Variación estructural en poblaciones de Denmoza rhodacantha (Cactaceae) sobre laderas de montañas en Mendoza, Argentina.

Denmoza rhodacantha (Salm-Dyck) Britton & Rose, un cactus endémico de Argentina, tiene un gran número y densidad de población sobre laderas erosionadas de montañas más que en laderas no erosionadas. Para verificarlo se compararon ambos sitios: el número de individuos fue aproximadamente 2,7 veces más alto sobre los sitios erosionados. Esto particularmente fue debido a un gran número de plantas de cactus juveniles sobre los sitios erosionados contra los sitios no erosionados, donde las plantas juveniles además estuvieron ausentes. En contraste, un alto número de plantas adultas fue encontrada en los sitios no erosionados. Esto podría deberse a factores abióticos tales como la remoción del suelo, las características físico-químicas del mismo, particularmente el alto contenido de calcio, y al mecanismo de abrasión de la cubierta de las semillas por las partículas de rocas sobre los sitios erosionados. Los resultados de este estudio podrían ser usados para el mantenimiento y conservación de estos cactus.

(Table 1) Frequency of wind direction reportings and duration of wave action in Mittelgrund, Eckernfoerder Bay, Germany

A detailed survey of the Mittelgrund in Eckernförde Bay shows slope breaks at 10-12 m and 15-16 m water depth. They are thought to be mainly the result of marine abrasion. Utilizing records from the Edgerton mud-penetrator, a map of holocene sediment thickness has been drawn. From the pattern of bottom echos 4 types of stratification can be recognized. An interpretation of them is attempted, as they are supposed to serve as models for other transgression contacts.

Mechanical behavior of ODP Hole 137-504B basalts

Core samples of basalt collected from Hole 504B during Leg 137 were investigated regarding their mechanical behavior. The rock samples were measured for hardness, compression strength, and modulus of elasticity. Abrasion loss of weight and Shore sclerometer methods were used for determining hardness. Static and dynamic methods were used for calculating modulus of elasticity. Test results were compared with shipboard measurements of ultrasonic velocity and dry-bulk density. Test results were interpreted statistically to provide data not only on mechanical behavior changes of the rock but also on the precision of the methods used.

(Table 1) Sea level during storm surges at various sites along the german Baltic Sea coast

A seawall was constructed in 1897 along the steep coast of Streckelsberg, Usedom Island to stop the cliff retreat. It was destroyed several times by storm induced sea floods, reconstructed and gradually extended to a length of 450 m. After the severe storm event of 1/2.3.1949, no more repair work was implemented. The ruins were no longer capable of preventing further erosion of the Streckelsberg cliff. A new protective structure became a necessity against ongoing erosion, and to check the lowering of the abrasion platform. The construction of three breakwaters began in 1995. A severe storm occurred on 3/4.11.1995 before their completion. Coastal bottom sediment mapping using a sidescan-sonar carried out two days later showed that a channel system down to a depth of 1.5 m was cut into the sand layer covering the sea floor on both sides of the Koserow Bank. The bottom of these channels was paved with gravel and boulders. This layer was encountered in the whole surveyed area below a mobile sand layer. Discharged bodies of fine sand half a meter high and erosional cavities several m2 in diameter around boulders led to the conclusion that an intensive sediment movement down to a depth of 11 m had taken place during the storm. A storm related direction of sediment discharge could not be identified. The existing section of the breakwaters withstood the severe storm.

Fragmentation and dissolution of benthic foraminifera in Kiel Bight, Baltic Sea, Germany

Early diagenetic ultrastructural alterations of benthic foraminifers of the genera Elphidium and Ophthalmina from the shallow water sediments of the Kiel Bight were investigated by scanning electron microscopy. Pure solution patterns were deduced from supplementary experiments.//Several carbonate destroying processes can be specified by ultrastructural patterns of the shell surfaces. Based on these patterns three zones are established, each showing different mechanisms of shell fragmentation: 1) zone of abrasion, 2) zone of disintegration, 3) zone of corrosion. This zonation depends on the water depth and is caused primarily by water agitation and by under saturation of the bottom water with respect to carbonate.

