945 resultados para Outdoor land and aerial robots
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Sex chromosome differentiation in Rana temporaria varies strikingly among populations or families: whereas some males display well-differentiated Y haplotypes at microsatellite markers on linkage group 2 (LG2 ), others are genetically undistinguishable from females. We analysed with RADseq markers one family from a Swiss lowland population with no differentiated sex chromosomes, and where sibship analyses had failed to detect any association between the phenotypic sex of progeny and parental haplotypes. Offspring were reared in a common tank in outdoor conditions and sexed at the froglet stage. We could map a total of 2177 SNPs (1123 in the mother, 1054 in the father), recovering in both adults 13 linkage groups (= chromosome pairs) that were strongly syntenic to Xenopus tropicalis despite > 200 My divergence. Sexes differed strikingly in the localization of crossovers, which were uniformly distributed in the female but limited to chromosome ends in the male. None of the 2177 markers showed significant association with offspring sex. Considering the very high power of our analysis, we conclude that sex determination was not genetic in this family; which factors determined sex remain to be investigated.
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The Open University of Catalonia (UOC: Universitat Oberta de Catalunya) is currently implementing its 2009-2014 Strategic Plan, which devotes an entire section to open educational resources. The working group on this topic is drafting a report that establishes the objectives to be met, analyses the current lay of the land and sets out the actions required to meet the objectives. This paper examines each of these three points.
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[cat] En un context de canvi climàtic cal estudiar les vulnerabilitats del territori a escala local. En aquest treball s'analitza la producció d'oli de qualitat en un indret de la Catalunya seca, Cabacés (el Priorat), i es posa en relació amb la variabilitat climàtica. Els resultats mostren que el clima té una influència important en la producció d'olives, sobretot les temperatures màximes del mes d'abril i les precipitacions del mes més sec, juliol. S'obté un model de regressió múltiple a partir d'aquestes dues variables climàtiques més influents en la producció. No obstant això, els valors del model s'allunyen dels reals a partir de l'any 2003 a causa d'un creixement molt elevat de la producció per l'extensió del reg de suport. Les futures vulnerabilitats no només depenen del canvi climàtic, sinó dels efectes del canvi global, fenomen que també engloba tots aquells canvis en els usos, hàbits i consums del territori.
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Euroopan unionissa pyritään lisäämään uusiutuvien energialähteiden käyttöä. Tämän työn tavoitteena oli selvittää Parikkalan kunnan alueella muodostuvat biomassat sekä tutkia niiden hyötykäyttömahdollisuuksia sähkön, lämmön sekä lannoitteiden tuotannossa. Käsiteltäviä biomassoja ovat eläintilojen lietteet ja lannat, biojätteet ja yhdyskuntalietteet, vesistöjen kunnostuksessa syntyvät biomassat sekä peltobiomassat ja metsäbiomassa. Mädätyksen kannalta olennaisinta on materiaalien kosteus ja haihtuvan orgaanisen aineksen pitoisuus sekä siitä saatava biokaasumäärä. Poltossa polttoaineen kuiva-aineen lämpöarvo ja kosteus määrittelevät saadun hyödyn. Kompostoinnissa on tärkeää huolehtia riittävästä ilman saannista ja riittävästä viipymäajasta. Hyödynnettäessä biokaasua sähkön ja lämmön yhteistuotannossa on tärkeää löytää hyötykäyttö myös muodostuvalle lämmölle. Poltosta saatavan tuhkan hyötykäyttö onnistuu metsälannoitteena, kun poltetaan turvetta tai puuta. Kompostia voidaan hyödyntää maanparannusaineena. Parikkalan alueella tarkasteltiin biomassojen nykyistä ja mahdollista tulevaa hyötykäyttöä. Tarkastelu tehtiin skenaarioiden avulla. Skenaarioihin kuuluvat mädätyksen ja polton maksimipotentiaalit sekä keskitetyn ja hajautetun käsittelyn skenaariot. Alueelta on saatavissa paljon biomassoja, joista massaltaan suurin on eläintilojen lannat. Alueella on hankaluutena löytää sopiva kulutuskohde biokaasusta tuotetulle lämmölle, mutta sopivana kohteena voisi toimia alueella oleva suuri sikala tai lämpökeskukset.
