Updating the marine biostratigraphy of the Granada Basin (central Betic Cordillera). Insight for the Late Miocene palaeogeographic evolution of the Atlantic – Mediterranean seaway

The marine stratigraphic record of the Granada Basin (central Betic Cordillera, Spain) is composed of three Late Miocene genetic units deposited in different sea-level contexts (from base to top): Unit I (sea-level rise), Unit II (high sea-level), and Unit III (low sea-level). The latter mainly consists of evaporites precipitated in a shallow-basin setting. Biostratigraphic analyses based on planktonic foraminifera and calcareous nannoplankton indicate four late Tortonian bioevents (PF1-CN1, PF2, PF3, and PF4), which can be correlated with astronomically-dated events in other sections of the Mediterranean. PF1-CN1 (7.89 Ma) is characterized by the influx of the Globorotalia conomiozea group (including typical forms of Globorotalia mediterranea) and by the first common occurrence of Discoaster surculus; PF2 (7.84 Ma) is marked by the first common occurrence of Globorotalia suterae; PF3 (7.69 Ma) is typified by the influx of dextral Neogloboquadrina acostaensis; and PF4 (7.37 Ma) is defined by the influx of the Globorotalia menardii group II (dextral forms). The PF1 event occurred in the upper part of Unit I, whereas PF2 to PF4 events occurred successively within Unit II. The age of Unit III (evaporites) can only be estimated in its lower part based on the presence of dextral Globorotalia scitula, which, together with the absence of the first common occurrence of the G. conomiozea group (7.24 Ma), points to the latest Tortonian. Comparisons with data from the other Betic basins indicate that the evaporitic phase of the Granada Basin (7.37–7.24 Ma) is not synchronous with those from the Lorca Basin (7.80 Ma) and the Fortuna Basin (7.6 Ma). In the Bajo Segura Basin (easternmost Betic Cordillera), no evaporite deposition occurred during the late Tortonian. The evaporitic unit of the Granada Basin (central Betics) records the late Tortonian restriction of the Betic seaway (the marine connection between the Atlantic and Mediterranean). The diachrony in the restriction of the Betic seaway is related to differing tectonic movements in the central and eastern sectors of the Betic Cordillera.

Paleoenvironmental changes during the late Miocene (Messinian)–Pliocene transition (Bajo Segura Basin, southeastern Spain): sedimentological and ichnological evidence

A detailed sedimentological and paleontological analysis of the uppermost Miocene (Messinian)–Pliocene boundary at the northern border of the Bajo Segura Basin, southeastern Spain, was carried out in order to describe the evolution of the regional paleocoastline during the Pliocene reflooding of the Mediterranean immediately after the sea-level fall related to the Messinian Salinity Crisis. Multiple trace fossils typical of firm- and hardgrounds were recognized, allowing identification of Glossifungites (two different types), Entobia, and Gnathichnus ichnofacies. Trace-fossil analysis showed that lithology and media consistency exerted considerable control on the development of the different ichnocoenoses and that there was a clear decrease in hydrodynamic energy from a coastal to a shallow-water shelf environment related to progressive sea-level rise. Ichnological and sedimentological data provide evidence that the definitive flooding of the Mediterranean was rapid and synchronous throughout the northern margin of the Bajo Segura Basin. The following model for the Pliocene transgression in the study area is therefore proposed: (1) the marine ingression penetrated along the incised paleovalleys carved as a consequence of the fall in sea level, where the first two Pliocene systems were deposited (P0–P1); (2) during the maximum flooding surface of the transgression, the sea overflowed the margins of the paleovalleys and extended throughout the entire northern margin of the basin; and (3) the third Pliocene system was deposited, forming the lower part of a highstand systems tract (P2).

Event-based visual servoing with features’ prediction

Event-based visual servoing is a recently presented approach that performs the positioning of a robot using visual information only when it is required. From the basis of the classical image-based visual servoing control law, the scheme proposed in this paper can reduce the processing time at each loop iteration in some specific conditions. The proposed control method enters in action when an event deactivates the classical image-based controller (i.e. when there is no image available to perform the tracking of the visual features). A virtual camera is then moved through a straight line path towards the desired position. The virtual path used to guide the robot improves the behavior of the previous event-based visual servoing proposal.

Measuring color differences in automotive samples with lightness flop: a test of the AUDI2000 color-difference formula

From a set of gonioapparent automotive samples from different manufacturers we selected 28 low-chroma color pairs with relatively small color differences predominantly in lightness. These color pairs were visually assessed with a gray scale at six different viewing angles by a panel of 10 observers. Using the Standardized Residual Sum of Squares (STRESS) index, the results of our visual experiment were tested against predictions made by 12 modern color-difference formulas. From a weighted STRESS index accounting for the uncertainty in visual assessments, the best prediction of our whole experiment was achieved using AUDI2000, CAM02-SCD, CAM02-UCS and OSA-GP-Euclidean color-difference formulas, which were no statistically significant different among them. A two-step optimization of the original AUDI2000 color-difference formula resulted in a modified AUDI2000 formula which performed both, significantly better than the original formula and below the experimental inter-observer variability. Nevertheless the proposal of a new revised AUDI2000 color-difference formula requires additional experimental data.

Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback

Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

Fénix: a flexible information exchange data model for natural language processing

In this paper we describe Fénix, a data model for exchanging information between Natural Language Processing applications. The format proposed is intended to be flexible enough to cover both current and future data structures employed in the field of Computational Linguistics. The Fénix architecture is divided into four separate layers: conceptual, logical, persistence and physical. This division provides a simple interface to abstract the users from low-level implementation details, such as programming languages and data storage employed, allowing them to focus in the concepts and processes to be modelled. The Fénix architecture is accompanied by a set of programming libraries to facilitate the access and manipulation of the structures created in this framework. We will also show how this architecture has been already successfully applied in different research projects.

Feedbacks between vegetation pattern and resource loss dramatically decrease ecosystem resilience and restoration potential in a simple dryland model

Conceptual frameworks of dryland degradation commonly include ecohydrological feedbacks between landscape spatial organization and resource loss, so that decreasing cover and size of vegetation patches result in higher water and soil losses, which lead to further vegetation loss. However, the impacts of these feedbacks on dryland dynamics in response to external stress have barely been tested. Using a spatially-explicit model, we represented feedbacks between vegetation pattern and landscape resource loss by establishing a negative dependence of plant establishment on the connectivity of runoff-source areas (e.g., bare soils). We assessed the impact of various feedback strengths on the response of dryland ecosystems to changing external conditions. In general, for a given external pressure, these connectivity-mediated feedbacks decrease vegetation cover at equilibrium, which indicates a decrease in ecosystem resistance. Along a gradient of gradual increase of environmental pressure (e.g., aridity), the connectivity-mediated feedbacks decrease the amount of pressure required to cause a critical shift to a degraded state (ecosystem resilience). If environmental conditions improve, these feedbacks increase the pressure release needed to achieve the ecosystem recovery (restoration potential). The impact of these feedbacks on dryland response to external stress is markedly non-linear, which relies on the non-linear negative relationship between bare-soil connectivity and vegetation cover. Modelling studies on dryland vegetation dynamics not accounting for the connectivity-mediated feedbacks studied here may overestimate the resistance, resilience and restoration potential of drylands in response to environmental and human pressures. Our results also suggest that changes in vegetation pattern and associated hydrological connectivity may be more informative early-warning indicators of dryland degradation than changes in vegetation cover.

Effectiveness of three sampling methods to survey saproxylic beetle assemblages in Mediterranean woodland

The choice of sampling methods to survey saproxylic beetles is a key aspect to assessing conservation strategies for one of the most endangered assemblages in Europe. We evaluated the efficiency of three sampling methods: baited tube traps (TT), window traps in front of a hollow opening (WT), and emergence traps covering tree hollows (ET) to study richness and diversity of saproxylic beetle assemblages at species and family levels in Mediterranean woodlands. We also examined trap efficiency to report ecological diversity, and changes in the relative richness and abundance of species forming trophic guilds: xylophagous, saprophagous/saproxylophagous, xylomycetophagous, predators and commensals. WT and ET were similarly effective in reporting species richness and diversity at species and family levels, and provided an accurate profile of both the flying active and hollow-linked saproxylic beetle assemblages. WT and ET were the most complementary methods, together reporting more than 90 % of richness and diversity at both species and family levels. Diversity, richness and abundance of guilds were better characterized by ET, which indicates higher efficiency in outlining the ecological community of saproxylics that inhabit tree hollows. TT were the least effective method at both taxonomic levels, sampling a biased portion of the beetle assemblage attracted to trapping principles, however they could be used as a specific method for families such as Bostrichiidae, Biphyllidae, Melyridae, Mycetophagidae or Curculionidae Scolytinae species. Finally, ET and WT combination allows a better characterization of saproxylic assemblages in Mediterranean woodland, by recording species with different biology and linked to different microhabitat types.

Electrocatalytic Performance of SiO2-SWCNT Nanocomposites Prepared by Electroassisted Deposition

Composite materials made of porous SiO2 matrices filled with single-walled carbon nanotubes (SWCNTs) were deposited on electrodes by an electroassisted deposition method. The synthesized materials were characterized by several techniques, showing that porous silica prevents the aggregation of SWCNT on the electrodes, as could be observed by transmission electron microscopy and Raman spectroscopy. Different redox probes were employed to test their electrochemical sensing properties. The silica layer allows the permeation of the redox probes to the electrode surface and improves the electrochemical reversibility indicating an electrocatalytic effect by the incorporation of dispersed SWCNT into the silica films.