(Table 1) Calcium carbonate content of boulder clays sampled along the baltic coast of Schleswig-Holstein, Germany

The carbonate contents in the boulder clay ('Geschiebemergel') of abrasion cliffs were investigated along the Baltic coast of Schleswig-Holstein, northern West Germany. The calcareous boulder clay and stratified drift in the cliffs are interbedded with compressed thrust sheets of Cretaceous limestone, Tertiary Tarras clay, and Eemian clay. According to chemical analyses of 173 boulder clay samples, the amount of carbonate varies mostly between 6 and 17%. Owing to the small number of samples no definite conclusion could be drawn on the distribution of Danish Cretaceous limestones in the boulder clay, nor on the different directions of movement of Weichselian glaciers.

Magnetic and gravity measurements on North-South profiles across the Grosse Meteor Bank, North Atlantic

During the first section of the "Meteor" cruise No. 2 a profile was run from the Azores to the south across the flanks of the Mid-Atlantic Ridge with a chain of seamounts. The profile extended between the Cruiser (living) and the Hyeres seamounts, which, according to our soundings, form a connected massif, and across the centre of the Grosse Meteor Bank (30°N, 28.5 °W). These seamounts rise from a depth of more than 4000 m up till close to the surface of the sea forming there a large almost flat plateau. In the case of the Grosse Meteor Bank, this plateau has a N-S extension of approx. 30 nautical miles and an E-W extension of approx. 20 nautical miles and reaches a height of 275 m in water depth. The gravity measurements yielded a density of the topographic masses of 2.6 g/cm**3 for the Grosse Meteor Bank. Magnitude and shape of the measured free-air anomaly are very well shown in a model computation with this density. The theoretical gravity effects of the seismically detected swell of cristalline rock and of the Moho depression (mountain root) are not indicated by the observational data. It can, therefore, be assumed that the latter two neutralize each other. It seems, accordingly, that there is no local isostatic compensation of the topographic masses. Hence, the density of 2.6 g/cm**3 obtained would be about the true density of rock. In connection with the mean velocity of P waves (Aric et al., 1968) obtained by seismic refraction methods it must be concluded that the material of the 1200-4000 m thick surface layer of the Grosse Meteor Bank consists of consolidated sediments. This finding is supported by the total intensity of the Earth's magnetic field over the Grosse Meteor Bank. On the assumption of a homogeneous magnetization in the direction of the present Earth's field, the computed anomaly of the massif deviates considerably from the measured anomaly while the magnetic field of the seismically detected crystalline body is capable of interpreting the observed data. Deviating from the prevailing interpretation of the seamounts' plateau as a volcanic cone with submarine abrasion, the Grosse Meteor Bank and the seamounts in the vicinity are assumed to be of continental origin. The questions whether these seamounts submerged later on or whether the sealevel has risen subsequently are, therefore, largely nonexistent.

Grain size distributions of the Bossons glacier (France)

The study presented in this PhD memory aim at better define and quantify the present timeerosion processes in glacial and proglacial domain. The Glacier des Bossons, situated in theMont-Blanc massif (Haute-Savoie, France), is a good example of a natural and nonanthropizedsystem which allows us to study this topic. This glacier lies on two mainlithologies (the Mont-Blanc granite and the metamorphic bedrock) and this peculiarity is usedto determine the origin of the glacial sediments. The sediments were sampled at the glaciersurface and at the glacier sole and also in the subglacial streams in order to understand themechanisms of mechanical erosion and particle transportation in glacial domain. The study ofthe granulometric distribution and the origin of the sediments were performed by a lithologicanalysis at macro-scale (naked-eye) and a geochemical analysis at micro-scale (U-Pb datingof zircons). These analyses allowed specifying the characteristics of glacial erosion andtransport. (1) the supraglacial sediments derived from the erosion of the rocky valley sides aremainly coarse and the glacial transport does not mix these clasts with those derived from thesub-glacial erosion, except in the lower tongue; (2) the sub-glacial erosion rates areinhomogeneous, erosion under the temperate glacier (0.4-0.8 mm/yr) is at least sixteen timesmore efficient than the erosion under the cold glacier (0.025-0.05 mm/yr); (3) the sub-glacialsediments contain a silty and sandy fraction, resulting from processes of abrasion andcrushing, which is evacuated by sub-glacial streams. The high-resolution temporal acquisitionof hydro-sedimentary data during the 2010 melt season, between the May 5th and theSeptember 17th, allowed defining the seasonal behavior of the hydrologic and sedimentaryfluxes. The sediment exportation occurs mainly during the melt season therefore, quantify thesediment fluxes in the Bossons stream and measure regularly the topographic evolution of thefluvio-glacial system allows to perform a sedimentary balance of the erosion of glacial andnon-glacial domains. During the year 2010, about 3000 tons of sediments were eroded with430 tons settled on the fluvio-glacial system. By analyzing the evolution of suspendedparticulate matter concentrations in the Bossons stream upstream and downstream the fluvioglacialsystem, the part of glacial erosion and non-glacial denudation in the sedimentarybalance could be proportioned. The erosion during the stormy events of the uncoveredmoraines, confining the fluvio-glacial system of the Bossons stream, furnishes at least 59% ofthe sediments exported by the Bossons stream and glacial erosion (41% of the flux) istherefore less efficient comparatively. The long-term evolution of the glacial systems inperiod of global warming would show a sustained erosion of proglacial environments(mountain sides and moraines) recently exposed and therefore an increasing of the detritalfluxes. The Glacier des Bossons protects the summit of the Mont-Blanc, the differentialerosion between zones under the ice and non-glacial could lead to an increase of thedifference of altitude between valleys and summits.

