Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Effect of grape seed extract on oxidative, color and sensory stability of pre-cooked, frozen, re-heated beef sausage model system

The processing of meats at the factory level can trigger the onset of lipid oxidation, which can lead to meat quality deterioration. Warmed over flavor is an off-flavor, which is associated with oxidative deterioration in meat. To avoid or delay the auto-oxidation process in meat products, synthetic and natural antioxidants have been successfully used. Grape (Vitis Vinifera) is of special interest due to its high content of phenolic compounds. Grape seed extract sold commercially as a dietary supplement, has the potential to reduce lipid oxidation and WOF in cooked ground beef when added at 1%. The objective of study 1 was to compare the antioxidant activity of natural antioxidants including grape seed extract and some herbs belonging to the Lamiaciae family: rosemary (Rosmarinus Officinalis), sage (Salvia Officinalis) and oregano (Origanum Vulgare) with commercial synthetic antioxidants like BHT, BHA, propyl gallate and ascorbic acid using the ORAC assay. All sample solutions were prepared to contain 1.8 gm sample/10 ml solvent. The highest antioxidant activity was observed for the grape seed extract sample (359.75 µM TE), while the lowest was observed for BHA, propyl gallate and rosemary also showed higher antioxidant potential with ORAC values above 300 μmol TE/g. ORAC values obtained for ascorbic acid and Sage were between 250-300μ mol TE/g while lowest values were obtained for Butylated Hydroxytoluene (28.50 µM TE). Based on the high ORAC values obtained for grape seed extract, we can conclude that byproducts of the wine/grape industry have antioxidant potential comparable to or better than those present in synthetic counterparts. The objective of study 2 was to compare three levels of grape seed extract (GSE) to commonly used antioxidants in a pre-cooked, frozen, stored beef and pork sausage model system. Antioxidants added for comparison with control included grape seed extract (100, 300, 500 ppm), ascorbic acid (AA, 100 ppm of fat) and propyl gallate (PG, 100 ppm of fat). Product was formed into rolls, frozen, sliced into patties, cooked on a flat griddle to 70C, overwrapped in PVC, and then frozen at –18C for 4 months. GSE- and PG-containing samples retained their fresh cooked beef odor and flavor longer (p<0.05) than controls during storage. Rancid odor and flavor scores of GSE-containing samples were lower (p<0.05) than those of controls after 4 months of storage. The L* value of all samples increased (p<0.05) during storage. Thiobarbituric acid reactive substances (TBARS) of the control and AA-containing samples increased (p<0.05); those of GSE-containing samples did not change significantly (p>0.05) over the storage period.

Geography, History and Natural Sciences: an interdisciplinary teaching approach with GIS

Geographic Information System (GIS) is a technology that deals with location to support better representations and decision making. It has a long tradition in several planning areas, such as urbanism, environment, riskiness, transportation, archeology or tourism. In academics context higher education has followed that evolution. Despite of their potentialities in education, GIS technologies at the elementary and secondary have been underused. Empowering graduates to learn with GIS and to manipulate spatial data can effectively facilitate the teaching of critical thinking. Likewise it has been recognized that GIS tools can be incorporated as an interdisciplinary pedagogical tool. Nevertheless more practical examples on how GIS tools can enhance teaching and learning process, namely to promote interdisciplinary approaches. The proposed paper presents some results obtained from the project “Each thing in its place: the science in time and space”. This project results from the effort of three professors of Geography, History and Natural Sciences in the context of Didactics of World Knowledge curricular unit to enhance interdisciplinarity through Geographic Information Technologies (GIT). Implemented during the last three years this action-research project developed the research practice using GIS to create an interdisciplinary attitude in the future primary education teachers. More than teaching GIS the authors were focused on teaching with GIS to create an integrated vision where spatial data representation linked the space, the time and natural sciences. Accumulated experience reveals that those technologies can motivate students to learn and facilitating teacher’s interdisciplinary work.

Quantification of key biological processes determining the dynamics and the assessment of the anchovy population in the Bay of Biscay: growth, reproduction, demography and natural mortality.

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Accelerated and natural carbonation of concretes with internal curing and shrinkage/viscosity modifiers

Abstract In many parts of the world, corrosion of reinforcing steel in concrete induced by carbonation of the concrete continues to be a major durability concern. This paper investigates the accelerated and natural carbonation resistance of a set of seven concretes, specifically evaluating the effects of internal curing and/or shrinkage/viscosity modifiers on carbonation resistance. In addition to five different ordinary portland cement (OPC) concretes, two concretes containing 20 % of a Class F fly ash as replacement for cement on a mass basis are also evaluated. For all seven concrete mixtures, a good correlation between accelerated (lab) and natural (field) measured carbonation coefficients is observed. Conversely, there is less correlation observed between the specimens’ carbonation resistance and their respective 28 days compressive strengths, with the mixtures containing the shrinkage/viscosity modifier specifically exhibiting an anomalous behavior of higher carbonation resistance at lower strength levels. For both the accelerated and natural exposures, the lowest carbonation coefficients are obtained for two mixtures, one containing the shrinkage/viscosity modifier added in the mixing water and the other containing a solution of the same admixture used to pre-wet fine lightweight aggregate. Additionally, the fly ash mixtures exhibited a significantly higher carbonation coefficient in both exposures than their corresponding OPC concretes.

