Improving Dynamic Characteristics of Open-loop Controlled Log Crane

The improvement of the dynamics of flexible manipulators like log cranes often requires advanced control methods. This thesis discusses the vibration problems in the cranes used in commercial forestry machines. Two control methods, adaptive filtering and semi-active damping, are presented. The adaptive filter uses a part of the lowest natural frequency of the crane as a filtering frequency. The payload estimation algorithm, filtering of control signal and algorithm for calculation of the lowest natural frequency of the crane are presented. The semi-active damping method is basedon pressure feedback. The pressure vibration, scaled with suitable gain, is added to the control signal of the valve of the lift cylinder to suppress vibrations. The adaptive filter cuts off high frequency impulses coming from the operatorand semi-active damping suppresses the crane?s oscillation, which is often caused by some external disturbance. In field tests performed on the crane, a correctly tuned (25 % tuning) adaptive filter reduced pressure vibration by 14-17 % and semi-active damping correspondingly by 21-43%. Applying of these methods require auxiliary transducers, installed in specific points in the crane, and electronically controlled directional control valves.

Innovative LIDAR 3D dynamic measurement system to estimate fruit-tree leaf area

In this work, a LIDAR-based 3D Dynamic Measurement System is presented and evaluated for the geometric characterization of tree crops. Using this measurement system, trees were scanned from two opposing sides to obtain two three-dimensional point clouds. After registration of the point clouds, a simple and easily obtainable parameter is the number of impacts received by the scanned vegetation. The work in this study is based on the hypothesis of the existence of a linear relationship between the number of impacts of the LIDAR sensor laser beam on the vegetation and the tree leaf area. Tests performed under laboratory conditions using an ornamental tree and, subsequently, in a pear tree orchard demonstrate the correct operation of the measurement system presented in this paper. The results from both the laboratory and field tests confirm the initial hypothesis and the 3D Dynamic Measurement System is validated in field operation. This opens the door to new lines of research centred on the geometric characterization of tree crops in the field of agriculture and, more specifically, in precision fruit growing.

Erosió hídrica en vinya per a producció de vi d'alta qualitat en zona mediterrània (Anoia-Penedès): quantificació de les pèrdues de nutrients per erosió del sòl i implicacions

La vinya, malgrat que no és una planta exigent pel que fa als sòls, es veu afectada per la pèrdua de sed per causa de l'erosió hídrica. En aquest treball es presenten uns primers resultats de mesures de pèrdues de sed en condicions reals de camp. Les parcel les control són de grans dimensions, conreades segons els costums de la zona. Com a referencia es prenen les pèrdues de sòl mitjanes, calculades a partir de l'USLE, per al conreu de vinya. Es determinen, a més de les pèrdues globals de sòlids, les de nutrients que això comporta. Tenint en compte que la metodologia emprada en el camp i en el laboratori condueix a resultats per defecte, les pèrdues mesurades del període de l'any de màximes pluges (tardor) són, de mitjana, de 13 Mg ha-1 en un sistema de cultiu tradicional i fins a 100 Mg ha-1 en un sistema de cultiu emparrat. La importància del problema a curt termini encareix els factors de producció i fa perillar la sostenibilitat de la vinya a llarg termini.

Vuelos de la defoliadora de maíz, pastos y céspedes, Mythimna (Pseudaletia) unipuncta (Haworth) en la zona de Lleida

Mythimna unipuncta causa daños en gramíneas cultivadas (principalmente maíz) y céspedes cuya importancia ha ido aumentando los últimos años. En nuestra región presenta cuatro vuelos de adultos. Los daños causados por la descendencia del primer y cuarto vuelo no han sido apreciables, mientras que la descendencia del segundo vuelo ha causado daños de consideración en algunos campos de maíz y la del tercero en céspedes públicos. Se han calculado los grados -día necesarios para completar cada generación en campo y en el laboratorio. Se ha observado que casi todas las hembras capturadas del cuarto vuelo estaban apareadas y habían depositado sus huevos.

