Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne LHD

This paper describes the design, tuning, and extensive field testing of an admittance-based Autonomous Loading Controller (ALC) for robotic excavation. Several iterations of the ALC were tuned and tested in fragmented rock piles—similar to those found in operating mines—by using both a robotic 1-tonne capacity Kubota R520S diesel-hydraulic surface loader and a 14-tonne capacity Atlas Copco ST14 underground load-haul-dump (LHD) machine. On the R520S loader, the ALC increased payload by 18 % with greater consistency, although with more energy expended and longer dig times when compared with digging at maximum actuator velocity. On the ST14 LHD, the ALC took 61 % less time to load 39 % more payload when compared to a single manual operator. The manual operator made 28 dig attempts by using three different digging strategies, and had one failed dig. The tuned ALC made 26 dig attempts at 10 and 11 MN target force levels. All 10 11 MN digs succeeded while 6 of the 16 10 MN digs failed. The results presented in this paper suggest that the admittance-based ALC is more productive and consistent than manual operators, but that care should be taken when detecting entry into the muck pile

Nanotechnology in food industry II: risk assessment and legislation

Currently, there is increasing use of nanomaterials in the food industry thanks to the many advantages offered and make the products that contain them more competitive in the market. Their physicochemical properties often differ from those of bulk materials, which require specialized risk assessment. This should cover the risks to the health of workers and consumers as well as possible environmental risks. The risk assessment methods must go updating due to more widespread use of nanomaterials, especially now that are making their way down to consumer products. Today there is no specific legislation for nanomaterials, but there are several european dispositions and regulations that include them. This review gives an overview of the risk assessment and the existing current legislation regarding the use of nanotechnology in the food industry.

Historical comparisons reveal multiple drivers of decadal change of an ecosystem engineer at the range edge

Biogenic reefs are important for habitat provision and coastal protection. Long-term datasets on the distribution and abundance of Sabellaria alveolata (L.) are available from Britain. The aim of this study was to combine historical records and contemporary data to (1) describe spatiotemporal variation in winter temperatures, (2) document short-term and long-term changes in the distribution and abundance of S. alveolata and discuss these changes in relation to extreme weather events and recent warming, and (3) assess the potential for artificial coastal defense structures to function as habitat for S. alveolata. A semi-quantitative abundance scale (ACFOR) was used to compare broadscale, long-term and interannual abundance of S. alveolata near its range edge in NW Britain. S. alveolata disappeared from the North Wales and Wirral coastlines where it had been abundant prior to the cold winter of 1962/1963. Population declines were also observed following the recent cold winters of 2009/2010 and 2010/2011. Extensive surveys in 2004 and 2012 revealed that S. alveolata had recolonized locations from which it had previously disappeared. Furthermore, it had increased in abundance at many locations, possibly in response to recent warming. S. alveolata was recorded on the majority of artificial coastal defense structures surveyed, suggesting that the proliferation of artificial coastal defense structures along this stretch of coastline may have enabled S. alveolata to spread across stretches of unsuitable natural habitat. Long-term and broadscale contextual monitoring is essential for monitoring responses of organisms to climate change. Historical data and gray literature can be invaluable sources of information. Our results support the theory that Lusitanian species are responding positively to climate warming but also that short-term extreme weather events can have potentially devastating widespread and lasting effects on organisms. Furthermore, the proliferation of coastal defense structures has implications for phylogeography, population genetics, and connectivity of coastal populations.

Historical comparisons reveal multiple drivers of decadal change of an ecosystem engineer at the range edge

Biogenic reefs are important for habitat provision and coastal protection. Long-term datasets on the distribution and abundance of Sabellaria alveolata (L.) are available from Britain. The aim of this study was to combine historical records and contemporary data to (1) describe spatiotemporal variation in winter temperatures, (2) document short-term and long-term changes in the distribution and abundance of S. alveolata and discuss these changes in relation to extreme weather events and recent warming, and (3) assess the potential for artificial coastal defense structures to function as habitat for S. alveolata. A semi-quantitative abundance scale (ACFOR) was used to compare broadscale, long-term and interannual abundance of S. alveolata near its range edge in NW Britain. S. alveolata disappeared from the North Wales and Wirral coastlines where it had been abundant prior to the cold winter of 1962/1963. Population declines were also observed following the recent cold winters of 2009/2010 and 2010/2011. Extensive surveys in 2004 and 2012 revealed that S. alveolata had recolonized locations from which it had previously disappeared. Furthermore, it had increased in abundance at many locations, possibly in response to recent warming. S. alveolata was recorded on the majority of artificial coastal defense structures surveyed, suggesting that the proliferation of artificial coastal defense structures along this stretch of coastline may have enabled S. alveolata to spread across stretches of unsuitable natural habitat. Long-term and broadscale contextual monitoring is essential for monitoring responses of organisms to climate change. Historical data and gray literature can be invaluable sources of information. Our results support the theory that Lusitanian species are responding positively to climate warming but also that short-term extreme weather events can have potentially devastating widespread and lasting effects on organisms. Furthermore, the proliferation of coastal defense structures has implications for phylogeography, population genetics, and connectivity of coastal populations.

