Unmanned Aerial Vehicles are often used for reconnaissance, search and rescue, damage assessment, exploration, and other tasks that are dangerous or prohibitively difficult for humans to perform. Often, these tasks include traversing indoor environments where radio links are unreliable, hindering the use of remote pilot links or ground-based control, and effectively eliminating Global Positioning System (GPS) signals as a potential localization method. As a result, any vehicle capable of indoor flight must be able to stabilize itself and perform all guidance, navigation, and control tasks without dependence on a radio link, which may be available only intermittently. Since the availability of GPS signals in unknown environments is not assured, other sensors must be used to provide position information relative to the environment. This research covers a description of different ranging sensors and methods for incorporating them into the overall guidance, navigation, and control system of a flying vehicle. Various sensors are analyzed to determine their performance characteristics and suitability for indoor navigation, including sonar, infrared range sensors, and a scanning laser rangefinder. Each type of range sensor tested has its own unique characteristics and contributes in a slightly different way to effectively eliminate the dependence on GPS. The use of low-cost range sensors on an inexpensive passively stabilized coaxial helicopter for drift-tolerant indoor navigation is demonstrated through simulation and flight test. In addition, a higher fidelity scanning laser rangefinder is simulated with an Inertial Measurement Unit (IMU) onboard a quadrotor helicopter to enable active stabilization and position control. Two different navigation algorithms that utilize a scanning laser and techniques borrowed from Simultaneous Localization and Mapping (SLAM) are evaluated for use with an IMU-stabilized flying vehicle. Simulation and experimental results are presented for each of the navigation systems.

The main goal of the work presented in this thesis is to improve the reliability of existing methods for speciation analysis of organotin compounds Species-specific isotope dilution (SSID) calibration in combination with gas chromatography – inductively coupled plasma mass spectrometry was used to investigate the transformation of phenyltin species during sample preparation. Isotope-enriched phenyltin species were synthesized from corresponding isotope-enriched tin metals. SSID with a mixture of phenyltin species (PhTs) from one isotope was used to evaluate different extraction procedures for the determination of PhTs in fresh water sediment. Preparative liquid chromatography was used to produce single isotope-enriched phenyltin species making a multi-isotope spike (MI) SSID calibration possible. Different extraction procedures for the analysis of phenyltin species in biological samples were evaluated by applying MI-SSID. Degradation of TPhT and DPhT during sample extraction was observed and quantified. Accurate results were therefore obtained. A sample preparation procedure using mild extraction conditions with reasonable recoveries is described. The stability of organotin standards was investigated under different storage conditions. Mono- and diphenyltin were found to be redistributed and degraded during storage in methanol but were stabilized in sodium acetate/ acetic acid. A fast redistribution between monobutyl- and diphenyl tin has been observed and therefore it is therefore recommended that standards be derivatized as soon as possible after butyl- and phenyltin standards are mixed. Included in the thesis is also an investigation of the analytical potential of using instrumentation based on atomic absorption spectrometry (AAS) for speciation analysis of organotin compounds. The method was based on gas chromatographic separation, atomization in a quartz tube and detection by line source (LS) AAS and for comparison, by state of the art continuum source (CS) AAS. Analytical performances of CSAAS system were found to be better compared to LSAAS.

No description available.

Nous présentons la réalisation d'un montage expérimental visant à mesurer optiquement les fluctuations quantiques de position d'un résonateur mécanique macroscopique. Le résonateur est placé dans un environnement cryogénique et son mouvement est observé grâce à une cavité Fabry-Perot de grande finesse. Nous avons conçu et réalisé un résonateur optimisé pour l'observation de ses fluctuations quantiques de position. Il s'agit d'un micro-pilier en quartz vibrant selon un mode de compression et maintenu en son milieu par une fine membrane. Nous avons obtenu un mode fondamental de vibration oscillant à 4 MHz avec un facteur de qualité mécanique de près de deux millions. Nous avons conçu une cavité Fabry-Perot de grande finesse avec ce résonateur. Un miroir de haute réflectivité est déposé uniquement au sommet du pilier afin d'éviter de dégrader son facteur de qualité mécanique. Nous avons développé une technique d'ablation par laser pour réaliser des coupleurs d'entrée de la cavité ayant à la fois un très faible rayon de courbure et une grande réflectivité. Ceci nous a permis de construire une cavité de finesse 50 000 dont la taille du col optique, inférieure à 10 μm, est bien adaptée aux dimensions du résonateur. Nous avons fait développer un cryostat à dilution optimisé pour une mesure de position ultrasensible, dans lequel nous avons placé le dispositif optomécanique. L'ensemble du montage optique, constitué d'une source laser ultra-stable et d'un dispositif de détection des mouvements du résonateur, nous a permis d'observer les fluctuations thermiques de position du résonateur jusqu'à une température de l'ordre de 1 K.

