Passive Dynamics in the Control of Gymnastic Maneuvers

The control of aerial gymnastic maneuvers is challenging because these maneuvers frequently involve complex rotational motion and because the performer has limited control of the maneuver during flight. A performer can influence a maneuver using a sequence of limb movements during flight. However, the same sequence may not produce reliable performances in the presence of off-nominal conditions. How do people compensate for variations in performance to reliably produce aerial maneuvers? In this report I explore the role that passive dynamic stability may play in making the performance of aerial maneuvers simple and reliable. I present a control strategy comprised of active and passive components for performing robot front somersaults in the laboratory. I show that passive dynamics can neutrally stabilize the layout somersault which involves an "inherently unstable" rotation about the intermediate principal axis. And I show that a strategy that uses open loop joint torques plus passive dynamics leads to more reliable 1 1/2 twisting front somersaults in simulation than a strategy that uses prescribed limb motion. Results are presented from laboratory experiments on gymnastic robots, from dynamic simulation of humans and robots, and from linear stability analyses of these systems.

Informal housing in the XXI century. Characteristics of the informal land and housing supply in Bogota during the first decade of the XXI century

This article characterizes the conditions of the informal land and housing supply during the first decade of the xxi century in Bogota, regarding magnitude and location of the informal urban growth (new occupations in the periphery and informal densification of consolidated areas), housing  conditions in recent occupations and the characteristics of the land market. The situation of the  last decade has been reconstructed based in aerial photography analysis, census data quantification  and data analysis from planning and control public entities. Results suggest that due to the relative  land scarcity in Bogotá, among other aspects, the informal market dynamics have experimented changes compared to previous decades, because the growth in consolidated urban areas becomes  more important than the informal urbanization of the peripheries, but at the same time informality  transcends the municipal perimeter to the neighboring municipalities.

Estrategia de intervención militar de Estados Unidos en Medio Oriente: dinámicas y consecuencias del uso de drones en Yemen y Pakistán entre 2009 a 2013

Este es un estudio sobre la estrategia de guerra estadounidense en Medio Oriente basada en el uso sistemático de drones durante el periodo comprendido entre 2009 y 2013. Se busca explicar de qué manera puede considerarse el uso de este tipo de armamento como una práctica basada en la proyección de poder sin mayor vulnerabilidad. Los casos de Pakistán y Yemen son abordados, ya que evidencian las características de las operaciones selectivas por las que ha abogado el Presidente Obama. El estudio se inscribe dentro del realismo ofensivo, haciendo también referencia a sus limitaciones explicativas. Empero, se afirma que las dinámicas y consecuencias de la utilización de drones son intrínsecas a la necesidad estadounidense de combatir actores no estatales mediante prácticas que garanticen su seguridad y pretensiones hegemónicas a pesar de las implicaciones políticas , legales y sociales en las que puede incurrir.

Anàlisi de la capacitat de regeneració en estadis inicials del desenvolupament en diverses espècies mediterrànies del gènere Quercus