Mathematical modelling of the lower urinary tract

The lower urinary tract is one of the most complex biological systems of the human body as it involved hydrodynamic properties of urine and muscle. Moreover, its complexity is increased to be managed by voluntary and involuntary neural systems. In this paper, a mathematical model of the lower urinary tract it is proposed as a preliminary study to better understand its functioning. Furthermore, another goal of that mathematical model proposal is to provide a basis for developing artificial control systems. Lower urinary tract is comprised of two interacting systems: the mechanical system and the neural regulator. The latter has the function of controlling the mechanical system to perform the voiding process. The results of the tests reproduce experimental data with high degree of accuracy. Also, these results indicate that simulations not only with healthy patients but also of patients with dysfunctions with neurological etiology present urodynamic curves very similar to those obtained in clinical studies.

A GIS-based methodology to quantitatively define an Adjacent Protected Area in a shallow karst cavity: The case of Altamira cave

Different types of land use are usually present in the areas adjacent to many shallow karst cavities. Over time, the increasing amount of potentially harmful matter and energy, of mainly anthropic origin or influence, that reaches the interior of a shallow karst cavity can modify the hypogeal ecosystem and increase the risk of damage to the Palaeolithic rock art often preserved within the cavity. This study proposes a new Protected Area status based on the geological processes that control these matter and energy fluxes into the Altamira cave karst system. Analysis of the geological characteristics of the shallow karst system shows that direct and lateral infiltration, internal water circulation, ventilation, gas exchange and transmission of vibrations are the processes that control these matter and energy fluxes into the cave. This study applies a comprehensive methodological approach based on Geographic Information Systems (GIS) to establish the area of influence of each transfer process. The stratigraphic and structural characteristics of the interior of the cave were determined using 3D Laser Scanning topography combined with classical field work, data gathering, cartography and a porosity–permeability analysis of host rock samples. As a result, it was possible to determine the hydrogeological behavior of the cave. In addition, by mapping and modeling the surface parameters it was possible to identify the main features restricting hydrological behavior and hence direct and lateral infiltration into the cave. These surface parameters included the shape of the drainage network and a geomorphological and structural characterization via digital terrain models. Geological and geomorphological maps and models integrated into the GIS environment defined the areas involved in gas exchange and ventilation processes. Likewise, areas that could potentially transmit vibrations directly into the cave were identified. This study shows that it is possible to define a Protected Area by quantifying the area of influence related to each transfer process. The combined maximum area of influence of all the processes will result in the new Protected Area. This area will thus encompass all the processes that account for most of the matter and energy carried into the cave and will fulfill the criteria used to define the Protected Area. This methodology is based on the spatial quantification of processes and entities of geological origin and can therefore be applied to any shallow karst system that requires protection.

Viability study of automobile shredder residue as fuel

Car Fluff samples collected from a shredding plant in Italy were classified based on particle size, and three different size fractions were obtained in this way. A comparison between these size fractions and the original light fluff was made from two different points of view: (i) the properties of each size fraction as a fuel were evaluated and (ii) the pollutants evolved when each size fraction was subjected to combustion were studied. The aim was to establish which size fraction would be the most suitable for the purposes of energy recovery. The light fluff analyzed contained up to 50 wt.% fines (particle size < 20 mm). However, its low calorific value and high emissions of polychlorinated dioxins and furans (PCDD/Fs), generated during combustion, make the fines fraction inappropriate for energy recovery, and therefore, landfilling would be the best option. The 50–100 mm fraction exhibited a high calorific value and low PCDD/F emissions were generated when the sample was combusted, making it the most suitable fraction for use as refuse-derived fuel (RDF). Results obtained suggest that removing fines from the original ASR sample would lead to a material product that is more suitable for use as RDF.

Constructing an Indigenous Model of the Self to Address Cultural and Mental Health Issues in the Canadian Subarctic

Since the last decades, academic research has paid much attention to the phenomenon of revitalizing indigenous cultures and, more precisely, the use of traditional indigenous healing methods both to deal with individuals' mental health problems and with broader cultural issues. The re-evaluation of traditional indigenous healing practices as a mode of psychotherapeutic treatment has been perhaps one of the most interesting sociocultural processes in the postmodern era. In this regard, incorporating indigenous forms of healing in a contemporary framework of indigenous mental health treatment should be interpreted not simply as an alternative therapeutic response to the clinical context of Western psychiatry, but also constitutes a political response on the part of ethno-cultural groups that have been stereotyped as socially inferior and culturally backward. As a result, a postmodern form of "traditional healing" developed with various forms of knowledge, rites and the social uses of medicinal plants, has been set in motion on many Canadian indigenous reserves over the last two decades.

Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.

Thermal Degradation of Tetrabromobisphenol A: Emission of Polybrominated Dibenzo-P-Dioxins and Dibenzofurans and other Organic Compounds

Paper submitted to the 31st International Symposium on Halogenated Persistent Organic Compounds (Dioxin 2011), Brussels, Belgium, 21-25 August 2011.