Nutrient dynamics in a lodgepole pine forest at Bootleg Mountain, B.C., were investigated through the sampling of soil, snow and groundwater in six one-ha blocks. Nitrogen (NO3-, NH4+, TIN, TDN, TN), phosphorus (PO43-, TDP, TP), and DOC were analyzed in addition to N mineralization and nitrification. Position and dispersion statistics were computed for each variable and correlations (Pearson and Spearman) were computed for each pair of variables. The overall heterogeneities of soil, snow, and groundwater were generally lower between 1-ha blocks than between plots. Productivity in the soil was generally N-limited with low input from snow precipitation. Very little N leached from soil to groundwater. Phosphorus contents were highly variable and were the limiting nutrient in the groundwater. Rates of net and gross N mineralization and nitrification were determined using buried bags and 15N isotope dilutions. Gross rates were greater than net rates and nitrification was low relative to high immobilization rates. The N cycle appears to be tightly regulated, thus further study will be needed to monitor the impact of harvesting on N cycling.

Nutrient dynamics in a lodgepole pine forest at Bootleg Mountain, B.C., were investigated through the sampling of soil, snow and groundwater in six one-ha blocks. Nitrogen (NO3-, NH4+, TIN, TDN, TN), phosphorus (PO43-, TDP, TP), and DOC were analyzed in addition to N mineralization and nitrification. Position and dispersion statistics were computed for each variable and correlations (Pearson and Spearman) were computed for each pair of variables. The overall heterogeneities of soil, snow, and groundwater were generally lower between 1-ha blocks than between plots. Productivity in the soil was generally N-limited with low input from snow precipitation. Very little N leached from soil to groundwater. Phosphorus contents were highly variable and were the limiting nutrient in the groundwater. Rates of net and gross N mineralization and nitrification were determined using buried bags and 15N isotope dilutions. Gross rates were greater than net rates and nitrification was low relative to high immobilization rates. The N cycle appears to be tightly regulated, thus further study will be needed to monitor the impact of harvesting on N cycling.

Σκοπός της παρούσας διδακτορικής διατριβής ήταν η μελέτη της δυναμικής του αζώτου σε καλλιέργεια γλυκού σόργου. Χρησιμοποιήθηκαν φυτά γλυκού σόργου [Sorghum bicolor (L) Moench] ποικιλίας Keller και πραγματοποιήθηκαν αφ’ ενός πειράματα στο πεδίο αφ’ ετέρου πειράματα σε πλαστικά δοχεία. Τα πειράματα πεδίου πραγματοποιήθηκαν σε αγρόκτημα του Πανεπιστημίου Πατρών, τις καλλιεργητικές περιόδους του 2004 και 2005, και περιλάμβαναν δύο χειρισμούς (βιολογική και συμβατική διαχείριση της γονιμότητας του εδάφους), με τρεις επαναλήψεις ο καθένας σε πλήρη τυχαιοποιημένη διάταξη. Τα αποτελέσματα των πειραμάτων πεδίου, έδειξαν ότι η βιολογική διαχείριση της γονιμότητας του εδάφους ευνόησε τη διαθεσιμότητα του εδαφικού νιτρικού αζώτου. Το 2004, μέχρι και την ολοκλήρωση της άνθησης, τα φυτά του βιολογικού χειρισμού συσσώρευσαν περισσότερο άζωτο από ό,τι τα φυτά του συμβατικού χειρισμού, αν και οι διαφορές δεν ήταν στατιστικά σημαντικές, εκτός από τη δεύτερη δειγματοληψία, όπου τα φυτά του συμβατικού χειρισμού συσσώρευσαν 2,69 N gm-2, ενώ για τα φυτά του βιολογικού χειρισμού η αντίστοιχη τιμή ήταν 5,12 N gm-2. Το 2005, η συσσώρευση αζώτου ακολούθησε παρόμοια πορεία μέχρι τα μέσα της άνθησης και οι διαφορές δεν ήταν στατιστικά σημαντικές, εκτός από τη τρίτη δειγματοληψία, όπου τα φυτά του συμβατικού χειρισμού συσσώρευσαν 3,61 N gm-2, ενώ για τα φυτά του βιολογικού χειρισμού η αντίστοιχη τιμή ήταν 4,61 N gm-2. H επίδραση εμβολίων Azospirillum brasilense, σε παραμέτρους αύξησης φυτών γλυκού σόργου και στην πρόσληψη αζώτου από τα φυτά, υπό διαφορετικά επίπεδα