Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator.

Lenguas y genes: aplicaciones a la prehistoria de la lengua vasca

Homenaje a Ignacio Barandiarán Maestu / coord. por Javier Fernández Eraso, Juan Santos Yanguas.

"Legatorum facta": la ejemplaridad de los embajadores romanos

Dossier monográfico: Puesta en escena y escenarios en la diplomacia del mundo romano

El confinamiento de los prisioneros de guerra y rehenes en la Roma republicana

Dossier monográfico: Puesta en escena y escenarios en la diplomacia del mundo romano

Conflictos, treguas y amnistías en el mundo antiguo

Introducción a las contribuciones presentadas al curso "Conflictos, treguas y amnistías en el mundo antiguo", desarrollado en agosto de 1999 en el marco de los XVIII Cursos de Verano de la UPV/EHU en Donostia.

Algumas considerações sobre a poesia de BOCAGE

Este trabalho visa à análise das poesias eróticas e satíricas de Manuel Maria Barbosa du Bocage e de sua repercussão na sociedade portuguesa do século XVIII. A ironia, por definição, propõe a inversão de enunciados, negando o contrário daquilo que se afirma ou vice-versa. Mas, tal recurso, largamente empregado pelo Poeta, extrapola a mera função de figura de pensamento, uma vez que, potencializando um poderoso arsenal crítico, propicia a construção de um discurso desestabilizador, cuja intenção é colocar em xeque a ideologia oficial. A lírica bocagiana, em sua vertente erótica e satírica, vale-se do deboche, do escracho ou da sátira desbocada para colocar às claras a distinção entre essência e aparência, em uma sociedade cuja moral se constrói a partir das crenças religiosas nem sempre professadas, quer pelo corpo social como um todo, quer pelo clero, guardião desta moral. Examinaremos, neste trabalho, os modos de representação discursiva inscritos nesta poesia. Bocage ultrapassou as fronteiras de seu tempo em poemas cuja licenciosidade, muitas vezes, não esconde uma ponta de amargura e sofrimento. Dividido entre dois mundos: o árcade, sob o signo da razão, constituído de regras rígidas; e o romântico, regido pela paixão, Elmano não esconde o desconcerto, que procura na clandestinidade a via possível para a expansão de um espírito revoltado

Foreword and Acknowledgments: Woods Hole Laboratory Centennial

The year 1985 was one of celebration for the Woods Hole Laboratory of the National Marine Fisheries Service's Northeast Fisheries Center. The reason was the one hundredth anniversary of the completion and occupation of the first facility in the world dedicated to marine fisheries research. Spencer Fullerton Baird, Assistant Secretary of the Smithsonian Institution, and newly appointed first Commissioner of the nascent U.S. Commission of Fish and Fisheries visited Woods Hole in the summer of 1871 to establish a base from which to begin the investigations mandated by Congress when they established the "Fish Commission." During the following three summers (1872-74), operations were conducted from several other localities along the New England coast. During the course of those four years Baird determined that Woods Hole offered the most suitable natural and physical amenities for the investigations being conducted by the Fish Commission at that time, and for those envisioned for the future. The base for Commission operations was returned to Woods Hole in the summer of 1875 and has remained there ever since, through times fair and foul and several agency changes.

Reserved parking : marine reserves and small-scale fishing communities: a collection of articles from SAMUDRA report

As the earth’s resources continue to face increasing pressure from a variety of human and natural causes, protection of the environment and biodiversity is a matter of contemporary concern, The conservation of coastal and marine resources, in particular, has become a priority for countries around the world. In this context, marine protected areas (MPAs) are being widely promoted as one of the most effective tools for the conservation of coastal and marine resources. Most MPAs are located in coastal areas of great biodiversity, and hence their development has direct impacts on the lives and livelihoods of coastal communities, especially small-scale and traditional fishing communities. Typically, they are the ones who have to bear the costs of conservation practices–lost livelihood options, expulsion from traditional fishing grounds and living spaces, and violation of human/community rights, to name a few. The articles in this dossier, drawn chronologically from the pages of Samudra Report, the triannual publication of ICSF, draw attention to these issues. They show that conservation and livelihoods are closely intertwined, and that top-down, non-participatory models of conservation can be counter-productive. Despite being poor and powerless, fishing and coastal communities can be powerful allies in conservation efforts, given their longstanding dependence on natural resources and their traditional ecological knowledge systems. As the examples in this dossier reveal, it is possible for fishing communities to protect and conserve the environment, while continuing with sustainable fishing operations. Clearly, only an integrated approach to fisheries management and conservation will prove successful. This dossier will be useful for policymakers, social scientists, non-governmental organizations and others interested in fisheries, conservation, communities and livelihoods.

