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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: de-Dios-García, J.; Manso, R.; Calama, R.; Fortin, M.; +1 Authors

    Studying intra-annual growth dynamics through a modelling approach has proved useful for characterizing differences in wood phenology between species and deviations from the expected tree growth due to climate change. The aim of this paper was to determine the climatic factors and the inter- and intra-specific competition traits that drive intra-annual secondary growth dynamics in three Mediterranean tree species that naturally co-exist in the Spanish Northern Plateau (Pinus pinea L., Juniperus thurifera L., and Quercus ilex subsp. ballota (Desf.) Samp.). For this purpose, we obtained girth increment data from band dendrometers installed on 58 trees from May 2012 to April 2015. Half of them were located in a high-density plot and half were in a low-density plot. These data were analysed through a nonlinear multifactorial model considering daily and cumulative climatic effects together with inter- and intra-specific competition indices. Our results provide evidence of a spatiotemporal niche separation between species. Compared with other species, Q. ilex subsp. ballota showed a wider thermal amplitude, a higher mean optimum temperature for growth, and a milder effect of drought on its secondary growth. Under current climate change projections, simulations based on our model predict a secondary growth reduction for P. pinea and a growth enhancement for Q. ilex subsp. ballota in these Mediterranean mixtures.

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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Repositorio de Resul...arrow_drop_down
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    Authors: Ghaffarian, S.;
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    Authors: Kurian, M.; Ratna Reddy, V.; Dietz, A.J.; Brdjanovic, D.;

    Urbanization is known to spur land modification in the form of conversion of common land to human settlements. This factor, combined with climate variability, can alter the duration, frequency and intensity of storm drain overflows in urban areas and lead to public health risks. In peri-urban regions where these risks are especially high it has been argued that, when domestic wastewater is managed, better prospects for freshwater water savings through swaps between urban water supply and irrigated agriculture may be possible. As a consequence of re-use of domestic wastewater, expenditure on inorganic inputs by farmers may decline and source sustainability of water supply could be enhanced. Given the fact that, at present, approximately 20 million ha of land worldwide is being cultivated by re-using domestic wastewater, this paper draws on evidence from India to explore: (1) the economic costs-benefits of wastewater reuse in the context of hypothesized links to climate variability; (2) the role of local farming practices, market conditions and crop variety in influencing wastewater reuse in agriculture; and (3) the role of inter-governmental financing in influencing the selection of technical adaptation options for collection, treatment and disposal of wastewater.

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    Sustainability Science
    Article . 2013 . 2012 . Peer-reviewed
    License: Springer TDM
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      Article . 2013 . 2012 . Peer-reviewed
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    Authors: Leon T. Hauser; Jean-Baptiste Féret; Nguyen An Binh; Niels van der Windt; +4 Authors

