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Short rotation poplar plantations grow on flat and even terrain, and the interrow spacing is wide enough for easy machine access. If the terrain is firm enough, one may consider moving the classic roadside chipping operation directly into the field (i.e., terrain chipping), thus saving on wood extraction cost. This study compared the efficiency and cost of roadside and terrain chipping conducted with exactly the same equipment, to assess the benefits offered by the versatile deployment of a standard chipping operation, whereby the operation can be moved inside the stand whenever terrain conditions are suitable. The study was conducted at 12 sample plots, containing about one truck load of chips each (i.e., approximately 11 bone-dry tons or BDT). Plots were arranged as alternate windrows on a 8.5 ha field. Data was collected for the whole supply chain, from field to factory. The factory was located 14 km from the field. Delivered cost was 53 € BDT-1 and 70 € BDT-1 for roadside and terrain chipping, respectively, i.e., terrain chipping was 1/3 more expensive than roadside chipping, even if the latter included the additional cost of forwarding the residues to the roadside. The chipper-truck used for the test could not cope with small scattered residue piles (32 BDT ha-1), and the cumbersome reposition maneuver became the main hurdle to efficient operation. Further improvements might be achieved by pre-bunching the residues, introducing a dedicated terrain chipper or bundling the residues and taking the bundles to the factory for centralized chipping.

Digital technologies do not transform businesses, people do. Digital transformation (DT) is used to describe the fundamental realignment of business due to digitalisation. Many heavy engineering companies geared towards process-driven manufacturing of hardware have chosen to rely on external expertise to help them realise new business models through software solutions and technologies. In contrast to some years back, IT consultancies are no longer in the business of providing ‘pairs of hands’, but coherent solutions developed by teams of experts. This thesis wishes to analyse the current state and the elements of the offering defined as a team model, with the purpose of looking into the future and providing insight into potential improvements, so as to fuel growth. The theoretical section explores the concepts of digital transformation and Industry 4.0 in the context of heavy engineering. The team model is then introduced and analysed against the theories of team composition. Based on the literature, a conceptual framework is constructed. The empirical part consists of gathering data in the form of semi-structured interviews and questionnaires to gain an understanding of the landscape the commissioning company operates in. The data is validated by a comparative study between two heavy engineering companies, both clients of the commissioning IT consultancy. The study then proposes DT maturity index for measuring and acting on. To conclude, the thesis investigates certain parameters of the team model, which can be adjusted to respond to the issues raised by the DT maturity index. The objective of this study is to discover whether measuring the DT maturity of clients of IT consultancies can improve the implementation of the team model and consequently add value to all parties concerned. In conjunction with the applied approach of the research, this thesis puts to the test the notion that while DT might be an elusive concept, a consistent, structured, and people-centric change management yields the most sustainable results.

Tato bakalářská práce je zaměřena na oceňování aktiv v českém podniku, konkrétně se jedná o společnost AGROKLAS Staré Sedliště a.s. Teoretická část je věnována významu oceňování, mezinárodním právním úpravám IAS/IFRS, českým právním předpisům a definování vybraných druhů aktiv. V praktické části je představena analyzovaná společnost a její finanční situace pomocí ukazatelů rentability. Následuje ocenění konkrétních majetků užívaných v podniku. Způsob ocenění, který byl použit při pořízení a k rozvahovému dni. Společně s tím budou ukázány i jiné metody, které lze použít, způsob účtování a výpočet daňových odpisů. V závěru je zhodnoceno celkové oceňování ve společnosti a problémy spojené s oceňováním majetků v zemědělství. Obhájeno This bachelor thesis is focused on the valuation of assets in the Czech company, namely AGROKLAS Staré Sedliště a.s. The theoretical part dedicatory to the importance of valuation, international legal regulations IAS / IFRS, Czech legislation and defining selected asset types. In the practical part represents the analyzed company and its financial situation through profitability ratios. Next is the valuation of the specific assets used in the company. Valuation method used in the acquisition and at the balance sheet date. Along with this will be described other methods that can be used, the method of accounting and the calculation of tax depreciation. Finally, the overall valuation in the company and the problems associated with the valuation of agricultural assets.