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A new extraction method for sterols was tested in fruits of Ottonia martiana Miq., a shrub belonging to the family Piperaceae, popularly known as "anestésica" due to the use of its roots and aerial parts, in alcoholic preparations, in treatment of odontological problems. For this purpose, a portable extraction equipment was developed, to operate with liquified gases, which showed to be practical, fast and effective, besides being economical and ecological. In the chromatographic analysis of the extracts obtained in this equipment, it was demonstrated the presence of two sterols, isomers of b-sitosterol and stigmasterol.
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The [4+3] cycloaddition was utilized in order to prepare 8-oxabicyclo[3.2.1]oct-6-en-3-one (1) derivatives. The correspondent acetonide 6 was converted into several alcohols (11-16). Addition of aryllithium reagents to 6 resulted in 3-(2-fluorophenyl)-6,7-exo-isopropylidenedioxy -8-oxabicyclo[3.2.1]octan-3alpha-ol (11, 72%) and 3-(2,4-dimethoxyphenyl)-6,7-exo-isopropylidenedioxy-8-oxabicyclo[3.2.1]octan -3alpha-ol (16, 20%). The 3-butyl-6,7-exo-isopropylidenedioxy-8-oxabicyclo[3.2.1]octan-3 alpha-ol (15, 56%) was obtained through a Grignard reaction. Reduction of 6 resulted in 6,7-exo-isopropylidenedioxy-8-oxabicyclo[3.2.1]octan-3 beta-ol (7, 62%) and 6,7-exo-isopropylidenedioxy-8-oxabicyclo[3.2.1]octan-3 alpha-ol (8, 20%). The alcohols were treated with thionyl chloride in pyridine, and the corresponding alkenes were obtained with 31-80% yield. The effect of these compounds on the development of radicle and aerial parts of Sorghum bicolor was evaluated.
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Phytochemical studies of ethyl acetate extracts from the roots and aerial parts of Gypsophila trichotoma revealed the presence of stigmast-7-en-3-ol, stigmasta-7,22-dien-3-ol (spinasterol), ergost-7-en-3-ol, stigmasta-3,5dien7-one, β-sitosterol, 22,23-dihydrospinasterone, vitexin, orientin, homoorientin and hyperoside. The structures of the compounds were determined by GC/MS and HPLC analyses.
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The bioassay-guided purification of ethanolic extracts from inflorescences of Piper subtomentosum Trel. & Yunck and aerial part of Piper septuplinervium (Miq. ) C. DC. led to isolation of five flavonoids, uvangoletin (1), galangin (2), chrysin (5), 5-hydroxy-4',7-dimethoxy-flavone (6), pinostrobin (7); one amide, N-p-coumaroil-tyramine (4); one acylglycerol, monopalmitin (3); one derivative of acid, protocatechuic acid (8); and glycosydated sterol, daucosterol (9). Their structures were elucidated on the basis of spectroscopy and spectrometry data and by comparison with data reported in the literature. The isolated compounds were tested against Spodoptera frugiperda. The results showed galangin and protocatechuic acid to be the most active (LC 50 13.63 and 17.16 ppm, respectively).
