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Contact Information from Proprioception

This paper presents a method to derive estimates of contact properties for the case of a planar robot interacting with unknown objects by means of propri-oceptive information (joint angles and torques). In a rst stage, two kinematic observations, based on the instantaneous velocities and the displacement between two consecutive postures, are used to obtain an estimate of the location with an as...

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Modelling Shea under Climate Scenarios

Distribution data describing the current shea range were obtained from John Hall (University of Wales, Bangor); for details, see previous reports and Vitellaria paradoxa: a monograph (Hall et al., 1996). In 2010, these records were supplemented with shea plot data from Burkina Faso, Mali and Ghana, and with the collection localities of herbarium specimens held at the Royal Botanic Gardens, Kew ...

Indigenous knowledge of shea processing and quality perception of shea products in Benin.

A survey among 246 people belonging to 14 ethnic groups and living in 5 different parklands in Benin revealed different practices to process shea kernels (namely boiling followed sun drying and smoking) and extract shea butter. A relation between parklands, gathering period, and sun-drying conditions was established. Moisture content and appearance of kernels were the selection criteria for use...