Análisis Dinámico de mecanismos paralelos con requisitos de diseño mecatrónico

[ES]El objetivo del presente TFG es el Análisis Dinámico de mecanismos paralelos según las necesidades de la mecatrónica. La mecatrónica requiere expresiones explícitas de las fuerzas motoras que sólo dependen de las propias posiciones, velocidades y aceleraciones en los accionamientos. Ello requiere métodos avanzados de la mecánica analítica de sólido rígido. Concretamente se han desarrollado la ecuación de Lagrange modificada (según [11]) y la ecuación de Boltzmann-Hamel modificada, siendo esta última una aportación de este TFG. Como aplicación práctica se ha programado un modelo mecatrónico para un manipulador paralelo 5R y se ha optimizado el diseño de una Multi Axis Simulation Table 3PRS.

Structural capital, innovation capability, and company performance in technology-based colombian firms

[EN] In today s economy, innovation is considered to be one of the main driving forces behind business competitiveness, if not the most relevant one. Traditionally, the study of innovation has been addressed from different perspectives. Recently, literature on knowledge management and intellectual capital has provided new insights. Considering this, the aim of this paper is to analyze the impact of different organizational conditions i.e. structural capital on innovation capability and innovation performance, from an intellectual capital (IC) perspective. As regards innovation capability, two dimensions are considered: new idea generation and innovation project management. The population subject to study is made up of technology-based Colombian firms. In order to gather information about the relevant variables involved in the research, a questionnaire was designed and addressed to the CEOs of the companies making up the target population. The sample analyzed is made up of 69 companies and is large enough to carry out a statistical study based on structural equation modelling (partial least squares approach) using PLS-Graph software (Chin and Frye, 2003). The results obtained show that structural capital explains to a great extent both the effectiveness of the new idea generation process and of innovation project management. However, the influence of each specific organizational component making up structural capital (organizational design, organizational culture, hiring and professional development policies, innovation strategy, technological capital, and external structure) varies. Moreover, successful innovation project management is the only innovation capability dimension that exerts a significant impact on company performance.

Enfoque da estatística espacial em modelos dinâmicos de mudança do uso do solo.

O atual nível das mudanças uso do solo causa impactos nas mudanças ambientais globais. Os processos de mudanças do uso e cobertura do solo são processos complexos e não acontecem ao acaso sobre uma região. Geralmente estas mudanças são determinadas localmente, regionalmente ou globalmente por fatores geográficos, ambientais, sociais, econômicos e políticos interagindo em diversas escalas temporais e espaciais. Parte desta complexidade é capturada por modelos de simulação de mudanças do uso e cobertura do solo. Uma etapa do processo de simulação do modelo CLUE-S é a quantificação da influência local dos impulsores de mudança sobre a probabilidade de ocorrência de uma classe de uso do solo. Esta influência local é obtida ajustando um modelo de regressão logística. Um modelo de regressão espacial é proposto como alternativa para selecionar os impulsores de mudanças. Este modelo incorpora a informação da vizinhança espacial existente nos dados que não é considerada na regressão logística. Baseado em um cenário de tendência linear para a demanda agregada do uso do solo, simulações da mudança do uso do solo para a microbacia do Coxim, Mato Grosso do Sul, foram geradas, comparadas e analisadas usando o modelo CLUE-S sob os enfoques da regressão logística e espacial para o período de 2001 a 2011. Ambos os enfoques apresentaram simulações com muito boa concordância, medidas de acurácia global e Kappa altos, com o uso do solo para o ano de referência de 2004. A diferença entre os enfoques foi observada na distribuição espacial da simulação do uso do solo para o ano 2011, sendo o enfoque da regressão espacial que teve a simulação com menor discrepância com a demanda do uso do solo para esse ano.

Resiliencia en crestas de arrecifes coralinos del este del golfo de Batabanó, Cuba, y factores determinantes probables

