A governance analysis of the Barotse floodplain system, Zambia: identifying obstacles and opportunities

The Barotse floodplain is an ecosystem characterized by a paradox of widespread poverty amidst high ecological and agricultural potential. The CGIAR Research Program on Aquatic Agricultural Systems (AAS) seeks to address this paradox on the assumption that the rural poor have the potential to transform their lives using the aquatic resources in their environment. Understanding the conditions for natural resources use and management is critical for a program that seeks to transform the livelihoods of households dependent on natural resources. The purpose of this report is to identify and analyze key governance variables influencing the livelihood outcomes of AAS program interventions in the Barotse floodplain system

Solomon Islands: Essential aspects of governance for Aquatic Agricultural Systems in Malaita Hub

In late 2012, a governance assessment was carried out as part of the diagnosis phase of rollout of the CGIAR Aquatic Agricultural Systems Program in Malaita Hub in Solomon Islands. The purpose of the assessment was to identify and provide a basic understanding of essential aspects of governance related to Aquatic Agricultural Systems in general, and more specifically as a case study in natural resource management. The underlying principles of the approach we have taken are drawn from an approach known as “Collaborating for Resilience” (CORE), which is based on bringing all key stakeholders into a process to ensure that multiple perspectives are represented (a listening phase), that local actors have opportunities to influence each other’s understanding (a dialogue phase), and that ultimately commitments to action are built (a choice phase) that would not be possible through an outsider’s analysis alone. This report begins to address governance from an AAS perspective, using input from AAS households and other networked stakeholders. We attempt to summarize governance issues that are found not only within the community but also, and especially, those that are beyond the local level, both of which may need to be addressed by the AAS program

Calibrating a 4-wheel mobile robot

When a mobile robot is constructed the odometry must be calibrated. Calibrating a 4-wheel robot requires the accurate measurement of steering angle as well as translation and rotation. Some measurements are made with a tape measure and some with ultrasonic sensors. The measurements are used to determine the parameters of the odometry calibration matrix and the steering kinematic model. A procedure for calibrating a 4-wheel robot is discussed

AFM pulling and the folding of donor-acceptor oligorotaxanes: phenomenology and interpretation

The thermodynamic driving force in the self-assembly of the secondary structure of a class of donor-acceptor oligorotaxanes is elucidated by means of molecular dynamics simulations of equilibrium isometric single-molecule force spectroscopy AFM experiments. The oligorotaxanes consist of cyclobis(paraquat-\emph{p}-phenylene) rings threaded onto an oligomer of 1,5-dioxynaphthalenes linked by polyethers. The simulations are performed in a high dielectric medium using MM3 as the force field. The resulting force vs. extension isotherms show a mechanically unstable region in which the molecule unfolds and, for selected extensions, blinks in the force measurements between a high-force and a low-force regime. From the force vs. extension data the molecular potential of mean force is reconstructed using the weighted histogram analysis method and decomposed into energetic and entropic contributions. The simulations indicate that the folding of the oligorotaxanes is energetically favored but entropically penalized, with the energetic contributions overcoming the entropy penalty and effectively driving the self-assembly. In addition, an analogy between the single-molecule folding/unfolding events driven by the AFM tip and the thermodynamic theory of first-order phase transitions is discussed and general conditions, on the molecule and the cantilever, for the emergence of mechanical instabilities and blinks in the force measurements in equilibrium isometric pulling experiments are presented. In particular, it is shown that the mechanical stability properties observed during the extension are intimately related to the fluctuations in the force measurements.Comment: 42 pages, 17 figures, accepted to the Journal of Chemical Physic