Damage mechanisms in the handling of fruits

The recognition of an increasing and worldwide demand for high quality in fruits and vegetables has grown in recent years. Evidence of severe problems of mechanical damage is increasing, and this is affecting the trade of fruits in European and other countries. The potential market for fresh high-quality vegetables and fruits remains restricted by the lack of quality of the majority of products that reach consumers; this is the case for local as well as import/export markets, so a reduction in the consumption of fresh fruits in favour of other fixed-quality products (dairy in particular) may become widespread. In a recent survey (King, 1988, cited in Bellon, 1989), it appears that, for the moment, one third of the surveyed consumers are still continuing to increase their fresh produce consumption. The factors that appear as being most important in influencing the shopping behaviour of these consumers are taste/flavour, freshness/ripeness, appealing look, and cleanliness. Research on mechanical damage in fruit and vegetables has been underway for several years. The first research made on physical properties of fruits was in fact directed towards analysing the response to slow or rapid loading of selected fruits (Fridley et al, 1968; Horsefield et al., 1972). From that time on, research has expanded greatly, and different aspects of the problem have been approached. These include applicable mechanical models for the contact problem, the response of biological tissues to loading, devices for detecting damage causes in machines and equipment, and procedures for sensing bruises in grading and sorting. This chapter will be devoted to the study of actual research results relative to the cause and mechanisms of mechanical damage in fruits (secondarily in vegetables), the development of bruises in these commodities, the models that have been used up to now, and the different factors which have been recognized as influencing the appearance and development of mechanical damage in fruits. The study will be focused mainly on contact-damage - that is, slow or rapid loads applied to the surface of the products and causing bruises. (A bruise is defined as an altered volume of fruit tissues below the skin that is discoloured and softened.) Other types of mechanical damage, like abrasion and scuffing, punctures and cuts, will be also mentioned briefly.

Variation of PM2.5 concentrations in relation to street washing activities

Several studies conducted in urban areas have pointed out that road dust resuspension contributes significantly to PM concentration levels. Street washing is one of the methods proposed to reduce resuspended road dust contributions to ambient PM concentrations. As resuspended particles are mainly found in the coarse mode, published studies investigating the effects of street washing have focused on PM10 size fraction. As the PM2.5 mass fraction of particles originating from mechanical abrasion processes may still be significant we conducted a study in order to evaluate the effects of street washing on the mitigation of resuspension of fine particles. The PM2.5 mass concentration data were examined and integrated with the occurrence of street washing activities. In addition, the effect of the meteorological variability, traffic flow and street washing activities, on ambient PM2.5 levels was valuated by means of a multivariate regression model. The results revealed that traffic low is the most important factor that controls PM2.5 hourly concentrations while street washing activities did not influence fine particle mass levels.

