Projeto, desenvolvimento e implementação de um robô nadador de inspiração biológica

A elaboração deste trabalho surge no âmbito da unidade curricular de Tese/Dissertação, pertencente ao Mestrado em Engenharia Eletrotécnica e Computadores, ramo de Automação e Sistemas, do Instituto Superior de Engenharia do Porto (ISEP). Este trabalho enquadra-se no âmbito da robótica de inspiração biológica no meio aquático. Pretendeu-se com este trabalho desenvolver e implementar um robô nadador de inspiração biológica. Inicialmente foi realizado um estudo acerca da locomoção dos peixes, para perceber a sua forma de se movimentar. Foi ainda efetuado um estudo acerca dos robôs nadadores existentes, de forma a verificar a sua constituição e formas de locomoção. Numa fase inicial foi desenvolvido um protótipo e, de seguida, procedeu-se à implementação do robô de uma forma sequencial. Implementou-se a estrutura do robô, com o objetivo de se assemelhar o mais possível com um peixe biológico. Foram utilizados servomotores para a locomoção do robô. Para que o robô possua a capacidade de se movimentar numa determinada direção recorreu-se à utilização de uma bússola digital. Posteriormente introduziu-se um emissor/recetor de radiofrequência (RF) para ligar/desligar o robô. Numa fase final procederam-se aos testes da locomoção do robô. Nos ensaios realizados verificou-se que o robô conseguiu nadar com estabilidade e com sentido de direção.

Miocene c4tfishes (Ariidae, Bagridae) from Lisbon: a Nilotic (or Sudanian) type fauna

Miocene catfishes from Lisbon are dealt with. Two distinct sets of pectoral and dorsal pterygiophores are described. That from the Langhian V-b is referred to Arius sp. probably close to A. Beudeloti. Another set from the uppermost Burdigalian V-a may be ascribed to a bagtid, cf, Chrysichthys sp., identified for the first time in this region. The catfish and Lates association is strikingly similar to African, nilotic or sudanian ones as far as freshwaters are concerned. In marine, coastal environments, stenotherm warm-water forms (Polynemids, large barracudas and several sharks) indicate, as a model, faunas like those from Cape Verde to northern Angola. There is some gradation for brackish waters (fig. 1). Catfishes and Lates probably migrated into the Iberian Peninsule in the lower Miocene. They are unknown after Langhian V-b except for a reappearance of Arius in the middle Tortonian VII-b. Decreasing temperatures and aridity account for local extinction at least in freshwaters. Expansion of these fishes have been made easier owing to the displacement of land masses that narrowed or closed the marine waterway between Europe and Africa. Salinity tolerance is not necessarily the sole explanation for migration. Catfishes plus Lates associations colonized inland waters from both sides of the Paleomediterranean. Local extinction may have weighed more in the development of modern distribution patterns than migration.

Le gisement de Asseiceira, Portugal (Miocène supérieur) Données complémentaires sur Freiria de Rio Maior

A new upper Miocene locality at Asseiceira (Rio Maior), near the top of the "Calcários de Almoster e Santarém" unit (Almoster and Santarém limestones) is studied. Animal and plant fossils are described. Comparisons are drawn to other localities related to the same unit: Freiria and Azambujeira (middle and upper levels, both with large mammals). Small mammals from Asseiceira and Freiria point out to a rather old age amidst the upper Vallesian, MN 10 mammal-unit. This gives a fairly accurate datation for the "Calcários de Almoster e Santarém" and for the short time span of the corresponding sedimentation. Climate was warm and quite dry, with contrasting seasons and arid events. During upper Vallesian times, climate in Iberian Peninsula was varied but drier than in France, and specially so in the inner basins. However in Portugal and in Catalonia climate would he less different in comparison with that of the Rhône basin. Environmental evolution has been important: at Freiria and Azambujeira (middle level) there were mainly shallow lacustrine environments that received ressurgence waters from the nearby "Maciço calcário". Humid areas were closely surrounded by dense forests and these by broader and drier savanna or steppe areas. Still later, carbonate sedimentation ended. For some time there was still a river system with oxbows; humid areas probably were decreasing in favour of surrounding, rather dry environments. This study stressed the nced for revision of the geology of the region of Rio Maior and for a new geological mapping of that area. Environmental evolution has been important: at Freiria and Azambujeira (middle level) there were mainly shallow lacustrine environments that received ressurgence waters from the nearby "Maciço calcário".

First register of Biomphalaria straminea Dunker, 1848, in Santa Catarina State

The first register of Biomphalaria straminea, vector species of schistosomiasis, in Santa Catarina State, South Brazil is described. The specimens were obtained from two ornamental aquaria of private residences. In both cases the ornamental plants and/or fishes were bought from the same supplier. The presence of this species was later confirmed in the farm where these plants and fishes are cultivated, in the city of Governador Celso Ramos, also in Santa Catarina State. The occurrence in natural environments was later detected in two different places of the Island of Santa Catarina.