RESUMEN Se comparó el grado de resiliencia de seis crestas arrecifales del este del golfo de Batabanó, Cuba. Tres fueron del norte del golfo de Cazones (Tramo Norte) y las restantes, del oeste de Cayo Largo (Tramo Sur). Las del primer tramo fueron las de faro Cazones, Norte de la cresta de cayo Diego Pérez y de faro Diego Pérez. Las otras tres fueron las de cayo Rico, arrecifes Los Ballenatos y arrecifes Hijos de Los Ballenatos. Se emplearon los indicadores biológicos del Protocolo AGRRA. El Tramo Norte presentó las crestas más resilientes, sobre todo la de faro Cazones. Las del Tramo Sur no exhibieron resiliencia. Fueron varios e interrelacionados, los factores aparentemente más determinantes en la resiliencia. Entre estos, cuatro se consideraron como fuerzas motrices: resguardo contra el oleaje, circulación habitual giratoria ciclónica en la ensenada de Cazones, entrada de nutrientes provenientes tanto de la ciénaga de Zapata como de aguas profundas, y abundancia del erizo herbívoro Diadema antillarum. Los demás factores, desencadenados por los anteriores y también interrelacionados, fueron, al parecer la menor afectación por oleaje y sedimentos, estabilización de fragmentos vivos de coral, índices favorables de macroalgas bentónicas, cierta retención de nutrientes y plancton, más alimentación heterotrófica de los corales, mayor auto reclutamiento de corales y del erizo Diadema; mejores condiciones para el asentamiento y viabilidad de los reclutas, y para el recapamiento de corales; mayor crecimiento y recuperación de los corales y mejores condiciones térmicas contra el blanqueamiento de corales ABSTRACT The degree of resilience of six reef crest sites was compared at the east of the Gulf of Batabano, Cuba. Three of them were located north of the Gulf of Cazones (Northern Stretch), while the remaining ones were west of Cayo Largo (Southern Stretch). Those of the Northern Stretch were “Faro Cazones”, north of the crest of cayo Diego Pérez and “Faro Diego Pérez”. The remaining sites were those of the cayo Rico, Los Ballenatos reefs, and Hijos de Los Ballenatos reefs. The AGRRA biological indicators were applied. The Northern Stretch presented the most resilient crests, mainly that of “Faro Cazones”. Those of the Southern Stretch did not reveal signs of resilience. Several interrelated factors were apparently more linked to resilience. Four of them were considered as driving forces: shelter from waves, usual cyclonic revolving water circulation in the Ensenada de Cazones, nutrient input from the Zapata swamp and deep water, and the abundance of the herbivore sea urchin Diadema antillarum. Triggered by these driving forces, the remaining factors apparently were less effect of waves and sediments, stabilization of live coral fragments, favorable benthic macro-algae indices, some retention of nutrient and plankton, increased coral heterotrophic feeding; better conditions for recruit settlement and viability, and for coral re-sheeting; faster coral growth and recuperation and better thermal conditions against coral bleaching.

MicroRNA regulation and the variability of human cortical gene expression

Understanding the driving forces of gene expression variation within human populations will provide important insights into the molecular basis of human phenotypic variation. In the genome, the gene expression variability differs among genes, and at prese

The Nile perch fishery: traditional and emerging fisheries, overfishing and the use of illegal gears on Lake Albert

The fisheries of Lake Albert have come under increasing focus due to several driving forces that have synergistically evolved resulting into concerns from diverse stakeholders. The driving forces include: the commercialization of the fisheries with entry into the value chain of industrial fish processing, a decline in fish stocks especially of the large-size fishes and the emergency of the light - fishing targeting small pelagic fishes. In addition, the assumption by some opinion leaders that light-fishing (use of light) has destroyed the Nile perch fishery of Lake Albert, other factors such as cross-border fishing conflicts, the emergence of oil, an influx of traders in fish-related activities, and the limited regulatory and enforcement regimes for the diverse commercially exploited fish fauna of Lake Albert all require continuous information and action.

Comparative analysis of carbonization drivers in China's megacities

This study investigates the key drivers affecting emission increases in terms of population growth, economic growth, industrial transformation, and energy use in six Chinese megacities: Beijing, Shanghai, Tianjin, Chongqing, Guangzhou, and Hong Kong. The six cities represent the most-developed regions in China and they have similar per capita carbon dioxide (CO 2) emissions as many developed countries. There is an urgent need to quantify the magnitude of each factor in driving the emissions changes in those cities so that a potential bottom-up climate mitigation policy design at the city and sectoral levels can be initiated. We adopt index decomposition analysis and present the results in both additive and multiplicative approaches to reveal the absolute and relative levels of each factor in driving emission changes during 1985-2007. Among all cities, economic effect and energy intensity effect have always been the two dominant factors contributing to the changes in carbon emissions. This study reveals that there are large variations in the ways driving forces contribute to emission levels in different cities and industrial sectors. © 2012 by Yale University.