Design and control of multi-finger haptic devices for dexterous manipulation

En la interacción con el entorno que nos rodea durante nuestra vida diaria (utilizar un cepillo de dientes, abrir puertas, utilizar el teléfono móvil, etc.) y en situaciones profesionales (intervenciones médicas, procesos de producción, etc.), típicamente realizamos manipulaciones avanzadas que incluyen la utilización de los dedos de ambas manos. De esta forma el desarrollo de métodos de interacción háptica multi-dedo dan lugar a interfaces hombre-máquina más naturales y realistas. No obstante, la mayoría de interfaces hápticas disponibles en el mercado están basadas en interacciones con un solo punto de contacto; esto puede ser suficiente para la exploración o palpación del entorno pero no permite la realización de tareas más avanzadas como agarres. En esta tesis, se investiga el diseño mecánico, control y aplicaciones de dispositivos hápticos modulares con capacidad de reflexión de fuerzas en los dedos índice, corazón y pulgar del usuario. El diseño mecánico de la interfaz diseñada, ha sido optimizado con funciones multi-objetivo para conseguir una baja inercia, un amplio espacio de trabajo, alta manipulabilidad y reflexión de fuerzas superiores a 3 N en el espacio de trabajo. El ancho de banda y la rigidez del dispositivo se han evaluado mediante simulación y experimentación real. Una de las áreas más importantes en el diseño de estos dispositivos es el efector final, ya que es la parte que está en contacto con el usuario. Durante este trabajo se ha diseñado un dedal de bajo peso, adaptable a diferentes usuarios que, mediante la incorporación de sensores de contacto, permite estimar fuerzas normales y tangenciales durante la interacción con entornos reales y virtuales. Para el diseño de la arquitectura de control, se estudiaron los principales requisitos para estos dispositivos. Entre estos, cabe destacar la adquisición, procesado e intercambio a través de internet de numerosas señales de control e instrumentación; la computación de equaciones matemáticas incluyendo la cinemática directa e inversa, jacobiana, algoritmos de detección de agarres, etc. Todos estos componentes deben calcularse en tiempo real garantizando una frecuencia mínima de 1 KHz. Además, se describen sistemas para manipulación de precisión virtual y remota; así como el diseño de un método denominado "desacoplo cinemático iterativo" para computar la cinemática inversa de robots y la comparación con otros métodos actuales. Para entender la importancia de la interacción multimodal, se ha llevado a cabo un estudio para comprobar qué estímulos sensoriales se correlacionan con tiempos de respuesta más rápidos y de mayor precisión. Estos experimentos se desarrollaron en colaboración con neurocientíficos del instituto Technion Israel Institute of Technology. Comparando los tiempos de respuesta en la interacción unimodal (auditiva, visual y háptica) con combinaciones bimodales y trimodales de los mismos, se demuestra que el movimiento sincronizado de los dedos para generar respuestas de agarre se basa principalmente en la percepción háptica. La ventaja en el tiempo de procesamiento de los estímulos hápticos, sugiere que los entornos virtuales que incluyen esta componente sensorial generan mejores contingencias motoras y mejoran la credibilidad de los eventos. Se concluye que, los sistemas que incluyen percepción háptica dotan a los usuarios de más tiempo en las etapas cognitivas para rellenar información de forma creativa y formar una experiencia más rica. Una aplicación interesante de los dispositivos hápticos es el diseño de nuevos simuladores que permitan entrenar habilidades manuales en el sector médico. En colaboración con fisioterapeutas de Griffith University en Australia, se desarrolló un simulador que permite realizar ejercicios de rehabilitación de la mano. Las propiedades de rigidez no lineales de la articulación metacarpofalange del dedo índice se estimaron mediante la utilización del efector final diseñado. Estos parámetros, se han implementado en un escenario que simula el comportamiento de la mano humana y que permite la interacción háptica a través de esta interfaz. Las aplicaciones potenciales de este simulador están relacionadas con entrenamiento y educación de estudiantes de fisioterapia. En esta tesis, se han desarrollado nuevos métodos que permiten el control simultáneo de robots y manos robóticas en la interacción con entornos reales. El espacio de trabajo alcanzable por el dispositivo háptico, se extiende mediante el cambio de modo de control automático entre posición y velocidad. Además, estos métodos permiten reconocer el gesto del usuario durante las primeras etapas de aproximación al objeto para su agarre. Mediante experimentos de manipulación avanzada de objetos con un manipulador y diferentes manos robóticas, se muestra que el tiempo en realizar una tarea se reduce y que el sistema permite la realización de la tarea con precisión. Este trabajo, es el resultado de una colaboración con investigadores de Harvard BioRobotics Laboratory. ABSTRACT When we interact with the environment in our daily life (using a toothbrush, opening doors, using cell-phones, etc.), or in professional situations (medical interventions, manufacturing processes, etc.) we typically perform dexterous manipulations that involve multiple fingers and palm for both hands. Therefore, multi-Finger haptic methods can provide a realistic and natural human-machine interface to enhance immersion when interacting with simulated or remote environments. Most commercial