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Mining has severe impacts on its surrounding. Particularly in the developing countries it has degraded the environment and signigicantly altered the socio-economical dynamics of the hosts. Especially relocation disrupts people from their homes, livelihoods, cultures and social activities. Mining industry has failed to develop the local host and streghten its governance structures; instead it has further degraded the development of mineral rich third world countries, which are among the world poorest ones. Cash flows derived from mining companies have not benefitted the crass-root level that however, bears most of the detrimental impacts. Especially if the governance structure of the host is weak, the sudden wealth is likely to accelerate disparities, corruption and even fuel wars. Environmental degradation, miscommunication, mistrust and disputes over land use have created conflicts between the communities and a mining company in Obuasi, Ghana; a case study of this thesis. The disputes are deeply rooted and further fuelled by unrealistic expectations and broken promises. The relations with artisanal and illegal miners have been especially troublesome. Illegal activities, mainly encroachment of the land and assets of the mine, such as vandalising tailings pipes have resulted in profits losses, environmental degradation and security hazards. All challenges mentioned above have to be addressed locally with site-specific solutions. It is vital to increase two-way communication, initiate collaboration and build capacity of the stakeholders such as local communities, NGOs and governance authorities. The locals must be engaged to create livelihood opportunities that are designed with and for them. Capacity can also be strengthened through education and skills training, such as women’s literacy programs. In order to diminish the overdependence of locals to the mine, the activities have to be self -sufficient and able to survive without external financial and managerial inputs. Additionally adequate and fair compensation practises and dispute resolution methods that are understood and accepted by all parties have to be agreed on as early as possible.
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Kirja-arvio
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Food systems in Sub-Saharan Africa have been rapidly transforming during the recent decades with diverse outcomes on human development and environment. This study explores the food system change in rural villages in eastern Tanzania where subsistence agriculture has traditionally been the main source of livelihood. The focus is on the salient changes in the spatial dimensions and structural composition of the food system in the context of economic liberalization that has taken place after the end of the socialist ujamaa era in the mid-1980s. In addition, the linkages of the changes are examined in relation to food security, socio-economic situation, livelihoods, and local environment. The approach of the study is geographical, but also involves various multi-disciplinary elements, particularly from development studies. The research methods included thematic and questionnaire interviews, participatory tools, and the analysis of land use/ cover data and official documents. Several earlier studies that were made in the area during the late 1970s and 1980s provided an important reference base. The study shows that subsistence farming has lost its dominant role in food provisioning due to the declining productivity of land, livestock losses, and the increasing shift of labour to non-farm sectors. Also rapid population growth has added to the pressure on land and other natural resources. Despite the increasing need for money for buying marketed foods and other necessities, the nutritional situation shows improvement and severe malnutrition has diminished. However, the long-term sustainability of this transformation raises concerns. Firstly, the food security situation continues to be fragile and prone to shocks such as adverse climatic conditions, crop failures and price hikes. Secondly, the commodification of the food system and livelihoods in general is linked to rapid environmental degradation in the area, particularly the loss of soil fertility and deforestation. The situation calls for efforts that take more determined and holistic approaches towards sustainable development of the rural food system with particular focus on the role and viability of small-scale farming.
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The sustainable management of municipal solid waste in the Kathmandu Valley has always been a challenging task. Solid waste generation has gone rapidly high in the Kathmandu Valley over the last decade due to booming population and rapid urbaniza-tion. Finding appropriate landfill sites for the disposal of solid wastes generated from the households of the Kathmandu Valley has always been a major problem for Nepalese government. 65 % of total generated wastes from the households of Nepal consist of organic materials. As large fractions of generated household wastes are organic in na-ture, composting can be considered as one of the best sustainable ways to recycle organ-ic wastes generated from the households of Nepal. Model Community Society Development (MCDS), a non-governmental organization of Nepal carried out its small-scale project in five households of the Kathmandu Valley by installing composting reactors. This thesis is based on this small-scale project and has used secondary data provided by MCDS Nepal for carrying out the study. Proper man-agement of organic wastes can be done at household levels through the use of compost-ing reactors. The end product compost can be used as soil conditioners for agricultural purposes such as organic farming, roof-top farming and gardening. The overall average organic waste generation in the Kathmandu Valley is found to be 0,23 kg/person/day and the total amount of organic household wastes generated in the Kathmandu Valley is around 210 Gg/yr. Produced composts from five composting reac-tors contain high amount of moistures but have sufficient amount of nutrients required for the fertility of land and plant growth. Installation of five composting reactors in five households have prevented 2,74 Mg of organic wastes going into the landfills, thus re-ducing 107 kg of methane emissions which is equivalent to 2,7 Mg of carbondioxide.
