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(1)

Linear and Weakly Nonlinear Energetics of Global

Nonhydrostatic Normal Modes

Carlos Frederico M. Raupp

*

and André Teruya

Department of Atmospheric Sciences

University of Sao Paulo, Sao Paulo/Brazil

MODES Workshop – Boulder / CO - USA – August 26

th

to 28

th

, 2015.

Financial Support: FAPESP (São Paulo Research Foundation - Grant 09/11643-4)

(2)

Introduction

Conventional coarse resolution global circulation atmospheric models (AGCMs)

neglect the vertical acceleration to prevent computational constraints related to

stability of numerical solution in explicit numerical schemes (hydrostatic assumption)

→ Hydrostatic AGCMs;

The increase of computer speed and memory, as well as the development of

massively parallel computing techniques, has allowed the development of global

nonhydrostatic modeling.

Thus, with the increasing development of global nonhydrostatic AGCMs, it is

important to understand the dynamics of these models in a theoretical point of view

→ For this purpose one needs to analyze the normal modes of global nonhydrostatic

atmospheric models;

Normal modes → small amplitude oscillations around a background state at rest

and characterized by a stable stratification → eigensolutions of linearized PDEs;

(3)

References on Nonhydrostatic Normal Modes

Linear theory of nonhydrostatic normal modes:

(i) Kasahara and Qian (MWR 2000) ⇒ “Normal modes of a Global Nonhydrostatic

Atmospheric Model”;

(ii) Qian and Kasahara ( Pure Appl. Geophys., 2003) ⇒ “Nonhydrostatic Atmospheric

Normal Modes on Beta Planes”;

(iii) Kasahara (J. Meteor. Soc. Japan, 2003) ⇒ “On the Nonhydrostatic Atmospheric

Models with the Inclusion of the Horizontal Component of the Earth’s Angular

Velocity” (non-traditional Coriolis terms);

(iv) Kasahara (JAS 2003) ⇒ “The Roles of the Horizontal Component of the Earth’s

Angular Velocity in Nonhydrostatic Linear Models”;

(v) Kasahara (NCAR Report 2003) ⇒ “ Free Oscillations of Deep Nonhydrostatic Global

Atmospheres: Theory and a Test of Numerical Schemes”;

(4)

Introduction

Goal of this Study

(i) First we further analyze the energetics of the linear eigenmodes of the shallow

global nonhydrostatic model presented by Kasahara and Qian (2000);

(Ii) Then we extend the theory of global nonhydrostatic normal modes by accounting

for the effect of nonlinearity.

(5)

Model and Governing Equations

Model: shallow nonhydrostatic fluid over a rotating sphere of radius a;

Traditional Approximation: r = a + z ≈ a, where a = 6370Km (Earth’s radius) and z is the height above the earth’s surface; ∂ / ∂r ≈ ∂ / ∂z

 Governing Equations: λ → longitude;

ϕ→ latitude;

f = 2Ω sinϕ → Coriolis parameter; γ = Cp / Cv ;

g → gravity acceleration;

= (u,v) → horizontal wind field; p → pressure field;

T → Temperature field; ρ→ density field;

w → vertical component of wind field;

; ; λ ϕ ρ ϕ ∂ ∂ − =       + − p a a u f Dt Du cos 1 v tan (1a) ϕ ρ ϕ ∂ ∂ − =       + + p a a u f Dt D 1 u tan v (1b) z p g D H ∂ − − = ρ δ 1 Dt w (1c) 0 z w =       ∂ ∂ + • ∇ + V Dt Dρ ρ(1d) Dt D RT Dt Dp =γ ρ (1e)

RT

p

=

ρ

(1f)

V

z

V

t

Dt

D

+

+

=

w

ϕ

λ

ϕ

+

=

a

v

cos

a

u

V

(

)

+

=

ϕ

ϕ

λ

ϕ

cos

v

cos

1

u

a

V

(6)