Sobre Κρῆτες de Sófocles

En este artículo se estudia una obra atribuida a Sófocles titulada Κρῆτες (Los cretenses), una tragedia sólo conocida por dos dudosos testimonios de Hesiquio y Ateneo de Náucratis. A finales del siglo xviii una nueva lectura de ambos los adscribía a otra tragedia, con lo que se negaba la existencia de Κρῆτες. A pesar de esto, este título se sigue manteniendo en las ediciones de la obra sofoclea, ahora relacionado con nuevos hallazgos de fragmentos papiráceos del autor. Nuestro objetivo es el de analizar los testimonios en profundidad para concluir si la obra pudo o no haberse escrito.

La traducción al latín de algunos términos griegos y su repercusión en los comentarios a los "Aphthonii Progymnasmata"

En este trabajo hemos examinado comentarios a la traducción al latín del ejercicio de la Fábula de los Progymnasmata de Aftonio para ver cómo afecta la traducción de algunos términos al comentario. Dado que, al traducir de una lengua a otra, difícilmente hay correspondencia exacta, el traductor opta por la solución que estima más adecuada, primando ciertos matices sobre otros y, con frecuencia, llega, incluso, a dotar al término de acepciones en la lengua meta que no existían en la lengua origen. La elección realizada no parece obedecer a otra razón que a preferencias del traductor, pero tiene consecuencias e influye en los comentaristas. Por otra parte, la existencia de un término acuñado no impide que tanto los traductores como los escoliastas creen otros nuevos, tal vez por deseo de mostrar originalidad. Finalmente, la traducción tiene una doble vertiente: de un lado, influye en el entendimiento del concepto y en el comentario, y, de otro, refleja la concepción que de la realidad tiene el traductor.

Drying kinetics, biochemical and functional properties of products in convective drying of anchovy (Engraulis Anchoita) fillets

The aim of this work was to study the convective drying of anchovy (Engraulis anchoita) fillets and to evaluate the final product characteristics through its biochemical and functional properties. The drying temperatures were of 50, 60 and 70°C, and the fillet samples were dried with the skins down (with air flow one or the two sides) and skins up (with air flow one side). The drying experimental data were analyzed by Henderson–Pabis model, which showed a good fit (R2 > 0.99 and REQM < 0.05). The moisture effective diffusivity values ranged from 4.1 10–10 to 8.6 10–10 m2 s−1 with the skin down and 2.2 10–10 to 5.5 10–10 m2 s−1 with the skin up, and the activation energy values were 32.2 and 38.4 kJ mol−1, respectively. The product characteristics were significantly affected (p < 0.05) by drying operation conditions. The lower change was in drying at 60°C with air flow for two sides of the samples and skin up. In this condition, the product showed solubility 22.3%; in vitro digestibility 87.4%; contents of available lysine and methionine 7.21 and 2.64 g 100 g−1, respectively; TBA value 1.16 mgMDA kg−1; specific antioxidant activity was 1.91 mMDPPH g−1 min−1, and variation total color was 10.72.

Readings in the UK energy security

Over the last few decades, the debate about “Peak Oil” became increasingly common and frustrating to governments, oil companies, and individuals. Also in the last decade or so, some unusual events took place which have raised the concern about the future of energy resources. These events lead policy makers to consider what is known today as “Energy Security.” The UK is one of these countries that fears the unknown future should petroleum resources worldwide become scarce or vanish. After the dwindling of the North Sea production, the UK found itself on the brink of losing its energy self-sufficiency. This article asks the questions: Has the UK’s oil and gas production peaked yet? If so, does the UK have a serious energy security problem, and if so, how may this problem be solved and what are the possible short, medium, and long-term solutions for such a concern? In answering these questions, the article discusses the concerns and challenges to the UK energy security and brings about the government plans for tackling these concerns. It is found that the UK does not experience an energy security problem on the short to medium-term, but it may suffer energy insecurity on the longer-term.

Sensibilizar para o desperdício alimentar: um projeto de educação para a cidadania

O desperdício alimentar constitui um problema à escala mundial. Em Portugal, no contexto de crise económica que vivemos importa combater a situação de desigualdade no acesso e no consumo de alimentos, o que implica sensibilizar a população para uma mudança de comportamentos. Neste sentido, para a promoção do combate ao desperdício alimentar e de uma cidadania mais ativa em matéria de sustentabilidade é fundamental recorrer a diversas estratégias, nomeadamente a nível educacional. Todavia, para que este processo de sensibilização produza os efeitos desejados é necessário chegar primeiro aos professores trabalhando com eles valores e saberes relativos à temática do desperdício alimentar. Neste contexto surge o projeto “Sensibilizar para o Desperdício Alimentar” desenvolvido pela Escola Superior de Educação de Santarém e que envolveu a conceção e implementação de uma ação de formação dirigida a professores do 1.º e do 2.º Ciclo do Ensino Básico. A apreciação que os professores fizeram da formação foi muito positiva, nomeadamente da pertinência das temáticas abordadas, da qualidade dos materiais e da metodologia adotada. A estas evidências soma-se o interesse demonstrado por outras instituições de ensino superior, que pretendem implementar, em breve, esta oficina de formação, o que nos incentiva a dar continuidade ao projeto.

