Einfluss der Flächenwahl, Anbaudichte und Landschaftsstruktur auf den Befallsstatus und die Ausbreitung der Möhrenfliege Psila rosae F. (Diptera: Psilidae) im ökologischen Möhrenanbau

Durch die vermehrte Nachfrage von Biomöhren im Lebensmitteleinzelhandel ist die Anbaufläche ökologisch erzeugter Möhren in den letzten zehn Jahren deutlich angestiegen. Der Anbau konzentriert sich auf bestimmte Regionen und erfolgte damit zunehmend auf großen Schlägen in enger räumlicher und zeitlicher Abfolge. Mit der steigenden Wirtspflanzenpräsenz steigt auch der Befallsdruck durch die Möhrenfliege. Während der Schädling im konventionellen Anbau mit Insektiziden kontrolliert wird, stehen dem Ökologischen Landbau bisher keine direkten Regulative zur Verfügung. Ziel der Untersuchungen war es, unter den Praxisbedingungen des ökologischen Möhrenanbaus einzelbetriebliche und überregionale Muster beteiligter Risikofaktoren im Befallsgeschehen zu identifizieren und so Möglichkeiten einer verbesserten Prävention und Regulation aufzuzeigen. Über einen Zeitraum von drei Jahren wurden auf fünf Betrieben in Niedersachsen und Hessen umfangreiche Felddaten erhoben und diese unter Verwendung von GIS – Software und dem Simulationsmodell SWAT analysiert. Untersuchte Einflussgrößen umfassten (1) die Distanz zu vorjährigen Möhrenfeldern, (2) die zeitliche Möhrenanbauperiode, (3) Vegetationselemente und (4) der experimentelle Einsatz von Fangpflanzen zur Unterdrückung der Fliegenentwicklung. Unter der Berücksichtigung deutlicher einzelbetrieblicher Unterschiede sind die wichtigsten Ergebnisse der Studie wie folgt zu benennen: (1) Auf Betrieben mit Befall im zurückliegenden Anbaujahr zeigte sich die Distanz zu vorjährigen Möhrenfeldern als der wichtigste Risikofaktor. Das Ausbreitungsverhalten der 1. Generation Möhrenfliege erwies sich zudem als situationsgebunden anpassungsfähig. Fliegensumme und Befall waren jeweils in dem zu Vorjahresflächen nächstgelegen Feld am größten, während jeweils dahinter liegende Möhrenschläge entsprechend weniger Fliegenzahlen und Befall auswiesen. Aus den Ergebnissen wird als vorrangige Verbreitungskapazität der 1. Generation Möhrenfliegen innerhalb von 1000 m abgeleitet. (2) Betriebe mit kontinuierlicher Möhren - Anbaubauperiode (ca. April – Oktober), die langfristig die Entwicklung sowohl der 1. als auch der 2. Generation Fliegen unterstützten, verzeichneten stärkere Fliegenprobleme. Hinsichtlich einer verbesserten Prävention wird empfohlen mit einer strikten räumlichen Trennung früher und später Sätze ein Aufschaukeln zwischen den Generationen zu vermeiden. (3) Der Einfluss der Vegetation ließ sich weniger eindeutig interpretieren. Einzelbetriebliche Hinweise, dass Kleingehölze (Hecken und Bäume) im Radius zwischen aktueller und vorjähriger Möhrenfläche die Befallswahrscheinlichkeit erhöhen, konnten mit einem berechneten Gesamtmaß für die regionale holzige Vegetation nicht bestätigt werden. Der großräumigen holzigen Vegetation wird im Vergleich zur Feldrandvegetation daher beim Befallsgeschehen eine geringe Bedeutung zugeschrieben. (4) Drei Meter (vier Dämme) breiter Möhren – Fangstreifen auf den vorjährigen Möhrenfeldern eignen sich bereits ab dem Keimblattstadium, um erhebliches Befallspotential zu binden. Eine mechanische Entfernung der Fangpflanzen (Grubbern) mitsamt dem Befallspotential erzielte in 2008 eine 100 %-ige Unterdrückung der Möhrenfliegenentwicklung, in 2009 jedoch nur zu maximal 41 %. Als mögliche Synthese der Ergebnisse zur Ausbreitung der Möhrenfliegen im Frühjahr und zur zeitlichen Koinzidenz mit der Möhrenentwicklung wird als Empfehlung diskutiert, mit Hilfe einer angepassten Flächenwahl die Fliegenausbreitung räumlich an frühen Sätzen zu binden, um entsprechend befallsarme Regionen für entfernt liegende späte (empfindlichere) Möhrensätze zu schaffen.

