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.

Carcass composition of Venda indigenous scavenging chickens under village management

Four Venda indigenous scavenging (VIS) chickens (one young male and one young female of 10-16 weeks of age, a mature cockerel and a mature hen) were randomly purchased from each of six adjacent rural villages during three different seasons (autumn, winter and spring) to determine the meat yield and carcass chemical composition. A total of 72 chickens were slaughtered and feathers, head, neck, viscera, feet and lungs were removed. The live body weight, dressed carcass weight and also the mass of the breast without wings, thighs and drumsticks were recorded with bones and skin. The muscle tissues of the breast and both legs without tendons and fat were sampled for chemical analysis and were analysed for dry matter, ether extract, crude protein and ash. The carcass weight, dressing %, mass of the breast, mass of the thighs, mass of the drumsticks, breast yield, thighs yield and drumsticks yield of both grower and adult VIS chickens were not influenced by season. The crude protein of the grower chickens breast muscles and fat content of the adult chicken leg muscles differed with season. The meat from VIS chickens provided a constant nutrient (crude protein) supply throughout the year to the rural communities.

La cooperación cultural como herramienta para la reafirmación identitaria en el Grupo Visegrád y sus efectos en el posicionamiento del mismo dentro de la Unión Europea 2004-2012

El Grupo Visegrád es un escenario de cooperación multilateral, conformado por Polonia, República Checa, Eslovaquia y Hungría, el cual tiene como objetivo principal contribuir al cumplimiento de los intereses de dichos países, por medio de la financiación de proyectos culturales. El interés de esta monografía consiste en determinar la incidencia de la cooperación cultural en la reafirmación identitaria de cada uno de los miembros del Grupo y, por ende, en la manera como éstos se proyectan dentro de la Unión Europea. Así pues, se identifican los principales hechos históricos que han moldeado los intereses de los países del V4 y que condujeron a la creación de una estructura institucional sólida, que ha servido como plataforma para el accionar de dichos países dentro del bloque europeo. Se utiliza la perspectiva constructivista de Alexander Wendt, la cual permite entender la naturaleza de la cooperación y, su relación con las identidades y los intereses de los Estados.

Seasonal deposition of Holocene banded sediments in the Severn Estuary Levels (southwest Britain): palynological and sedimentological evidence

Banded sediments outcrop widely in the intertidal zone of the Severn Estuary and have been suggested, on the basis of textural analysis, to have formed in response to seasonal variations in sea temperature and windiness (Holocene, 14 (2004) 536). Here palynological and sedimentological analyses of banded sediments of mid-Holocene date from Gold Cliff, on the Welsh side of the Severn Estuary, are combined to test and further develop the hypothesis of seasonal deposition. Pollen percentage and concentration data are presented from a short sequence of bands to establish whether textural variations in the bands coincide with variations in pollen content reflecting seasonal flowering patterns. It is shown that fine-grained band parts contain higher total pollen concentrations, and a higher proportion of pollen from late spring- to summer-flowering plants, than coarse-grained band parts. Pollen in the coarser deposits appears primarily to reflect deposition from the buffering `reservoir' of suspended pollen in the estuarine water-body and from rivers, when there is little pollen in the air in winter, while the finer sediments contain pollen deposited from the atmosphere during the flowering season, superimposed on these `background' sources. The potential of such deposits for refining chronologies and identifying seasonality of coastal processes is noted, and the results of charcoal particle analysis of the bands presented as an example of how they have the potential to shed light on seasonal and annual patterns of human activity. (C) 2004 Elsevier Ltd. All rights reserved.

The ENSO-Asian monsoon interaction in a coupled ocean-atmosphere GCM

In this study, the authors evaluate the (El Niño–Southern Oscillation) ENSO–Asian monsoon interaction in a version of the Hadley Centre coupled ocean–atmosphere general circulation model (CGCM) known as HadCM3. The main focus is on two evolving anomalous anticyclones: one located over the south Indian Ocean (SIO) and the other over the western North Pacific (WNP). These two anomalous anticyclones are closely related to the developing and decaying phases of the ENSO and play a crucial role in linking the Asian monsoon to ENSO. It is found that the HadCM3 can well simulate the main features of the evolution of both anomalous anticyclones and the related SST dipoles, in association with the different phases of the ENSO cycle. By using the simulated results, the authors examine the relationship between the WNP/SIO anomalous anticyclones and the ENSO cycle, in particular the biennial component of the relationship. It is found that a strong El Niño event tends to be followed by a more rapid decay and is much more likely to become a La Niña event in the subsequent winter. The twin anomalous anticyclones in the western Pacific in the summer of a decaying El Niño are crucial for the transition from an El Niño into a La Niña. The El Niño (La Niña) events, especially the strong ones, strengthen significantly the correspondence between the SIO anticyclonic (cyclonic) anomaly in the preceding autumn and WNP anticyclonic (cyclonic) anomaly in the subsequent spring, and favor the persistence of the WNP anomaly from spring to summer. The present results suggest that both El Niño (La Niña) and the SIO/WNP anticyclonic (cyclonic) anomalies are closely tied with the tropospheric biennial oscillation (TBO). In addition, variability in the East Asian summer monsoon, which is dominated by the internal atmospheric variability, seems to be responsible for the appearance of the WNP anticyclonic anomaly through an upper-tropospheric meridional teleconnection pattern over the western and central Pacific.

