The effect of grazing intensity and the presence of a forage legume on nitrogen dynamics in Brachiaria pastures in the Atlantic forest region of the south of Bahia, Brazil

It has been shown that with careful grazing management and addition of Pand K, but not N, fertilisers Brachiaria pastures are ableto maintain sustainable live weight gains over many years. However, standardon-farm practice, which generally involves high stocking rates, leads after afew years to pasture decline due mainly to N deficiency for grass regrowth. Togenerate an understanding of the mechanism of pasture decline and possiblemanagement options to mitigate this process, a study was performed in theAtlantic forest region of the south of Bahia state to study the N dynamics inpastures of Brachiaria humidicola subject to threedifferent stocking rates of beef cattle, with and without the presence of theforage legume Desmodium ovalifolium. Despite the fact thatthe C:N ratio of the deposited litter was high (60 to 70) the rate ofdecomposition was very rapid (k –0.07 gg^–1 day^–1) and annual rates of Nturnover through the litter pathway were between 105 and 170 kg Nha^–1 year^–1. In the grass-onlypasturesas stocking rate increased from 2 to 3 head ha^–1, N recycledinthe litter decreased by 11%, but a further increase to 4 headha^–1 decreased N recycling by 30% suggesting thatbeyonda certain critical level higher grazing stocking rates would lead to pasturedecline if there was no N addition. High stocking rates decreased theproportionof the legume in the sward, but at all rates the concentration of N in both thegreen and dead grass in the forage on offer and in the litter was higher in themixed sward. The presence of the legume caused a decrease in the C:N ratio ofthe microbial biomass while both soil N mineralisation and nitrificationincreased. This increased rate of turnover of the microbial biomass and thecontribution of N₂ fixation to the legume resulted in largeincreasesin the N recycled via litter deposition ranging from 42 to 155 kg Nha^–1 year^–1.     

Dual FastSLAM: Dual Factorization of the Particle Filter Based Solution of the Simultaneous Localization and Mapping Problem

The process of building a map with a mobile robot is known as the Simultaneous Localization and Mapping (SLAM) problem, and is considered essential for achieving true autonomy. The best existing solutions to the SLAM problem are based on probabilistic techniques, mainly derived from the basic Bayes Filter. A recent approach is the use of Rao-Blackwellized particle filters. The FastSLAM solution factorizes the Bayes SLAM posterior using a particle filter to estimate over the possible paths of the robot and several independent Kalman Filters attached to each particle to estimate the location of landmarks conditioned to the robot path. Although there are several successful implementations of this idea, there is a lack of applications to indoor environments where the most common feature is the line segment corresponding to straight walls. This paper presents a novel factorization, which is the dual of the existing FastSLAM one, that decouples the SLAM into a map estimation and a localization problem, using a particle filter to estimate over maps and a Kalman Filter attached to each particle to estimate the robot pose conditioned to the given map. We have implemented and tested this approach, analyzing and comparing our solution with the FastSLAM one, and successfully building feature based maps of indoor environments.     

A new DSATUR-based algorithm for exact vertex coloring

This paper describes a new exact algorithm PASS for the vertex coloring problem based on the well known DSATUR algorithm. At each step DSATUR maximizes saturation degree to select a new candidate vertex to color, breaking ties by maximum degree w.r.t. uncolored vertices. Later Sewell introduced a new tiebreaking strategy, which evaluated available colors for each vertex explicitly. PASS differs from Sewell in that it restricts its application to a particular set of vertices. Overall performance is improved when the new strategy is applied selectively instead of at every step. The paper also reports systematic experiments over 1500 random graphs and a subset of the DIMACS color benchmark.     

3D Face Recognition Using Simulated Annealing and the Surface Interpenetration Measure

This paper presents a novel automatic framework to perform 3D face recognition. The proposed method uses a Simulated Annealing-based approach (SA) for range image registration with the Surface Interpenetration Measure (SIM), as similarity measure, in order to match two face images. The authentication score is obtained by combining the SIM values corresponding to the matching of four different face regions: circular and elliptical areas around the nose, forehead, and the entire face region. Then, a modified SA approach is proposed taking advantage of invariant face regions to better handle facial expressions. Comprehensive experiments were performed on the FRGC v2 database, the largest available database of 3D face images composed of 4,007 images with different facial expressions. The experiments simulated both verification and identification systems and the results compared to those reported by state-of-the-art works. By using all of the images in the database, a verification rate of 96.5 percent was achieved at a False Acceptance Rate (FAR) of 0.1 percent. In the identification scenario, a rank-one accuracy of 98.4 percent was achieved. To the best of our knowledge, this is the highest rank-one score ever achieved for the FRGC v2 database when compared to results published in the literature.     