    Large-scale high-resolution satellite observations of plant functional diversity patterns will greatly benefit our ability to study ecosystem functioning. Here, we demonstrate a potentially scalable approach that uses aggregate plant traits estimated from radiative transfer model (RTM) inversion of Sentinel-2 satellite images to calculate community patterns of plant functional diversity. Trait retrieval relied on simulations and Look-up Tables (LUTs) generated by a RTM rather than heavily depending on a priori field data and data-driven statistical learning. This independence from in-situ training data benefits its scalability as relevant field data remains scarce and difficult to acquire. We ran a total of three different inversion algorithms that are representative of commonly applied approaches and we used two different metrics to calculate functional diversity. In tandem with Sentinel-2 image-based estimation of plant traits, we measured Leaf Area Index (LAI), leaf Chlorophyll content (CAB), and Leaf Mass per Area (LMA) in-situ in a (semi-)natural heterogeneous landscape (Montesinho region) located in northern Portugal. Sampling plots were scaled and georeferenced to match the satellite observed pixels and thereby allowed for a direct one-to-one posterior ground truth validation of individual traits and functional diversity. Across approaches, we observe a reasonable correspondence between the satellite-based retrievals and the insitu observations in terms of the relative distribution of individual trait means and plant functional diversity across locations despite the heterogeneity of the landscape and canopies. The functional diversity estimates, based on a combination of canopy and leaf traits, were robust against estimation biases in trait means. Particularly, the convex hull volume estimate of functional diversity showed strong concordance with in-situ observations across all three inversion methods (Spearman's rho: 0.67-0.80). The remotely sensed estimates of functional diversity also related to in-situ taxonomic diversity (Spearman's rho: 0.55-0.63). Our work highlights the potential and challenges of RTM-based functional diversity metrics to study spatial community-level ecological patterns using currently operational and publicly available Sentinel-2 imagery. While further validation and assessment across different ecosystems and larger datasets are needed, the study contributes towards a further maturation of scalable, spatially, and temporally explicit methods for functional diversity assessments from space. The authors would like to acknowledge Christian Rossi, Prof. Geof-frey M. Henebry, and the anonymous reviewers for their valuable comments and suggestions that greatly improved the manuscript. This work was supported financially by the Ecology Fund of the RoyalNetherlands Academy of Arts and Sciences (‘KNAW Fonds Ecologie’; KNAWWF/807/19011). We thank Altino Geraldes, Joao Carlos Aze-vedo, and the local farmers and foresters in the Montesinho-Nogueira Natura 2000 site for their help and collaboration. We thank Emilie Didaskalou for her lab assistance. J.-B. F ́eret acknowledges financial support from Agence Nationale de la Recherche (BioCop project—ANR- 17-32CE-0001).

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    Article . 2021 . Peer-reviewed
    License: CC BY
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    Authors: van Soesbergen, A.; Brouwer, R.; Baan, P.; Hellegers, P.J.G.J.; +1 Authors
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    Report . Other literature type . 2007
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    Report . 2008
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      Report . Other literature type . 2007
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    Authors: Ruiz-Peinado, Ricardo; del Rio, Miren; Montero, Gregorio;

    Conocer el balance de carbono en los bosques es uno de los principales retos dentro de la gestión forestal. Habitualmente, la estimación de carbono en los bosques se realiza de manera indirecta, mediante la aplicación de modelos de diferentes fracciones de biomasa a los datos de inventario forestal. Para ello, en este estudio se han desarrollado sistemas de ecuaciones para estimar la biomasa forestal de las principales coníferas de los bosques de España: Abies alba Mill., A. pinsapo Boiss., Juniperus thurifera L., Pinus canariensis Sweet ex Spreng., P. halepensis Mill., P. nigra Arn., P. pinaster Ait., P. pinea L., P. sylvestris L., P. uncinata Mill. Se ha usado la metodología de mínimos cuadrados generalizados conjuntos, para el cumplimiento de la aditividad entre componentes. Como variables independientes se utilizaron el diámetro normal y la altura total del árbol. El diámetro aparece en todas las ecuaciones como variable significativa, mientras que la altura aparece también en todos los modelos para la biomasa de fuste y en algunos modelos para las ramas. Con la inclusión de la altura total se mejoran las estimaciones de los modelos en diferentes sitios. Los modelos ajustados fueron comparados con otras ecuaciones publicadas para comprobar la precisión, presentando mejores estadísticos en todos los casos. Mediante el uso de esta metodología, las ecuaciones cumplen la propiedad aditiva. Además, se han desarrollado relaciones específicas entre la parte radical y parte aérea, para conocer como se realiza el reparto de biomasa. Se han encontrado diferencias entre especies, alcanzándose un mínimo de 0,183 para A. alba y un máximo de 0,385 para P. uncinata, siendo el valor medio para estas especies de coníferas estudiadas de 0,265.Como el Inventario Forestal Nacional (IFN) identifica para todas las especies medidas el diámetro normal y la altura total de todos los árboles inventariados, estos modelos y relaciones ajustadas pueden ser aplicados con precisión en la estimación de cantidades de carbono a partir de aquellos datos. Quantifying the carbon balance in forests is one of the main challenges in forest management. Forest carbon stocks are usually estimated indirectly through biomass equations applied to forest inventories, frequently considering different tree biomass components. The aim of this study is to develop systems of equations for predicting tree biomass components for the main forest softwood species in Spain: Abies alba Mill., A. pinsapo Boiss., Juniperus thurifera L., Pinus canariensis Sweet ex Spreng., P. halepensis Mill., P. nigra Arn., P. pinaster Ait., P. pinea L., P. sylvestris L., P. uncinata Mill. For each species, a system of additive biomass models was fitted using seemingly unrelated regression. Diameter at the breast height and total height were used as independent variables. Diameter appears in all component models, while tree height was included in the stem component model of all species and in some branch component equations. Total height was included in order to improve biomass estimations at different sites. These biomass models were compared to previously available equations in order to test their accuracy and it was found that they yielded better fitting statistics in all cases. Moreover, the models fulfil the additivity property. We also developed root:shoot ratios in order to determine the partitioning into aboveground and belowground biomass. A number of differences were found between species, with a minimum of 0.183 for A. alba and a maximum of 0.385 for P. uncinata. The mean value for the softwood species studied was 0.265. Since the Spanish National Forest Inventory (NFI) records species, tree diameter and height of sample trees, these biomass models and ratios can be used to accurately estimate carbon stocks from NFI data.