Model and Governing Equations

 From the governing equations (1), we have considered small (but not infinitesimal) amplitude perturbations around a resting, hydrostatic and isothermal background state:

u = u0 + u’ ; v = v0 + v’ ; w = w0 + w’ , with u0 = v0 = w0 = 0;

p = p0(z) + p’ ; ρ = ρ0(z) + ρ’; with dp0 / dz = -ρ0 g and T = T0 + T’, with T0 = const; (2)

 Inserting (2) into (1) and retaning only the terms until second order in terms of perturbations: ∂ − + ρ ϕλ = − •∇ + ∂ + ϕ + ρ ρ ϕλ' cos ' tan a ' v ' ' ' ' ' ' cos 1 v' ' 2 0 0 p a u z u w u V p a f t u

ϕ

ρ

ρ

ϕ

ϕ

ρ

∂ ∂ + −     ∂ ∂ + •∇ − = ∂ ∂ + + ∂ ∂ ' ' tan ' ' v w' v' ' ' 1 u' v' 2 0 2 0 p a a u z V p a f t  2 0 2 0 2 0 ' ' ' ' w w' w' ' ' ' ' 1 t w'       + ∂ ∂ +     ∂ ∂ + •∇ − =       − + ∂ ∂ + ∂ ∂ ρ ρ ρ ρ θ ρ z g p z V p C g z p S      ∂ ∂ +       ∂ ∂ + • ∇ −     ∂ ∂ + •∇ − = ∂ ∂ + • ∇ +       ∂ ∂ w' ' ' 1 w' ' ' p' ' w ' ' 1 w' ' w' ' 1 0 0 2 2 0 2 0 g t p T T C z V z p V C z V g t p Cs ρ s ρ s ρ ρ          ∂ ∂ +     ∂ ∂ + •∇ = + ∂ ∂ w' ' ' z ' w' ' ' V -w' ' 0 0 2 2 0 g z p T T C g N t S

ρ

θ

θ

ρ

θ

 (3a) (3b) (3c) (3d) (3e)

(7)

Model and Governing Equations

'

'

'

2

ρ

θ

p

g

C

g

S

=

g RT H = 0 Where: 0 0 0

'

'

'

ρ

ρ

+

=

T

T

p

p

(3f) ; (3g)

H

g

C

g

dz

d

g

N

S

κ

ρ

ρ



=



+

=

0 2 0 2

1

κ

γ

=

=

1

0 2

gH

RT

C

S p

C

R

=

κ

 Following Kasahara and Qian (2000) we have rescaled the perturbations according to:

=

− − − 2 1 0 2 1 0 2 1 0 2 1 0 2 1 0 2 1 0

p

w

v

'

'

p'

w'

'

v

'

ρρ

θρ

ρ

ρ

ρ

ρ

ρ

θ

u

u

(4)

(8)

( )

[

]

      ∂ ∂ + + + ∇ • − = ∂ ∂ + − ∂ ∂ − λ ϕ ρ ϕ ρ λ ϕ ' cos tan a v cos 1 v 2 1 0 p a u u wL u V p a f t u z  (5a)

( )

[

]

      ∂ ∂ + − + ∇ • − = ∂ ∂ + + ∂ ∂ − − ϕ ρ ϕ ρ ϕ ' tan a v v 1 u v 21 2 0 p a u wL V p a f t z  (5b)

( )

[

]

      + ∂ ∂ + + ∇ • − = − Γ + ∂ ∂ + ∂ ∂ − 2 -z 2 1 0 w wL w t w θ ρ ρ ρ g z p V p z p(5c)

( )

[

]

(

( )

)

            − ∂ ∂       − + + • ∇ − + ∇ • − = Γ − ∂ ∂ + • ∇ + ∂ ∂ − + w 1 w wL 1 w w 1 0 2 z 2 2 1 0 2 g t p RT p C L V p p V C z V t p Cs

ρ

s

ρ

Z s

ρ

   (5d)

( )

[

]

            ∂ ∂       − + + ∇ • = + ∂ ∂ + w RT p wL V 1 -w 1 0 2 2 z 2 2 1 -0 2 g z p C N g N t N

ρ

θ

θ

S

ρ

θ

 (5e) Where,

( )

