Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Swimmer syndrome affecting an entire litter of kittens

Swimmer syndrome is a developmental abnormality characterized by a delay in the ability to walk and move about and is manifested in newborns between 15 and 20 days of age. These animals exhibit constant coxofemoral articulation abduction, and their pelvic limbs move caudally and laterally. This case reports a litter of three crossbreeds kittens (26 days old) with swimmer syndrome. Each animal was treated with physical therapy and shackle bandages that kept their pelvic limbs bent and close to the body. After seven days, all of the animals exhibited normal ambulation, indicating that this treatment had a curative effect on the kittens.

Sugarcane trash management assessed by the interaction of yield with soil properties

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Leaf-litter decomposition of the mangrove species Avicennia schaueriana, Laguncularia racemosa and Rhizophora mangle

This study evaluated the decomposition process of leaf litter from the main Brazilian mangrove species Avicennia schaueriana, Laguncularia racemosa and Rhizophora mangle. Senescent leaves were collected, dried and placed in nylon bags with different mesh sizes (fine: 2x2mm and coarse: 8x8mm). The bags were distributed over the sediment, and replicates of each species and mesh size were collected periodically over 4months. In the laboratory, the dry weight of the samples was measured, and the decomposition coefficient (k) for each species and mesh size was obtained over time. All species showed a rapid decomposition rate at the beginning of the experiment, followed by a slower but steady rate of decomposition over time. The rate of leaf litter decomposition was highest in A. schaueriana, intermediate in L. racemosa and lowest in R. mangle. The difference was mainly linked to the activity and abundance of detritivores, together with the different litter quality of the species, which determined their palatability and probably influenced the decomposition process.

Effect of brushwood transposition on the leaf litter arthropod fauna in a cerrado area

The results of ecological restoration techniques can be monitored through biological indicators of soil quality such as the leaf litter arthropod fauna. This study aimed to determine the immediate effect of brushwood transposition transferred from an area of native vegetation to a disturbed area, on the leaf litter arthropod fauna in a degraded cerrado area. The arthropod fauna of four areas was compared: a degraded area with signal grass, two experimental brushwood transposition areas, with and without castor oil plants, and an area of native cerrado. In total, 7,660 individuals belonging to 23 taxa were sampled. Acari and Collembola were the most abundant taxa in all studied areas, followed by Coleoptera, Diptera, Hemiptera, Hymenoptera, and Symphyla. The brushwood transposition area without castor oil plants had the lowest abundance and dominance and the highest diversity of all areas, providing evidence of changes in the soil community. Conversely, the results showed that the presence of castor oil plants hampered early succession, negatively affecting ecological restoration in this area.

Do litter manipulations affect leaf functional traits of savanna woody plants?

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Effects of litter manipulation in a tropical Eucalyptus plantation on leaching of mineral nutrients, dissolved organic nitrogen and dissolved organic carbon

Although many studies have shown that soil solution chemistry can be a reliable indicator of biogeochemical cycling in forest ecosystems, the effects of litter manipulations on the fluxes of dissolved elements in gravitational soil solutions have rarely been investigated. We estimated the fluxes of NH4-N, NO3-N, K, Ca, Mg, Na, Cl, dissolved organic nitrogen (DON) and dissolved organic carbon (DOC) over the first two years after re-planting Eucalyptus trees in the coastal area of Congo. Two treatments were replicated in two blocks after clear-cutting 7-year-old stands: in treatment R, all the litter above the mineral soil was removed before planting, and in a double slash (DS) treatment, the amount of harvest residues was doubled. The soil solutions were sampled down to a depth of 4 m and the water fluxes were estimated using the Hydrus 1D model parameterized from soil moisture measurements in 4 plots. Isotopic and spectroscopic analytical techniques were used to assess the changes in dissolved organic matter (DOM) properties throughout the transfer in the soil. The first year after planting, the fluxes of NH4-N, K, Ca, Mg, Na, Cl and DOC in the topsoil of the DS treatment were 2-5 times higher than in R, which showed that litter was a major source of dissolved nutrients. Nutrient fluxes in gravitational solutions decreased sharply in the second year after planting, irrespective of the soil depth, as a result of intense nutrient uptake by Eucalyptus trees. Losses of dissolved nutrients were noticeably low in these Eucalyptus plantations despite a low cation exchange capacity, a coarse soil texture and large amounts of harvest residues left on-site at the clear cut in the DS treatment. All together, these results clarified the strong effect of litter manipulation observed on eucalypt growth in Congolese sandy soils. DOM fluxes, as well as changes in delta C-13, C:N and aromaticity of DOM throughout the soil profile showed that the organic compounds produced in the litter layer were mainly consumed by microorganisms or retained in the topsoil. Below a depth of 15 cm, most of the DOC and the DON originated from the first 2 cm of the soil and the exchanges between soil solutions and soil organic matter were low. (C) 2014 Elsevier B.V. All rights reserved.