devices allow haptic interaction with only one contact point, which may be sufficient for some exploration or palpation tasks but are not enough to perform advanced object manipulations such as grasping. In this thesis, I investigate the mechanical design, control and applications of a modular haptic device that can provide force feedback to the index, thumb and middle fingers of the user. The designed mechanical device is optimized with a multi-objective design function to achieve a low inertia, a large workspace, manipulability, and force-feedback of up to 3 N within the workspace; the bandwidth and rigidity for the device is assessed through simulation and real experimentation. One of the most important areas when designing haptic devices is the end-effector, since it is in contact with the user. In this thesis the design and evaluation of a thimble-like, lightweight, user-adaptable, and cost-effective device that incorporates four contact force sensors is described. This design allows estimation of the forces applied by a user during manipulation of virtual and real objects. The design of a real-time, modular control architecture for multi-finger haptic interaction is described. Requirements for control of multi-finger haptic devices are explored. Moreover, a large number of signals have to be acquired, processed, sent over the network and mathematical computations such as device direct and inverse kinematics, jacobian, grasp detection algorithms, etc. have to be calculated in Real Time to assure the required high fidelity for the haptic interaction. The Hardware control architecture has different modules and consists of an FPGA for the low-level controller and a RT controller for managing all the complex calculations (jacobian, kinematics, etc.); this provides a compact and scalable solution for the required high computation capabilities assuring a correct frequency rate for the control loop of 1 kHz. A set-up for dexterous virtual and real manipulation is described. Moreover, a new algorithm named the iterative kinematic decoupling method was implemented to solve the inverse kinematics of a robotic manipulator. In order to understand the importance of multi-modal interaction including haptics, a subject study was carried out to look for sensory stimuli that correlate with fast response time and enhanced accuracy. This experiment was carried out in collaboration with neuro-scientists from Technion Israel Institute of Technology. By comparing the grasping response times in unimodal (auditory, visual, and haptic) events with the response times in events with bimodal and trimodal combinations. It is concluded that in grasping tasks the synchronized motion of the fingers to generate the grasping response relies on haptic cues. This processing-speed advantage of haptic cues suggests that multimodalhaptic virtual environments are superior in generating motor contingencies, enhancing the plausibility of events. Applications that include haptics provide users with more time at the cognitive stages to fill in missing information creatively and form a richer experience. A major application of haptic devices is the design of new simulators to train manual skills for the medical sector. In collaboration with physical therapists from Griffith University in Australia, we developed a simulator to allow hand rehabilitation manipulations. First, the non-linear stiffness properties of the metacarpophalangeal joint of the index finger were estimated by using the designed end-effector; these parameters are implemented in a scenario that simulates the behavior of the human hand and that allows haptic interaction through the designed haptic device. The potential application of this work is related to educational and medical training purposes. In this thesis, new methods to simultaneously control the position and orientation of a robotic manipulator and the grasp of a robotic hand when interacting with large real environments are studied. The reachable workspace is extended by automatically switching between rate and position control modes. Moreover, the human hand gesture is recognized by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of the approximation-to-the-object phase and then mapped to the robotic hand actuators. These methods are validated to perform dexterous manipulation of objects with a robotic manipulator, and different robotic hands. This work is the result of a research collaboration with researchers from the Harvard BioRobotics Laboratory. The developed experiments show that the overall task time is reduced and that the developed methods allow for full dexterity and correct completion of dexterous manipulations.

Effects of precooling and degreening treatments on the susceptibility of peach and citrus to handling damage.

Mechanical damage to fruits results from a combination of fruit properties and of damage inflicting effects by the handling equipment. Treatments were applied to fruits which affect mechanical damage susceptibility: precooling for stone fruits and degreening to citrus fruits. Laboratory tests (compression, impact, tumbling, abrasion) and field tests (damage in the handling lines) were applied to (3) peach, (2) apricot, (2) orange and (1) lemon varieties. Hydroor-air-cooling influence positively peach and apricot firmness and cause a significant reduction in: number of bruised fruits, and size of visible bruise, when combined with a low level of loading during handling. Degreening also affects the resistance of citrus fruits to handling, when compared to green fruits.