Aquest treball es centra en l'estudi de la regeneració vegetativa en els estadis inicials del desenvolupament de Quercus coccifera, Q. humilis, Q. ilex i Q. suber, analitzant la capacitat de rebrotada després de l'eliminació de la biomassa aèria. S'ha realitzat una descripció, a nivell histològic, de l'ontogènesi del nus cotiledonar des de l'embrió fins a la plàntula de mig any d'edat de Q. coccifera, Q. humilis i Q. ilex. Així mateix, s'ha analitzat el contingut de midó i de nitrogen a la primavera, l'estiu i l'hivern en diferents parts de les plàntules de les quatre espècies, avaluant, alhora, l'efecte de la tala. D'altra banda, també s'ha estudiat la biometria de les glans, la capacitat de germinació i el creixement de les plàntules de les quatre espècies de Quercus. A partir dels resultats s'ha comprovat que les glans de Q. suber, en general, són més grans, tant en diàmetre com en longitud, i tenen un pes superior, mentre que les de Q. ilex són més petites i pesen menys. En les quatre espècies estudiades, el pes de la llavor està determinat per la longitud i el diàmetre, si bé, també hi ha un cert efecte de l'espècie. Amb les dades obtingudes de les tres variables de la gla s'ha calculat una funció discriminant a partir de la qual es pot determinar, amb un alt grau d'encert, a quina espècie pertany una determinada gla coneixent la mida i el pes. En relació a la capacitat de germinació, en Q. coccifera i Q. ilex la germinació depèn del pes de la gla, mentre que en Q. humilis i Q. suber és independent. Així mateix, també s'ha comprovat que el pes de la llavor afecta positivament en el creixement de les plàntules de tres i sis mesos d'edat. Possiblement un major pes de la gla implica un contingut de substàncies de reserva més elevat, i per tant representa un major subministrament de nutrients cap a la planta, repercutint així en el seu creixement inicial. En plàntules de nou mesos d'edat ja no s'ha trobat relació entre el pes de la gla i el creixement de la planta, la qual cosa es podria explicar pel fet que les substàncies de reserva de la llavor s'han esgotat. Pel que fa al creixement de la plàntula, les plàntules de Q. ilex han tingut la major taxa de creixement per quasi totes les variables estudiades. En aquesta espècie, al principi de l'experiment la grandària de les plàntules ha estat baixa, però al final han crescut més que les de les altres espècies. Les plàntules de Q. coccifera han presentat la menor taxa. En les plàntules de les quatre espècies s'ha constatat, també, que la biomassa del sistema radicular és superior a la de l'aeri. Les plàntules de Q. coccifera i Q. humilis han tingut una relació BA/BR (biomassa aèria/biomassa radicular) més baixa que les de Q. ilex i Q. suber. En espècies mediterrànies s'ha relacionat sovint una baixa relació BA/BR com una adaptació a la sequera. No obstant això, Q. humilis és una espècie que viu en zones més humides que la resta d'espècies estudiades. En referència a la regeneració vegetativa, amb aquest estudi es demostra que les plàntules de les quatre espècies tenen una elevada capacitat d'emissió de rebrots, quan s'elimina la biomassa aèria per sobre la zona d'inserció dels cotilèdons. Tanmateix, el grau de supervivència difereix segons l'espècie i la intervenció. Així, per exemple, les plàntules de Q. ilex han presentat una major mortalitat tant en la primera com en la segona tala, mentre que en Q. humilis i Q. suber la supervivència de les plàntules ha disminuït després de talar dues vegades. En el cas de Q. coccifera el grau de supervivència és bastant similar tant en la primera com en la segona intervenció. La tala successiva afecta negativament al vigor dels rebrots en Q. coccifera, Q. humilis i Q. ilex. Ara bé, en el cas de Q. suber s'ha trobat que els rebrots emesos després de talar dues vegades han estat més grans que els obtinguts després d'una sola tala. Després de tallar la biomassa aèria per sobre la zona d'inserció dels cotilèdons, els rebrots s'originen a partir de les gemmes del nus cotiledonar. L'estudi de l'ontogènesi del nus cotiledonar ens ha permès de constatar que el patró de desenvolupament d'aquest en Q. coccifera, Q. humilis i Q. ilex és similar, però difereix del descrit per a Q. suber. En les tres primeres espècies el nus cotiledonar pràcticament no s'allarga i només es desenvolupen gemmes cotiledonars just en l'axil·la del pecíol cotiledonar. En aquest sentit, cal ressaltar que en el cas de Q. coccifera i Q. ilex les gemmes es formen després de germinar la gla, mentre que en Q. humilis i Q. suber són ja presents en l'embrió. Tal i com també s'ha descrit en Q. suber, en l'estadi de plàntula, en Q. coccifera, Q. humilis i Q. ilex a l'axil·la de la gemma cotiledonar proliferen noves gemmes, de tal manera que es formen plaques de gemmes. Les anàlisis del contingut de midó han permès de determinar que el sistema radicular de les plàntules de Q. coccifera, Q. humilis, Q. ilex i Q. suber conté aproximadament un 90% del midó de tota la planta. Concretament de les diferents fraccions del sistema radicular (nus cotiledonar, 11 pimers centímetres de l'arrel i resta de l'arrel) la major concentració de midó es troba ens els 11 primers cm de l'arrel, que en el cas de Q. suber correspon al nus cotiledonar. Quant a les estacions, a l'estiu la concentració de midó de la part aèria i radicular disminueix en Q. coccifera, Q. humilis i Q. ilex, si bé es recuperen a l'hivern. En canvi en el cas de Q. suber els nivells més baixos de midó s'han obtingut a l'hivern. La tala provoca una disminució dels nivells de midó, ja que una part d'aquest és mobilitzat per a la síntesi dels nous brots. En les quatre espècies la major proporció de midó mobilitzat és en els primers 11 cm de l'arrel, és a dir, el nus cotiledonar en el cas de Q. suber. Per tant, amb aquest estudi es reafirma que el nus cotiledonar de Q. suber és un lignotúber. Tanmateix, Q. coccifera, Q. humilis i Q. ilex no presenten cap lignotúber o estructura especialitzada en la rebrotada, si bé el fet de tenir gemmes i substàncies de reserva els confereix igualment una elevada capacitat per rebrotar. En relació al nitrogen, en les quatre espècies el sistema radicular presenta aproximadament el 70% del nitrogen total de la planta. A l'estiu, la concentració de nitrogen del sistema radicular de Q. humilis i Q. suber és més baixa que a l'hivern, mentre que en Q. coccifera i Q. ilex els valors són bastant similars en ambdues estacions. La tala no provoca una davallada dels nivells de midó, això possiblement es degui a que les plàntules van rebre continuament un aport de nitrogen a través de l'aigua de reg.

