An Encoded Infrared Sheet Of Light Navigational Beacon System For Precise Localization Of Indoor Mobile Robot Vehicles

A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described

Ideotyping integrated aquaculture systems to balance soil nutrients

Due to growing land scarcity and lack of nutrient inputs, African farmers switched from shifting cultivation to continuous cropping and extended crop area by bringing fragile lands such as river banks and hill slopes into production. This accelerated soil fertility decline caused by erosion, harvesting and insufficient nutrient replenishment. We explored the feasibility to reduce nutrient depletion by increasing nutrient utilization efficiencies, while diversifying and increasing food production through the development of integrated aquaculture – agriculture (IAA). Considering the climatic conditions prevailing in Kenyan highlands, aquaculture production scenarios were ideotyped per agro-ecological zone. These aquaculture production scenarios were integrated into existing NUTrient MONitoring (NUTMON) farm survey data for the area. The nutrient balances and flows of the resulting IAA-systems were compared to present land use. The effects of IAA development on nutrient depletion and total food production were evaluated. With the development of IAA systems, nutrient depletion rates dropped by 23–35%, agricultural production increased by 2–26% and overall farm food production increased by 22–70%. The study demonstrates that from a bio-physical point of view, the development of IAA-systems in Africa is technically possible and could raise soil fertility and total farm production. Further studies that evaluate the economic feasibility and impacts on the livelihood of farming households are recommended.

Alley cropping of willows and grassland for bioenergy provision: productivity, tree-crop interactions and energy balance

The demand for biomass for bioenergy has increased rapidly in industrialized countries in the recent years. Biogenic energy carriers are known to reduce CO2 emissions. However, the resource-inefficient production of biomass often caused negative impacts on the environment, e.g. biodiversity losses, nitrate leaching, and erosion. The detrimental effects evolved mainly from annual crops. Therefore, the aim of modern bioenergy cropping systems is to combine yield stability and environmental benefits by the establishment of mixed-cropping systems. A particular emphasis is on perennial crops which are perceived as environmentally superior to annual crops. Agroforestry systems represent such mixed perennial cropping systems and consist of a mix of trees and arable crops or grassland within the same area of land. Agroforestry practices vary across the globe and alley cropping is a type of agroforestry system which is well adapted to the temperate zone, with a high degree of mechanization. Trees are planted in rows and crops are planted in the alleyways, which facilitates their management by machinery. This study was conducted to examine a young alley cropping system of willows and two grassland mixtures for bioenergy provision under temperate climate conditions. The first part of the thesis identified possible competition effects between willows and the two grassland mixtures. Since light seemed to be the factor most affecting the yield performance of the understory in temperate agroforestry systems, a biennial in situ artificial shade experiment was established over a separate clover-grass stand to quantify the effects of shade. Data to possible below- and aboveground interactions among willows and the two grassland mixtures and their effects on productivity, sward composition, and quality were monitored along a tree-grassland interface within the alleys. In the second part, productivity of the alley cropping system was examined on a triennial time frame and compared to separate grassland and willow stands as controls. Three different conversion technologies (combustion of hay, integrated generation of solid fuel and biogas from biomass, whole crop digestion) were applied to grassland biomass as feedstock and analyzed for its energetic potential. The energetic potential of willow wood chips was calculated by applying combustion as conversion technique. Net energy balances of separate grassland stands, agroforestry and pure willow stands evaluated their energy efficiency. Results of the biennial artificial shade experiment showed that severe shade (80 % light reduction) halved grassland productivity on average compared to a non-shaded control. White clover as heliophilous plant responded sensitively to limited radiation and its dry matter contribution in the sward decreased with increasing shade, whereas non-leguminous forbs (mainly segetal species) benefited. Changes in nutritive quality could not be confirmed by this experiment. Through the study on interactions within the alleys of the young agroforestry system it was possible to outline changes of incident light, soil temperature and sward composition of clover-grass along the tree-grassland interface. Nearly no effects of trees on precipitation, soil moisture and understory productivity occurred along the interface during the biennial experiment. Considering the results of the productivity and the net energy yield alley cropping system had lower than pure grassland stands, irrespective of the grassland seed mixture or fertilization, but was higher than that for pure willow stands. The comparison of three different energetic conversion techniques for the grassland biomass showed highest net energy yields for hay combustion, whereas the integrated generation of solid fuel and biogas from biomass (IFBB) and whole crop digestion performed similarly. However, due to the low fuel quality of hay, its direct combustion cannot be recommended as a viable conversion technique, whereas IFBB fuels were of a similar quality to wood chip from willow.

Formación continua : balance y perspectivas.

En el libro se aborda la formación contínua, la formación en empresas y el problema técnico de la evaluación de esta formación, todo ello inscrito en el ámbito de la Educación Permanente, lo que reivindica el carácter pedagógico de esta formación.