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    Forest Systems
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    Forest Systems
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      Forest Systems
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      Forest Systems
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    Authors: Andújar, Dionisio; Ribeiro Seijas, Ángela; Fernández-Quintanilla, César; Dorado, José;

    This study was conducted to assess the herbicide savings and the cost efficiency of site-specific herbicide application strategies in comparison with other strategies based on uniform application of herbicides throughout the whole field. The specific situation considered was Sorghum halepense infested maize fields in Spain. The results from a theoretical economic model were contrasted with the information derived from a S. halepense survey conducted in 37 commercial maize fields distributed over three Spanish maize production areas. Seven application strategies were simulated: 1) no herbicide; 2) overall full-rate; 3) overall half-rate; 4) and 5) site-specific spraying infested cells with full- and half-rate, respectively; 6) and 7) site-specific spraying infested cells plus adjacent buffer areas with full- and half-rate, respectively. The simulation results showed that site-specific weed management was the most profitable strategy when S. halepense infested area ranged between 6.5 and 18.7%. This scenario was present in 22% of the surveyed fields. In fields with less than 6.5% infestation (a situation present in 51% of the surveyed fields), yield losses were slight and the most profitable strategy was using no herbicide. When the infested area ranged between 18.7 and 40.8% (19% of the surveyed fields), no significant differences were observed between the net benefits of the various strategies. Full rate herbicide applications throughout the entire field resulted in the highest net returns in fields with more than 40.8% weed infestation (8% of the surveyed fields). In these cases, the added costs of weed detection, mapping and site-specific herbicide application were not justified by the herbicide savings obtained. Likewise, herbicide savings obtained with the various strategies depended on the proportion of the field infested. Considering the high difference between site-specific treatments and uniform application of herbicides when the infested area ranged between 18.7 and 40.8%, and that no significant differences in net returns were observed in this range, site-specific treatments should be preferred. Adding a buffer area to the sitespecific treatments does not seem a suitable strategy due to the considerable increases in costs and reductions in herbicide savings. This research was funded by the Spanish CICyT (project AGL 2008-04670-C03) and by the Alfonso Martin Escudero Foundation. Peer reviewed

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    Authors: Abel Schaad, Daniel; Lopez Saez, José Antonio; Pulido, Fernando J.;