Colorado Ute Water Settlement Bill : joint hearing before the Select Committee on Indian Affairs, United States Senate and the Committee on Energy and Natural Resources, United States Senate, One Hundredth Congress, first session, on S. 1415 ... December 3, 1987, Washington, DC.

Bibliography: p. 463-464.

Strategic Diplomacies: Indigenous Governance, International Politics, and Natural Resources in Canada

International Relations theory would predict that central governments, with their considerable material resources, would be unlikely to face a challenge from a substate government. However, substate governments, and particularly Indigenous governments, are pushing back against central government control in both domestic and international spheres. Indigenous governments are leveraging their local mining sectors to realize their interests and express local identities—interests and identities that may not be congruent with those of the central government. Applying the case study of the resource extraction sector in Canada, this thesis asks: under what conditions are substate governments able to challenge the authority of central governments in the international arena? Canada’s reliance on the global extractive resource sector is a major driver of its international policy preferences, but the increased engagement of Indigenous governments in the sector challenges the control of the federal government. Focusing on the resource extraction sectors in British Columbia, Saskatchewan, and Ontario, this thesis argues that there is a mutually reinforcing relationship between Indigenous governments’ international engagement and their domestic autonomy; both challenge the parameters of state authority. Both force the state to respond to claims of control from multiple sites and to clarify convoluted policy environments. A confluence of factors—including increased Indigenous connections to the globalized economy, new Canadian regulatory frameworks, and recent Supreme Court of Canada cases regarding Indigenous lands—have all altered the space in which Indigenous governments in Canada participate in the resource extraction sector and produce overlapping or multilevel governance structures. This thesis demonstrates that Indigenous international engagement entrenches the authority and political legitimacy manifest in Indigenous governments’ insistence on equitable and horizontal negotiations in Canada’s lucrative resource extraction sector. A cumulative process occurs in which domestic and international expressions of political autonomy reinforce each other, produce further opportunities to express authority in both environments, and trouble the state’s capacity to fully realize its international policy preferences.

Relative effect of food supplementation and natural resources on female red deer distribution in a Mediterranean ecosystem

Supplementary feeding is a widespread game management practice in several red deer (Cervus elaphus) populations, with important potential consequences on the biology of this species. InMediterranean ecosystems food supplementation occurs in the rutting period, when it may change mating system characteristics. We studied the role of food supplementation relative to natural resources in the spatial distribution, aggregation, and mean harem size of females in Iberian red deer (Cervus elaphus hispanicus) during the rut. We studied 30 red deer populations of southwestern Spain, 63% of which experienced supplementary feeding. Using multivariate spatial analyses we found that food supplementation affected distribution of females in 95% of the populations in which it occurred. Green meadows present during the mating season acted as an important natural resource influencing female distribution. Additionally, the level of female aggregation and mean harem size were significantly higher in those populations in which food supplementation determined female distribution than in populations in which female distribution did not depend on supplementary feeding. Because female aggregation and mean harem size are key elements in sexual selection, supplementary feeding may constitute an important anthropogenic element with potential evolutionary implications for populations of Iberian red deer.

Energy balances in sugar cane, coffee and natural vegetation in the northeastern side of the São Paulo state, Brazil

Under land and climate change scenarios, agriculture has experienced water competitions among other sectors in the São Paulo state, Brazil. On the one hand, in several occasions, in the northeastern side of this state, nowadays sugar-cane is expanding, while coffee plantations are losing space. On the other hand, both crops have replaced the natural vegetation composed by Savannah and Atlantic Coastal Forest species. Under this dynamic situation, geosciences are valuable tools for evaluating the large-scale energy and mass exchanges between these diffe rent agro-ecosystems and the lower atmosphere. For quantification of the energy balance components in these mixed agro-ecosystems, the bands 1 and 2 from the MODIS product MOD13Q1 we re used throughout SA FER (Surface Algorithm for Evapotranspiration Retrieving) algorithm, which was applied together with a net of 12 automatic weather stations, during the year 2015 in the main sugar cane and coffee growing regions, located at the no rtheastern side of the state. The fraction of the global solar radiation (R G ) transformed into net radiation (Rn) was 52% for sugar cane and 53% for both, coffee and natural vegetation. The respective annual fractions of Rn used as λ E were 0.68, 0.87 and 0.77, while for the sensible heat (H) fluxes they were 0.27, 0.07 and 0.16. From April to July, heat advection raised λ E values above Rn promoting negative H, however these effects were much and less strong in coffee and sugar cane crop s, respectively. The smallest daily Rn fraction for all agro-ecosystems was for the soil heat flux (G), with averages of 5%, 6% and 7% in sugar cane, coffee and natural vegetation. From the energy balance analyses, we could conclude that, sugar-cane crop presented lower annual water consumption than that for coffee crop , what can be seen as an advantage in situations of water scarcity. However, the replacement of natural vegetation by su gar cane can contribute for warming th e environment, while when this occur with coffee crop there was noticed co oling conditions. The large scale modeling satisfactory results confirm the suitability of using MODIS products togeth er with weather stations to study the energy balance components in mixed agro-ecosystems under land-use and climate change conditions.