Evaluating the climate and air quality impacts of short-lived pollutants

This paper presents a summary of the work done within the European Union's Seventh Framework Programme project ECLIPSE (Evaluating the Climate and Air Quality Impacts of Short-Lived Pollutants). ECLIPSE had a unique systematic concept for designing a realistic and effective mitigation scenario for short-lived climate pollutants (SLCPs; methane, aerosols and ozone, and their precursor species) and quantifying its climate and air quality impacts, and this paper presents the results in the context of this overarching strategy. The first step in ECLIPSE was to create a new emission inventory based on current legislation (CLE) for the recent past and until 2050. Substantial progress compared to previous work was made by including previously unaccounted types of sources such as flaring of gas associated with oil production, and wick lamps. These emission data were used for present-day reference simulations with four advanced Earth system models (ESMs) and six chemistry transport models (CTMs). The model simulations were compared with a variety of ground-based and satellite observational data sets from Asia, Europe and the Arctic. It was found that the models still underestimate the measured seasonality of aerosols in the Arctic but to a lesser extent than in previous studies. Problems likely related to the emissions were identified for northern Russia and India, in particular. To estimate the climate impacts of SLCPs, ECLIPSE followed two paths of research: the first path calculated radiative forcing (RF) values for a large matrix of SLCP species emissions, for different seasons and regions independently. Based on these RF calculations, the Global Temperature change Potential metric for a time horizon of 20 years (GTP20) was calculated for each SLCP emission type. This climate metric was then used in an integrated assessment model to identify all emission mitigation measures with a beneficial air quality and short-term (20-year) climate impact. These measures together defined a SLCP mitigation (MIT) scenario. Compared to CLE, the MIT scenario would reduce global methane (CH4) and black carbon (BC) emissions by about 50 and 80 %, respectively. For CH4, measures on shale gas production, waste management and coal mines were most important. For non-CH4 SLCPs, elimination of high-emitting vehicles and wick lamps, as well as reducing emissions from gas flaring, coal and biomass stoves, agricultural waste, solvents and diesel engines were most important. These measures lead to large reductions in calculated surface concentrations of ozone and particulate matter. We estimate that in the EU, the loss of statistical life expectancy due to air pollution was 7.5 months in 2010, which will be reduced to 5.2 months by 2030 in the CLE scenario. The MIT scenario would reduce this value by another 0.9 to 4.3 months. Substantially larger reductions due to the mitigation are found for China (1.8 months) and India (11–12 months). The climate metrics cannot fully quantify the climate response. Therefore, a second research path was taken. Transient climate ensemble simulations with the four ESMs were run for the CLE and MIT scenarios, to determine the climate impacts of the mitigation. In these simulations, the CLE scenario resulted in a surface temperature increase of 0.70 ± 0.14 K between the years 2006 and 2050. For the decade 2041–2050, the warming was reduced by 0.22 ± 0.07 K in the MIT scenario, and this result was in almost exact agreement with the response calculated based on the emission metrics (reduced warming of 0.22 ± 0.09 K). The metrics calculations suggest that non-CH4 SLCPs contribute ~ 22 % to this response and CH4 78 %. This could not be fully confirmed by the transient simulations, which attributed about 90 % of the temperature response to CH4 reductions. Attribution of the observed temperature response to non-CH4 SLCP emission reductions and BC specifically is hampered in the transient simulations by small forcing and co-emitted species of the emission basket chosen. Nevertheless, an important conclusion is that our mitigation basket as a whole would lead to clear benefits for both air quality and climate. The climate response from BC reductions in our study is smaller than reported previously, possibly because our study is one of the first to use fully coupled climate models, where unforced variability and sea ice responses cause relatively strong temperature fluctuations that may counteract (and, thus, mask) the impacts of small emission reductions. The temperature responses to the mitigation were generally stronger over the continents than over the oceans, and with a warming reduction of 0.44 K (0.39–0.49) K the largest over the Arctic. Our calculations suggest particularly beneficial climate responses in southern Europe, where surface warming was reduced by about 0.3 K and precipitation rates were increased by about 15 (6–21) mm yr−1 (more than 4 % of total precipitation) from spring to autumn. Thus, the mitigation could help to alleviate expected future drought and water shortages in the Mediterranean area. We also report other important results of the ECLIPSE project.