    Main results. The use of fire and livestock husbandry represents the main drivers of landscape change in the course of the history. The establishment of forest afforestation plans, from the middle of 20th century, changed substantially the regional features. The sporadic presence of beech pollen is detected until 16th century, which implies the most western location in the Iberian Central Mountain System. Research highlights. The integration of pollen analysis and historical data is an essential tool when studying the changes in Holocene vegetation. These changes have been mainly driven by anthropogenic disturbances, more specifically by fire and livestock husbandry. Area of study. La Meseguera mire (Ladrillar, Cáceres, Spain) is located in the Hurdes region in the western part of Iberian Central System and started to develop at the beginning of the Islamic period (ca. 770 cal AD), in an area widely dominated by heathland. Aim of study. The diachronic study of vegetation change through palynological analysis of sedimentary deposits is an essential tool both to design sound strategies on landscape management and to understand its anthropogenic dynamics. Material and methods. Pollen, non-pollen palynomorphs and charcoal accumulation rate (CHAR) combined with historical data are useful indicators to assess the increasing role of human influence on vegetation. Peer reviewed

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    Forest Systems
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      Forest Systems
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    Authors: Weert, J. de; Buijs, S.; Tamis, W.L.M.; Zelfde, M. van 't;
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    Authors: Van Teeffelen, Kees; Dresscher, Douwe; Van Dijk, Wietse; Stramigioli, Stefano;

    Humans have multiple ways to adapt their arm dynamics to the task they have to perform. One way of doing this is through co-contraction of antagonist muscles. In telemanipulation this ability is easily lost due to time delays, quantization effects, bandwidth or hardware limitations. In this work a new concept for telemanipulation is presented. The end-point stiffness of a (simulated) telerobot is controlled via a variable impedance controller. The end effector stiffness scales with an estimate of the co-contraction around the elbow of the teleoperator. The telemanipulation concept was evaluated with ten subjects that performed two telemanipulation tasks in six different conditions. Three impedance levels: Low, high, and variable, and two delay settings. The first task was on positioning accuracy, the second task on impact minimization. We have shown that low and variable impedance performed significantly better on the force task than high impedance. We have also shown that high and variable impedance performed significantly better on the position task than low impedance. This shows that the human ability to control arm stiffness can effectively be transferred to a telemanipulated robot.

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    Authors: de-Dios-García, J.; Manso, R.; Calama, R.; Fortin, M.; +1 Authors

    Studying intra-annual growth dynamics through a modelling approach has proved useful for characterizing differences in wood phenology between species and deviations from the expected tree growth due to climate change. The aim of this paper was to determine the climatic factors and the inter- and intra-specific competition traits that drive intra-annual secondary growth dynamics in three Mediterranean tree species that naturally co-exist in the Spanish Northern Plateau (Pinus pinea L., Juniperus thurifera L., and Quercus ilex subsp. ballota (Desf.) Samp.). For this purpose, we obtained girth increment data from band dendrometers installed on 58 trees from May 2012 to April 2015. Half of them were located in a high-density plot and half were in a low-density plot. These data were analysed through a nonlinear multifactorial model considering daily and cumulative climatic effects together with inter- and intra-specific competition indices. Our results provide evidence of a spatiotemporal niche separation between species. Compared with other species, Q. ilex subsp. ballota showed a wider thermal amplitude, a higher mean optimum temperature for growth, and a milder effect of drought on its secondary growth. Under current climate change projections, simulations based on our model predict a secondary growth reduction for P. pinea and a growth enhancement for Q. ilex subsp. ballota in these Mediterranean mixtures.

