Search results for "flex"
showing 10 items of 1677 documents
Fifteen operationally important decisions in the planning of biodiversity offsets
2018
Many development projects, whether they are about construction of factories, mines, roads, railways, new suburbs, shopping malls, or even individual houses, have negative environmental consequences. Biodiversity offsetting is about compensating that damage, typically via habitat restoration, land management, or by establishment of new protected areas. Offsets are the fourth step of the so-called mitigation hierarchy, in which ecological damage is first avoided, minimized second, and third restored locally. Whatever residual damage remains is then offset. Offsetting has been increasingly adopted all around the world, but simultaneously serious concerns are expressed about the validity of the…
Co-digestion of harvested microalgae and primary sludge in a mesophilic anaerobic membrane bioreactor (AnMBR): Methane potential and microbial divers…
2020
Abstract Anaerobic co-digestion of primary sludge and raw microalgae (Scenedesmus and Chlorella) was performed in a lab-scale semi-continuous anaerobic membrane bioreactor to assess the biological performance and identify the microbial community involved in the co-digestion process. The reactor was operated at 35 °C for 440 days, working at a solids retention time of 100 days. The system achieved 73% biodegradability and showed high stability in terms of pH and volatile fatty acids. An enriched microbial community was observed. Of the several phyla, Chloroflexi and Proteobacteria were the most abundant. Cellulose-degraders phyla (Bacteroidetes, Chloroflexi and Thermotogae) were detected. Sy…
Foraging Bumblebees Selectively Attend to Other Types of Bees Based on Their Reward-Predictive Value.
2020
Using social information can be an efficient strategy for learning in a new environment while reducing the risks associated with trial-and-error learning. Whereas social information from conspecifics has long been assumed to be preferentially attended by animals, heterospecifics can also provide relevant information. Because different species may vary in their informative value, using heterospecific social information indiscriminately can be ineffective and even detrimental. Here, we evaluated how selective use of social information might arise at a proximate level in bumblebees (Bombus terrestris) as a result of experience with demonstrators differing in their visual appearance and in thei…
Searching for a compromise between biological and economic demands to protect vulnerable habitats
2018
AbstractIdentifying vulnerable habitats is necessary to designing and prioritizing efficient marine protected areas (MPAs) to sustain the renewal of living marine resources. However, vulnerable habitats rarely become MPAs due to conflicting interests such as fishing. We propose a spatial framework to help researchers and managers determine optimal conservation areas in a multi-species fishery, while also considering the economic relevance these species may have in a given society, even in data poor situations. We first set different ecological criteria (i.e. species resilience, vulnerability and trophic level) to identify optimal areas for conservation and restoration efforts, which was bas…
Bachelor groups form due to individual choices or environmental disrupters in African striped mice
2021
International audience; In several mammal species, bachelor groups occur as a regular life history stage between dispersal and becoming the breeding male of a multi-female group. However, it is rarely investigated how such groups come into existence and how males that choose this strategy differ in life history traits from other males. Males of the socially flexible African striped mouse Rhabdomys pumilio have been historically reported to adopt one of three alternative tactics, i.e., small group-living philopatric males, intermediate solitary living roaming males, or large group-living territorial males. Here, we describe for the first time, bachelors as a fourth male tactic. Using long-te…
The flex end-to-end simulator: From concept phase (A/B1) to ground segment and operations (C/D)
2018
ESA's FLEX/Sentinel-3 tandem mission aims at mapping Sun-induced fluorescence (SIF) as a proxy to quantify photosynthetic activity of terrestrial vegetation. Due to the complexity of the mission concept and stringent requirements for the data processing algorithms, ESA developed a Phase A/B1 End-to-End Mission Performance Simulator (E2ES) tool to reproduce the expected mission performance and check the mission and instrument concepts. In the current Phase C/D, the E2ES concept must evolve to consolidate the whole data processing chain, providing an accurate figures of the whole mission error budget and serving as a roadmap for the future development of FLEX Ground Segment. This paper gives …
A methodology for evaluating the flexibility potential of domestic air-conditioning systems
2020
The paper presents a methodology for quantifying the electrical flexibility potential of air-conditioning systems (ACS) installed in residential buildings according to the building envelope characteristics and the ACS performance. In order to provide a thorough analysis of the issue, the ACS baseline consumption referred to the indoor temperature of 24°C has been computed for three typical residential buildings built in the South of Italy over different periods. The baseline consumption was used as a reference to estimate the effect of the set point temperature change on the ACS power profile. The results showed that increasing the set-point temperature of ACS by 2°C and 4°C leads to a redu…
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
2021
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of …
Dynamic Modeling of Planar Multi-Link Flexible Manipulators
2021
A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.
An Input Observer-Based Stiffness Estimation Approach for Flexible Robot Joints
2020
This letter addresses the stiffness estimation problem for flexible robot joints, driven by variable stiffness actuators in antagonistic setups. Due to the difficulties of achieving consistent production of these actuators and the time-varying nature of their internal flexible elements, which are subject to plastic deformation over time, it is currently a challenge to precisely determine the total flexibility torque applied to a robot's joint and the corresponding joint stiffness. Herein, by considering the flexibility torque acting on each motor as an unknown signal and building upon Unknown Input Observer theory, a solution for electrically-driven actuators is proposed, which consists of …