αζωτούχου λίπανσης μελετήθηκε σε πειράματα σε πλαστικά δοχεία. Το κάθε πείραμα περιλάμβανε πέντε χειρισμούς με τριάντα επαναλήψεις, έκαστος. Τα φυτά που εμβολιάστηκαν με Azospirillum brasilense και έλαβαν τη μισή ποσότητα αζώτου, έδωσαν 7,69 g ξηρής βιομάζας φυτό-1 στο τέλος του πρώτου πειράματος και 4,89 g ξηρής βιομάζας φυτό-1 στο τέλος του δεύτερου πειράματος, ενώ τα φυτά που δέχθηκαν πλήρη λίπανση αζώτου χωρίς εμβόλιο έδωσαν 2,39 και 2,04 g ξηρής βιομάζας φυτό-1 στο τέλος του πρώτου και δεύτερου πειράματος αντιστοίχως. Οι διαφορές των χειρισμών ανά πείραμα ήταν στατιστικά σημαντικές. Το συνολικό προσλαμβανόμενο άζωτο από τα φυτά που εμβολιάστηκαν με Azospirillum brasilense και έλαβαν τη μισή ποσότητα αζώτου ήταν 153,23 και 99,96 mg φυτό-1 στο τέλος του πρώτου και του δεύτερου πειράματος αντιστοίχως. Οι τιμές ήταν υψηλότερες σε σχέση με τις τιμές του συνολικού προσλαμβανόμενου αζώτου των φυτών των λοιπών και οι διαφορές ήταν στατιστικά σημαντικές. Τα αποτελέσματα των πειραμάτων έδειξαν υψηλή αξιοποίηση του εφαρμοζόμενου αζώτου των φυτών που εμβολιάστηκαν με Azospirillum. Τα αποτελέσματα υποδεικνύουν την βιωσιμότητα ενός βιολογικού συστήματος καλλιέργειας, όσον αφορά την κάλυψη των αναγκών των φυτών σε άζωτο. Η υψηλή αξιοποίηση του αζώτου από τα φυτά γλυκού σόργου, οδηγεί στη μείωση εφαρμογής αζωτούχων λιπασμάτων και συμβάλλει στη μείωση του κόστους καλλιέργειας, στη μείωση εκπομπών αερίων του θερμοκηπίου και στην μείωση διήθησης νιτρικών στο υπόγειο υδροφόρο ορίζοντα. / The aim of the present thesis was to study the nitrogen dynamics in sweet sorghum crop. Sweet sorghum plants [Sorghum bicolor (L) Moench] variety Keller were used, and field and experiments were conducted. Field experiments were conducted during 2004 and 2005 growing seasons at the experimental station of the University of Patras, Greece and there were two treatments (biological and conventional soil fertility treatment), in a randomized complete block experimental design with three replications. The results showed that biological soil fertility treatment favour soil nitrate nitrogen concentration. In 2004, until completion of blooming, nitrogen uptake was higher in plants cultivated on biological fertility treated soil than in them cultivated on conventional but the differences were not statistically significant, except in second sampling, which nitrogen uptake was 2,69 N gm-2 in plants cultivated on conventional fertility treated soil and it was 5,12 N gm-2 in plants cultivated on conventional fertility treated soil. In 2005, until half of blooming, nitrogen uptake was similarly ranged for both treatments but the differences were not statistically significant, except in third sampling, which nitrogen uptake was 3,61 N gm-2 in plants cultivated on conventional fertility treated soil and it was 4,61 N gm-2 in plants cultivated on conventional fertility treated soil. Τhe effect of Azospirillum brasilense inoculation on growth parameters and nitrogen uptake in sweet sorghum plants fertilized with various nitrogen levels, was studied during pot experiments. Each experiment was including five treatments and thirty replications of each. Plants inoculated with Azospirillum brasilense and receiving half amount of nitrogen fertilizer produced 7,69 g dry biomass plant-1 at the end of the first experiment and they produced 4,89 at the end of the second one, while plants receiving full amount of nitrogen fertilizer and no inoculation produced 2,39 and 2,04 g dry biomass plant-1 at the end of the first and second experiment, respectively. Differences among treatments in each experiment, were statistically significant. Total nitrogen uptake in Plants inoculated with Azospirillum brasilense and receiving half amount of nitrogen fertilizer was 153,23 and it was 99,96 mg plant-1 at the end of first and second experiment, respectively. Those plants showed