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    Authors: Ghaffarian, S.;
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    Authors: Kurian, M.; Ratna Reddy, V.; Dietz, A.J.; Brdjanovic, D.;

    Urbanization is known to spur land modification in the form of conversion of common land to human settlements. This factor, combined with climate variability, can alter the duration, frequency and intensity of storm drain overflows in urban areas and lead to public health risks. In peri-urban regions where these risks are especially high it has been argued that, when domestic wastewater is managed, better prospects for freshwater water savings through swaps between urban water supply and irrigated agriculture may be possible. As a consequence of re-use of domestic wastewater, expenditure on inorganic inputs by farmers may decline and source sustainability of water supply could be enhanced. Given the fact that, at present, approximately 20 million ha of land worldwide is being cultivated by re-using domestic wastewater, this paper draws on evidence from India to explore: (1) the economic costs-benefits of wastewater reuse in the context of hypothesized links to climate variability; (2) the role of local farming practices, market conditions and crop variety in influencing wastewater reuse in agriculture; and (3) the role of inter-governmental financing in influencing the selection of technical adaptation options for collection, treatment and disposal of wastewater.

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    Sustainability Science
    Article . 2013 . 2012 . Peer-reviewed
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    Authors: Leon T. Hauser; Jean-Baptiste Féret; Nguyen An Binh; Niels van der Windt; +4 Authors

    Large-scale high-resolution satellite observations of plant functional diversity patterns will greatly benefit our ability to study ecosystem functioning. Here, we demonstrate a potentially scalable approach that uses aggregate plant traits estimated from radiative transfer model (RTM) inversion of Sentinel-2 satellite images to calculate community patterns of plant functional diversity. Trait retrieval relied on simulations and Look-up Tables (LUTs) generated by a RTM rather than heavily depending on a priori field data and data-driven statistical learning. This independence from in-situ training data benefits its scalability as relevant field data remains scarce and difficult to acquire. We ran a total of three different inversion algorithms that are representative of commonly applied approaches and we used two different metrics to calculate functional diversity. In tandem with Sentinel-2 image-based estimation of plant traits, we measured Leaf Area Index (LAI), leaf Chlorophyll content (CAB), and Leaf Mass per Area (LMA) in-situ in a (semi-)natural heterogeneous landscape (Montesinho region) located in northern Portugal. Sampling plots were scaled and georeferenced to match the satellite observed pixels and thereby allowed for a direct one-to-one posterior ground truth validation of individual traits and functional diversity. Across approaches, we observe a reasonable correspondence between the satellite-based retrievals and the insitu observations in terms of the relative distribution of individual trait means and plant functional diversity across locations despite the heterogeneity of the landscape and canopies. The functional diversity estimates, based on a combination of canopy and leaf traits, were robust against estimation biases in trait means. Particularly, the convex hull volume estimate of functional diversity showed strong concordance with in-situ observations across all three inversion methods (Spearman's rho: 0.67-0.80). The remotely sensed estimates of functional diversity also related to in-situ taxonomic diversity (Spearman's rho: 0.55-0.63). Our work highlights the potential and challenges of RTM-based functional diversity metrics to study spatial community-level ecological patterns using currently operational and publicly available Sentinel-2 imagery. While further validation and assessment across different ecosystems and larger datasets are needed, the study contributes towards a further maturation of scalable, spatially, and temporally explicit methods for functional diversity assessments from space. The authors would like to acknowledge Christian Rossi, Prof. Geof-frey M. Henebry, and the anonymous reviewers for their valuable comments and suggestions that greatly improved the manuscript. This work was supported financially by the Ecology Fund of the RoyalNetherlands Academy of Arts and Sciences (‘KNAW Fonds Ecologie’; KNAWWF/807/19011). We thank Altino Geraldes, Joao Carlos Aze-vedo, and the local farmers and foresters in the Montesinho-Nogueira Natura 2000 site for their help and collaboration. We thank Emilie Didaskalou for her lab assistance. J.-B. F ́eret acknowledges financial support from Agence Nationale de la Recherche (BioCop project—ANR- 17-32CE-0001).

