Diseño, fabricación y montaje de un robot de cinemática paralela de dos grados de libertad

[ES]Este Trabajo consiste en diseñar un robot de cinemática paralela de dos grados de libertad partiendo de unos requisitos mínimos necesarios que habrán de verificarse. A continuación, se fabricará siguiendo dicho diseño para finalmente montarlo sobre unas guías lineales constituyendo así una máquina de cinemática paralela, objetivo final conjunto de este Trabajo añadido al mencionado control de las guías. Resulta de especial interés su particular arquitectura, aspecto clave cuando se pretende un sistema preciso y reducir las vibraciones.

Fish diversity of the wild and aquaculture water bodies in Singida Region

Tanzania Fisheries Research Institute being currently the only fisheries research institute in Tanzania has sole responsibility of marking the presence and distribution of fish species in the country. This work is expected to be completed by the year 2005. In order that this work can be accomplished, both published works and field observations (including geographical location using GPS) have to be compiled. Since the institute has centers in all the Great Lakes and one along the Indian Ocean coast, it is expected that field observations and identifications will be obtained and incorporated into the document to be produced by 2005. (PDF contains 15 pages)

Coarse fish in Scotland: a threat or a resource?

This brief article summarizes the ecological role of non-salmonid fishes in Scottish fresh waters. Most government-sponsored research has focused on the ecologically valuable salmonids in this area, yet non-salmonid species are widely distributed in Scotland and play an important ecological role in freshwater ecosystems. The fish fauna of Scotland differs from other parts of the British Isles by being more impoverished following the end of the last Ice Age, ca. 10 000 years ago.

An annotated bibliography of research on coarse and salmonid fish (excluding salmon and trout) found in fresh water in Scotland

The authors provide an extensive annotated bibliography to a full list of species occurring in Scotland, to highlight what is known about them and to indicate potential areas for further research. The list of references brings together published research papers and numerous unpublished theses and reports, including experimental and laboratory studies conducted in Scotland, although some may not have unique application to the fish fauna in Scottish waters. There has been no attempt to include references that are made incidentally in the general literature intended for naturalists.

Habitat use by 0+ cyprinid fish in the River Great Ouse, East Anglia

This study was designed to examine the habitat use of several species of 0+ cyprinid in the regulated River Great Ouse and to determine the reasons for specific habitat use. In general, all fish species were found associated with the marginal zone, with little diel variation. Use of shallow habitats in the presence of macrophytes correlated well with the distribution of zooplankton in the river channel, the preferred food source of 0+ cyprinids. During the early to late larval phase, all species fed upon rotifers and diatoms. Cladocera, particularly Alona spp. and Chydorus spp., and early instar larvae of Chironomidae, then became prevalent in the diet along with small numbers of Copepoda. Models were developed to determine habitat availability over a range of discharges, using the physical habitat simulation (PHABSIM) component of the Instream Flow Incremental Methodology (IFIM). The results of this analysis revealed that habitat suitable for 0+ fishes comprised a relatively small percentage of the main channel and generally decreased with discharge.

SCARA motako robot industrialaren simulazio birtuala eta interakzioa

[EU]Gradu amaierako lan honetan, Industria Ingenieritza graduan zehar emandako zenbait irakasgaietan landutako kontzeptuak oinarri bezala hartuta SCARA robot industrialaren analisia egin da. Lau askatasun gradu dituzten robot hauek oso erabiliak dira industrian beraien lan ziklo azkar, karga handiak jasateko kapazitate, errepikortasun eta aplikazio ugariengatik. Proiektua, bi zati nagusitan banandu da: SCARA motako robot baten analisi zinematikoa, robotaren irudikapena eta ibilbideen sorkuntza Matlab programa erabiliz. Adept Cobra e-Vario 600, SCARA motako prototipo errealarekin interakzioa. Proiektuan zehar garatuko diren edukien egitura ondorengoa izango da: Lehenik eta behin, proiektuko lehen atalean proiektua kokatuta dagoen testuinguruaren azalpena emango da, baita ere testuinguru horrek gaur egun, sail desberdinetan, duen garrantzia. Proiektuko bigarren atalean, lana egiterakoan proposatu diren helburuak eta proiektuak eskaintzen dituen onurak adieraziko dira. Bestetik, proiektuko hirugarren atalean, gaiaren egoeran, SCARA robotera heldu arte robotek historian zehar izan duten garapena eta hauen sailkapen desberdinak azalduko dira. Laugarren atalean, metodologian, proiektu honetan garatuko diren bi zati nagusien deskribapen zehatza emango da. Azkenik, proiektuko azken atalean, lana burutzeko bete behar izan diren ataza bakoitzaren deskribapena eta iraupena, aurrekontua, arriskuen analisia eta proiektu honetatik atera ditugun ondorioak ematen dira.

Monitoring fish populations in Lower Lough Erne, Northern Ireland: applicability of current methods and implications for future monitoring under the EC Water Framework Directive

The proposed EC Water Framework Directive (WFD) will require member states to monitor both biotic and abiotic components of lake environments. With adoption of the WFD some measurement of fish populations will also be required. This paper describes work carried out since 1971, and particularly since 1991, on the status of fish populations in Lower Lough Erne, Northern Ireland, with an emphasis on defining change over time due to human impacts on the lake. This offers a reasonable starting point from which to develop a monitoring programme suitable for the needs of the WFD in this lake. The implications for as yet unmonitored fish populations in lakes are also determined.

Environmental oestrogens and sexual development in fish

This brief paper discusses the assumption that watercourses might be harbouring a chemical(s) affecting the sexual development in fish. Male fish was found with the oestrogen-dependent blood protein, vitellogenin, usually found only in maturing females. The author examines a number of man-made chemicals present in the environment have been found to be oestrogenic. The paper concludes that rivers contain environmental oestrogens that are capable of causing disruptions in the sexual development of fish. Whether or not these environmental oestrogens are causing a widespread disruption in reproduction in wild fish, however, has yet to be determined.

Estimation of growth and financial analysis through the application of Ipil ipil (Leucaena leucocephala) leaf meal as supplements to soybean and fish meal in the diet of juvenile monosex tilapia (Oreochromis niloticus)

Among plant protein ingredients,ipil ipil (Leucaena leucocephala) leafmeal (ILLM) is considered the most nutritive plant protein source after soybean meal in aquatic feeds. That was proven in a 21-day experiment conducted to assess the response of juvenile Monosex Nile tilapia Oreochromis niloticus with four iso-nitrogenous formulated diets: One control diet was formulated based on fishmeal, one on soybean meal and one on rice bran, ipil ipil leafmeal was also included in experimental diets.

Fish communities and fisheries in Wales's National Nature Reserves: a review

Wales is important for fish conservation in Britain. In much of Wales, atchments are small (median catchment size = 121 km2 ) and frequently eparated by areas of upland (> 600 m altitude), creating a highly agmented habitat for freshwater fish. Consequently, fish communities onsist mainly of diadromous species such as trout, eel and sticklebacks hat were able to recolonise freshwaters via the sea following the retreat of he ice sheets ca. 10 000 years BP. This review aims to (i) update the former work of Lyle and Maitland, taking into account new National Nature Reserves (NNRs)and additional data collected since 1991; (ii) assess the different fish communities represented on Welsh NNRs with respect to their naturalness; (iii) examine the use of NNRs for angling; (iv) evaluate opportunities for expanding the NNR series to conserve fish populations of conservation importance. The paper provides a table of freshwater fish occurrence by water body in Wales.