Tomorrow's cities: a framework to assess urban resilience

Urbanisation is one of the great driving forces of the twenty-first century. Cities generate both productivity and creativity, and the benefits offered by high-density living and working contribute to sustainability. Cities comprise multiple components, forming both static and dynamic systems that are interconnected directly and indirectly on a number of levels. Bringing together large numbers of people within a complex system can lead to vulnerability from a wide range of hazards, threats and trends. The key to reducing this vulnerability is the identification of critical systems and determination of the implications of their failure and their interconnectivities with other systems. One emerging approach to these challenges focuses on building resilience – defined here as the degree to which a system can continue to function effectively in a changing environment. This paper puts forward a framework designed to help engineers, planners and designers to support cities in understanding the hazards, threats and trends that can make them vulnerable, and identify focus areas for building resilience into the systems, which allow it to function and prosper. Four case studies of cities whose resilience was tested by recent extreme weather events are presented, seeking to demonstrate the application of the proposed framework.

Factor analysis and structural equation modelling of sustainable behaviour in contaminated land remediation

Contaminated land remediation has traditionally been viewed as sustainable practice because it reduces urban sprawl and mitigates risks to human being and the environment. However, in an emerging green and sustainable remediation (GSR) movement, remediation practitioners have increasingly recognized that remediation operations have their own environmental footprint. The GSR calls for sustainable behaviour in the remediation industry, for which a series of white papers and guidance documents have been published by various government agencies and professional organizations. However, the relationship between the adoption of such sustainable behaviour and its underlying driving forces has not been studied. This study aims to contribute to sustainability science by rendering a better understanding of what drives organizational behaviour in adopting sustainable practices. Factor analysis (FA) and structural equation modelling (SEM) were used to investigate the relationship between sustainable practices and key factors driving these behaviour changes in the remediation field. A conceptual model on sustainability in the environmental remediation industry was developed on the basis of stakeholder and institutional theories. The FA classified sustainability considerations, institutional promoting and impeding forces, and stakeholder's influence. Subsequently the SEM showed that institutional promoting forces had significant positive effects on adopting sustainability measures, and institutional impeding forces had significant negative effects. Stakeholder influences were found to have only marginal direct effect on the adoption of sustainability; however, they exert significant influence on institutional promoting forces, thus rendering high total effect (i.e. direct effect plus indirect effect) on the adoption of sustainability. This study suggests that sustainable remediation represents an advanced sustainable practice, which may only be fully endorsed by both internal and external stakeholders after its regulatory, normative and cognitive components are institutionalized. © 2014 Elsevier Ltd. All rights reserved.

EXPERIMENTS ON AQUATIC ECOSYSTEM REGIME SHIFT IN ENCLOSURES NEAR LAKE DIANCHI, CHINA

To discover how a lake converts from a turbid state to clean state, and what drives this process, we constructed controlled enclosure ecosystems and used the ecological remediation method to force ecosystems to convert from the turbid state to the clean state. Our results show that the driving forces include temperature., macrophyte, silver carp and mussel, which form a combined force to drive the controlled ecosystem to switch. There is a threshold existing in treated enclosure ecosystem during the conversion from turbid to clean state. When TP <0.09 mg.L-1, Chl-a <0.036 mg.L-1, transparency >62 cm, TN <2.15 mg.L-1, CODMn <13.7 mg.L-1, tubidity <10, and the number of algal cells <10(6) cells.L-1, the treated ecosystem changes sharply from turbid to clean state. The conversion process can be divided into three phases: turbid state, clean-turbid transitional state as well as clean state, and described with the power function Y = a*X-b (where Y is water parameter, X is time, a and b are constants), which indicates that the shift in the enclosure ecosystem from turbid to clean state is discontinuous.

黄土丘陵沟壑区纸坊沟小流域农业生态安全态势变化的驱动力分析

以黄土丘陵沟壑区纸坊沟小流域为研究对象,利用1985—2006年调查和监测资料,综合现有研究成果,将主成分分析和通径分析方法相结合,分析可能影响农业生态安全态势变化的各因子,探讨农业生态安全态势变化的驱动力。结果表明:自然条件是影响黄土丘陵沟壑区纸坊沟小流域农业生态安全态势变化的基础,人文社会经济条件是其变化的主要驱动力,具体可归纳为经济发展、人口压力、流域产业结构调整和农业科技进步4类因子;此外,国家和区域的相关政策、农业产业链与资源量相关度对农业生态安全也有一定影响。

