In elementary robotics, it is very well known that the rotation of an object by the angles respectively Ψ (x), Θ (y), Φ (z) wrt** a fixed coordinate system (RPY) results in the same angular position for the object as the position achieved by the rotation of that object by the angles respectively Φ (z), Θ (y), Ψ (x) wrt a moving (with the object) coordinate system (euler angles). The proofs given up to now for such consequences are not general and for any such problem usually involve the calculation of the transformation matrix for both cases and observing the equivalence of the two matrices [1, 2, 3]. In this paper a fundamental and at the same time general proof is given for such results. It is shown that this equivalence in reverse order can be extended to the general class of transformations which keep the local relations constant (i.e., each transformation should keep the local relations constant). For example, rotation, translation and scaling are 3 types of transformations which can be located in this general class.
Slurry transport in horizontal and vertical pipelines is one of the major means of transport of sands and gravels in the dredging industry. There exist 4 main flow regimes, the fixed or stationary bed regime, the sliding bed regime, the heterogeneous flow regime and the homogeneous flow regime. Of course the transitions between the regimes are not very sharp, depending on parameters like the particle size distribution. The focus in this paper is on the homogeneous regime. Often the so called equivalent liquid model (ELM) is applied, however many researchers found hydraulic gradients smaller than predicted with the ELM, but larger that the hydraulic gradient of liquid. Talmon (2011, 2013) derived a fundamental equation (method) proving that the hydraulic gradient can be smaller than predicted by the ELM, based on the assumption of a particle free viscous sub-layer. He used a 2D velocity distribution without a concentration distribution. In this paper 5 methods are described (and derived) to determine the hydraulic gradient in homogeneous flow, of which the last method is based on pipe flow with a concentration distribution. It appears that the use of von Driest (Schlichting, 1968) damping, if present, dominates the results, however applying a concentration distribution may neutralise this. The final equation contains both the damping and a concentration distribution giving the possibility to calibrate the constant in the equation with experimental data. The final equation is flexible and gives a good match with experimental results in vertical and horizontal pipelines for a value of ACv = 1.3. Data of horizontal experiments Dp = 0.05-0.30 m, d = 0.04 mm, vertical experiments Dp = 0.026 m, d = 0.125, 0.345, 0.560, and 0.750 mm.
An unexpectedly large proportion of C4 grasses was found in a moderately temperate and moist Himalayan location during monsoon period. 79 % of total grasses occurring in the area were found to be C4. Several grasses hitberto unreported as C4 háve now been recorded. The principál cause for the natural abundance of C4 species is presumably low atmospheric CO2 levels rallua' tlian the aridity and warmer temperatures. The finding adds a new dimension to our knowledge of natural distribution of the C4 species.
The paper approaches problem of the flow forecasting for the Liptovska Mara reservoir with a hybrid modelling approach. The nonlinear hybrid modelling framework was investigated under the specific physiographic conditions of the High Core Mountains of Slovakia. The mean monthly flows of rivers used in this study are predominantly fed by snowmelt in the spring and convective precipitation in the summer. Therefore, their hydrological regime exhibits at least two clear seasonal patterns, which provide an intuitive justification for the application of nonlinear regime-switching time series models. Differences in the prevailing geology, orientation of slopes and their exposure to atmospheric circulation for the right and left-sided tributaries of the Vah River indicate that the hydrological regime of mean monthly discharge time series in this area with respect to seasonality and cyclicity may differ, too. Therefore, a simple deterministic water balance scheme was set up for estimating the reservoir inflow from the left and right-sided tributary flows separately. It consists of the linear combination of the measured tributary flows and estimated ungauged tributary flows. The contributions of the ungauged catchments were estimated from flows from gauged tributaries with similar physiographic conditions by weighting these by the ratio of the catchment areas. Separate nonlinear regime-switching time series models were identified for each gauged tributary. The forecasts of the tributaries were combined into a hybrid forecasting model by the water balance model. The performance of the combined forecast, which could better include the specific regime of the time series of tributaries, was compared with the single forecast of the overall reservoir inflow in several combinations. and V štúdii sme porovnávali kvalitu predpovede viacerých lineárnych a nelineárnych modelov časových radov pri predpovedaní prítokov do nádrže Liptovská Mara. Testovali sme výkonnosť modelov ARMA, SETAR na samotnej rieke Váh a v kombinácii jej prítokov do nádrže Liptovská Mara. Ďalej bol uplatnený jednoduchý deterministický model vodnej bilancie pre prítok do nádrže, ktorý pozostáva z lineárnej kombinácie meraných prietokov prítokov Váhu vážených plochou subpovodia. Výber analogónov sa vykonal vzhľadom na podobnosť fyzicko-geografických podmienok v meraných a nemeraných subpovodiach. Modely typu ARMA a SETAR boli zostavené pre každý prítok osobitne a predpovede prietokov na prítokoch boli skombinované modelom vodnej bilancie a do predpovede celkového prítoku do nádrže. Kombinovanú hybridnú predpoveď (stochasticko-deterministická), zachovávajúcu špecifický režim prítokov a vodnej bilancie v povodiach, sme porovnali s predpoveďou celkového prítoku do nádrže získanou pomocou modelov identifikovaných na hlavnom toku.