H

z

dz

d

z

L

z

2

1

2

1

0 0

=

+

=

+

ρ

ρ

( )

dz

z

H

d

z

L

z

2

1

2

1

0 0

+

=

=

ρ

ρ

H

C

g

dz

d

S

2

2

1

2

1

2 0 0

κ

ρ

ρ

=

+

=

Γ

Model and Governing Equations

 Substituting (4) into (3) we get:

(9)

Eigenmodes of the Linear Problem (Normal Modes)

 If the second-order nonlinear terms are disregarded, equations (5) become:

0 cos 1 v = ∂ ∂ + − ∂ ∂ λ ϕ p a f t u (6a) 0 1 u v = ∂ ∂ + + ∂ ∂ ϕ p a f t (6b) 0 t w +Γ = ∂ ∂ + ∂ ∂ θ p z p (6c) 0 w w 1 2 ∂ −Γ = ∂ + • ∇ + ∂ ∂ z V t p Cs  (6d) 0 w 1 2 ∂ + = ∂ t N

θ

(6e)

The eigensolutions of (6) were determined by Kasahara and Qian (2000) for the following boundary conditions:

(i) w = 0 at z = 0 and at z = zT (7a) (ii) Periodic solutions in longitude (7b) (iii) Regularity at the poles (7c)

(10)

Eigenmodes of the Linear Problem

( ) ( )

( ) ( )

( ) ( )

( ) ( )

( ) ( )

t i is e z P z iP z P z iV z U w p u σ λ

ϕ

η

ϕ

ξ

ϕ

ξ

ϕ

ξ

ϕ

θ

−                 Θ =                 v (8)

The eigensolutions of (6) with boundary conditions (7) are given by:

where: 0 1 1 2  =      Γ +       − η η σξ dz d C gHe s

0

2

=

+

Θ

σ

N

η

0

=

Θ

+

Γ

+

ξ

ξ

ση

dz

d

Vertical structure equations

0 cos = + − −

ϕ

σ

a sP fV U

0

1

=

+

+

ϕ

σ

d

dP

a

fU

V

(

)

e gH P V d d sU a σ ϕ ϕ ϕ  =     + cos cos 1

horizontal structure equations (Laplace’s tidal equations)

(11)

Eigenmodes of the Linear Problem

(

2

)

0 2 2 = Γ − +

λ

η

η

dz d

 The vertical structure equations can be written in terms of η as follows: ; with BCs: η = 0 at z = 0 and at z = zT ;       = z z k A z T k

π

η

( ) sin , k = 1, 2, 3 ...

(

2 2

)

2

1

1

δ

σ

λ

H s e

N

C

gH





=

The solution is given by: , provided that

2 2

Γ

+





=

T k

z

k

π

λ

Eigenvalues of the vertical structure equations

1 2 2 2 2 1 −       − + = σ δ λ H s k s e N C g C H Separation constant:

(

s

l

H

e

)

F

,

,

=

(12)

Eigenmodes of the Linear Problem

 Different oscillation regimes: (I) → → inertio-acoustic modes;

(ii) → → inertio-gravity modes;

g C He S 2 > 2 2 N > σ g C He S 2 < 2 2 N < σ

Dispersion curves for acoustic and gravity modes for l = 0, k = 1, and symmetric about the equator.

(13)

Eigenmodes of the Linear Problem

 Different oscillation regimes: (I) → → inertio-acoustic modes;

(ii) → → inertio-gravity modes;

g C He S 2 > 2 2 N > σ g C He S 2 < 2 2 N < σ

Equivalent heights He for acoustic and gravity modes for l = 0, k = 1, and symmetric about the equator.