La inadmisión como técnica multipropósito. Un análisis desde los recursos civiles en España y Chile

El presente trabajo pretende poner en tensión el concepto tradicional de la inadmisión, analizando el uso que se le ha dado respecto de los recursos en los sistemas procesales español y chileno. A partir del empleo en estos, que excede un control meramente procesal, se propone entender la inadmisión como una técnica multipropósito que solo se caracteriza por el momento en que se hace el juicio y no por su contenido.

Analysis methods for meso- and macroporous silicon etching baths

Analysis methods for electrochemical etching baths consisting of various concentrations of hydrofluoric acid (HF) and an additional organic surface wetting agent are presented. These electrolytes are used for the formation of meso- and macroporous silicon. Monitoring the etching bath composition requires at least one method each for the determination of the HF concentration and the organic content of the bath. However, it is a precondition that the analysis equipment withstands the aggressive HF. Titration and a fluoride ion-selective electrode are used for the determination of the HF and a cuvette test method for the analysis of the organic content, respectively. The most suitable analysis method is identified depending on the components in the electrolyte with the focus on capability of resistance against the aggressive HF.

Editorial

Welcome to a new issue of Libraries. This time, we include the contributions of several authors, both domestic and international, who contribute their ideas and approaches to further study of topics of great interest and importance in the daily work of the library profession.The Information Society, a term first used in the seventies and regain strength in the nineties, points to a new conception of society, where any person, company or group can access and share all kinds of information, no matter where or how.This can be achieved thanks to the emergence of new technologies and advanced information and communication technologies (ICT) that enable search, storage, processing, safeguarding and dissemination of information to any person who needs .

Commentary on: Are we overpathologizing everyday life? A tenable blueprint for behavioral addiction research: On functional and compulsive aspects of reinforcement pathologies

Background: This paper is a commentary to a debate article entitled: "Are we overpathologizing everyday life? A tenable blueprint for behavioral addiction research", by Billieux et al. (2015). Methods and aim: This brief response focused on the necessity to better characterize psychological and related neurocognitive determinants of persistent deleterious actions associated or not with substance utilization. Results: A majority of addicted people could be driven by psychological functional reasons to keep using drugs, gambling or buying despite the growing number of related negative consequences. In addition, a non-negligible proportion of them would need assistance to restore profound disturbances in basic learning processes involved in compulsive actions. Conclusions: The distinction between psychological functionality and compulsive aspects of addictive behaviors should represent a big step towards more efficient treatments.

500 años del nacimiento de San Ignacio : prelación : el oprimido, el pobre y los derechos humanos

Fondo Margaritainés Restrepo

LOS REGÍMENES CAMBIARIOS EN COSTA RICA: EVOLUCIÓN HISTÓRICA Y EVALUACIÓN DE ALGUNAS ALTERNATIVAS TEÓRICAS

A partir de la década de los cincuenta, la economía costarricense comenzó a orientarse hacia un modelo de sustitución de importaciones, modelo impulsado por la CEPAL en América Latina, y el cual se puso muy de moda entre los países subdesarrollados. Este sistema consistía en otorgarle incentivos a la industria local, con el propósito de que orientara su producción hacia el mercado interno, sobre todo de los bienes que normalmente se importaban. Sin embargo, este modelo tenía como principal problema, la dependencia que generaba de las materias primas traídas del exterior, razón por la cual el sistema lo que varió fue el tipo de importaciones.En sus inicios, este modelo fue sostenible debido a la incorporación del país al Mercado Común Centroamericano y a la gran disposición de recursos, que permitieron la importación de bienes de capital, y la construcción de obras de infraestructura. Con el paso de los años, sin embargo, el mercado centroamericano dejó de funcionar como tal a causa principalmente de los problemas políticos que vivían los países del istmo. A pesar de este deterioro en el comercio regional, durante la década de los setenta, Costa Rica tuvo acceso a una gran cantidad de recursos financieros, producto de los excedentes generados por la producción de petróleo a los países productores , y al aumento vertiginoso en los precios internacionales del café, el cual era su principal producto de exportación; esta afluencia de recursos externos permitió ignorar durante unos años los problemas que existían en el sistema productivo costarricense. Cabe recalcar que durante todo el período el tipo de cambio permaneció prácticamente constante, excepto por algunas pequeñas devaluaciones; lo cual iba muy en línea con lo estipulado por el acuerdo de Bretton Woods.