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    Authors: van Soesbergen, A.; Brouwer, R.; Baan, P.; Hellegers, P.J.G.J.; +1 Authors
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      Report . Other literature type . 2007
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    Authors: Ruiz-Peinado, Ricardo; del Rio, Miren; Montero, Gregorio;

    Conocer el balance de carbono en los bosques es uno de los principales retos dentro de la gestión forestal. Habitualmente, la estimación de carbono en los bosques se realiza de manera indirecta, mediante la aplicación de modelos de diferentes fracciones de biomasa a los datos de inventario forestal. Para ello, en este estudio se han desarrollado sistemas de ecuaciones para estimar la biomasa forestal de las principales coníferas de los bosques de España: Abies alba Mill., A. pinsapo Boiss., Juniperus thurifera L., Pinus canariensis Sweet ex Spreng., P. halepensis Mill., P. nigra Arn., P. pinaster Ait., P. pinea L., P. sylvestris L., P. uncinata Mill. Se ha usado la metodología de mínimos cuadrados generalizados conjuntos, para el cumplimiento de la aditividad entre componentes. Como variables independientes se utilizaron el diámetro normal y la altura total del árbol. El diámetro aparece en todas las ecuaciones como variable significativa, mientras que la altura aparece también en todos los modelos para la biomasa de fuste y en algunos modelos para las ramas. Con la inclusión de la altura total se mejoran las estimaciones de los modelos en diferentes sitios. Los modelos ajustados fueron comparados con otras ecuaciones publicadas para comprobar la precisión, presentando mejores estadísticos en todos los casos. Mediante el uso de esta metodología, las ecuaciones cumplen la propiedad aditiva. Además, se han desarrollado relaciones específicas entre la parte radical y parte aérea, para conocer como se realiza el reparto de biomasa. Se han encontrado diferencias entre especies, alcanzándose un mínimo de 0,183 para A. alba y un máximo de 0,385 para P. uncinata, siendo el valor medio para estas especies de coníferas estudiadas de 0,265.Como el Inventario Forestal Nacional (IFN) identifica para todas las especies medidas el diámetro normal y la altura total de todos los árboles inventariados, estos modelos y relaciones ajustadas pueden ser aplicados con precisión en la estimación de cantidades de carbono a partir de aquellos datos. Quantifying the carbon balance in forests is one of the main challenges in forest management. Forest carbon stocks are usually estimated indirectly through biomass equations applied to forest inventories, frequently considering different tree biomass components. The aim of this study is to develop systems of equations for predicting tree biomass components for the main forest softwood species in Spain: Abies alba Mill., A. pinsapo Boiss., Juniperus thurifera L., Pinus canariensis Sweet ex Spreng., P. halepensis Mill., P. nigra Arn., P. pinaster Ait., P. pinea L., P. sylvestris L., P. uncinata Mill. For each species, a system of additive biomass models was fitted using seemingly unrelated regression. Diameter at the breast height and total height were used as independent variables. Diameter appears in all component models, while tree height was included in the stem component model of all species and in some branch component equations. Total height was included in order to improve biomass estimations at different sites. These biomass models were compared to previously available equations in order to test their accuracy and it was found that they yielded better fitting statistics in all cases. Moreover, the models fulfil the additivity property. We also developed root:shoot ratios in order to determine the partitioning into aboveground and belowground biomass. A number of differences were found between species, with a minimum of 0.183 for A. alba and a maximum of 0.385 for P. uncinata. The mean value for the softwood species studied was 0.265. Since the Spanish National Forest Inventory (NFI) records species, tree diameter and height of sample trees, these biomass models and ratios can be used to accurately estimate carbon stocks from NFI data.

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    Forest Systems
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    Authors: Andújar, Dionisio; Ribeiro Seijas, Ángela; Fernández-Quintanilla, César; Dorado, José;