Natura i cultura en l'evolució del paisatge de closes a l'Alt Empordà (1957-2007)

La tesi doctoral és un estudi de l'evolució del paisatge de les closes de l'Alt Empordà entre els anys 1957 i 2001. Dins el marc teòric s'hi explora el concepte de paisatge cultural agrari tradicional, es fa una introducció de les aportacions que fa la geografia històrica a l'estudi de les closes arreu d'Europa i es presenten els fonaments de l'ecologia del paisatge. La recerca es basa en la fotointerpretació de fotografies aèries ampliades i l'aplicació d'índexs espacials propis de l'ecologia del paisatge per a l'anàlisi de l'evolució de l'estructura del paisatge. Es complementa amb la realització d'entrevistes personals als gestors del paisatge per tal de conèixer com han dut a terme la gestió de les closes al llarg del període estudiat. Es combinen ambdós tipus d'informació a través de la tècnica estadística de la regressió logística multinomial per tal de descobrir el funcionament de les interaccions entre aquests àmbits.

Identification of Putative Wintering Areas and Ecological Determinants of Population Dynamics of Common House-Martin (Delichon urbicum) and Common Swift (Apus apus) Breeding in Northern Italy

To identify the causes of population decline in migratory birds, researchers must determine the relative influence of environmental changes on population dynamics while the birds are on breeding grounds, wintering grounds, and en route between the two. This is problematic when the wintering areas of specific populations are unknown. Here, we first identified the putative wintering areas of Common House-Martin (Delichon urbicum) and Common Swift (Apus apus) populations breeding in northern Italy as those areas, within the wintering ranges of these species, where the winter Normalized Difference Vegetation Index (NDVI), which may affect winter survival, best predicted annual variation in population indices observed in the breeding grounds in 1992–2009. In these analyses, we controlled for the potentially confounding effects of rainfall in the breeding grounds during the previous year, which may affect reproductive success; the North Atlantic Oscillation Index (NAO), which may account for climatic conditions faced by birds during migration; and the linear and squared term of year, which account for nonlinear population trends. The areas thus identified ranged from Guinea to Nigeria for the Common House-Martin, and were located in southern Ghana for the Common Swift. We then regressed annual population indices on mean NDVI values in the putative wintering areas and on the other variables, and used Bayesian model averaging (BMA) and hierarchical partitioning (HP) of variance to assess their relative contribution to population dynamics. We re-ran all the analyses using NDVI values at different spatial scales, and consistently found that our population of Common House-Martin was primarily affected by spring rainfall (43%–47.7% explained variance) and NDVI (24%–26.9%), while the Common Swift population was primarily affected by the NDVI (22.7%–34.8%). Although these results must be further validated, currently they are the only hypotheses about the wintering grounds of the Italian populations of these species, as no Common House-Martin and Common Swift ringed in Italy have been recovered in their wintering ranges.