Nitrous oxide emission and ammonia volatilization induced by vinasse and N fertilizer application in a sugarcane crop at Rio de Janeiro,Brazil

In Brazilian sugarcane plantations, fertilization with vinasse, supplemented or not with mineral fertilizer, is a common practice. But little is known about the effects of this application on N losses, especially those forms of N which give rise to greenhouse gas emissions. The aim of this study was to quantify N₂O and NH₃ emissions from soil after vinasse application and urea fertilizer addition and to examine the possible impact adding vinasse before or after urea. Two experiments were conducted under greenhouse conditions and one in the field with treatments of vinasse and urea fertilizer, either alone, or in sequence. The highest proportions of N emitted as N₂O were registered in the vinasse treatment, which amounted to 15 % of the N applied in the first greenhouse experiment, and 2.5 % in the field experiment. With respect to the losses by NH₃ volatilization, urea was the only treatment where this process was significant. N₂O emission from vinasse was 2.5 %, somewhat above the default emission factor of 1 % of the IPCC. N₂O emissions from urea were also variable, but emission factors registered were still well below the default IPCC factor for organic residues. The order of addition of urea and vinasse had little effect on NH₃ volatilization in the field, but there were evidences it was important for N₂O.     

Alternatives for nitrogen nutrition of crops in tropical agriculture

The development of sustainable agricultural systems for the tropics requires among other technologies, alternatives for nitrogen fertilizers which are often limited in availability for financial reasons and also represent a major source of groundwater and air pollution. There are many new alternatives for the development of agricultural systems which make use of biological processes in soil. Biological nitrogen fixation (BNF), that is, the biological conversion of atmospheric dinitrogen into mineral N, is the most important alternative among them. Examples are given of the impact of various technologies used in Brazil. Soybean, introduced into the country 30 years ago, is now the second most important export crop, reaching 24 million tons annually with no N fertilizer application. Consequently, Brazil today is the country in the world which uses the lowest amounts of nitrogen fertilizers in relation to phosphate. Alternatives for crop rotations and pastures are also discussed. Possibilities of expanding BNF to cereals and other non-legume crops are gaining new credibility due to the identification of endophytic associations with diazotropic bacteria. The definite proof of substantial BNF in sugar cane with N balance and¹⁵N methods in certain genotypes selected under low N fertilizer applications opens up new alternatives for sustainable agriculture and will be the key to viable bio-fuel programmes.     

Stability boundary analysis of the dynamic voltage restorer in weak systems with dynamic loads

In this contribution, a stability analysis for a dynamic voltage restorer (DVR) connected to a weak ac system containing a dynamic load is presented using continuation techniques and bifurcation theory. The system dynamics are explored through the continuation of periodic solutions of the associated dynamic equations. The switching process in the DVR converter is taken into account to trace the stability regions through a suitable mathematical representation of the DVR converter. The stability regions in the Thevenin equivalent plane are computed. In addition, the stability regions in the control gains space, as well as the contour lines for different Floquet multipliers, are computed. Besides, the DVR converter model employed in this contribution avoids the necessity of developing very complicated iterative map approaches as in the conventional bifurcation analysis of converters. The continuation method and the DVR model can take into account dynamics and nonlinear loads and any network topology since the analysis is carried out directly from the state space equations. The bifurcation approach is shown to be both computationally efficient and robust, since it eliminates the need for numerically critical and long‐lasting transient simulations. Copyright © 2011 John Wiley & Sons, Ltd.     

Reduction of low voltage power cables electromagnetic field emission in MV/LV substations

In this paper a solution to reduce magnetic field emission levels generated by MV/LV substation power cables is proposed. The reduction is obtained by the arrangement of the phases in a proper way and by shielding the cables with magnetic or conductive materials. The effects introduced by these two options have been analyzed by means of simulations, using finite elements method calculation software, and by experimental measurements. The introduced results allow selecting an optimal arrangement and the best screening material in order to reduce the magnetic fields in those directions required to protect.