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Vuoden 2013 sähkömarkkinalain uudistuksen myötä verkonhaltijoiden tulee varautua suurhäiriötilanteisiin aiempaa tehokkaammin. Lain toimitusvarmuusvaatimusten täyttäminen vaatii sähköverkkoyhtiöiltä entistä suurempia investointimääriä nopeassa aikataulussa. Caruna Oy investoi vuosittain noin 100 miljoonaa euroa säävarman verkon kehittämiseen ja rakentamiseen. Eltel Networks Oy toimii Carunan pääurakoitsijana useissa saneerausprojekteissa muun muassa Satakunnan ja Lounais-Suomen alueilla. Diplomityö tehtiin Eltel Networks Oy:lle ja tavoitteena oli laatia saneeraussuunnitelma Carunan Vahdon keskustan sähkönjakeluverkkoon sekä kehittää Eltelin suunnitteluprosessia Vahdon case-projektin avulla. Nykyverkon ongelmakohdiksi osoittautuivat käyttöikänsä päähän tulleet tai lähivuosina tulevat verkkokomponentit, verkon alhainen nykykäyttöarvo sekä korkeat keskeytyskustannukset. Suunnitellun verkon nykykäyttöarvo yli kaksinkertaistui nykyverkon arvosta, verkon keski-ikä pieneni seitsemällä vuodella ja keskeytyskustannukset pienenivät yli puolella. Case-projektin aikana suunnitteluprosessissa ilmeni useita kehityskohteita. Esimerkiksi kartta-aineistoja ja ilmakuvia kannattaisi hyödyntää monipuolisemmin suunnittelussa ja ohjemuutosten täytäntöönpanoajankohta tulisi määrittää ohjeen tärkeyden mukaan. Vierekkäisille suunnitteluprojekteille kannattaa hakea jatkossa esimerkiksi yhteiset ELY- ja AVI-luvat erillisten lupahakemusten sijaan, koska se vähentää suunnittelijoiden työmäärää ja nopeuttaa hakuprosessia. Suunnittelijoiden yhteistyötä kannattaa laajentaa niin lupahakemusten, sopimusten laadinnan kuin koko prosessin kattavaksi, koska yhteistyö vähentää virheiden määrää ja nopeuttaa suunnitteluprosessia. Yhteistyöllä suunnittelu voidaan toteuttaa nopeammin laadusta tinkimättä.
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Mobile robots are capable of performing spatial displacement motions in different environments. This motions can be calculated based on sensorial data (autonomous robot) or given by an operator (tele operated robot). This thesis is focused on the latter providing the control architecture which bridges the tele operator and the robot’s locomotion system and end effectors. Such a task might prove overwhelming in cases where the robot comprises a wide variety of sensors and actuators hence a relatively new option was selected: Robot Operating System (ROS). The control system of a new robot will be sketched and tested in a simulation model using ROS together with Gazebo in order to determine the viability of such a system. The simulated model will be based on the projected shape and main features of the real machine. A stability analysis will be performed first theoretically and afterwards using the developed model. This thesis concluded that both the physical properties and the control architecture are feasible and stable settling up the ground for further work with the same robot.
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In this paper, we analyze the relationship between the land market failures and the economic growth in Brazil, starting from an overlapping model including two sectors: agricultural and industrial. The land is both a specific factor for agriculture and an asset that can be substituted to the capital used in industry. The trade-off between land and capital holding depends, among other factors, on the transaction costs on the land market. These costs result from land insecurity and generate a decrease in the land price that favors capital accumulation. Two assumptions follow from our model: one the one hand, land insecurity has a negative effect on the land price; one the other hand it has a positive effect on economic growth. These two hypotheses are tested on panel data for Brazilian Federation. The econometric results do not reject our hypothesis.