(14)

Energetics of Normal modes

 Kasahara and Qian (2000) have demonstrated the orthogonality condition for the eigenmodes:

(

)

∫ ∫ ∫

(

)

=

+

+

+

+

T z H k j k j k j

i

u

u

a

d

d

dz

i

0 2 0 2 2 2 2 * k j 2 S * k j * k j * *

0

cos

N

C

p

p

w

w

v

v

π π π

λ

ϕ

ϕ

θ

θ

δ

σ

σ

 For the case j = k we have the total energy of the j-th eigenmode of the system:

[

]

∫ ∫ ∫

>

+

+

=

T z j j j j

K

E

A

a

d

d

dz

ET

0 2 0 2 2 2

0

cos

π π π

λ

ϕ

ϕ

Where:

∫ ∫ ∫

[

(

)

]

− + + = T z H j j j u a d d dz K 0 2 0 2 2 2 2 j 2 2 cos w v 2 1 π π π

λ

ϕ

ϕ

δ

Kinetic energy

∫ ∫ ∫

− = T z j a d d dz E 0 2 0 2 2 2 2 S 2 j cos C p 2 1 π π π λ ϕ ϕ elastic energy

∫ ∫ ∫

− = T z j a d d dz A 0 2 0 2 2 2 2 2 j cos N 2 1 π π π λ ϕ ϕ θ Termobaric energy

(15)

Energetics of Normal modes

(16)

Energetics of Normal modes

Energetics of eastward inertio-acoustic modes with meridional index l = 0 and k = 1. Each energy type is normalized by total energy.

(17)

Energetics of Normal modes

(18)

Energetics of Normal modes

Energetics of eastward inertio-gravity modes with meridional index l = 0 and k = 1. Each energy type is normalized by total energy.

(19)

( )

[

]

      ∂ ∂ + + + ∇ • − = ∂ ∂ + − ∂ ∂ − λ ϕ ρ ϕ ρ λ ϕ ' cos tan a v cos 1 v 2 1 0 p a u u wL u V p a f t u z  (5a)

( )

[

]

      ∂ ∂ + − + ∇ • − = ∂ ∂ + + ∂ ∂ − − ϕ ρ ϕ ρ ϕ ' tan a v v 1 u v 21 2 0 p a u wL V p a f t z  (5b)

( )

[

]

      + ∂ ∂ + + ∇ • − = − Γ + ∂ ∂ + ∂ ∂ − 2 -z 2 1 0 w wL w t w θ ρ ρ ρ g z p V p z p(5c) (5d) (5e) Where,

( )

H

z

dz

d

z

L

z

2

1

2

1

0 0

=

+

=

+

ρ

ρ

( )

dz

z

H

d

z

L

z

2

1

2

1

0 0

+

=

=

ρ

ρ

H

C

g

dz

d

S

2

2

1

2

1

2 0 0

κ

ρ

ρ

=

+

=

Γ

Resonant Nonlinear Interactions of Global Nonhydrostatic Modes

( )

[

]

(

( )

)

            − ∂ ∂       − + + • ∇ − + ∇ • − = Γ − ∂ ∂ + • ∇ + ∂ ∂ − + − w 1 w L p wL 1 w w 1 0 2 z z 2 2 1 0 2 g t p RT p C V p V C z V t p Cs ρ S ρ S ρ   

( )

[

]

            ∂ ∂       − + + ∇ • − = + ∂ ∂ − + w wL 1 w 1 0 2 2 z 2 2 1 0 2 g t p RT p C N g V N t N ρ θ θ S ρ θ 

(20)

Ansatz ⇒ Solution with three modes:

With the following resonance relations satisfied:

k3 = k1 + k2 (not excluding) s1 = s2 + s3

σ1 = σ2 + σ3

condition for meridional structures satisfied

Nonlinear resonant triad interaction conditions

Resonant Interactions of nonhydrostaic nonrmal modes: general case

(

)

( )

( )

( )

e CC z z z z z z U t A e z z z z z z U t A e z z z z z z U t A t z u t i is t i is t i is . ) , ( ) , ( ) , ( P ) , ( iW ) , ( iV ) , ( ) , ( ) , ( ) , ( P ) , ( iW ) , ( iV ) , ( ) , ( ) , ( ) , ( P ) , ( iW ) , ( iV ) , ( , , , p w v 3 3 2 2 1 1 3 3 3 3 3 3 3 2 2 2 2 2 2 2 1 1 1 1 1 1 1 +                   +                   +                   =                   − − −σ λ σ λ σ λ ϕ ρ ϕ θ ϕ ϕ ϕ ϕ ϕ ρ ϕ θ ϕ ϕ ϕ ϕ ϕ ρ ϕ θ ϕ ϕ ϕ ϕ ϕ λ ρ θ

