Homing behaviour of Parablennius parvicornis (Pisces: Blenniidae)

The homing ability of the rockpool fish Parablennius parvicornis was studied at the rocky shore of Gran Canaria (Canary Islands, Spain). Fish were displaced from the original rockpool during low tide to another pool 74 metres away. The return of the first blenny occurs directly after the first tide while one week later 40% of the blennies had returned to the original pool. This paper discusses the homing behaviour of this species. RESUMEN: Se estudian las habilidades de retorno (homing) de la barriguda Parablennius parvicornis en una región de la costa rocosa de la isla de Gran Canaria (Islas Canarias, España). Los peces fueron desplazados desde su charco original, durante la bajamar, a otro charco que distase 74 metros. El retorno de la primera barriguda ocurrió después de la primera marea, mientras que tras una semana habían regresado el 40% de los peces originalmente desplazados. En este artículo se discute el comportamiento de retorno de esta especie

¿Presenta la anémona Anemonia sulcata (Pennant, 1777) comportamiento de homing?

[ES] Se estudia la capacidad de retorno al lugar de origen en Anemonia sulcata en su medio natural. Treinta y dos individuos fueron marcados en charcas intermareales, de los cuales 20 fueron desplazados, 5 y 10cm, de sus posiciones originales. Posteriormente se observó el movimiento de todos ellos en las siguientes 48h. De todas las anémonas trasladadas, un único individuo volvió exactamente a su lugar de origen recorriendo, en las primeras 24h, los 10cm que había sido desplazado. Con los resultados obtenidos en este trabajo, Anemonia sulcata no parece presentar fidelidad por un lugar en concreto dentro de su charca. Al ser trasladado desde su lugar inicial, simplemente busca un nuevo punto de fijación y lo hace tomando una dirección aleatoria. A falta de estudios más exhaustivos, se puede afirmar que esta especie no presenta comportamiento de homing.

Comportamiento de homing en el erizo cachero, Arbacia lixula ("Echinodermata: Echinoidea")

[ES] Se estudia la capacidad de retorno del erizo Arbacia lixula a su refugio original después de haber sido desplazado 0,5, 1 y 2 m. sobre un sustrato rocoso. La capacidad de retorno disminuyó con la distancia de alejamiento al punto original, demostrándose que esta especie tiene ciertas capacidades de homing.

Real-time tracking system using C80 DSPs and a binocular robotic head

[EN]An active vision system to perform tracking of moving objects in real time is described. The main goal is to obtain a system integrating off-the-self components. These components includes a stereoscopic robotic-head, as active perception hardware; a DSP based board SDB C80, as massive data processor and image acquisition board; and finally, a Pentium PC running Windows NT that interconnects and manages the whole system. Real-time is achieved taking advantage of the special architecture of DSP. An evaluation of the performance is included.

CoolBOT: a component-oriented programming framework for robotics

[EN] Programming software for controlling robotic systems in order to built working systems that perform adequately according to their design requirements remains being a task that requires an important development effort. Currently, there are no clear programming paradigms for programming robotic systems, and the programming techniques which are of common use today are not adequate to deal with the complexity associated with these systems. The work presented in this document describes a programming tool, concretely a framework, that must be considered as a first step to devise a tool for dealing with the complexity present in robotics systems. In this framework the software that controls a system is viewed as a dynamic network of units of execution inter-connected by means of data paths. Each one of these units of execution, called a component, is a port automaton which provides a given functionality, hidden behind an external interface specifying clearly which data it needs and which data it produces. Components, once defined and built, may be instantiated, integrated and used as many times as needed in other systems. The framework provides the infrastructure necessary to support this concept for components and the inter communication between them by means of data paths (port connections) which can be established and de-established dynamically. Moreover, and considering that the more robust components that conform a system are, the more robust the system is, the framework provides the necessary infrastructure to control and monitor the components than integrate a system at any given instant of time.

Diseño, implementación y verificación de un controlador para robots educativos

[EN] This project briefly analyzes the scope and applications of Industrial Robotics, as well as the importance that this technical discipline has gained in the past decades. In addition, it proposes a modern platform to assist in teaching this discipline in colleges and universities. This new educational platform for the teaching of Industrial Robotics is based on the robotic systems from Rhino Robotics Ltd., using the existing robotic arms and replacing the control electronics by a newer, modern and yet backwards-compatible controller. In addition to the controller, this platform also provides new, up-to-date software utilities that are more intuitive than those provided with the old system. The work to be done consists essentially in receiving commands from a personal computer which the controller must interpret in order to control the motors of the robotic arm. The controller itself will be implemented as an embedded system based on microcontrollers. This requires the implementation of a communication protocol between the personal computer and the microcontroller, the design of a command interpreter, the design of the electronics for motor control using PWM and H-bridges, and the implementation of control techniques (more precisely, PID control). Hence, this project combines software and hardware design and integration techniques with motor control techniques and feedback control methods from Control Engineering, along with the kinematic analysis of the Rhino XR-4 robotic arm. 

Distribución espacial de "Osilinus" spp. (Mollusca:Gasteropoda) en función de la amplitud de marea y el oleaje

[ES] Teniendo en cuenta las condiciones del hábitat de Osilinus spp., se estudian los factores que influyen en la distribución espacial de la especie. Los resultados obtenidos señalan que la amplitud de marea es el factor que más condiciona el comportamiento de los individuos, existiendo una correlación directa entre amplitud de marea, distancia recorrida y velocidad de desplazamiento de los individuos. Por otra parte, esta especie parece presentar una alta fidelidad a una zona concreta, mostrando un cierto comportamiento de homing.