Peeling, healing and bursting in a lubricated elastic sheet

We consider the dynamics of an elastic sheet lubricated by the flow of a thin layer of fluid that separates it from a rigid wall. By considering long wavelength deformations of the sheet, we derive an evolution equation for its motion, accounting for the effects of elastic bending, viscous lubrication and body forces. We then analyze various steady and unsteady problems for the sheet such as peeling, healing, levitating and bursting using a combination of numerical simulation and dimensional analysis. On the macro-scale, we corroborate our theory with a simple experiment, and on the micro-scale, we analyze an oscillatory valve that can transform a continuous stream of fluid into a series of discrete pulses.

Balance del derecho electoral colombiano

La razón de ser de la obra Balance del derecho electoral colombiano es la necesidad de analizar, con una visión política, sociológica y jurídica, el reto de transformar al elector en ciudadano; así como evidenciar los problemas que aquejan actualmente nuestro derecho electoral, estos son los ejes temáticos de la investigación. En esa medida, se profundiza en la legalidad y la eficacia del voto, reflexionando específicamente sobre la aprocrificidad, los fraudes electorales y los errores matemáticos que se pueden presentar en las elecciones. Asimismo, se analizan las causales de perdida de investidura como uno de los mecanismos para moralizar y depurar la conformación de las corporaciones de elección popular. Se ubica nuestro sistema electoral bajo el entendido de la existencia de medidas institucionales que favorezcan el acuerdo y la creación de condiciones para que los ciudadanos acepten como validas las decisiones que se adoptan en virtud de dichos procesos institucionales. En consecuencia, a demás de contextualizar el tema en el derecho comparado, se profundiza en la relación que existe entre la democracia, representación y sistemas electorales. Además, se hace una reflexión novedosa sobre la reforma político electoral de 2003, teniendo en cuenta la elección senatorial de 2006. Desde una perspectiva histórica, se analiza la forma de garantizar el principio de igualdad, la transparencia y la objetividad en la decisión expresada por los votos, a través de una organización electoral que debe proyectar ante la sociedad confianza y credibilidad en los procesos electorales. Se ofrece también el análisis sobre la relación imprescindible que existe en las democracias contemporáneas entre la política y la comunicación, soportada por las modernas técnicas de información y comunicación masiva y que ha originado, dentro de la democracia electrónica, el voto electrónico, el cual es un imperativo constitucional y legal para el país, en el contesto de nuestro avance tecnológico y el diagnostico del estado actual de nuestra democracia, se aportan las posibles ventajas y desventajas que puede conllevar la utilización de métodos electrónicos para expresar el sufragio. Además, se destaca la importancia de las encuestas de opinión en los procesos electorales.

Balance de las operaciones de interdicción aérea contra el narcotráfico entre Brasil y Colombia durante la administración Uribe I

El problema del tráfico de estupefacientes se ha convertido no solo en un dificultad para los países productores y consumidores, sino también para países de paso que a su vez se convierten en consumidores. Así la frontera entre Brasil y Colombia se ha convertido en objetivo para la lucha contra las drogas, usando herramientas como la interdicción aérea.

Comparación del balance efectivo entre niños escolares de 6 y 7 años de zonas urbanas y rurales de la Calera, Cundinamarca 2009

El 80% de las personas en el mundo con algún grado de discapacidad se encuentra en países con bajos recursos (Organización Mundial de la Salud). El balance efectivo es un elemento del movimiento, importante en la evaluación de niños en edad escolar, ya que predice la habilidad para funcionar de forma segura e independiente en diferentes ambientes. Se obtiene finalmente entre otros con la interacción del niño y su entorno. Objetivo general: determinar la prevalencia de alteraciones del balance en niños de 6 y 7 años del municipio de la Calera, comparando entre aquellos de zonas urbanas y rurales y por otras características demográficas. Metodología: estudio del tipo Cross-Sectional. Se evaluó niños y niñas de instituciones educativas de zonas urbanas y rurales del municipio de la Calera aplicando la Escala de Berg modificada y se indagó por variables sociodemográficas; se analizó la información en SPSS 16.0 con análisis de frecuencias, y la presencia de una probable relación entre las variables estudiadas y alteraciones en la escala, mediante la construcción de modelos de regresión logístical. La razón de disparidad (OR) fue la medida de estimación de fuerza de asociación. Resultados: la prevalencia de alteraciones del Balance fue 4.1% en la muestra. La probabilidad de tener un puntaje anormal con esta escala en niños de 6-7 años del municipio de la Calera, si el lugar de residencia habitual es la zona urbana es 4 veces la de los niños que tienen como lugar de residencia habitual la zona rural (IC 95% 1.65-6.35).

Work-life balance - You've never had it so good??

Gives some personal reflections on work-life balance in both services and in academic research. Over the last few years both childcare and working practices have changed for the better. I hope this will stimulate discussion with the contributions from other academics at the WiSET discussion session.

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