Diversity of leaf-litter anurans in a fragmented landscape of the Atlantic Plateau of Sao Paulo State, southeastern Brazil

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

MINERAL NITROGEN SUBSTITUTION BY CHICKEN LITTER IN SUCCESSION OAT/CORN

The constant search for sustainability of production systems have driven research to find alternatives to the problems arising from the intensified use such systems. In this context the present work aimed study the effects of substitution of mineral nitrogen by chicken litter in oat and corn crop in succession and the chemical characteristics of soil. The study was conducted during the period May 2009 to March 2010 in area of Oxisol. The design was of randomized block with four replications. The six treatments were obtained by a combination of different amounts of chicken litter (0, 1500, 3000, 4500, 6000 and 7500 kg ha(-1)) applied 30 days before the sowing of oats combined with the mineral nitrogen applied in coverage in corn (311.1, 257.8, 202.2, 148.9, 95.6, 42.2 kg ha(-1) of urea), for the total supply of 140 kg ha(-1) of nitrogen (N). The application of poultry litter in oat promotes increased the production of dry matter, and content and accumulation of N. The mineral nitrogen substitution by chicken litter increases the yield of corn crop. The use of poultry litter alters the chemical properties of soil, increasing the levels of organic matter, exchangeable Al and acidity potential. However lowers the pH, K, Ca, Mg, sum of bases and base saturation.

Nutrient cycling in two south-east Brazilian forests. I. Litterfall and litter standing crop

Examined litterfall and litter standing crops in Altitudinal forest (AF and Semideciduous forest (SF) at Serra do Japi, Jundiai, Sao Paulo State. Total litterfall was 7 t ha-1 y-1 for AF: 4.9 leaves, 1.8 woody, 0.13 flower, 0.16 fruits; and the total for SF was 8.6 t ha-1 y-1; 5.5 leaves, 2.1 woody, 0.5 flower, 0.4 fruits. Litter standing crop was 5.5 t ha-1 y-1 for the two forest sites studied with a turnover coefficient (K1) of 1.3 for AF and 1.6 for SF. Litterfall occurred throughout the year but was greater during the dry season (August-September); seasonality of litter and leaf fall was greater in SF than in AF. -from Author

A microestrutura e o desenvolvimento dos órgãos genitais masculinos de preás (Galea spixii) criados em cativeiro

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Evaluation of solid residues removed from a mangrove swamp in the Sao Vicente Estuary, SP, Brazil

Mangrove swamps are found in estuaries along the coastal plains of tropical regions and have be subjected to heavy occupation and use pressure due to their privileged locations and abundance of biological resources. The present work evaluated the ecological characteristics and solid wastes accumulated in eight areas along the Santos - Sao Vicente Estuary Complex. The superficially deposited residues at each sampling site were collected and subsequently washed, drained, counted, weighed and separated into classes according to their composition and predominant use. The predominant litter type in terms of density was plastic (62.81%) and, by weight, wood (55.53%). The greatest deposition of residues was associated with areas that were less inclined and that had low plant density levels, indicating that the presence of obstacles was not critical for retaining floating residues in mangrove areas. The presence of the most frequently encountered types of solid waste residues could be explained by local activities. (C) 2010 Elsevier Ltd. All rights reserved.

Produção, acúmulo e decomposição da serapilheira em uma restinga da Ilha do Mel, Paranaguá, PR, Brasil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Ant community richness and composition across a gradient from Eucalyptus plantations to secondary Atlantic Forest

As florestas secundárias e plantações de espécies exóticas estão se expandindo nas paisagens tropicais. No entanto, nossa compreensão sobre o valor destas florestas para a conservação da biodiversidade de invertebrados ainda é incipiente. Neste trabalho, usamos a fauna de formigas de serapilheira para avaliar a diversidade desses insetos entre três florestas de Eucalyptus, sendo uma comercial (quatro anos de idade) e duas abandonadas em diferentes idades de regeneração (16 e 31 anos) e uma área de Mata Atlântica secundária. A riqueza total foi mais alta na floresta secundária e nos plantios de Eucalyptus abandonados há mais tempo. A densidade de espécies na floresta secundária foi significativamente maior quando comparado as plantações de Eucalyptus, mas não difere entre eucaliptais; análise de ordenação revelou diferenças na composição de espécies entre as plantações de Eucalyptus com subbosque ausente e com subbosque desenvolvido ou em desenvolvimento. Ainda, foi constatada uma sobreposição acentuada entre amostras de serapilheira das florestas de eucaliptos abandonadas há mais tempo e a floresta secundária. em geral, plantações de eucalipto foram caracterizadas pela presença de espécies generalistas e de ampla distribuição. Nossos resultados indicam que embora o subbosque de plantações de eucaliptos com maior idade de regeneração suporte um conjunto relativamente alto de espécies generalistas de formigas, é improvável que eucaliptais conservem a maioria das espécies de florestas primárias, especialmente predadores especializados, Dacetini e espécies nômades.

Composição da fauna de formigas (Hymenoptera: Formicidae) de serapilheira em florestas semidecídua e de Eucalyptus spp., na região sudeste do Brasil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)