Risk of Agricultural Practices and Habitat Change to Farmland Birds

Many common bird species have declined as a result of agricultural intensification and this could be mitigated by organic farming. We paired sites for habitat and geographical location on organic and nonorganic farms in Ontario, Canada to test a priori predictions of effects on birds overall, 9 guilds and 22 species in relation to candidate models for farming practices (13 variables), local habitat features (12 variables), or habitat features that influence susceptibility to predation. We found that: (1) Overall bird abundance, but not richness, was significantly (p < 0.05) higher on organic sites (mean 43.1 individuals per site) than nonorganic sites (35.8 individuals per site). Significantly more species of birds were observed for five guilds, including primary grassland birds, on organic vs. nonorganic sites. No guild had higher richness or abundance on nonorganic farms; (2) Farming practice models were the best (ΔAIC < 4) for abundance of birds overall, primary grassland bird richness, sallier aerial insectivore richness and abundance, and abundance of ground nesters; (3) Habitat models were the best for overall richness, Neotropical migrant abundance, richness and abundance of Ontario-USA-Mexico (short-distance) migrants and resident richness; (4) Predation models were the best for richness of secondary grassland birds and ground feeders; (5) A combination of variables from the model types were best for richness or abundance overall, 13 of 18 guilds (richness and abundance) and 16 of 22 species analyzed. Five of 10 farming practice variables (including herbicide use, organic farm type) and 9 of 13 habitat variables (including hedgerow length, proportion of hay) were significant in best models. Risk modeling indicated that herbicide use could decrease primary grassland birds by one species (35% decline from 3.4 to 2.3 species) per site. Organic farming could benefit species of conservation concern by 49% (an increase from 7.6 to 11.4 grassland birds). An addition of 63 m of hedgerow could increase abundance and richness of short distance migrants by 50% (3.0 to 4.8 and 1.3 to 2.0, respectively). Increasing the proportion of hay on nonorganic farms to 50% could increase abundance of primary grassland bird by 40% (6.7 to 9.4). Our results provide support for alternative farmland designs and agricultural management systems that could enhance select bird species in farmland.

Patch Scale Nest-Site Selection by Marbled Murrelets (Brachyramphus marmoratus)

The Marbled Murrelet (Brachyramphus marmoratus) is a threatened alcid that nests almost exclusively in old-growth forests along the Pacific coast of North America. Nesting habitat has significant economic importance. Murrelet nests are extremely difficult and costly to find, which adds uncertainty to management and conservation planning. Models based on air photo interpretation of forest cover maps or assessments by low-level helicopter flights are currently used to rank presumed Marbled Murrelet nesting habitat quality in British Columbia. These rankings are assumed to correlate with nest usage and murrelet breeding productivity. Our goal was to find the models that best predict Marbled Murrelet nesting habitat in the ground-accessible portion of the two regions studied. We generated Resource Selection Functions (RSF) using logistic regression models of ground-based forest stand variables gathered at plots around 64 nests, located using radio-telemetry, versus 82 random habitat plots. The RSF scores are proportional to the probability of nests occurring in a forest patch. The best models differed somewhat between the two regions, but include both ground variables at the patch scale (0.2-2.0 ha), such as platform tree density, height and trunk diameter of canopy trees and canopy complexity, and landscape scale variables such as elevation, aspect, and slope. Collecting ground-based habitat selection data would not be cost-effective for widespread use in forestry management; air photo interpretation and low-level aerial surveys are much more efficient methods for ranking habitat suitability on a landscape scale. This study provides one method for ground-truthing the remote methods, an essential step made possible using the numerical RSF scores generated herein.

Models to predict the distribution and abundance of breeding ducks in Canada

Detailed knowledge of waterfowl abundance and distribution across Canada is lacking, which limits our ability to effectively conserve and manage their populations. We used 15 years of data from an aerial transect survey to model the abundance of 17 species or species groups of ducks within southern and boreal Canada. We included 78 climatic, hydrological, and landscape variables in Boosted Regression Tree models, allowing flexible response curves and multiway interactions among variables. We assessed predictive performance of the models using four metrics and calculated uncertainty as the coefficient of variation of predictions across 20 replicate models. Maps of predicted relative abundance were generated from resulting models, and they largely match spatial patterns evident in the transect data. We observed two main distribution patterns: a concentrated prairie-parkland distribution and a more dispersed pan-Canadian distribution. These patterns were congruent with the relative importance of predictor variables and model evaluation statistics among the two groups of distributions. Most species had a hydrological variable as the most important predictor, although the specific hydrological variable differed somewhat among species. In some cases, important variables had clear ecological interpretations, but in some instances, e.g., topographic roughness, they may simply reflect chance correlations between species distributions and environmental variables identified by the model-building process. Given the performance of our models, we suggest that the resulting prediction maps can be used in future research and to guide conservation activities, particularly within the bounds of the survey area.

The biometeorology of high-altitude insect layers.