    This study was conducted to assess the herbicide savings and the cost efficiency of site-specific herbicide application strategies in comparison with other strategies based on uniform application of herbicides throughout the whole field. The specific situation considered was Sorghum halepense infested maize fields in Spain. The results from a theoretical economic model were contrasted with the information derived from a S. halepense survey conducted in 37 commercial maize fields distributed over three Spanish maize production areas. Seven application strategies were simulated: 1) no herbicide; 2) overall full-rate; 3) overall half-rate; 4) and 5) site-specific spraying infested cells with full- and half-rate, respectively; 6) and 7) site-specific spraying infested cells plus adjacent buffer areas with full- and half-rate, respectively. The simulation results showed that site-specific weed management was the most profitable strategy when S. halepense infested area ranged between 6.5 and 18.7%. This scenario was present in 22% of the surveyed fields. In fields with less than 6.5% infestation (a situation present in 51% of the surveyed fields), yield losses were slight and the most profitable strategy was using no herbicide. When the infested area ranged between 18.7 and 40.8% (19% of the surveyed fields), no significant differences were observed between the net benefits of the various strategies. Full rate herbicide applications throughout the entire field resulted in the highest net returns in fields with more than 40.8% weed infestation (8% of the surveyed fields). In these cases, the added costs of weed detection, mapping and site-specific herbicide application were not justified by the herbicide savings obtained. Likewise, herbicide savings obtained with the various strategies depended on the proportion of the field infested. Considering the high difference between site-specific treatments and uniform application of herbicides when the infested area ranged between 18.7 and 40.8%, and that no significant differences in net returns were observed in this range, site-specific treatments should be preferred. Adding a buffer area to the sitespecific treatments does not seem a suitable strategy due to the considerable increases in costs and reductions in herbicide savings. This research was funded by the Spanish CICyT (project AGL 2008-04670-C03) and by the Alfonso Martin Escudero Foundation. Peer reviewed

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    Authors: Abel Schaad, Daniel; Lopez Saez, José Antonio; Pulido, Fernando J.;

    Main results. The use of fire and livestock husbandry represents the main drivers of landscape change in the course of the history. The establishment of forest afforestation plans, from the middle of 20th century, changed substantially the regional features. The sporadic presence of beech pollen is detected until 16th century, which implies the most western location in the Iberian Central Mountain System. Research highlights. The integration of pollen analysis and historical data is an essential tool when studying the changes in Holocene vegetation. These changes have been mainly driven by anthropogenic disturbances, more specifically by fire and livestock husbandry. Area of study. La Meseguera mire (Ladrillar, Cáceres, Spain) is located in the Hurdes region in the western part of Iberian Central System and started to develop at the beginning of the Islamic period (ca. 770 cal AD), in an area widely dominated by heathland. Aim of study. The diachronic study of vegetation change through palynological analysis of sedimentary deposits is an essential tool both to design sound strategies on landscape management and to understand its anthropogenic dynamics. Material and methods. Pollen, non-pollen palynomorphs and charcoal accumulation rate (CHAR) combined with historical data are useful indicators to assess the increasing role of human influence on vegetation. Peer reviewed

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    Forest Systems
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    Forest Systems
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      Forest Systems
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    Authors: Weert, J. de; Buijs, S.; Tamis, W.L.M.; Zelfde, M. van 't;
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    Authors: Van Teeffelen, Kees; Dresscher, Douwe; Van Dijk, Wietse; Stramigioli, Stefano;

    Humans have multiple ways to adapt their arm dynamics to the task they have to perform. One way of doing this is through co-contraction of antagonist muscles. In telemanipulation this ability is easily lost due to time delays, quantization effects, bandwidth or hardware limitations. In this work a new concept for telemanipulation is presented. The end-point stiffness of a (simulated) telerobot is controlled via a variable impedance controller. The end effector stiffness scales with an estimate of the co-contraction around the elbow of the teleoperator. The telemanipulation concept was evaluated with ten subjects that performed two telemanipulation tasks in six different conditions. Three impedance levels: Low, high, and variable, and two delay settings. The first task was on positioning accuracy, the second task on impact minimization. We have shown that low and variable impedance performed significantly better on the force task than high impedance. We have also shown that high and variable impedance performed significantly better on the position task than low impedance. This shows that the human ability to control arm stiffness can effectively be transferred to a telemanipulated robot.

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