The Cristo Rei section (Lower Miocene). Distal fluviatile environments in a marine series, plants, vertebrates and other evidence, age

The section at Cristo Rei shows sandy beds with intercalated clayey lenses (IVb division from the Lisbon Miocene series) that correspond to a major regression event dated from between ca. 17.6 and 17 Ma. They also correspond to a distal position (relatively to the typical fluviatile facies in Lisbon), nearer the basin's axis. Geologic data and paleontological analysis (plant fossils, fishes, crocodilians, land mammals) allow the reconstruction of environments that were represented in the concerned area: estuary with channels and ox-bows; upstream, areas occupied by brackish waters where Gryphaea griphoides banks developped; still farther upstream, freshwaters sided by humid forests and low mountain subtropical forests under warm temperate and rainy conditions, as well as not far away, seasonally dry environments (low density tree or shrub cover, or steppe).

The Neogene of Algarve (Portugal)

A synthesis about the Neogene and Quaternary of Algarve (Southern Portugal) is presented. New isotopic 87Sr/86Sr ages as well as biostratigraphic data about the Miocene deposits allow to present a new stratigraphic frame for the previously characterized units. The Lagos-Portimão Formation corresponds to deposits of temperate carbonate platform sedimentological type, developed during a long time span (Lower Burdigalian to Upper Serravallian). A major change in sedimentation conditions (carbonate to siliciclastic environments) occurred in the Lower Tortonian with the deposition of yellowish sands. Spongoliths rich in microfossils are represented in Algarve inland. Their age is not well established; calcareous nannofossils indicate the CN5a zone (Upper Serravallian) while foraminifera point out at least Nl6 zone (Lower Tortonian). In the Upper Tortonian, the sedimentation is widespread in Eastern Algarve, related with the Guadalquivir Basin infill. The deposits begin with detrital limestones, locally very rich in Heterostegina, passing to fossiliferous conglomerates and siltstones (Cacela Formation). Coarse-grained conglomerates at Galvana (Faro) pose some age problems. K/Ar age on glauconite indicates 6.72±0.17 Ma. However, glauconites may be reworked from older deposits (Cacela Formation). The Galvana Conglomerate could be related to Pliocene deposits are not well characterized. Olhos de Água sands, with a thin marine intercalation rich in marine vertebrates (fishes, a crocodile, cetaceans, sirenians), may be Upper Pliocene; however, the vertebrates point out to a Serravallian to Tortonian age. 87Sr/86Sr ages on oysters from above the level with vertebrates point out to 3.0(+2.5-1.0) Ma. Similar sand deposits occur at Morgadinho (Luz de Tavira). These sands are overlain by marls, lignite clays, lacustrine limestones and a silty calcareous crust. A small mammals association indicate an age span between Upper Pliocene and Lower Middle Pleistocene (MN17-MN20). A Biharian mammal fauna (Lower Pleistocene) was collected at Algoz in similar deposits. In the present state of knowledge, Morgadinho and Algoz deposits may be correlative.

Poissons du Paléogène inférieur de Silveirinha (Portugal)

Fragmentary skeletal remains of Percoid fishes (Teleostei, Percoidei) are described from the Upper Paleocene? or Lowermost Eocene(MN7) from Silveirinha. It is suggested that they belong to some primitive Percoids which are already known in the Iberian peninsula. They bear witness of an ancient westwards extension of the geographical distribution of Percoid fishes that are common in the lower levels of the Eocene in the Douro Basin in Spain.

Description de restes squelettiques de Latidae: Lates (?) sp. (Poissons téléostéens, Percoidei) du Miocène inférieur et moyen du bassin du Bas Tage (environs de Lisbonne, Portugal)

Several Lower and Middle Miocene localities in the Lower Tagus basin near Lisbon yielded Latidae fragmentary remnants. No really decisive character has been recognized that would allow us to state these remnants could surely be ascribed to the genus Lates Cuv. & Val., although we regard this as nearly certain. There are some differences between the Miocene latidae under study and the type species Lates niloticus L. this suggests us to report the concerned remnants to a Lates (?) sp. that could belong to a new, hitherto undescribed species. The occurrence of Lates in fluviatile or lagoonal beds in the Lower Tagus basin Miocene series is not at all surprising under a paleoeciological view point. Even less if account is taken of the presence in the same levels of Siluriforms remnants belonging to Bagridae and Ariidae, two families that are well represented in Africa. Bagrid spines have been found at Quinta das Pedreiras in association with Lates (?) sp. remnants. The Lates (?) sp. discovery in the Lower and Middle Miocene from the Lower Tagus basin results in extending to the West this genus' biogeographic distribution. It is indeed the first discovery of this genus on Europe's Atlantic coasts. No matter which was the geographic origin of these fishes, they had to migrate several hundreds of kilometers through marine waters before entering the Tagus' estuary. The association of Lates (?) sp. remnants with Siluriform ones that have an extant, broad repartition in Africa south of the Sahara points out to an African origin. These thermophyll fishes imigration along the Atlantic coasts from lberian Peninsula probably has been possible owing to a warm climatic event that allowed them to migrate ca. 5 degrees (in latitude) northwards in Burdigalian times.