The aim of this research is to develop the capability to sense, model, and manipulate a deformable linear object in a workspace to facilitate autonomous maintenance and repair operations in a deep space habitat. The specific capability developed in this work is the ability to clear a deformable linear object that is obstructing the path to a target object, which is to be reached. The robotic system presented herein consist of two six degree of freedom arms, working in a shared workspace, along with stereo and color cameras perceiving the environment. A perception pipeline was developed to segment a wire from a point cloud and estimate the state of the wire, directly from stereo vision. The state of the wire is represented by a set of 20 nodes, equally spaced, that when connected form the shape of the wire. To determine where to move the wire, in order to clear a path to the target object, a physics-based simulator was developed to simulate different pick and pull/push actions on the wire. The pair of actions that maximizes the space around the target object were then selected to be executed by the robot. To grasp the wire, a grasp planner was developed which solves for six degree of freedom valid grasps on the wire. The proposed system was tested on hardware and demonstrated the ability to accurately sense and estimate the position of a wire in the workspace, and move the wire to clear a path to a target object. The overall system was run 30 times, for different wire configurations, and achieved a 86.7% success rate at clearing an obstructing wire.

Luonnontilaiset suot ovat tärkeitä hiilivarastoja, mutta ojituksen seurauksena turpeeseen sitoutunut hiili vapautuu ilmakehään turpeen aerobisen hajoamisen seurauksena. Suomen alkuperäisestä suopinta-alasta on ojitettu noin puolet, pääosin metsätalouskäyttöön. Suurin osa (83 %) metsäojitetusta pinta-alasta on metsätalouteen soveltuvaa. Tästä metsätalouskäyttöön soveltuvasta suometsäpinta-alasta erityisesti rehevät suometsät aiheuttavat suuria CO2-päästöjä ravinteikkaan turpeen ollessa ihanteellinen elinympäristö hajottajamikrobeille. Rehevien suometsien vettäminen voisi hillitä niiltä vapautuvaa CO2-päästöä, mutta toisaalta vettämisen seurauksena CH4-päästöt kasvavat. Aiemmat tutkimukset ovat osoittaneet ristiriitaisia tutkimustuloksia rehevien suometsien CH4 päästöistä. Osassa tutkimuksista on havaittu korkeita CH4-päästöjä, kun taas toisissa on havaittu alhaisia päästöjä. Eriäviä tutkimustuloksia on myös koskien vettämisestä kuluneen ajan vaikutuksesta CH4-päästöön. Tämä tutkielma keskittyy kolmen eri tekijän vaikutusta CH4-päästöön: vettämisestä kulunut aika, vedenpinnan korkeus ja kasvupaikkatyyppi. Koealoja oli yhteensä 27 ja ne sijaitsivat kahdeksalla eri alueella. Koealat oli vetetty aikahaarukalla 3-28 vuotta ennen mittauksia ja ne edustivat reheviä kasvupaikkatyyppejä (Rhtkg, Mtkg, Ptkg). Karuimmat tutkittavat kohteet olivat Ptkg tyyppiä. CH4 mittaukset suoritettiin kammiomittausmenetelmällä ja mittauksia tehtiin heinäkuusta marraskuuhun vuonna 2021. Vedenpinnankorkeutta mitattiin sekä loggereilla, että manuaalisilla mittauksilla. Data analysoitiin varianssianalyysilla ja regressioanalyysilla riippuen analyysin muuttujasta. Keskiarvoisia CH4 käytettiin koealojen välisessä vertailussa. Tulosten mukaan vedenpinta vaikuttaa CH4 päästöön tilastollisesti merkittävästi. Kun vedenpinta on yli 10 cm maanpinnan alapuolella, CH4 päästö on pieni. Yksi koelala erosi tästä trendistä: korkeasta vedenpinnasta huolimatta CH4 oli olematon. Vettämisestä kuluneella ajalla ei ollut tilastollisesti merkitsevää vaikutusta CH4 päästöön, mutta trendinä oli kuitenkin nähtävissä, että vanhemmat vetetyt koealat päästivät vähemmän CH4 verrattuna vähemmän aikaa sitten vetettyihin. Tämä löydös erosi kirjallisuuden oletuksesta, minkä mukaan vähemmän aikaa sitten vetettyjen suometsien CH4 päästön olevan alhaisempi. Kasvupaikkatyypeistä Mtkg2 ja Rhtkg päästivät eniten CH4, mutta ei tilastollisesti