中国普通野生稻（Oryza rufipogon Griff.）群体遗传学及保护策略的研究

普通野生稻的基因资源对水稻的育种已经起过并将继续起至关重要的作用。所以，研究和保存其遗传多样性具有重要的意义。首先对普通野生稻在我国的分布现状作了较为全面的野外调查。采集了69个群体，近2000个个体的硅胶干燥叶片。研究了从硅胶干燥的小量叶片中高效率、高质量制备DNA的方法。并用此方法制备了44个代表群体，1168个个体的总DNA，建立了中国普通野生稻的总DNA库。随机选取19个引物对29个群体、651个个体的总DNA进行了RAPD扩增。统计出群体和地区内的多态性片段百分比（PPB），RAPDistance和WINAMOVA程序联用分析遗传变异在地区间、地区内群体间和群体内的组成。广西濠江流域5个野生群体的分析结果表明了中下游群体的PPB值显著高于中上游群体。从而从分子水平上证实了水流对无性繁殖体的传播影响了沿江分布群体的遗传多样性和遗传结构。6个现有原位保护群体的分析结果说明了5个群体值得进一步原位保护，而另一个群体适合异位保护。中国境内29个群体的统计分析揭示出群体间的遗传多样性差异很大（PPB值从23.29%到46.18%）。广东具有的PPB值最高（79.12%），其次是海南（77.11%）和广西（68.67%）。因而，华南是我国普通野生稻的遗传多样性中心。18个群体AMOVA分析结果均表明了遗传变异主要存在于群体内，但群体间业已有较大的遗传分化。从175个随机引物中筛选出9个引物，成功地鉴定出5个群体的克隆多样性和克隆结构。这二者与群体的生态环境，特别是水分状况密切相关。也同时受人类干扰强度的影响。而与群体所处的纬度没有明显的相关性。 根据以上结果，普通野生稻原位保护的策略是选取分布在不同地理区域、遗传多样性水平高的群体。分布在广东、海南和广西的6个群体，具有很高的遗传多样性，建议加以原位保护。此外，孤岛状隔离在我国普通野生稻分布区边缘的3个小群体也应立即进行原位保护。此外，原位保护的群体应给予适度的干扰以维系较高的克隆多样性和遗传多样性。在进行遗传多样性研究和异位保护时，每群体的取样个体数应不少于25株，相邻取样个体间的距离应大于12米。

Fish and shell fish fauna of the retting and nonretting zones of the Kadinamkulam kayal, Kerala

Retting of coconut husk is one of the major problems of pollution in the estuaries (kayals) of Kerala. Retting activity has resulted in the mass destruction of the flora and fauna and has converted sizeable sections of the kayal into virtual cesspools of foul smelling stagnant waters. Levels of hydrogen sulphide, phosphate and BOD, increased while dissolved oxygen and fish and shellfish fauna decreased in the ambient waters. In the Kadinamkulam kayal a total of 37 species of fishes belonging to 26 families, 5 species of prawn and 2 species each of crabs and molluscs were recorded from the no retting zone, whereas only 20 species of fish in dead condition were collected from the rating zone. Prawns, crabs and molluscs were absent at the vetting zone. Majority of the fish fauna in the kayal were marine forms.

Rights first, rights forever: small-scale fisheries and fishing communities from a human-rights perspective. A collection of articles from SAMUDRA report

Small-scale and artisanal fisheries contribute about two-thirds of the global fish production destined for direct human consumption. They also accommodate over 90 per cent of those who make their living from fisheries. Women comprise at least half the workforce in small-scale fisheries. Despite the important contributions made by small-scale fisheries to poverty eradication and food security, small-scale fishers and fishworkers continue to be marginalized at different levels. It is in this context that the Committee on Fisheries (COFI) of the Food and Agriculture Organization of the United Nations (FAO) has developed the Voluntary Guidelines for Securing Sustainable Small-scale Fisheries in the Context of Food Security and Poverty Eradication (SSF Guidelines).