The genetic basis of morphological change in convergent evolution of natural populations: identifying candidate genes behind convergent evolution in blind cavefish astyanax mexicanus

Dissertation presented to obtain the Ph.D. degree in Biology at the Instituto de Tecnologia Química e Biológica, Universidade Nova de Lisboa.

Design and Implementation of a Biologically Inspired Swimming Robot - An EPS@ISEP 2014 Spring Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Development of Biomimetic Robots in the EPS Engineering Programme Capstone Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

The venomous toadfish Thalassophryne nattereri (niquim or miquim): report of 43 injuries provoked in fishermen of Salinópolis (Pará State) and Aracaju (Sergipe State), Brazil

Fishes of family Batrachoididae are responsible for great number of injuries in fishermen in North and Northeast regions of Brazil. The genus Thalassophryne presents various venomous species of fishes found in the Brazilian coast, T. nattereri being the most common of them. The venom is ejected through two hollow spines on the dorsal fin and two on pre-opercular regions, which present a venomous gland in the base and can be erected or depressed by the fish. The manifestations of the envenoming were intense local pain, edema and erythema in 43 patients observed in Salinópolis (Pará State) and Aracaju (Sergipe State). There were no systemic manifestations, but necrosis was detected in eight and bacterial infection in ten injured fishermen. The circumstances of the contacts and therapeutic aspects are discussed. Envenoming by the genus Thalassophryne is important and frequent and should be considered of moderate severity grade, since there are not the excruciating pain or the massive local necrosis provoked by scorpionfishes (Scorpaena) or stingrays injuries nor the systemic manifestations that are the most important marker of severe envenoming.

Melanoides tuberculata (Mollusca: Thiaridae) as an intermediate host of Centrocestus formosanus (Trematoda: Heterophyidae) in Brazil

Pleurolophocercous cercariae emerged from naturally infected Melanoides tuberculata from Minas Gerais State, Brazil, were used to perform experimental infection of laboratory-reared Poecilia reticulata. Mature metacercariae were obtained from the gills of fishes and force-fed to Mus musculus. The adult parasites which recovered from small intestines of mice were identified as Centrocestus formosanus. This is the first report of M. tuberculata as intermediate host of this heterophyid in Brazil.

Injuries and envenoming by aquatic animals in fishermen of Coxim and Corumbá municipalities, state of Mato Grosso do Sul, Brazil: identification of the causative agents, clinical aspects and first aid measures

INTRODUCTION: The fishes of continental Brazil have socioeconomic importance due to their potential for sport fishing and commercial and subsistence uses, as seen in the Upper Paraguay River Basin, particularly in the municipalities of the Pantanal region, where it is the second largest economic activity. Injuries caused in professional fishermen are common and poorly studied, as in other regions of the country. METHODS: Data were obtained from questionnaires and interviews with 100 professional fishermen, 50 in each municipality, between December 2008 and October 2009. RESULTS: All the fishermen reported some kind of injury caused by fish stings (78% of injuries) and fish, alligator and snake bites (22%) on the hands (46% of cases) and feet (35% of cases). Most of the patients had mild symptoms. The most severe cases were associated with secondary bacterial infections and required specific treatment and prolonged recovery associated with social and economic losses. CONCLUSIONS: The results of this study indicate that the stressful work conditions, inattention to basic preventive measures and carelessness were factors that contributed to accidents and that the toxicity and ability to inflict mechanical trauma of some aquatic species, plus the ineffective use of first aid and hospital treatment, contributed to the high morbidity and complications in many cases. Data from this study are relevant to the fishing communities of the Pantanal region, since they reveal high rates of accidents, lack of knowledge concerning first aid, initial treatment, injury prevention and lack of medical follow-up of the population.

Notes on the ethnoicthyology of fishermen from the Tocantins river (Brazil)

Ethnobiology includes the study of how populations perceive and classify organisms. This study focuses on the utilization and classification of fishes by fishermen from the Tocantins river. The study area is located between the cities of Imperatriz and Estreito (Maranhão and Tocantins States). Interviews with fishermen and collection of fish species were performed from October 1987 to June 1988. The criteria used by fishermen to classify fish species are mainly morphological, such as related to body shape and coloration. Fish habitat is also an information used in folk classification. Terrestrial plants and animals are a reference for some fish names. Fishermen showed a deeper knowledge and detailed classification of species of fish used for food, sale, or medicine. Folk classification represents the knowledge a population has on its environment, and it is more detailed on species which are part of its realized niche as indicated by this study.