Protocolo para la zonificación intraparcelaria de la viña para vendimia selectiva a partir de imágenes multiespectratrales

En este trabajo se presenta un protocolo para la zonificación intraparcelaria de la viña con la finalidad de vendimia selectiva. Se basa en la adquisición de una imagen multiespectral detallada en el momento del envero, a partir de la cual se obtiene el índice de vegetación de la diferencia normalizada (NDVI). Este índice se clasifica en áreas de vigor alto y bajo mediante un proceso de clasificación no supervisada (algoritmo ISODATA). Las zonas resultantes se generalizan y se transfieren al monitor de cosecha de una máquina vendimiadora para realizar la recolección selectiva. La uva recolectada según este protocolo en parcelas control ha mostrado diferenciación en cuanto a parámetros de calidad como el pH, la acidez total, el contenido de polifenoles y el color. La imagen multiespectral utilizada fue adquirida por el satélite Quickbird-2. Los datos de calidad de la uva fueron muestreados según una malla regular de 5 filas por 10 cepas, procediendo a un test estadístico de rangos múltiples para analizar la separación de medias de las variables analizadas en cada zona de NDVI.

Breeding, genetic and genomic of citrus for disease resistance

Although the citriculture is one of the most important economic activities in Brazil, it is based on a small number of varieties. This fact has contributed for the vulnerability of the culture regarding the phytosanitary problems. A higher number of varieties/genotypes with potential for commercial growing, either for the industry or fresh market, has been one of the main objectives of citrus breeding programs. The genetic breeding of citrus has improved, in the last decades, due to the possibility of an association between biotechnological tools and classical methods of breeding. The use of molecular markers for early selection of zygotic seedlings from controlled crosses resulted in the possibility of selection of a high number of new combination and, as a consequence, the establishment of a great number of hybrids in field experiments. The faster new tools are incorporated in the program, the faster is possibility to reach new genotypes that can be tested as a new variety. Good traits should be kept or incorporate, whereas bad traits have to be excluded or minimized in the new genotype. Scion and rootstock can not be considered separately, and graft compatibility, fruit quality and productivity are essential traits to be evaluated in the last stages of the program. The mapping of QTLs has favored breeding programs of several perennial species and in citrus it was possible to map several characteristics with qualitative and quantitative inheritance. The existence of linkage maps and QTLs already mapped, the development of EST and BAC library and the sequencing of the Citrus complete genome altogether make very demanding and urgent the exploration of such data to launch a wider genetic study of citrus. The rising of information on genome of several organisms has opened new approaches looking for integration between breeding, genetic and genome. Genome assisted selection (GAS) involves more than gene or complete genome sequencing and is becoming an import support in breeding programs of annual and perennial species. An huge information amount can be derivate from genome analysis. The use and benefit of such informations will depend on the genetic basis of the breeding program.

Acclimatization and leaf anatomy of micropropagated fig plantlets

The survival of micropropagated plants during and after acclimatization is a limiting process to plant establishment. There is little information on how the anatomy of vegetative organs of Ficus carica can be affected by culture conditions and acclimatization. The present research aimed to study the effects of time on culture medium and substrates during the acclimatization of fig tree plantlets produced in vitro, characterizing some leaf anatomy aspects of plantlets cultured in vitro and of fig trees produced in field. Plantlets previously multiplied in vitro were separated and transferred into Wood Plant Medium (WPM) where they were kept for 0, 15, 30, 45 and 60 days. Different substrates were tested and studies on leaf anatomy were performed in order to compare among plantlets grown in vitro, plantlets under 20, 40 and 60 days of acclimatization, and field grown plants. Keeping plantlets for 30 days in WPM allowed better development in Plantmax during acclimatization. Field grown plants presented higher number of stomata, greater epicuticular wax thickness and greater leaf tissue production compared to in vitro ones. The leaf tissues of in vitro plantlets show little differentiation and have great stomata number compared with acclimatized plants, which reduce the number of stomata during the acclimatization process.

Call for uniform neuropsychological assessment after aneurysmal subarachnoid hemorrhage: Swiss recommendations.