higher nitrogen uptake than plants from each other treatment and the differences were statistically significant. Results showed that treatments which inoculated with Azospirillum brasilense were the most efficient in terms of nitrogen uptake. These results indicate that biological management provides an adequate nitrogen nutrition to sweet sorghum crop. High nitrogen efficiency in sweet sorghum plants leads in reduced applying nitrogen fertilization and contribute in reduced crop cost, in reduced emission of the greenhouse gas and in reduced leaching of NO3-N to ground water.

A outorga dos direitos de uso é um instrumento da Política Nacional de Recursos Hídricos que tem como objetivo assegurar o controle quantitativo e qualitativo dos usos de água e o efetivo exercício dos direitos de acesso aos recursos hídricos. Neste contexto, insere-se a outorga de diluição de efluentes cujo objetivo é auxiliar na gestão qualitativa dos corpos dágua. As três informações básicas para um sistema de suporte à decisão de concessão de outorgas de diluição de efluentes são: a disponibilidade hídrica natural, o limite de qualidade permitido (enquadramento dos corpos dágua em classes de uso) e a quantidade total de recursos já comprometida com os usos existentes. Com estas três informações, o sistema estará apto a iniciar a operação de controle; quanto mais precisas forem estas informações, mais fiéis à realidade serão as informações retornadas pelo sistema. O objetivo principal deste estudo foi analisar as experiências brasileiras de outorgas de diluição de efluentes, identificar os seus pontos fortes e as limitações na sua aplicação e apresentar propostas de aperfeiçoamento. Foram analisadas as sete experiências em prática no Brasil, a saber: União, Bahia, Espírito Santo, Paraná, Mato Grosso, Distrito Federal e Minas Gerais. A pesquisa desenvolvida compreendeu ampla revisão bibliográfica e entrevistas/discussões com especialistas da área. Os resultados evidenciaram que há uma excessiva simplificação na aplicação da outorga de diluição de efluentes, fazendo com que nenhuma das experiências analisadas tenha conseguido obter a plenitude de suas potencialidades. Foi também possível concluir que a falta de enquadramentos dos corpos hídricos, com base em critérios técnicos e com metas realísticas, torna a aplicação da outorga de diluição de efluentes extremamente difícil, distorcendo a sua funcionalidade e causando inconvenientes aos entes do sistema de gerenciamento de recursos hídricos. Finalmente, foram propostas diretrizes gerais sobre a outorga de diluição de efluentes de modo a torná-la importante instrumento de gestão qualitativa dos corpos hídricos, impedindo que os limites de qualidade estabelecidos pela sociedade sejam ultrapassados e alertando para o nível de comprometimento da disponibilidade hídrica.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / The knowledge of P dynamics in grassland ecosystems may be important to prescription of changes caused by the addition of different sources of phosphate fertilizers in the P forms of soil, dry matter production and botanical composition of natural grasslands. The objective of this work was to evaluate the dynamics of P (a) the availability and forms of P; (b) total dry matter and contributions in dry matter and (c) dilution curves of P content from tissue of main species of natural grasslands after the application of different phosphate sources in three soil types under natural grasslands with or without historical of P applications. Treatments were P applications as Gafsa rock phosphate, simple superphosphate, triple superphosphate and control, arranged in randomized blocks with three replicates. In two experiments located in the city of Candiota - RS (Ultisol and Entisol), 100 kg ha-1 P2O5 were applied in September 2010. In the experiment of Santa Maria - RS (Alfisol), 