merkitsevällä tasolla. Vedenpinnan korkeudella ja kasvupaikkatyypillä oli kuitenkin yhteisvaikutuksellisesti tilastollista merkitsevyyttä CH4 päästöön. Vertaillessa CH4 päästöä rehevimpien (Rhktg+Mtkg) ja karumman (Ptkg) kasvupaikkatyypin välillä samalla vedenpinnan tasolla, rehevämpien CH4 päästö oli korkeampi, muttei tilastollisesti merkitsevästi. Tulosten perusteella voi sanoa, että reheviä puustoisia suometsiä vetettäessä tulisi vettäminen hoitaa niin, että vedenpinta nousee maksimissaan 10 cm maanpinnantason alapuolelle. Vedenpinnan tasoa on kuitenkin hyvin vaikeaa ellei mahdotonta säädellä. Ennallistamisprosessi ja sen eteneminen on vaikeasti ennustettavaa, eikä ennallistettu alue välttämättä kehity oletettuun suuntaan. Tutkimustieto CH4 päästöistä vetetyistä rehevistä suometsistä ja siihen vaikuttavista tekijöistä on enenevissä määrin tärkeää, sillä CH4 päästöt vaikuttavat ilmastonmuutokseen lähitulevaisuudessa. Pristine mires are an important carbon storage, but after drainage, the carbon is released from the peat through aerobic decomposition. In Finland, half of the original mire area has been drained, mainly for forestry purposes. Majority (83 %) of the drained area is suitable for forestry. Out of the forestry-suited drained peatlands, the nutrient-rich forestry drained peatlands emit high amounts of CO2 due to high aerobic decomposition as nutrient-rich conditions are favourable for decomposing bacteria. Rewetting of these nutrient-rich peatlands could offer a solution for halting the CO2 emission, but the CH4 emission increases after rewetting. The studies show differing results of CH4 emission from nutrient-rich rewetted peatlands. There are studies reporting both high and low emission of CH4 from nutrient-rich peatlands, and differing studies on how the emission evolves in time. This thesis focused on three variables that could affect the CH4 emission: time from rewetting, water level and site type. There were 27 different study sites at 8 locations. These sites were rewetted 3 to 28 years prior to measurements and represented nutrient-rich tree-covered peatlands (Rhtkg, Mtkg, Ptkg). Ptkg was the least nutrient-rich site type in the study. The CH4 flux was measured with a chamber method from July to November of 2021. Water level was monitored with loggers and manual measurements. The data was analysed with linear regression and analysis of variance, depending on the independent variable. Mean CH4 fluxes were used to compare sites with each other. The results show that water level affects the CH4 emission at statistically significant level. When water level is deeper than 10cm below ground level, the CH4 emission is low. One site differed from this trend and despite the high water level, the CH4 emission was close to zero. Time from rewetting did not affect CH4 emission at statistically significant level, but there was a visible trend of older rewetted peatlands emitting less than more recently rewetted ones. This finding was contradicting to the literature as it was supposed that the more recently rewetted peatlands emit less CH4. Out of site types, the Mtkg2 and Rhtkg site types emitted most, but there was no statistical significance. When analysed with using both the water level and site type, there were statistical differences between site types. When comparing mean CH4 emissions from nutrient-rich (Rhtkg+Mtkg) and least nutrient-rich (Ptkg) peatlands at the same water level, the Ptkg sites emitted less, but not at a statistically significant level. The findings indicate that, when rewetting a nutrient-rich tree-covered peatland, it should be done so that the water-level does not rise above 10cm, but this is very difficult or impossible to regulate. Restoration process and how it develops is difficult to foresee and the end-result might differ. Research on CH4 emissions from rewetted nutrient-rich peatlands and what affects it is increasingly important as CH4 affects the climate change in the near future.