BACKGROUND: In a high proportion of patients with favorable outcome after aneurysmal subarachnoid hemorrhage (aSAH), neuropsychological deficits, depression, anxiety, and fatigue are responsible for the inability to return to their regular premorbid life and pursue their professional careers. These problems often remain unrecognized, as no recommendations concerning a standardized comprehensive assessment have yet found entry into clinical routines. METHODS: To establish a nationwide standard concerning a comprehensive assessment after aSAH, representatives of all neuropsychological and neurosurgical departments of those eight Swiss centers treating acute aSAH have agreed on a common protocol. In addition, a battery of questionnaires and neuropsychological tests was selected, optimally suited to the deficits found most prevalent in aSAH patients that was available in different languages and standardized. RESULTS: We propose a baseline inpatient neuropsychological screening using the Montreal Cognitive Assessment (MoCA) between days 14 and 28 after aSAH. In an outpatient setting at 3 and 12 months after bleeding, we recommend a neuropsychological examination, testing all relevant domains including attention, speed of information processing, executive functions, verbal and visual learning/memory, language, visuo-perceptual abilities, and premorbid intelligence. In addition, a detailed assessment capturing anxiety, depression, fatigue, symptoms of frontal lobe affection, and quality of life should be performed. CONCLUSIONS: This standardized neuropsychological assessment will lead to a more comprehensive assessment of the patient, facilitate the detection and subsequent treatment of previously unrecognized but relevant impairments, and help to determine the incidence, characteristics, modifiable risk factors, and the clinical course of these impairments after aSAH.

Avaluació d’un programa de prevenció de luxacions i subluxacions d’espatlla en el judo

Aquest projecte està encarat a avaluar un protocol de prevenció de luxacions i subluxacions d’espatlla en el judo. L’objectiu principal és el de reduir el nombre de luxacions i subluxacions d’espatlla en judokes de categories compreses entre les categories cadet i absoluta millorant paràmetres com la força, la elasticitat muscular, la propiocepció, l’alimentació i la condició física dels esportistes. Aquest serà un estudi experimental amb dos grups, on el Centre de Tecnificació del Bages un realitzarà el protocol objecte d’estudi i el grup de la Federació Catalana de Judo i D.A seguiran amb la seva activitat habitual. Cada grup estarà format per 37 esportistes amb un risc alfa de 0.05 i un risc beta inferior al 0.2, amb una taxa de pèrdua de seguiment d’un 10%. Aquest protocol de prevenció pot ser útil en la nostre comunitat, però no té perquè ser-ho en altres països o regions depenent del tipus de judo que es realitza a cada lloc. Abans de començar amb l’actuació del protocol es realitzaran avaluacions biomecàniques per conèixer l’estat dels esportistes i poder actuar analíticament on més ho necessiti cada integrant de l’estudi.

Environmental influence on the phenotype of ant workers revealed by common garden experiment

Many organism traits vary along environmental gradients. Common garden experiments provide powerful means to disentangle the role of intrinsic factors, such as genetic or maternal effects, from extrinsic environmental factors in shaping phenotypic variation. Here, we investigate body size and lipid content variation in workers of the socially polymorphic ant Formica selysi along several independent elevation gradients in Switzerland. We compare field-collected workers and workers sampled as eggs from the same colonies but reared in common laboratory conditions. Overall, field-collected workers from high elevation are larger than those from low elevation, but the trend varies substantially among valleys. The same pattern is recovered when the eggs are reared in a common garden, which indicates that body size variation along elevation gradients and valleys is partly explained by genetic or maternal effects. However, both body size and lipid content exhibit significantly greater variation in field-collected workers than in laboratory-reared workers. Hence, much of the phenotypic variation results from a plastic response to the environment, rather than from genetic differences. Eggs from different elevations also show no significant difference in development time in the common garden. Overall, selection on individual worker phenotypes is unlikely to drive the altitudinal distribution of single- and multiple-queen colonies in this system, as phenotypic variation tends to be plastic and can be decoupled from social structure. This study provides insights into the interplay between individual phenotypic variation and social organization and how the two jointly respond to differing environmental conditions.