黄土高原水土保持政策演变

水土保持政策是指导和促进水土保持开展的主要社会驱动力之一。新中国成立以来,黄土高原水土保持经过探索治理、重点治理、全民治理、小流域综合治理和预防为主、依法防治等5个阶段。在不同阶段,水土保持目标和任务、治理主体、政策的针对性和治理主导措施侧重等均有变化。在分析政策演变的基础上,提出了针对新时期水土保持特点的政策建议。

大兴安岭典型区森林景观变化及人为驱动力分析

森林景观在人类活动影响下的变化规律，是森林景观生态学研究的热点和焦点问题之一，也是森林经理学研究的重要内容。本文以大兴安岭呼中林业局为研究区，呼中自然保护区为其对照，充分利用TM数据、森林的资源清查图件资料和采伐设计资料，结合大量的野外调查，以GIS为核心技术，综合空间分析和各种统计方法，剖析呼中林业局1989-2000森林景观变化过程；分析道路、采伐的时空格局对景观格局和生态功能的影响，旨在更准确地揭示人类活动与森林景观变化的关系；同时为森林景观管理和森林经营提供科学依据。主要结论如下： ①呼中林业局1959-2000年的景观变化主要驱动力是采伐活动：优势类型从原有的大面积连续针叶林转变成大面积针阔混交林；森林景观功能指标，从一种高质量的匀质状态（原始状态）经过一个异质化程度增大（1989年）的过程，又形成一种低质量的匀质状态（2000年）。②采伐量、采伐面积、采伐方式和伐区的时空分布影响森林景观的结构和功能，采伐设计不合理甚至无设计的开发早期，主要导致针叶林面积下降，1989年后采伐，主要导致林龄下降。只要合理经营，该林业局森林有望获得较好的恢复，天保工程的实施为此提供了良好契机。③道路分割生境，使景观破碎化程度增加。移动窗口法判定道路对路旁植被影响阑的宽度为24-34m，且各个等级的道路之间无显著区别。④亚里河林场水源涵养、固土保肥、吸收二氧化碳和释放氧气四项服务功能总价值，1989年1.85亿，2000年1.37亿，下降25.9％。1989-1999年采伐当年损失的生态效益0.67亿元；由于道路的影响，该损失增加2％左右；该损失价值为当年生产木材所创造的经济效益的2倍。⑤呼中林业局野生动物的最适宜生境面积十年间减少41％，分布趋于破碎化；道路的存在使野生动物的适宜生境面积分别下降6.7％（1989年）和9.6％（2000年）。

岷江上游景观变化及驱动力分析

岷江上游地区是我国重要的林区之一，它不但影响当地和崛江下游的农业生产、生活用水和生态环境建设，甚至影响长江上游地区生态环境改善，在长江上游生态安全格局中占有重要地位。本文在收集遥感数据、统计数据、问卷调查数据和相关图件的基础上，以GIS为技术手段研究了崛江上游地区从1974年到2000年间的景观变化，并结合统计数据和问卷调查资料·分析了景观变化的原因，旨在为该区资源的合理利用、环境保护和可持续发展提供依据。主要结论如下：①有林地是崛江上游地区主要的景观类型，也是唯一一种面积持续减少的景观类型。林地与草地面积占研究区面积的90％以上，是该区的景观基质。草地、灌木林地、经济林、耕地和居民用地等面积都有不同程度的增加，以灌木林地最多。景观变化转移量以在有林地和灌木林地、草地之间为最大；且变化多分布在干旱河谷周围和松潘高原地区。②斑块水平上的各类型的斑块数和边界密度都在增加；有林地和灌木林地的最大斑块占景观面积的比例和平均斑块面积呈减少趋势，LPI以草地增加最为明显，MPS以灌木林地增加最多，草地次之。景观水平上的斑块数、最大斑块占景观面积的比例、边界密度、散布并列指数、多样性指数和均匀度指数都在增加，而平均斑块面积和蔓延度指数在降低。各指数说明研究区的景观异质性和破碎化程度增加，连通性降低，且变化趋势有所减缓，以1974一1986年变化为最大。③导致景观变化的原因是多方面的。人口、经济和教育是该区景观变化的主要因素；并且人口和经济的驱动作用具有阶段性和发展性。参与式的问卷调查，是研究景观变化驱动力的一个有效方法。④景观变化导致了研究区的森林覆盖率下降，径流减少，草场退化，水土流失加剧，干旱河谷扩大，滑坡、泥石流等自然灾害频繁发生。建议进一步加大干旱河谷植被建设的力度，适当调整产业结构，并对资源进行合理的优化配置和规划使用，同时加强法制建设，走在保护和建设中发展，在发展中保护和建设的生态建设道路。