Agroforestry systems of timber species and cacao: survival and growth during the early stages

In recent times, increased emphasis has been placed on diversifying the types of trees to shade cacao (Theobroma cacao L.) and to achieve additional services. Agroforestry systems that include profitable and native timber trees are a viable alternative but it is necessary to understand the growth characteristics of these species under different environmental conditions. Thus, timber tree species selection should be based on plant responses to biotic and abiotic factors. The aims of this study were (1) to evaluate growth rates and leaf area indices of the four commercial timber species: Cordia thaisiana, Cedrela odorata, Swietenia macrophylla and Tabebuia rosea in conjunction with incidence of insect attacks and (2) to compare growth rates of four Venezuelan Criollo cacao cultivars planted under the shade of these four timber species during the first 36 months after establishment. Parameters monitored in timber trees were: survival rates, growth rates expressed as height and diameter at breast height and leaf area index. In the four Cacao cultivars: height and basal diameter. C. thaisiana and C. odorata had the fastest growth and the highest survival rates. Growth rates of timber trees will depend on their susceptibility to insect attacks as well as to total leaf area. All cacao cultivars showed higher growth rates under the shade of C. odorata. Growth rates of timber trees and cacao cultivars suggest that combinations of cacao and timber trees are a feasible agroforestry strategy in Venezuela.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Alley cropping of willows and grassland for bioenergy provision: productivity, tree-crop interactions and energy balance

The demand for biomass for bioenergy has increased rapidly in industrialized countries in the recent years. Biogenic energy carriers are known to reduce CO2 emissions. However, the resource-inefficient production of biomass often caused negative impacts on the environment, e.g. biodiversity losses, nitrate leaching, and erosion. The detrimental effects evolved mainly from annual crops. Therefore, the aim of modern bioenergy cropping systems is to combine yield stability and environmental benefits by the establishment of mixed-cropping systems. A particular emphasis is on perennial crops which are perceived as environmentally superior to annual crops. Agroforestry systems represent such mixed perennial cropping systems and consist of a mix of trees and arable crops or grassland within the same area of land. Agroforestry practices vary across the globe and alley cropping is a type of agroforestry system which is well adapted to the temperate zone, with a high degree of mechanization. Trees are planted in rows and crops are planted in the alleyways, which facilitates their management by machinery. This study was conducted to examine a young alley cropping system of willows and two grassland mixtures for bioenergy provision under temperate climate conditions. The first part of the thesis identified possible competition effects between willows and the two grassland mixtures. Since light seemed to be the factor most affecting the yield performance of the understory in temperate agroforestry systems, a biennial in situ artificial shade experiment was established over a separate clover-grass stand to quantify the effects of shade. Data to possible below- and aboveground interactions among willows and the two grassland mixtures and their effects on productivity, sward composition, and quality were monitored along a tree-grassland interface within the alleys. In the second part, productivity of the alley cropping system was examined on a triennial time frame and compared to separate grassland and willow stands as controls. Three different conversion technologies (combustion of hay, integrated generation of solid fuel and biogas from biomass, whole crop digestion) were applied to grassland biomass as feedstock and analyzed for its energetic potential. The energetic potential of willow wood chips was calculated by applying combustion as conversion technique. Net energy balances of separate grassland stands, agroforestry and pure willow stands evaluated their energy efficiency. Results of the biennial artificial shade experiment showed that severe shade (80 % light reduction) halved grassland productivity on average compared to a non-shaded control. White clover as heliophilous plant responded sensitively to limited radiation and its dry matter contribution in the sward decreased with increasing shade, whereas non-leguminous forbs (mainly segetal species) benefited. Changes in nutritive quality could not be confirmed by this experiment. Through the study on interactions within the alleys of the young agroforestry system it was possible to outline changes of incident light, soil temperature and sward composition of clover-grass along the tree-grassland interface. Nearly no effects of trees on precipitation, soil moisture and understory productivity occurred along the interface during the biennial experiment. Considering the results of the productivity and the net energy yield alley cropping system had lower than pure grassland stands, irrespective of the grassland seed mixture or fertilization, but was higher than that for pure willow stands. The comparison of three different energetic conversion techniques for the grassland biomass showed highest net energy yields for hay combustion, whereas the integrated generation of solid fuel and biogas from biomass (IFBB) and whole crop digestion performed similarly. However, due to the low fuel quality of hay, its direct combustion cannot be recommended as a viable conversion technique, whereas IFBB fuels were of a similar quality to wood chip from willow.

Analysis and Control of Robot Manipulators with Kinematic Redundancy

A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators.