Detecting Heterogeneous Risk Attitudes with Mixed Gambles

We propose a task for eliciting attitudes toward risk that is close to real-world risky decisions which typically involve gains and losses. The task consists of accepting or rejecting gambles that provide a gain with probability p and a loss with probability 1−p . We employ finite mixture models to uncover heterogeneity in risk preferences and find that (i) behavior is heterogeneous, with one half of the subjects behaving as expected utility maximizers, (ii) for the others, reference-dependent models perform better than those where subjects derive utility from final outcomes, (iii) models with sign-dependent decision weights perform better than those without, and (iv) there is no evidence for loss aversion. The procedure is sufficiently simple so that it can be easily used in field or lab experiments where risk elicitation is not the main experiment.

Spottier Targets Are Less Attractive to Tabanid Flies: On the Tabanid-Repellency of Spotty Fur Patterns

During blood-sucking, female members of the family Tabanidae transmit pathogens of serious diseases and annoy their host animals so strongly that they cannot graze, thus the health of the hosts is drastically reduced. Consequently, a tabanid-resistant coat with appropriate brightness, colour and pattern is advantageous for the host. Spotty coats are widespread among mammals, especially in cattle (Bos primigenius). In field experiments we studied the influence of the size and number of spots on the attractiveness of test surfaces to tabanids that are attracted to linearly polarized light. We measured the reflection-polarization characteristics of living cattle, spotty cattle coats and the used test surfaces. We show here that the smaller and the more numerous the spots, the less attractive the target (host) is to tabanids. We demonstrate that the attractiveness of spotty patterns to tabanids is also reduced if the target exhibits spottiness only in the angle of polarization pattern, while being homogeneous grey with a constant high degree of polarization. Tabanid flies respond strongly to linearly polarized light, and we show that bright and dark parts of cattle coats reflect light with different degrees and angles of polarization that in combination with dark spots on a bright coat surface disrupt the attractiveness to tabanids. This could be one of the possible evolutionary benefits that explains why spotty coat patterns are so widespread in mammals, especially in ungulates, many species of which are tabanid hosts

Variações no teor e na composição volátil de Hyptis marrubioides EPL: cultivada no campo e em casa de vegetação

This work describes the chemical composition of the volatile oil of Hyptis marrubioides cultivated in field and greenhouse. The experimental design was completely randomized, with ten replications for each type of cultivation. The volatile oil was extracted by hydrodistillation and analyzed by GC-MS. The highest content of volatile oil was found for plants grown in field. The highest percentage of the compounds present in oils was observed in samples grown in the field, such as germacra-4(15),5,10(14)-trien-1-α-ol (16.34%), β-caryophyllene (10.42%), γ-muurolene (12.83%) and trans-thujone (9.98%). However, some compounds were found only in plants grown in a greenhouse, such as cis-muurol-5-en-4α-ol (10.84%), α-cadinol (3.06%) and eudesma-4(15),7-dien-1β-ol (6.82%).

Uso de CLAE no controle de qualidade em produtos comerciais de Nim: reprodutibilidade da ação inseticida

The Neem tree, Azadirachta indica, provides many useful compounds that are used as pesticides. However, the efficiency in field of products like neem oil can be committed because they have not been observed reproductive content of secondary metabolic like azadirachtin. Based on reverse-phase high-performance liquid chromatography (HPLC) a new method was developed to permit the rapid quantitative analysis of azadirachtin from seeds, extracts and oil of Neem. In the present study it was evaluated the azadirachtin quantitative variation among various Neem's extracts and seeds showing the importance of quality control for reproduction of the insecticide efficiency, using S. frugiperda as target insect.

Controle da qualidade na determinação potenciométrica de sulfetos volatilizáveis por acidificação (SVA) utilizando adições de padrão

This paper presents a quality assurance and quality control protocol in order to ensure the reliability of analytical results for the determination of acid volatile sulfides in environmental samples by potentiometry. The monitoring of the ion selective sensor readings must be realized continually and particularly in this situation where the analyte is susceptible to transformation and volatilization. Potentiometry with the standard addition was presented as a rapid, accurate, precise, feasible as well as a low cost technique. Concentrations of the analyte in the range of 0.49 to 1.02 mg L-1 were tested with percentage recoveries varying from 89 to 113%.