Appropriate technologies and natural systems for wastewater treatment in low- and middle-income countries

Wastewater management is an environmental and social burden that primarily affects populations in Low- and Middle-Income Countries and the global environment. Wastewater collection, treatment, and reuse have become urgent, especially considering that 80% of the world's wastewater is untreated or improperly treated and discharged directly into water bodies. In recent years, the role of wastewater treatment plants in a sustainable water cycle has become even more critical, as they are the final destination of the collected wastewater. Indeed, the management of wastewater treatment plants should play an essential role in achieving SDG target 6.3 of the United Nations 2030 Agenda for SD. In this context, water reuse, especially wastewater reuse, plays a key role. This research focuses on investigating the valorization of wastewater resources applying Appropriate Technologies and Natural Systems for wastewater treatment in two different Low- and Middle-Income Countries, the Palestinian Territories and Sub-Saharan Africa. The research objectives are: (1) Determine the characteristics and quality of wastewater in the two case studies analysed. (2) Identify Appropriate Technology to be used in the Palestinian Territories to treat wastewater for reuse in agriculture. (3) Assess the environmental, economic, and social impacts of this project. (4) Assess the feasibility of using natural wetlands for household wastewater treatment in Sub-Saharan region. The first study, conducted in Rafah, Gaza Strip, showed that implementing existing primary treatment plant with a natural secondary treatment plant properly optimized the wastewater quality for reuse in agriculture and was suitable for the study area. The second case study was conducted in Cape Coast, Ghana. It shows that the natural wetland studied is currently overly polluted and threatened by various anthropogenic factors that cannot remove pollutants from the incoming domestic wastewater. Therefore, some recommendations were made in order to improve the efficiency of this natural wetland.

Characterization and natural history of different phenotypes in hereditary transthyretin amyloidosis: 40-year experience at a single Italian referral center

- Aims: Hereditary Transthyretin Amyloidosis (ATTRv) is one of the leading etiologies of systemic amyloidosis with more than 135 mutations described and a broad spectrum of clinical manifestations. We aimed to provide a systematic description of a population of individuals carrying pathogenic mutations of transthyretin (TTR) gene and to investigate the major clinical events during follow up. - Methods: Observational, retrospective, cohort study including consecutive patients with mutations of TTR gene, admitted to a tertiary referral center in Bologna, Italy, between 1984 and 2022. - Results: Three hundred twenty-five patients were included: 106 asymptomatic carriers, 49 cardiac phenotype, 49 neurological phenotype and 121 mixed phenotype. Twenty-three different mutations were found, with Ile68Leu (41.8%), Val30Met (19%), and Glu89Gln (10%) being the most common. After a median follow-up of 51 months data from 290 subjects were analyzed; among them 111 (38.3%) died and 123 (42.4%) had a major clinical event (death or hospitalization for heart failure). Nine (11.5%) of the 78 asymptomatic carriers showed signs and symptoms of the disease. Carriers had a prognosis comparable to healthy population, while no significant differences were seen among the three phenotypes adjusted by age. Age at diagnosis, NYHA functional class, left ventricular ejection fraction, mPND score and disease-modifying therapy were independently associated with survival. - Conclusions: This study offers a wide and comprehensive overview of ATTRv from the point of view of a tertiary referral center in Italy. Three main phenotypes can be identified (cardiac, neurological and mixed) with specific clinical and instrumental features. Family screening programs are essential to identify paucisymptomatic affected patients or unaffected carriers of the mutation, to be followed through the years. Lastly, disease-modifying therapy represents an evolving cornerstone of the management of ATTRv, with a great impact on mortality.