(

)

      ± ± = Tz T z dz z z k k k I 0 3 2 1 2 1 0 cos

π

ρ

(21)

Substituting the ansatz into the PDEs (5) we get:

Resonant Interactions between Acoustic and Gravity Modes

3 2 23 1 1 1

i

A

A

dt

dA

ET

=

α

* 3 1 13 2 2 2

i

A

A

dt

dA

ET

=

α

* 2 1 12 3 3 3

i

A

A

dt

dA

ET

=

α

α123, α

213 , α312 ⇒ Nonlinear coupling constants;

(22)

Resonant Interactions of nonhydrostaic nonrmal modes: general case

[

N

u

N

N

N

u

N

N

]

a

d

dz

T z u u 2 1 0 2 0 2 2 * 1 ) 3 , 2 ( * 1 ) 3 , 2 ( p * 1 ) 3 , 2 ( * 1 ) 3 , 2 ( w * 1 ) 3 , 2 ( v * 1 ) 3 , 2 ( 23 1

v

w

p

cos

− −

∫ ∫

+

+

+

+

+

=

θ

ϕ

ϕρ

α

π π θ

[

N

u

N

N

N

u

N

N

]

a

d

dz

T z u u 2 1 0 2 0 2 2 * 2 ) 3 , 1 ( * 2 ) 3 , 1 ( p * 2 ) 3 , 1 ( * 2 ) 3 , 1 ( w * 2 ) 3 , 1 ( v * 2 ) 3 , 1 ( 13 2

v

w

p

cos

− −

∫ ∫

+

+

+

+

+

=

θ

ϕ

ϕρ

α

π π θ

[

N

u

N

N

N

u

N

N

]

a

d

dz

T z u u 2 1 0 2 0 2 2 * 3 ) 2 , 1 ( * 3 ) 2 , 1 ( p * 3 ) 2 , 1 ( * 3 ) 2 , 1 ( w * 3 ) 2 , 1 ( v * 3 ) 2 , 1 ( 12 3

v

w

p

cos

− −

∫ ∫

+

+

+

+

+

=

θ

ϕ

ϕρ

α

π π θ

(23)

Resonant Interactions of nonhydrostaic nonrmal modes: general case

( )

is p CP a u u u a a u is u Nu + + +      + ∂ ∂ + − = 2 3 2 3 3 3 -z 2 3 2 3 3 2 ) 3 , 2 ( cos tan a v L w v cos

ϕ

ρ

ϕ

ϕ

ϕ

( )

p CP a u u a a is u N + ∂ ∂ + −       + ∂ ∂ + − = ϕ ρ ϕ ϕ ϕ 3 2 3 2 3 -z 2 3 2 3 3 2 ) 3 , 2 ( v tan a v L w v v cos v

( )

L

( )

p

g

CP

L

a

N

H z

+

z

+

+

+

+

=

− + 3 2 3 2 3 2 3 2 3 3 2 ) 3 , 2 ( w

w

w

w

v

w

is

cos

a

u

ρ

ρ

ρ

ϕ

ϕ

δ

( )

(

)

( )

(

i p g

)

CP RT p C L u is a a p is a u C N S z S p + − −       − +       +       ∂ ∂ + −       + ∂ ∂ + − = + − 3 3 3 2 0 2 2 3 3 3 3 2 3 z 2 3 2 3 3 2 2 ) 3 , 2 ( w 1 w cos v cos 1 p L w p v cos 1 σ ρ ϕ ϕ ϕ ρ ϕ ϕ

( )

(

i

p

g

)

CP

RT

p

N

C

g

a

is

a

u

N

N

S

+





+

+

+

=

+ 3 3 3 2 0 2 2 2 3 z 2 3 2 3 3 2 2 ) 3 , 2 (

w

L

w

v

cos

1

θ

ρ

σ

ϕ

θ

θ

ϕ

θ

(24)