Seasonality of macroalgal communities in a subtropical drainage basin in Paraná state, southern Brazil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Testosterone-immunopositive primordial germ cells in the testis of the bullfrog, Rana catesbeiana

In amphibia, steroidogenesis remains quiescent in distinct seasonal periods, but the mechanism by which spermatogenesis is maintained under low steroidogenic conditions is not clear. In the present study, testosterone location in the testes of Rana catesbeiana was investigated immunohistochemically during breeding (summer) and nonbreeding (winter) periods. In winter, the scarce interstitial tissue exhibited occasional testosterone immunopositivity in the interstitial cells but the cytoplasm of primordial germ cells (PG cells) was clearly immunopositive. By contrast, in summer, PG cells contained little or no immunoreactivity whereas strong immunolabelling was present in the well-developed interstitial tissue. These results suggest that PG cells could retain testosterone during winter. This androgen reservoir could be involved in the control of early spermatogenesis in winter and/or to guarantee spermiogenesis and spermiation in the next spring/summer. The weak or negative immunoreaction in the summer PG cells might reflect consumption of androgen reservoir by the intense spermatogenic activity from spring to summer. Thus, besides acting as stem cells, PG cells of R. catesbeiana could exert an androgen regulatory role during seasonal spermatogenesis.

Population structure and reproductive period of the tropical hermit crab Calcinus tibicen (Decapoda : Diogenidae) in the region of Ubatuba, São Paulo, Brazil

The population of the hermit crab Calcinus tibicen in the Ubatuba region was studied with emphasis on seasonal abundance, seasonal size-frequency distribution, sex-ratio, and reproductive period based on the percentage of ovigerous females. The animals were collected at 2-month intervals for 2 consecutive years (from January 1993 to November 1994). Total mean animal size in shield length was 5.14 +/- 1.23 mm for males, 4.23 +/- 0.79 mm for females, and 4.53 +/- 0.60 for ovigerous females. A discontinuity in reproduction was observed, with an absence of ovigerous females in July (winter) and a high incidence from September to May (spring to autumn). Calcinus tibicen is sexually dimorphic in relation to size, with a higher growth rare in males. The sex-ratio pattern changes with season, indicating that it is more a function of season or habitat than of size.

Reproduction and recruitment of the South American red shrimp, Pleoticus muelleri (Crustacea : Solenoceridae), from the Southeastern coast of Brazil

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Numerical study of circulation on the inner Amazon Shelf

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Biologia populacional de Pareiorhina rudolphi (Loricariidae, Hypostominae) na microbacia do Ribeirão Grande, serra da Mantiqueira oriental, Estado de São Paulo

Pareiorhina rudolphi was sampled in streams of the Ribeirao Grande system, eastern Serra da Mantiqueira (22[degree]47[minute]08[second]S, 45[degree]28[minute]17[second] W). Samplings were carried out using an electrofishing device, during the months of July/2001, October/2001, February/2002 and April/2002. Sex-ratio diverged significantly from the expected 1: 1 ratio([chi]2 = 6.53; p < 0.05), standing at 1.6:1 (female: male). The spawning period for Pareiorhina rudolphi lasts from spring to summer, with, the highest observed, in October and February by the gonadosomantic index and the relative condition factor coincided with the spawning period. The length at sexual maturity of P. rudolphi is about 4.45 cm for both sexes. The absolute fecundity was low, and ranged from 4 to 11 oocytes. The periphyton was used as a direct food source by the species, which remain attached to the substrate with their large circular lips, and use their conspicuous Slightly Yellowish teeth to graze the periphyton. The growth parameters, natural mortality rate and survival rate for P, rudolphi were respectively: K = 0.35 year-1, L[infinity] = 7.2 cm, tmax = 8.6 years, M = 1.1 year-1, S = 33%. The characteristics presented by P. rudolphi occur in the environment function of a population adjustment, and not of species abundance.

Influência da posição diametral das tábuas e da vaporização nos defeitos de secagem de Eucalyptus grandis

This study evaluated the Eucalyptus grandis drying defects acting on boards diametrical position and on log steaming. Half of the logs, with diameter from 20 to <25, 25 to <30 and 30 to <35cm, were steamed during 20 hours at 90°C of temperature. Subsequently, the logs (control and steamed) were sawn. The boards were dried in the dry-kiln pilot and the resulting defects from the drying process were measured. The results indicate that: (1) the boards coming from control logs presented different magnitude defects in function of the diametrical position. The split and spring to increase in direction to pith, the bow to increase in direction to bark and cupping were bigger in intermediary boards; (2) the boards coming from steamed logs presented a reduction from drying defects in function of logs diameter and its more homogeneous index in the pith-bark direction.

As chuvas no Paraná: Variabilidade, teleconexões, e impactos de eventos extremos

Pós-graduação em Geografia - FCT

Produtividade do milho e de matéria seca de forrageiras em consórcio e doses de nitrogênio na cultura da soja em sucessão

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)