Graphite for lithium-ion batteries: mineral analysis and global Material Flow Analysis

Graphite is a mineral commodity used as anode for lithium-ion batteries (LIBs), and its global demand is doomed to increase significantly in the future due to the forecasted global market demand of electric vehicles. Currently, the graphite used to produce LIBs is a mix of synthetic and natural graphite. The first one is produced by the crystallization of petroleum by-products and the second comes from mining, which causes threats related to pollution, social acceptance, and health. This MSc work has the objective of determining compositional and textural characteristics of natural, synthetic, and recycled graphite by using SEM-EDS, XRF, XRD, and TEM analytical techniques and couple these data with dynamic Material Flow Analysis (MFA) models, which have the objective of predicting the future global use of graphite in order to test the hypothesis that natural graphite will no longer be used in the LIB market globally. The mineral analyses reveal that the synthetic graphite samples contain less impurities than the natural graphite, which has a rolled internal structure similar to the recycled one. However, recycled graphite shows fractures and discontinuities of the graphene layers caused by the recycling process, but its rolled internal structure can help the Li-ions’ migration through the fractures. Three dynamic MFA studies have been conducted to test distinct scenarios that include graphite recycling in the period 2022-2050 and it emerges that - irrespective of any considered scenario - there will be an increase of synthetic graphite demand, caused by the limited stocks of battery scrap available. Hence, I conclude that both natural and recycled graphite is doomed to be used in the LIB market in the future, at least until the year 2050 when the stock of recycled graphite production will be enough to supersede natural graphite. In addition, some new improvement in the dismantling and recycling processes are necessary to improve the quality of recycled graphite.

Design of bio-inspired ionic liquids for protein stabilisation

Ionic Liquids (ILs) consist in organic salts that are liquid at/or near room temperature. Since ILs are entirely composed of ions, the formation of ion pairs is expected to be one essential feature for describing solvation in ILs. In recent years, protein - ionic liquid (P-IL) interactions have been the subject of intensive studies mainly because of their capability to promote folding/unfolding of proteins. However, the ion pairs and their lifetimes in ILs in P-IL thematic is dismissed, since the action of ILs is therefore the result of a subtle equilibrium between anion-cation interaction, ion-solvent and ion-protein interaction. The work developed in this thesis innovates in this thematic, once the design of ILs for protein stabilisation was bio-inspired in the high concentration of organic charged metabolites found in cell milieu. Although this perception is overlooked, those combined concentrations have been estimated to be ~300 mM among the macromolecules at concentrations exceeding 300 g/L (macromolecular crowding) and transient ion-pair can naturally occur with a potential specific biological role. Hence the main objective of this work is to develop new bio-ILs with a detectable ion-pair and understand its effects on protein structure and stability, under crowding environment, using advanced NMR techniques and calorimetric techniques. The choline-glutamate ([Ch][Glu]) IL was synthesized and characterized. The ion-pair was detected in water solutions using mainly the selective NOE NMR technique. Through the same technique, it was possible to detect a similar ion-pair promotion under synthetic and natural crowding environments. Using NMR spectroscopy (protein diffusion, HSQC experiments, and hydrogen-deuterium exchange) and differential scanning calorimetry (DSC), the model protein GB1 (production and purification in isotopic enrichment media) it was studied in the presence of [Ch][Glu] under macromolecular crowding conditions (PEG, BSA, lysozyme). Under dilute condition, it is possible to assert that the [Ch][Glu] induces a preferential hydration by weak and non-specific interactions, which leads to a significant stabilisation. On the other hand, under crowding environment, the [Ch][Glu] ion pair is promoted, destabilising the protein by favourable weak hydrophobic interactions , which disrupt the hydration layer of the protein. However, this capability can mitigates the effect of protein crowders. Overall, this work explored the ion-pair existence and its consequences on proteins in conditions similar to cell milieu. In this way, the charged metabolites found in cell can be understood as key for protein stabilisation.

Ants obtained from trees of a "Jacareuba" (Calophyllum brasiliense) forest plantation in Central Amazonia by canopy fogging: first results

Canopies of the locally occurring Amazonian tree species Calophyllum brasiliense. Camb. (Guttiferae, height 10 m) were fogged after dawn on the same day at five adjacent localities in a 20-year-old plantation at the Adolpho Ducke Forest Reserve near Manaus/Brazil, using natural pyrethrum (0.5%, 1.0%, 1.5%), Baythroid (0.3%) and diesel oil, respectively. The 1152 ants collected represented 52 species, 17 genera and five subfamilies. The highest number of ant species was obtained with the synthetic pyrethrum Baythroid 0.3% and with natural pyrethrum 1.5%. About 46% of the total ant species were only collected in the first hour after fogging, and 17% only during the second hour, after trees had been heavily shaken. About 73% of the total ant specimens dropped in the first hour. Data on alpha-diversity, eveness and frequency of ants indicated a rapidly decreasing knock-down effect of both the synthetic and natural pyrethrum after application. The ant fauna in the canopy of C. brasiliense is somewhat distinct compared with that of Goupia glabra Aubl. (Celastraceae, height 45 m) from the primary forest of the reserve.