Mean leaf inclination of the arctic and alpine shrub Dryas octopetala is a function of latitude and this functional relationship is consistent with a model that maximizes photosynthesis of the total plant canopy.
The Northern pine processionary moth, Thaumetopoea pinivora (Treitschke, 1834) shows a highly scattered distribution with fragmented populations across Europe. A previous study exploring the postglacial history of T. pinivora defined it as a cold-tolerant relict species and concluded that a progressive reduction of suitable habitats after the postglacial expansion from refugia in the southern Iberian peninsula best explained the distribution and genetic structure of populations of this species. However, recent records, both by us and others, challenge this view. Surprisingly, some of the newly found populations from southern Spain use black pine, Pinus nigra J.F. Arnold as a host plant despite the fact that the typical host of the species, Scots pine, Pinus sylvestris L. occurs in the area. We provide genetic data for one of these recently found southern populations where the larvae feed on P. nigra, and compare this with previously published data on individuals collected on P. sylvestris. This data reveals that populations from different host trees are no more genetically differentiated than populations sharing the same host plant. The findings of a wider diet breadth open the way to widen the search for the still unidentified glacial refugium of T. pinivora, and as such may contribute to a better understanding about how the species has spread across Europe., José A. Hódar, Anna Cassel-Lundhagen, Andrea Battisti, Stig Larsson., and Obsahuje bibliografii
In CO2-free air, the CO2 postirradiation burst (PIB) in wheat leaves was measured with an IRGA in an open gas exchange system to ascertain its potential role in alleviating photoinhibition of photorespiratory carbon oxidation (PCO) under a CO2 deficiency. A pre-photosynthesized leaf having been transferred into CO2-free air exhibited a typical CO2 PIB following darkening which could last, with a rate substantially higher than that of dark respiration, over a long time period (at least more than 2 h) of continuously alternate irradiation (2 min)-dark (2 min)-light transitions. The rate and the time of PIB maintenance, although unaffected by the exogenous dark respiration inhibitor iodoacetic acid, were stimulated largely by increasing irradiance and O2 level, and suppressed by DCMU and N-ethyl-maleimide (NEM). They also showed a large photosynthates-loading dependence. In a darkened leaf, the irradiation-induced PIB in the CO2-free air was clearly revealed and it was characterized by an initial net uptake of respiratory CO2. The light-induced PIB was accelerated by increasing irradiance, and delayed by prolonging the period of darkening the leaves. Hence, the origin of carbon needed for a long-term CO2 evolution in the CO2-free air might not only be derived directly from the pool of intermediates in the Calvin cycle, but it might also arise indirectly from a remotely fixed reserve of photosynthates in the leaf via a PCO-mediated, yet to be further clarified, mobilization process. Such mobilization of photosynthates probably exerted an important role in coordination of photochemical reactions and carbon assimilation during photosynthesis in C3 plants under the photoinhibitory conditions. and Fusheng Xiong, Yuzhu Gao, Ping Song.
Field-grown plants of spring barley (Hordeum vulgare L. cv. Akcent) in the growth phase 30 DC (beginning of stem extension) were exposed to a one-shot application of a commercial product containing cyanazine (Bladex 50 SC) in two doses, C30 and C60 (30 and 60 mg m-2). The reaction of the plant photosynthetic system was followed non-destructively using chlorophyll fluorescence induction (the O-J-I-P transient) within three weeks after the application in the fifth developed leaf and three further gradually appearing leaves. An immediate response of plants to the application of cyanazine and a regeneration of plants from cyanazine action were detected. The biological (plant dry mass) and crop yield production (the number and mass of grains in a spike) were analyzed in time of full ripeness. The crop yield was lowered by the herbicide effect to the same level for the two doses used. and M. Matoušková, J. Nauš, M. Flašarová.