Resource use pattern and agroecosystem functioning in Rawanganga micro-watershed in Garhwal Himalaya, India

Agro-ecological resource use pattern in a traditional hill agricultural watershed in Garhwal Himalaya was analysed along an altitudinal transect. Thirty one food crops were found, although only 0.5% agriculture land is under irrigation in the area. Fifteen different tree species within agroforestry systems were located and their density varied from 30-90 trees/ha. Grain yield, fodder from agroforest trees and crop residue were observed to be highest between 1200 and 1600 m a.s.l. Also the annual energy input- output ratio per hectare was highest between 1200 and 1600 m a.s.l. (1.46). This higher input- output ratio between 1200-1600 m a.s.l. was attributed to the fact that green fodder, obtained from agroforestry trees, was considered as farm produce. The energy budget across altitudinal zones revealed 95% contribution of the farmyard manure and the maximum output was in terms of either crop residue (35%) or fodder (55%) from the agroforestry component. Presently on average 23%, 29% and 41% cattle were dependent on stall feeding in villages located at higher, lower and middle altitudes respectively. Similarly, fuel wood consumption was greatly influenced by altitude and family size. The efficiency and sustainability of the hill agroecosystem can be restored by strengthening of the agroforestry component. The approach will be appreciated by the local communities and will readily find their acceptance and can ensure their effective participation in the programme.

Derivation of an Efficient Rule System Pattern Matcher

Formalizing algorithm derivations is a necessary prerequisite for developing automated algorithm design systems. This report describes a derivation of an algorithm for incrementally matching conjunctive patterns against a growing database. This algorithm, which is modeled on the Rete matcher used in the OPS5 production system, forms a basis for efficiently implementing a rule system. The highlights of this derivation are: (1) a formal specification for the rule system matching problem, (2) derivation of an algorithm for this task using a lattice-theoretic model of conjunctive and disjunctive variable substitutions, and (3) optimization of this algorithm, using finite differencing, for incrementally processing new data.

Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

Developmental pattern of digit span in Spanish population

Resumen tomado de la publicaci??n

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Rank estimation of trajectory matrix in motion segmentation

A novel technique for estimating the rank of the trajectory matrix in the local subspace affinity (LSA) motion segmentation framework is presented. This new rank estimation is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built with LSA. The result is an enhanced model selection technique for trajectory matrix rank estimation by which it is possible to automate LSA, without requiring any a priori knowledge, and to improve the final segmentation

Programming Principles: The Strategy Pattern

Slides for COMP1004 Lecture on the Strategy Pattern

Genomic architecture of adaptive color pattern divergence and convergence in Heliconius butterflies

Identifying the genetic changes driving adaptive variation in natural populations is key to understanding the origins of biodiversity. The mosaic of mimetic wing patterns in Heliconius butterflies makes an excellent system for exploring adaptive variation using next-generation sequencing. In this study, we use a combination of techniques to annotate the genomic interval modulating red color pattern variation, identify a narrow region responsible for adaptive divergence and convergence in Heliconius wing color patterns, and explore the evolutionary history of these adaptive alleles. We use whole genome resequencing from four hybrid zones between divergent color pattern races of Heliconius erato and two hybrid zones of the co-mimic Heliconius melpomene to examine genetic variation across 2.2 Mb of a partial reference sequence. In the intergenic region near optix, the gene previously shown to be responsible for the complex red pattern variation in Heliconius, population genetic analyses identify a shared 65-kb region of divergence that includes several sites perfectly associated with phenotype within each species. This region likely contains multiple cis-regulatory elements that control discrete expression domains of optix. The parallel signatures of genetic differentiation in H. erato and H. melpomene support a shared genetic architecture between the two distantly related co-mimics; however, phylogenetic analysis suggests mimetic patterns in each species evolved independently. Using a combination of next-generation sequencing analyses, we have refined our understanding of the genetic architecture of wing pattern variation in Heliconius and gained important insights into the evolution of novel adaptive phenotypes in natural populations.

The pattern of fall of serum bilirubin after operative relief of obstructive jaundice. A preliminary report

This is the beginning of a prospective study on patients who have obstructive jaundice to see how the serum bilirubin falls after operative relief of the obstruction. Seven of such patients have been studied; four had carcinoma of the head of the pancreas while the other three had choledocholithiasis. The patients with carcinoma had relief of the jaundice through a biliary-enteric anastomosis and those with common bile duct stones had choledochotomy with stone extraction which was completed with insertion of a T-tube. Serial bilirubin estimations were then performed post-operatively to chart the pattern and rate of descent of this in each patient. Our observations suggest that the pattern of fall of serum bilirubin after successful decompression of the extra-hepatic biliary tree exhibit a distinct pattern regardless of the surgical procedure performed for the relief of the obstruction.

An estimation of the pattern of diffusion of mobile phones: the case of Colombia

In this paper we find that the diffusion pattern of mobile telephony in Colombia can be best characterised as following a Logistic curve. Although in recent years the rate of growth of mobile phone subscribers has started to slow down, we find evidence that there is still room for further expansion as the saturation level is expected to be reached in five years time. The estimated saturation level is consistent with some individuals possessing more than one mobile device.

Dinámica de la producción industrial e importación de bienes de capital y materias primas: relaciones de largo plazo y ajuste dinámico

El presente documento se propone estimar y analizar la existencia de una relación de equilibrio de largo plazo entre la producción industrial y la importación de bienes de capital y materias primas para el período enero de 1993 - abril de 2005, que resulta útil para monitorear la dinámica industrial en el corto plazo y las complementariedades que pueden existir entre los factores productivos del mercado interno con el externo. Para tal efecto, se desarrolla un análisis econométrico de la metodología de cointegración con componentes estacionales aplicado a las variables índice de producción real (IPR), importación de bienes de capital e importación de materias primas de la industria colombiana. A partir de un modelo de cointegración estacional se evidencia empíricamente la existencia de una relación de equilibrio de largo plazo entre estas variables durante el período analizado. Adicionalmente, se utiliza el modelo estimado para realizar ejercicios de impulso-respuesta para analizar la trayectoria futura de las variables de interés cuando son afectadas por choques exógenos en el tiempo.

Writting simple poems : pattern poetry for language acquisition.

Muestra a los profesores cómo pueden utilizar escribir poesía para enseñar y reforzar el vocabulario, la estructura y las partes de la oración, la puntuación, así como otras reglas de la gramática y la escritura. Para cualquier edad o nivel de fluidez, puede ser utilizado como lengua extranjera, o para maestros bilingües como un complemento a su programa de escritura. La primera parte del libro se centra en la metodología y ofrece sugerencias para la forma de integrar la poesía escrita con el plan de estudios. La segunda parte del libro contiene veinticinco modelos de poemas y muestras de poesía escritos por estudiantes de diversos idiomas y edades. La tercera parte del libro ofrece un índice y un glosario de términos gramaticales.