents.

Heterogeneous Multi-Robot Cooperation

This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control.

Interaction and Intelligent Behavior

We introduce basic behaviors as primitives for control and learning in situated, embodied agents interacting in complex domains. We propose methods for selecting, formally specifying, algorithmically implementing, empirically evaluating, and combining behaviors from a basic set. We also introduce a general methodology for automatically constructing higher--level behaviors by learning to select from this set. Based on a formulation of reinforcement learning using conditions, behaviors, and shaped reinforcement, out approach makes behavior selection learnable in noisy, uncertain environments with stochastic dynamics. All described ideas are validated with groups of up to 20 mobile robots performing safe--wandering, following, aggregation, dispersion, homing, flocking, foraging, and learning to forage.

Integració d’ una unitat inercial i d’ un giroscopi de fibra òptica en un robot submarí i desenvolupament d’ un sistema de posicionament dins una piscina

El Grup de Visió per Computador i Robòtica (VICOROB) del departament d'Electrònica, Informàtica i Automàtica de la Universitat de Girona investiga en el camp de la robòtica submarina. Al CIRS (Centre d’Investigació en Robòtica Submarina), laboratori que forma part del grup VICOROB, el robot submarí Ictineu és la principal eina utilitzada per a desenvolupar els projectes de recerca. Recentment, el CIRS ha adquirit un nou sistema de sensors d' orientació basat en una unitat inercial i un giroscopi de fibra òptica. Aquest projecte pretén realitzar un estudi d' aquests dispositius i integrar-los al robot Ictineu. D' altra banda, aprofitant les característiques d’aquests sensors giroscopics i les mesures d' un sonar ja integrat al robot, es vol desenvolupar un sistema de localització capaç de determinar la posició del robot en el pla horitzontal de la piscina en temps real

Millora experimental de les lleis de control predictiu aplicades sobre la plataforma PRIM I, per el seguiment de trajectòries

Aquest projecte s’aplica sobre el robot PRIM (Plataforma Robotitzada d’Informació Multimèdia), un robot autònom no humanoide creat el 2004 per Ateneu Informàtic (AI) que permet realitzar trajectòries 2D gràcies a un sistema de tracció format per dues rodes motrius propulsades independentment. La plataforma PRIM és controlada a partir del control predictiu, aquest control es va implementar en un projecte anterior, creat per l’Alexandre Blasco Gutierrez i titulat “Implementació de tècniques MPC (Model Predictiu Control) sobre la plataforma PRIM I”. El que es pretén en aquest projecte és millorar els resultats obtinguts en el passat projecte reformulant la llei de control i analitzar les discrepàncies obtingudes en les metodologies que s’utilitzen per minimitzar la funció de costos a partir de simulacions de trajectòries

Integració i estudi d’un conjunt de propulsors per un robot submarí

L’objectiu d’aquest projecte/treball fi de carrera es estudiar els propulsors i el seu protocol de comunicació proporcionant informació útil a l’hora de dissenyar i construir el robot subaquàtic que implementi els propulsors

Programació del robot e-puck amb Microsoft Robotics Studio

Microsoft Robotics Studio (MRS) és un entorn per a crear aplicacions per a robots utilitzant una gran varietat de plataformes hardware. Conté un entorn de simulació en el que es pot modelar i simular el moviment del robot. Permet també programar el robot, i executar-lo en l’entorn simulat o bé en el real. MRS resol la comunicació entre els diferents processos asíncrons que solen estar presents en el software de control d’un robot: processos per atendre sensors, actuadors, sistemes de control, comunicacions amb l’exterior,... MRS es pot utilitzar per modelar nous robots utilitzant components que ja estiguin disponibles en les seves llibreries, o també permet crear component nous. Per tal de conèixer en detall aquesta eina, seria interessant utilitzar-la per programa els robots e-pucks, uns robots mòbils autònoms de petites dimensions que disposen de dos motors i un complet conjunt de sensors. El que es vol és simular-los, realitzar un programa de control, realitzar la interfície amb el robot i comprovar el funcionament amb el robot real