Flight at high altitude is part of a migration strategy that maximises insect population displacement. This thesis represents the first substantial analysis of insect migration and layering in Europe. Vertical-looking entomological radar has revealed specific characteristics of high-altitude flight: in particular layering (where a large proportion of the migrating insects are concentrated in a narrow altitude band). The meteorological mechanisms underpinning the formation of these layers are the focus of this thesis. Aerial netting samples and radar data revealed four distinct periods of high-altitude insect migration: dawn, daytime, dusk, and night-time. The most frequently observed nocturnal profiles during the summertime were layers. It is hypothesised that nocturnal layers initiate at a critical altitude (200–500 m above ground level) and time (20:00–22:00 hours UTC). Case study analysis, statistical analysis, and a Lagrangian trajectory model showed that nocturnal insect layers probably result from the insects’ response to meteorological conditions. Temperature was the variable most correlated with nocturnal insect layer presence and intensity because insects are poikilothermic, and temperatures experienced during high-altitude migration in temperate climates are expected to be marginal for many insects’ flight. Hierarchical effects were detected such that other variables—specifically wind speed—were only correlated with insect layer presence and intensity once temperatures were warm. The trajectory model developed comprised: (i) insect flight characteristics; (ii) turbulent winds (which cause vertical spread of the layer); and (iii) mean wind speed, which normally leads to horizontal displacements of hundreds of kilometres in a single migratory flight. This thesis has revealed that there is considerable migratory activity over the UK in the summer months, and a range of fascinating phenomena can be observed (including layers). The UK has moved from one of the least studied to perhaps the best studied environments of aerial insect migration and layering in the world.

Using airborne laser altimetry to improve river flood extents delineated from SAR data

Flood extent maps derived from SAR images are a useful source of data for validating hydraulic models of river flood flow. The accuracy of such maps is reduced by a number of factors, including changes in returns from the water surface caused by different meteorological conditions and the presence of emergent vegetation. The paper describes how improved accuracy can be achieved by modifying an existing flood extent delineation algorithm to use airborne laser altimetry (LiDAR) as well as SAR data. The LiDAR data provide an additional constraint that waterline (land-water boundary) heights should vary smoothly along the flooded reach. The method was tested on a SAR image of a flood for which contemporaneous aerial photography existed, together with LiDAR data of the un-flooded reach. Waterline heights of the SAR flood extent conditioned on both SAR and LiDAR data matched the corresponding heights from the aerial photo waterline significantly more closely than those from the SAR flood extent conditioned only on SAR data.

Using TerraSAR-X data for improved urban flood model validation.

Urban flood inundation models require considerable data for their parameterisation, calibration and validation. TerraSAR-X should be suitable for urban flood detection because of its high resolution in stripmap/spotlight modes. The paper describes ongoing work on a project to assess how well TerraSAR-X can detect flooded regions in urban areas, and how well these can constrain the parameters of an urban flood model. The study uses a TerraSAR-X image of a 1-in-150 year flood near Tewkesbury, UK , in 2007, for which contemporaneous aerial photography exists for validation. The DLR SETES SAR simulator was used in conjunction with LiDAR data to estimate regions of the image in which water would not be visible due to shadow or layover caused by buildings and vegetation. An algorithm for the delineation of flood water in urban areas is described, together with its validation using the aerial photographs.

Cloud-radar observations of insects in the UK convective boundary layer

Radar has been applied to the study of insect migration for almost 40 years, but most entomological radars operate at X-band (9.4 GHz, 3.2 cm wavelength), and can only detect individuals of relatively large species, such as migratory grasshoppers and noctuid moths, over all of their flight altitudes. Many insects (including economically important species) are much smaller than this, but development of the requisite higher power and/or higher frequency radar systems to detect these species is often prohibitively expensive. In this paper, attention is focussed upon the uses of some recently-deployed meteorological sensing devices to investigate insect migratory flight behaviour, and especially its interactions with boundary layer processes. Records were examined from the vertically-pointing 35 GHz ‘Copernicus’ and 94 GHz ‘Galileo’ cloud radars at Chilbolton (Hampshire, England) for 12 cloudless and convective occasions in summer 2003, and one of these occasions (13 July) is presented in detail. Insects were frequently found at heights above aerosol particles, which represent passive tracers, indicating active insect movement. It was found that insect flight above the convective boundary layer occurs most often during the morning. The maximum radar reflectivity (an indicator of aerial insect biomass) was found to be positively correlated with maximum screen temperature.