As legged robots have demonstrated versatility, they are more and more favorable for many applications, such as logistics, surveillance, disaster relief, and even home service. Legged robots have the potential to explore and interact with the environment around humans but cannot be handled by robots of other types. A key difficulty in legged locomotion control is that the movement of the floating base cannot be commanded directly, but instead results from the contact forces between the robot and the environment. The contact forces introduce some physical constraints, such as friction cones and unilateral features. Additionally, the hybrid and highly nonlinear dynamics further complex the motion generation and also the motion execution.For tackling legged locomotion, the control framework is often designed hierarchically, in which the high level is in charge of planning reference motion trajectories, and the low level is responsible for tracking this reference trajectory under disturbances. The ideal case is that the reference motion from the high-level planner can be executed by the low-level controller perfectly. However, the discrepancy is always presented given model simplifications and task assumptions. The main objective of this dissertation is to make contributions to mitigate this discrepancy by focusing on high-level motion planning.In motion planning for legged robots, the motion can be categorized into two main types, quasi-static and dynamic motions. Quasi-static motions are defined with a series of discrete contact sequences while the acceleration is kept zero in every time instance. Although energy inefficient, it is often considered a high-risk task. In this dissertation, two motion planners are presented for a six-legged wall-climbing robot given a unique combination of constraints on contact points, contact forces, and body posture. For the first on-wall planner that decouples contact and force planning, on-wall contact points are generated using a mixed-integer convex programming (MICP) with a pre-specified contact sequence while contact forces are optimized subsequently with convex programming. For the second planner, the unscheduled contact sequence is optimized by solving nonlinear programming (NLP). We consider various motions on different environment setups via modeling contact constraints and limb switchability as complementarity conditions. With presented planners, the robot is able to overcome the transition phase between the ground and walls, and also climb vertically between two walls with irregular profiles using pure friction.As for dynamic motions which are seen more commonly in legged animals, trajectory optimization can be utilized to generate a more continuous motion while acceleration resulting from the model dynamics plays a key role. In this dissertation, a jumping planner is presented for a miniature bipedal robot with proprioceptive actuation. The algorithm adopts centroidal dynamics to consider whole-body mass and inertia distribution and generates various motions, directional jumps, twisting jumps, step jumps, and somersaults. The optimized motion can not only mimic human jumping behaviors but also compensate for undesired angular momentum. To prepare a more accurate model for the planner, optimization-based system identification is applied here. Additionally, a heuristic landing location planner based on real-time momentum feedback in the air phase is presented to improve landing stability when executing the jumping reference trajectory.

The urgent need to limit anthropogenic carbon emissions has led to a global initiative to Reduce Emissions from Deforestation and forest Degradation (REDD+). But designing national architectures for REDD+ that integrate local actions on forests with national-level outcomes and do so effectively, efficiently, and equitably continues to be challenging. One option to facilitate the design and implementation of REDD+ is to learn from the experience of other programs that have historically been successful in achieving sustainable tropical forest management, such as community forest management (CFM). Lessons about the factors that contribute to CFM success will be useful in designing REDD+ programs. REDD+ may also benefit from harnessing the capital developed by CFM. Of course, REDD+ and CFM represent both opportunities and challenges for each other. Identifying how CFM can contribute to REDD+ goals, and the potential benefits and risks in using CFM to achieve REDD+ implementation requires careful analysis of available evidence because the two sets of interventions do not have a complete overlap in terms of their objectives and mechanisms.

Small-hold farmers practice various styles of intercropping around the world; their management of biodiversity has been linked to higher ecological resilience and productivity in comparison with monoculture systems. Agroecologists have studied on-farm biodiversity and intercropping systems to understand the myriad of ecosystem services they provide; properly designed intercrop systems have been shown to increase resource use efficiency, rehabilitate agricultural ecosystems, and increase overall production. The right combination and arrangement of cultivars or species can offer complementary and facilitative interactions between plants creating an environment where they are able to exceed the performance of their monoculture counterparts. Varying vegetative and root architectures allow plants to make more efficient use of radiation, water, and nutrients; as well as functioning as pest management systems. This project was a summer intercrop system of okra, melon, and lima beans. The land equivalence ratio (LER) of the system was calculated by block and an LER was calculated for the entire field using means of treatment plot yields. The null-hypothesis that there is no significant difference between the intercrop and monocrop yields of okra pods and biomass was tested using ANOVA.

official statistics: aggregate data Geographic Unit 公的統計: 集計データ、統計表 【対象期間】 明治34年 Aggregation Object 地理的単位 対象 集計

Bulletin économique et social de la Tunisie Best-1947-011-256 Périodiques N° 11