Convergence Rates of Approximation by Translates

In this paper we consider the problem of approximating a function belonging to some funtion space Φ by a linear comination of n translates of a given function G. Ussing a lemma by Jones (1990) and Barron (1991) we show that it is possible to define function spaces and functions G for which the rate of convergence to zero of the erro is 0(1/n) in any number of dimensions. The apparent avoidance of the "curse of dimensionality" is due to the fact that these function spaces are more and more constrained as the dimension increases. Examples include spaces of the Sobolev tpe, in which the number of weak derivatives is required to be larger than the number of dimensions. We give results both for approximation in the L2 norm and in the Lc norm. The interesting feature of these results is that, thanks to the constructive nature of Jones" and Barron"s lemma, an iterative procedure is defined that can achieve this rate.

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Factores comportamentales hacia la fotoprotección

Introducción: la fotoprotección constituye las actividades preventivas que minimizan los efectos deletéreos de la exposición solar; estos comportamientos de salud pueden estar relacionados con actitudes y conocimientos adquiridos. Objetivo: Identificar estas asociaciones en Estudiantes de Medicina de la Escuela de Medicina y Ciencias de la Salud de la Universidad del Rosario, quienes se encargarán de transmitir educación y ejemplo de comportamiento en su contexto personal y profesional. Metodología: estudio de corte transversal. Se implementó una encuesta voluntaria por correo institucional y físicamente entre estudiantes de 1-8 semestre matriculados en el segundo semestre de 2009; n= 122 estudiantes, la mayoría menores de 20 años y de género femenino; factores de estudio analizados: biológico – demográficos, informador, actitudes, conocimientos, personas modelo y comportamiento, expresados en frecuencias, analizados con pruebas y fuerzas de asociación con intervalo de confianza del 95%. Resultados: factores asociados a fotoprotección: ser de 1-4 semestre (p=0,008), ser =19 años (p=0,028), reconocer como consecuencias las alteraciones en los ojos y la visión (p=0,043) y las alteraciones producidas en el sistema inmune (p=0,021), uso de la pareja de ropa protectora (p=0,019), permanencia de un amigo a la sombra (p=0,055), conocimiento de la posibilidad de quemadura independiente al clima (p=0,001) y conocimiento de la posibilidad de quemadura sin sentir los rayos calientes del sol (p=0,049). Conclusiones: es posible reforzar comportamientos preventivos, favorecer el seguimiento de modelos positivos afines a los jóvenes, incrementar el conocimiento en salud y afirmar la educación primaria en salud desde la Medicina General y mejorar así la fotoprotección.

Functional studies of the deubiquitinating enzymes USP19, USP4 and UCH-L1

El marcaje de proteínas con ubiquitina, conocido como ubiquitinación, cumple diferentes funciones que incluyen la regulación de varios procesos celulares, tales como: la degradación de proteínas por medio del proteosoma, la reparación del ADN, la señalización mediada por receptores de membrana, y la endocitosis, entre otras (1). Las moléculas de ubiquitina pueden ser removidas de sus sustratos gracias a la acción de un gran grupo de proteasas, llamadas enzimas deubiquitinizantes (DUBs) (2). Las DUBs son esenciales para la manutención de la homeostasis de la ubiquitina y para la regulación del estado de ubiquitinación de diferentes sustratos. El gran número y la diversidad de DUBs descritas refleja tanto su especificidad como su utilización para regular un amplio espectro de sustratos y vías celulares. Aunque muchas DUBs han sido estudiadas a profundidad, actualmente se desconocen los sustratos y las funciones biológicas de la mayoría de ellas. En este trabajo se investigaron las funciones de las DUBs: USP19, USP4 y UCH-L1. Utilizando varias técnicas de biología molecular y celular se encontró que: i) USP19 es regulada por las ubiquitin ligasas SIAH1 y SIAH2 ii) USP19 es importante para regular HIF-1α, un factor de transcripción clave en la respuesta celular a hipoxia, iii) USP4 interactúa con el proteosoma, iv) La quimera mCherry-UCH-L1 reproduce parcialmente los fenotipos que nuestro grupo ha descrito previamente al usar otros constructos de la misma enzima, y v) UCH-L1 promueve la internalización de la bacteria Yersinia pseudotuberculosis.