From the complex amplitude equations it is easy to get the energy equations:

Resonant Interactions of nonhydrostaic nonrmal modes

(

* *

)

1 23 1 2 1 1

Im

A

A

2

A

3

dt

A

d

ET

=

α

(

* *

)

1 13 2 2 2 2

Im

A

A

2

A

3

dt

A

d

ET

=

α

(

* *

)

1 12 3 2 3 3

Im

A

A

2

A

3

dt

A

d

ET

=

α

Condition for total energy to be conserved within a resonant triad interaction is:

0

12 3 13 2 23 1

+

+

=

α

α

α

Mode 1 ⇒ unstable mode of the triad.

(25)

Resonant Interactions between Acoustic and Gravity Modes

Analytical solutions of the conservative triad equations, assuming that

( ) and the amplitude of mode 1 is zero initially:

( )

              = m u sn A t A ET 13 2 2 23 1 2 2 2 1 1 ( ) 0 α α

( )

=

m

u

cn

A

t

A

ET

2 2

(

)

2 2

0

2 2

( )

=

m

u

dn

A

t

A

ET

3 3

(

)

2 3

0

2 2

t

A

u

=

3

(

0

)

α

123

α

132 2 3 2 13 2 12 3

)

0

(

)

0

(

=

A

A

m

α

α

Where sn, cn and dn are the Jacobian Elliptic functions, with argument u and parameter m given by 23 1 13 2 12 3

α

α

α

< <

(26)

Resonant Interactions between Acoustic and Gravity Modes

Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:

Determination of a resonant triad involving a long inertio-acoustic, a short acoustic mode and a short gravity mode. The acoustic modes have k = 1 vertical structure, while the gravity mode has a k = 2 vertical structure.

(27)

Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:

Mode 1: unstable (pump) mode

Acoustic mode with k = 1; s = 476, l = 0 (first symmetric mode)

Mode 2:

Acoustic mode with k = 1, s = 1, l = 0 (first symmetric mode)

Mode 3:

Gravity mode with k = 2, s = 475, l = 0 (first symmetric mode)

Mode 1 Mode 2 Mode 3 σ1

(cHz) σ2 (cHz) σ3 (cHz) ET1 (J) ET2 (J) ET3 (J) α123 α 213 α312 (1,476,0,A) (1,1,0,A) (2,475,0, G) 6.293 5.888 0.407 1.3x 1010 1.3 x 1020 7x 106 4x1011 3.7x1011 2.6x1010

(28)

Resonant Interactions between Acoustic and Gravity Modes

 Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:

(29)

Resonant Interactions between Acoustic and Gravity Modes

Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:

(30)

Resonant Interactions between Acoustic and Gravity Modes

 Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:

(31)

0<< m <1

Vertical velocity at ϕ = 10ºS and z = 9Km;

zonal velocity at ϕ = 0o

and z = 4.5Km

Short acoustic mode activity.

Short gravity mode activity.

(32)

Summary and Remarks

Here we have investigated the possibility of resonant interactions involving

inertio-acoustic and inertio-gravity modes in a shallow-nonhydrostatic global atmospheric

model (weakly nonlinear extension of Kasahara and Qian (2000))

For the internal modes (rigid lid boundary condition), we found that the only

possibility for such resonances is that one gravity mode interacts with two acoustic

modes (similar to Rossby-gravity-gravity interaction in the hydrostatic dynamics);

This kind of resonant interaction can potentially yield vacillations in the dynamical

fields with periods varying from a daily (and intra-diurnal) time-scale up to almost a

month long, depending on the way in which the initial energy is distributed on the

triad components;

Acoustic modes are usually filtered out from numerical models to avoid

computational constraints associated with explicit numerical schemes, even in

(33)

Next Steps of the Project

To investigate the possibility of resonant interactions for the limiting case of

vertical modes where z

T

→ ∞ .

 To study the possibility of long-short wave interactions.

To investigate the dynamics of these resonant interactions with the inclusion of diabatic effects;

References

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