180, 90, 100 e 100 kg ha-1 P2O5 were applied in 1997, 1998, 2002 and 2010, respectively, which represent 470 kg ha-1 P2O5. The soil samples (0-10 cm) and herbage mass were evaluated in the spring and summer after applied the last treatment in each experiment. The Gafsa rock phosphate showed a potential to increase P availability in soils with low calcium content in natural grasslands, but increases were higher when superphosphate was used. The application of phosphate fertilizers in soils under grasslands increases the importance of inorganic fractions of labile P to the available P to plants, making them less dependent on the mineralization of organic fractions. The P fertilization response was higher where annual species occurrence prevailed. In pastures with historical of fertilization, contribution of main species to the total dry mass of pasture had changed. In Candiota city, species did not grow by a severe drought. In Santa Maria, species as Paspalum notatum, Aristida laevis and other plants aggregated as Other Species had increased biomass and P tissue content was diluted over the periods. The specie Eustachys ulignosa had responded in biomass to soluble phosphate additions. The evaluated phosphates sources did not alter the N content in the tissue of grassland species. / O conhecimento da dinâmica do fósforo nos ecossistemas campestres pode ser importante para a prescrição das alterações provocadas pela adição de diferentes fontes de fertilizantes fosfatados sobre as formas de P no solo, na produção de matéria seca e na composição botânica das pastagens naturais. O objetivo do presente trabalho foi avaliar a influência da dinâmica do P (a) na disponibilidade e formas de P no solo; (b) na massa total de forragem e as contribuições de massa seca e (c) curvas de diluição de P no tecido das principais espécies componentes das pastagens naturais submetidas à aplicação de diferentes fontes de fosfato em três solos com e sem histórico de fertilização fosfatada. Os tratamentos consistiram na aplicação de P nas formas de hiperfostado de Gafsa, superfosfato simples, superfosfato triplo e testemunha, arranjados em blocos casualizados com três repetições. Nos dois experimentos instalados em Candiota (Luvissolo Úmbrico e Neossolo Litólico), foram aplicados 100 kg ha-1 P2O5 em setembro de 2010. No experimento de Santa Maria (Argissolo Vermelho) foram aplicados 180, 90, 100 e 100 kg ha-1 P2O5 nos anos de 1997, 1998, 2002 e 2010, respectivamente, totalizando 470 kg ha-1 de P2O5. As coletas de solo (camada 0-10 cm) e as massas de forragem foram avaliadas no período primavera-verão, após a última aplicação dos tratamentos em cada experimento. O hiperfosfato de Gafsa demonstrou ter potencial de disponibilização de P em solos ácidos com baixo teor de cálcio sob pastagens naturais, mas a disponibilização de P obtida com os superfosfatos foi maior. A aplicação de fertilizantes fosfatados em solos pobres sob pastagens naturais aumenta a importância das frações inorgânicas lábeis de P na disponibilização de P para as plantas, tornando-as menos dependentes da mineralização das frações orgânicas. A resposta da pastagem natural à fertilização fosfatada foi maior onde havia significativa contribuição de espécies anuais. O histórico de adição de fertilizantes fosfatados solúveis alterou a contribuição das principais espécies na massa seca total das pastagens naturais. Em Candiota, as espécies não apresentaram crescimento em função de forte estiagem. Em Santa Maria, as espécies Paspalum notatum, Aristida laevis e o componente Outras Espécies aumentaram a biomassa aérea e diluíram P do tecido ao longo dos períodos avaliados. A espécie Eustachys ulignosa respondeu a adição de fosfato solúvel. As fontes de fosfatos avaliados não alteraram o teor de N no tecido das plantas.

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