Modification of personality variables through application of a psycho-educational program of full consciousness (mindfulness) in university students

This study examines the effects in university students of a psycho-educational program in full awareness (mindfulness) on certain personality variables. A quasi-experimental (group comparison) design with pretest and postest measurements was employed in an experimental (n = 26) and a control group (n = 27). Barratt impulsiveness Scale (BiS- 11), Acceptance and Action Questionnaire (AAQ), Social Avoidance and Distress Scale (SAD), and the Profile of Mood States (POMS) were applied to experimental and control groups. The results show statistically significant changes in impulsivity variables, experiential avoidance, social avoidance, social anxiety, tension and fatigue when comparing the posttest mean scores of the groups.

La génesis de las parafilias sexuales y la homosexualidad egodistónica: el Modelo de los Mecanismos Tensionales

Mediante el desarrollo del Modelo de los Mecanismos Tensionales, basado en el trastorno de evitación experiencial (Hayes, Wilson, Gifford, Follette & Stroshal,1996) y en la Teoría de la Terminación Conductual propuesta por McConaghy (1980), el presente artículotrata de exponer una serie de fenómenos que pueden estar pasando desapercibidos a la hora de explicar la génesis y el mantenimiento de las parafilias sexuales y la homosexualidad egodistónica. Para ello se parte del análisis de los testimonios de sujetos parafílicos y homosexuales egodistónicos (que no aceptan su homosexualidad) registrados durante los años 2005 y 2006. Desde una perspectiva de la psicología contextual y haciendo uso del análisis funcional y topográfico de las conductas características de cada trastorno, se observará cómo ambas manifestaciones sexuales tienen aspectos comunes (factores predisponentes, precipitantes y demantenimiento) en su origen y evolución.

La satisfacción del cliente bancario en Canadá: Diferencias entre canadienses e inmigrantes de la América Latina – Revisión y traducción

The measure of customer satisfaction level is one of the most important topics at present time in marketing science. In addition, its measure in the bank field takes force in view of the high level of competition inside it, even more so if the study counts “immigrants” as a variable in analysis, a much important variable in the demographic situation of Canada. Oliver (1980) proposes the model of “disconfirmation” to measure customer satisfaction level; this model confirms that the difference between customer perceived performance and customer expectations gives as result his satisfaction level (additional model). Presently multiple scales exist to evaluate and to quantify this satisfaction level, Parasuraman (1987) is the creator of the servqual scale, while Avkiran (1999) developed the bankserv scale in order to evaluate customer expectations and customer satisfaction level specifically inside the bank field; this scale was divided in four factors via factorial analysis. Literature suggests the presence of a relation between individual expectations and/or satisfaction level, and the individual tolerance level towards non-constructed situations (Newman, 2001). Hofstede (1980) developed five cultural dimensions worldwide; among these is the Uncertainty Avoidance Index (uai) that fits to the dimension directly related to customer expectations and customer satisfaction levels, since it measures the tolerance levels towards non-structured ituations. For this research I focused on the satisfaction model analysis proposed by Oliver (1980) based on Avkiran´s scale (1999), having the Latin American or Canadian origin as variables. The concept of Hofstede’s cultural differences leads me to propose two samples: 50 Canadian French speakers and 50 Latin American individuals (Canadian residents). Results demonstrate that in the Latin American group the expectations are in average higher that in the Canadian group, considering all four factors (Avkiran). Perceived performance and satisfaction level are higher in the Latin American group that in the Canadian group for “personal branch conduct” and “access to personalized services” factors, nevertheless, no statistically significant difference has been proved for “credibility” and “communication” factors. The expectations variable presents a mediating effect over the relation between variables uai (Latin American or Canadian origin) and satisfaction level. This effect is partial for “personal branch conduct” and perfect for “access to personalized services”.

Inteligencia emocional y afrontamiento del estrés

El objetivo principal de este trabajo es realizar una revisión teórica de los estudios que han elaborado un análisis acerca de la Inteligencia Emocional con la capacidad para afrontar situaciones generadoras de estrés. Los diferentes estudios muestran que niveles altos en Inteligencia Emocional se relacionan con estrategias de afrontamiento basadas en el análisis y resolución de conflictos, mientras que niveles bajos de inteligencia emocional se relacionan con estrategias de afrontamiento basadas en la evitación, la superstición, y la resistencia al cambio. La evidencia que arrojan los estudios indican que la inteligencia emocional es fundamental en el autocontrol emocional y en la habilidad de adaptación de los individuos para afrontar situaciones generadoras de estrés.

La cláusula general antiabuso tributario en Colombia

En la Ley 1607 de 2012 se introdujo a nuestra legislación una cláusula general antiabuso en materia tributaria. Este trabajo busca analizar y determinar su aplicabilidad práctica, considerando sus elementos descriptivos y las circunstancias de realización de conductas abusivas, que concluyen en la elusión o reducción de un tributo.